Colony

<a name="l00163"></a>00163 <span class="preprocessor">#endif</span>

<a name="l00164"></a>00164 <span class="preprocessor"></span>

</pre></div></div>

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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">send a packet to all robots in Basic Group  <a href="group__wl__basic.html#ga72d4f604603ef2541b5f4d3ae467938e"></a><br/></td></tr>

<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__basic.html#ga0ad976b2b61cca0081123606101c97cd">wl_basic_packet_receive_handler</a> (char type, int source, unsigned char *packet, int length)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">internal default packet handler if none is specified on init  <a href="group__wl__basic.html#ga0ad976b2b61cca0081123606101c97cd"></a><br/></td></tr>

</table>

<hr/><a name="_details"></a><h2>Detailed Description</h2>

<p>High Level Wireless Packet Sending-Receiving Functions. </p>

<p>Abstracted wireless functionality for sending and receiving packets</p>

<dl class="author"><dt><b>Author:</b></dt><dd>Christopher Mar, Colony Project, CMU Robotics Club </dd></dl>

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<p>Implementation of low level communication with the XBee in API mode.</p>

<dl class="author"><dt><b>Author:</b></dt><dd>Brian Coltin, Colony Project, CMU Robotics Club </dd></dl>

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<a name="l00084"></a>00084 

<a name="l00085"></a>00085 <span class="preprocessor">#endif</span>

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<p>Implementation of a sensor matrix for storing localization implementation.</p>

<dl class="author"><dt><b>Author:</b></dt><dd>Brian Coltin, Colony Project, CMU Robotics Club </dd></dl>

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<li><a class="el" href="wireless_8h_source.html">wireless.h</a></li>

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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">send a packet to all robots in Basic Group  <a href="#ga72d4f604603ef2541b5f4d3ae467938e"></a><br/></td></tr>

<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__basic.html#ga0ad976b2b61cca0081123606101c97cd">wl_basic_packet_receive_handler</a> (char type, int source, unsigned char *packet, int length)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">internal default packet handler if none is specified on init  <a href="#ga0ad976b2b61cca0081123606101c97cd"></a><br/></td></tr>

<tr><td colspan="2"><h2>Variables</h2></td></tr>

<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaf0fa88111d706ef4e8b3bda5bc32596c"></a><!-- doxytag: member="wl_basic::wl_basic_group_handler" ref="gaf0fa88111d706ef4e8b3bda5bc32596c" args="" -->

<a class="el" href="structPacketGroupHandler.html">PacketGroupHandler</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__basic.html#gaf0fa88111d706ef4e8b3bda5bc32596c">wl_basic_group_handler</a></td></tr>

<p>A high level abstraction of the wireless library.</p>

<p>This will allow you to easily send and receive packets. </p>

<hr/><h2>Function Documentation</h2>

<div class="memitem">

<div class="memproto">

      <table class="memname">

        <tr>

          <td class="memname">unsigned char* wl_basic_do_default </td>

          <td>(</td>

          <td>&nbsp;)&nbsp;</td>

          <td></td>

        </tr>

<p>wrapper for <a class="el" href="group__wireless.html#ga5c1f1a0e20fc718e59edc29246afd703" title="Perform wireless library functionality.">wl_do()</a> to return packet data buffer </p>

<p>Wrapper for <a class="el" href="group__wireless.html#ga5c1f1a0e20fc718e59edc29246afd703" title="Perform wireless library functionality.">wl_do()</a> for use with the Basic Wireless group. Can only be called if wl_basic_init_default and your packets are handled with the default packet handler. To access packet information, use <a class="el" href="structPacketInfo.html" title="struct that contains relevant packet information">PacketInfo</a> current_packet.</p>

<dl class="return"><dt><b>Returns:</b></dt><dd>pointer to the data of the packet just received, 0 if no new packet </dd></dl>

<p>References <a class="el" href="wl__basic_8h_source.html#l00046">current_packet</a>, and <a class="el" href="wireless_8c_source.html#l00390">wl_do()</a>.</p>

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<p>Contains declarations for the token ring packet group.</p>

<dl class="author"><dt><b>Author:</b></dt><dd>Brian Coltin, Colony Project, CMU Robotics Club </dd></dl>

