Colony

/**

 * Copyright (c) 2007 Colony Project

 *

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 *

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 *

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file wl_error_group.h

 * @brief Error Packets

 *

 * A wireless group for sending error packets.

 *

 * @author Brian Coltin, Colony Project, CMU Robotics Club

 **/

#include "wl_error_group.h"

#include <wireless.h>

#include <wl_defs.h>

#include <stdio.h>

#include <string.h>

void wl_error_response_receive(int frame, int received);

void wl_error_handle_receive(char type, int source, unsigned char* packet,

                                                        int length);

PacketGroupHandler wl_error_handler =

                {WL_ERROR_GROUP, NULL,

                wl_error_response_receive, wl_error_handle_receive, NULL};

void wl_error_response_receive(int frame, int received)

{

        WL_DEBUG_PRINT("Response received.\r\n");

        if (!received)

        {

                WL_DEBUG_PRINT("FAILED.\r\n");

        }

}

/**

 * Register this packet group with the wireless library.

 * This function must be called before any other wl_error

 * function.

 **/

//TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if

// it reduces code size or not should be done to be sure.

void wl_error_register(void)

{

        wl_register_packet_group(&wl_error_handler);

}

/**

 * Unregister this packet group with the wireless library.

 * This function must be called after wl_error_register.

 *

 * @see wl_error_register

 **/

//TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if

// it reduces code size or not should be done to be sure.

void wl_error_unregister(void)

{

        wl_unregister_packet_group(&wl_error_handler);

}

/**

 * Handles receiving an error packet.

 *

 * @param type the packet type

 * @param source the 16-bit address of the packet's sender

 * @param packet the packet data

 * @param length the length in bytes of the packet

 **/

void wl_error_handle_receive(char type, int source, unsigned char* packet,

                                                        int length)

{

        switch (type)

        {

                case WL_ERROR_STRING_TYPE:

                        if (packet[length - 1] != 0)

                        {

                                WL_DEBUG_PRINT(

                                        "Error packet string should be null terminated.\r\n");

                                break;

                        }

                        WL_DEBUG_PRINT("Error packet received from robot ");

                        WL_DEBUG_PRINT_INT(source);

                        WL_DEBUG_PRINT(":\r\n");

                        WL_DEBUG_PRINT((char*)packet);

                        WL_DEBUG_PRINT("\r\n");

                        break;

                default:

                        WL_DEBUG_PRINT("Error packet of unknown type received.\r\n");

                        break;

        }

}

/**

 * Send an error message as a string.

 *

 * @param str the error message to send

 **/

//TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if

// it reduces code size or not should be done to be sure.

void wl_error_send_string(char* str)

{

        wl_send_global_packet(WL_ERROR_GROUP, WL_ERROR_STRING_TYPE,

                str, strlen(str) + 1, 1);

}