Wireless

Wireless definitions. More...

Data Structures
struct	PacketGroupHandler
Functions
int	wl_init (void)
	Initialize the wireless library.
void	wl_terminate (void)
	Uninitialize the wireless library.
void	wl_do (void)
	Perform wireless library functionality.
void	wl_register_packet_group (PacketGroupHandler *h)
	Register a packet group with the wireless library.
void	wl_unregister_packet_group (PacketGroupHandler *h)
	Unregister a packet group with the wireless library.
int	wl_send_robot_to_robot_global_packet (char group, char type, char *data, int len, int dest, char frame)
	Send a packet to a specific robot in any PAN.
int	wl_send_robot_to_robot_packet (char group, char type, char *data, int len, int dest, char frame)
	Send a packet to a specific robot in our PAN.
int	wl_send_global_packet (char group, char type, char *data, int len, char frame)
	Send a packet to all robots.
void	wl_send_pan_packet (char group, char type, char *data, int len, char frame)
	Send a packet to all robots in our PAN.
int	wl_set_pan (int pan)
	Set the PAN we are using.
int	wl_get_pan (void)
	Get the PAN we are using.
int	wl_set_channel (int channel)
	Set the channel we are using.
int	wl_get_channel (void)
	Get the channel we are using.
int	wl_get_xbee_id (void)
	Get the 16-bit address of the XBee module.
void	wl_set_com_port (char *port)
	Set the com port on a computer, undefined on the robot.

Detailed Description

Wireless definitions.

Contains functions and definitions for dealing with wireless functionality.

The wireless library provides a modular method for dealing with wireless packets, by allowing packet groups to be registered. A packet group is a collection of packets which share a packet group code. Each packet in the group also has a type. A packet group code and type are sent with each packet. When a packet with a group code registered in the wireless library is received, the corresponding event handler is called. The event handler uses the packet type and other information stored in the packet to respond.

This architecture allows different wireless functionality to be defined and handled separately, making it simpler and more efficient to take advantage of the XBee's wireless functionality.

Function Documentation

void wl_do ( void )

Perform wireless library functionality.

Performs wireless library functionality. This function must be called frequently for wireless to perform effectively. This function will call timeout handlers, as well as received packet and transmit status handlers.

References PacketGroupHandler::handle_receive, PacketGroupHandler::handle_response, xbee_get_packet(), XBEE_RX, and XBEE_TX_STATUS.

Referenced by wl_basic_do_default().

int wl_get_channel ( void )

Get the channel we are using.

Get the channel the XBee is part of.

Returns:: the channel the XBee is part of

See also:: wl_set_channel

References xbee_get_channel().

int wl_get_pan ( void )

Get the PAN we are using.

Get the PAN the XBee is currently part of.

Returns:: the PAN of the XBee

See also:: wl_set_pan

References xbee_get_pan_id().

int wl_get_xbee_id ( void )

Get the 16-bit address of the XBee module.

Returns the 16-bit address of the XBee module.

Returns:: the 16-bit address of the XBee module.

References xbee_get_address().

Referenced by wl_token_get_my_sensor_reading(), wl_token_get_sensor_reading(), and wl_token_ring_register().

int wl_init ( void )

Initialize the wireless library.

Initializes the wireless library. Must be called before any other function.

Parameters:

wl_port

File descriptor for wireless port, or NULL for default.

References WL_MAX_PACKET_GROUPS, and xbee_lib_init().

Referenced by wl_basic_init().

void wl_register_packet_group ( PacketGroupHandler * h )

Register a packet group with the wireless library.

Register a packet group with the wireless library. The event handlers in the packet group will be called whenever an event dealing with the packet group's group code occurs.

Parameters:

h

the PacketGroupHandler to register

References PacketGroupHandler::groupCode, and WL_MAX_PACKET_GROUPS.

Referenced by wl_basic_register_handler(), wl_error_register(), and wl_token_ring_register().

int wl_send_global_packet	(	char	group,
		char	type,
		char *	data,
		int	len,
		char	frame
	)

Send a packet to all robots.

Send a packet to all XBees in all PANs.

Parameters:

	group	the packet group
	type	the packet type
	data	the packet data
	len	the packet length in bytes
	frame	the frame number to see with a TX_STATUS response

References XBEE_BROADCAST, and XBEE_OPTIONS_BROADCAST_ALL_PANS.

Referenced by wl_basic_send_global_packet(), wl_error_send_string(), and wl_token_ring_join().

void wl_send_pan_packet	(	char	group,
		char	type,
		char *	data,
		int	len,
		char	frame
	)

Send a packet to all robots in our PAN.

Send a packet to all XBee's in the same PAN.

Parameters:

	group	the packet group
	type	the packet type
	data	the packet data
	len	the packet length in bytes
	frame	the frame number to see with a TX_STATUS response

References XBEE_BROADCAST, and XBEE_OPTIONS_NONE.

int wl_send_robot_to_robot_global_packet	(	char	group,
		char	type,
		char *	data,
		int	len,
		int	dest,
		char	frame
	)

Send a packet to a specific robot in any PAN.

Send a packet to a specific XBee without specifying a PAN.

Parameters:

	group	the packet group
	type	the packet type
	data	the packet data
	len	the packet length in bytes
	dest	the 16-bit address of the XBee to send the packet to
	frame	the frame number to see with a TX_STATUS response

References XBEE_OPTIONS_BROADCAST_ALL_PANS.

Referenced by wl_basic_send_robot_packet().

int wl_send_robot_to_robot_packet	(	char	group,
		char	type,
		char *	data,
		int	len,
		int	dest,
		char	frame
	)

Send a packet to a specific robot in our PAN.

Send a packet to a specific XBee in the same PAN.

Parameters:

	group	the packet group
	type	the packet type
	data	the packet data
	len	the packet length in bytes
	dest	the 16-bit address of the XBee to send the packet to
	frame	the frame number to see with a TX_STATUS response