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<h3><a class="anchor" id="index_w">- w -</a></h3><ul>

<li>wl_basic_do_default()

</li>

<li>wl_basic_init()

: <a class="el" href="group__wl__basic.html#gaae4a8ae98cc33955ee20b6e481d47adf">wl_basic.h</a>

</li>

</ul>

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<a name="l00098"></a>00098 

<a name="l00099"></a>00099 <span class="preprocessor">#endif</span>

</pre></div></div>

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<li><a class="el" href="sensor__matrix_8h_source.html">sensor_matrix.h</a></li>

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  <tr><td class="indexkey"><a class="el" href="structSensorMatrix.html">SensorMatrix</a></td><td class="indexvalue"></td></tr>

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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">send a packet to all robots in Basic Group  <a href="group__wl__basic.html#ga72d4f604603ef2541b5f4d3ae467938e"></a><br/></td></tr>

<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__basic.html#ga0ad976b2b61cca0081123606101c97cd">wl_basic_packet_receive_handler</a> (char type, int source, unsigned char *packet, int length)</td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">internal default packet handler if none is specified on init  <a href="group__wl__basic.html#ga0ad976b2b61cca0081123606101c97cd"></a><br/></td></tr>

<tr><td colspan="2"><h2>Variables</h2></td></tr>

<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaf0fa88111d706ef4e8b3bda5bc32596c"></a><!-- doxytag: member="wl_basic.h::wl_basic_group_handler" ref="gaf0fa88111d706ef4e8b3bda5bc32596c" args="" -->

<a class="el" href="structPacketGroupHandler.html">PacketGroupHandler</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__basic.html#gaf0fa88111d706ef4e8b3bda5bc32596c">wl_basic_group_handler</a></td></tr>

<p>Abstracted wireless functionality for sending and receiving packets</p>

<dl class="author"><dt><b>Author:</b></dt><dd>Christopher Mar, Colony Project, CMU Robotics Club </dd></dl>

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<p>Contains definitions for wireless packet groups, packet types, debugging information, etc.</p>

<dl class="author"><dt><b>Author:</b></dt><dd>Brian Coltin, Colony Project, CMU Robotics Club </dd></dl>

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<h3><a class="anchor" id="index_w">- w -</a></h3><ul>

<li>wl_basic_do_default()

</li>

<li>WL_BASIC_GROUP

: <a class="el" href="group__wl__basic.html#ga366b705160e22c2a6c4ea2c3c22e3485">wl_basic.h</a>

</li>

</ul>

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<a name="l00065"></a>00065 

<a name="l00066"></a>00066 <span class="preprocessor">#endif</span>

</pre></div></div>

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<p>Implementation of the wireless library.</p>

<dl class="author"><dt><b>Author:</b></dt><dd>Brian Coltin, Colony Project, CMU Robotics Club </dd></dl>

</div>

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<p>Implementation of the token ring packet group.</p>

<dl class="author"><dt><b>Author:</b></dt><dd>Brian Coltin, Colony Project, CMU Robotics Club </dd></dl>

</div>

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<p>Contains functions and declarations for using sensor matrices.</p>

<dl class="author"><dt><b>Author:</b></dt><dd>Brian Coltin, Colony Project, CMU Robotics Club </dd></dl>

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</td><td><a class="el" href="structPacketGroupHandler.html">PacketGroupHandler</a>&nbsp;&nbsp;&nbsp;</td><td><a class="el" href="structPacketInfo.html">PacketInfo</a>&nbsp;&nbsp;&nbsp;</td><td><a name="letter_S"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&nbsp;&nbsp;S&nbsp;&nbsp;</div></td></tr></table>

</td><td><a class="el" href="structSensorMatrix.html">SensorMatrix</a>&nbsp;&nbsp;&nbsp;</td></tr></table><div class="qindex"><a class="qindex" href="#letter_P">P</a>&nbsp;|&nbsp;<a class="qindex" href="#letter_S">S</a></div>

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<a name="l00055"></a>00055 <span class="keywordtype">void</span> <a class="code" href="group__wl__basic.html#gad5d7334484e49cc3cb9ebe2cfc323115" title="send a packet to a single robot in Basic Group">wl_basic_send_robot_packet</a>( <span class="keywordtype">char</span> type, <span class="keywordtype">char</span>* data, <span class="keywordtype">int</span> len, <span class="keywordtype">int</span> dest );

<a name="l00057"></a>00057 <span class="keywordtype">void</span> <a class="code" href="group__wl__basic.html#ga72d4f604603ef2541b5f4d3ae467938e" title="send a packet to all robots in Basic Group">wl_basic_send_global_packet</a>( <span class="keywordtype">char</span> type, <span class="keywordtype">char</span>* data, <span class="keywordtype">int</span> len );

<a name="l00059"></a>00059 <span class="keywordtype">void</span> <a class="code" href="group__wl__basic.html#ga0ad976b2b61cca0081123606101c97cd" title="internal default packet handler if none is specified on init">wl_basic_packet_receive_handler</a>( <span class="keywordtype">char</span> type, <span class="keywordtype">int</span> source, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* packet, <span class="keywordtype">int</span> length );

<a name="l00063"></a>00063 

<a name="l00064"></a>00064 <span class="preprocessor">#endif</span>

<a name="l00065"></a>00065 <span class="preprocessor"></span>

</pre></div></div>

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<a name="l00096"></a>00096 <span class="preprocessor">#endif</span>

<a name="l00097"></a>00097 <span class="preprocessor"></span>

</pre></div></div>

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  <tr><td class="indexkey"><a class="el" href="xbee_8h.html">xbee.h</a> <a href="xbee_8h_source.html">[code]</a></td><td class="indexvalue">Contains definitions for using the XBee </td></tr>

</table>

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<p>A packet group for sending and receiving error messages.</p>

<dl class="author"><dt><b>Author:</b></dt><dd>Brian Coltin, Colony Project, CMU Robotics Club </dd></dl>

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<div class="contents">

<h1>libwireless Documentation</h1><h3>1.0 </h3></div>

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<li><a class="el" href="group__xbee.html">XBee</a></li>

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<p>References <a class="el" href="structPacketGroupHandler.html#a5c01636d72de2ddafc734ab754d93104">PacketGroupHandler::handle_receive</a>, <a class="el" href="structPacketGroupHandler.html#a045939030c6e2f2dd0d53b5718d9f902">PacketGroupHandler::handle_response</a>, <a class="el" href="xbee_8c_source.html#l00725">xbee_get_packet()</a>, <a class="el" href="xbee_8h_source.html#l00074">XBEE_RX</a>, and <a class="el" href="xbee_8h_source.html#l00072">XBEE_TX_STATUS</a>.</p>

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<a name="l00100"></a>00100 <span class="preprocessor">#endif</span>

<a name="l00101"></a>00101 <span class="preprocessor"></span>

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/** @brief internal default packet handler if none is specified on init **/

void wl_basic_packet_receive_handler( char type, int source, unsigned char* packet, int length );

/** @brief wrapper for wl_do() to return packet data buffer **/

/** @} **/ // end defgroup

#endif

#include <wl_basic.h>

unsigned char* packet;

int testwireless(void) {

    int count = 0;

        wl_basic_send_global_packet(1, "b", 2);

        usb_puts("sent BLUE packet\r\n");

        while(count < 2) {

            if (packet != 0) {

                    if (packet[0] == 'r') {

                        orb_set_color(RED);

                        usb_puts("received RED packet\r\n");

    }

    else {

        while(count < 2) {

            if (packet != 0) {

                    if (packet[0] == 'r') {

                        orb_set_color(RED);

                        usb_puts("received RED packet\r\n");

 *  are handled with the default packet handler.

 * To access packet information, use PacketInfo current_packet.

 *

 * @return pointer to the data of the packet just received, 0 if no new packet

 **/

    wl_do();

    if (current_packet.new_flag == 1) { 

        current_packet.new_flag = 0;

        return current_packet.data;

    }

    return 0;

/** @brief internal default packet handler if none is specified on init **/

void wl_basic_packet_receive_handler( char type, int source, unsigned char* packet, int length );

/** @brief wrapper for wl_do() to return packet data buffer **/

/** @} **/ // end defgroup

#endif