Colony

#include <dragonfly_lib.h>

#include <xbee.h>

#define ROBOT

#define WL_DEBUG

#define WL_DEBUG_PRINT( s ) usb_puts( S )

extern int xbee_send_read_at_command(char* command);

extern int xbee_get_packet(unsigned char* dest);

extern void xbee_terminate(void);

/*

 * This function tests the xbee, returning the results to teraterm

 *

 * 

 */

int testxbee(void) {

  unsigned char buf[100];

  int i=0;

	usb_init();

	usb_puts("usb turned on, test starting:\r\n");

  if (xbee_lib_init() != 0) {

    usb_puts("xbee_lib_init() failed\r\n");

    return -1;

  } else {

    usb_puts("xbee_lib__init successful\r\n");

  }

	usb_puts("\r\n\n");

	delay_ms(1000);

  // check registers

	// try getting xbee address

  xbee_send_read_at_command("MY");

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      //usb_puts("packet:");

      //usb_puts(buf);

      //usb_puts("|end\r\n");

      break; // got a response

    }

  }

  // try setting channel

  /*xbee_set_channel(0x0F);

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }

  xbee_send_read_at_command("CH");

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }

  usb_puts("\r\nxbee set channel works\r\n\r\n");

  wl_set_channel(0x16);

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }

  xbee_send_read_at_command("CH");

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }  

  usb_puts("\r\nwireless set channel works\r\n");*/

  // scan all xbees in network

  xbee_send_read_at_command("ND");

  i=0;

  while(i < 1000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      i++;

    }

  }

  // end of tests

  xbee_terminate();

  usb_puts("testxbee done\r\n\r\n");

	return 0;

}

/**

 * 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 xbee.c

 * @brief XBee Interface

 *

 * Implementation of low level communication with the XBee in API mode.

 *

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

 **/

#include <xbee.h>

#include <wl_defs.h>

#define ROBOT

#define WL_DEBUG

#define WL_DEBUG_PRINT( s ) usb_puts( s )

#define WL_DEBUG_PRINT_INT( i ) usb_puti(i)

#ifndef ROBOT

#include <fcntl.h>

#include <unistd.h>

#include <pthread.h>

#include <errno.h>

#include <termios.h>

#else

#include <serial.h>

#include <avr/interrupt.h>

#endif

#include <stdio.h>

#include <stdlib.h>

#include <string.h>

#define XBEE_FRAME_START 0x7E

#define XBEE_GET_PACKET_TIMEOUT 1000

/*Frame Types*/

#define XBEE_FRAME_STATUS 0x8A

#define XBEE_FRAME_AT_COMMAND 0x08

#define XBEE_FRAME_AT_COMMAND_RESPONSE 0x88

#define XBEE_FRAME_TX_REQUEST_64 0x00

#define XBEE_FRAME_TX_REQUEST_16 0x01

#define XBEE_FRAME_TX_STATUS XBEE_TX_STATUS

#define XBEE_FRAME_RX_64 0x80

#define XBEE_FRAME_RX_16 XBEE_RX

/*Internal Function Prototypes*/

/*I/O Functions*/

static int xbee_send(char* buf, int size);

static int xbee_send_string(char* c);

#ifndef ROBOT

static int xbee_read(char* buf, int size);

#endif

/*Command Mode Functions

 * Called during initialization.

 */

static int xbee_enter_command_mode(void);

static int xbee_exit_command_mode(void);

static int xbee_enter_api_mode(void);

static int xbee_exit_api_mode(void);

static int xbee_wait_for_string(char* s, int len);

static int xbee_wait_for_ok(void);

/*API Mode Functions*/

static int xbee_handle_packet(char* packet, int len);

static void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen);

static void xbee_handle_status(char status);

static int xbee_verify_checksum(char* packet, int len);

static char xbee_compute_checksum(char* packet, int len);

static int xbee_send_frame(char* buf, int len);

int xbee_send_read_at_command(char* command);

static int xbee_send_modify_at_command(char* command, char* value);

/*Global Variables*/

#ifndef ROBOT

static char* xbee_com_port = XBEE_PORT_DEFAULT;

static int xbee_stream;

static pthread_t* xbee_listen_thread;

#endif

// TODO: is this a good size?

#define XBEE_BUFFER_SIZE	128

#define PACKET_BUFFER_SIZE	108

// a buffer for data received from the XBee

char arrival_buf[XBEE_BUFFER_SIZE];

// location of last unread byte in buffer

volatile int buffer_last = 0;

// first unread byte in buffer

volatile int buffer_first = 0;

//used to store packets as they are read

static char xbee_buf[PACKET_BUFFER_SIZE];

static int currentBufPos = 0;

//XBee status

static unsigned int xbee_panID = XBEE_PAN_DEFAULT;

static unsigned int xbee_pending_panID = XBEE_PAN_DEFAULT;

static int xbee_channel = XBEE_CHANNEL_DEFAULT;

static int xbee_pending_channel = XBEE_CHANNEL_DEFAULT;

static volatile unsigned int xbee_address = 0;

/*Function Implementations*/

#ifdef ROBOT

/**

 * Interrupt for the robot. Adds bytes received from the xbee

 * to the buffer.

 **/

#ifndef FIREFLY

ISR(USART1_RX_vect)

{

	char c = UDR1;

	arrival_buf[buffer_last] = c;

	int t = buffer_last + 1;

	if (t == XBEE_BUFFER_SIZE)

		t = 0;

	if (t == buffer_first)

	{

		WL_DEBUG_PRINT("\nOut of space in buffer.\n");

	}

	buffer_last = t;

}

#else

SIGNAL(SIG_USART0_RECV)

{

	char c = UDR0;

	arrival_buf[buffer_last] = c;

	int t = buffer_last + 1;

	if (t == XBEE_BUFFER_SIZE)

		t = 0;

	if (t == buffer_first)

	{

		WL_DEBUG_PRINT("Out of space in buffer.\n");

	}

	buffer_last = t;

}

#endif

#else

// Computer code

/**

 * Thread that listens to the xbee.

 **/

static void* listen_to_xbee(void* x)

{

	char c;

	while (1)

	{

		if (xbee_read(&c, 1) != 0) {

			WL_DEBUG_PRINT("xbee_read failed.\n");

			return NULL;

		}

		arrival_buf[buffer_last] = c;

		int t = buffer_last + 1;

		if (t == XBEE_BUFFER_SIZE)

			t = 0;

		if (t == buffer_first)

		{

			WL_DEBUG_PRINT("Out of space in buffer.\n");

		}

		buffer_last = t;

		usleep(1000);

	}

	return NULL;

}

#endif

/**

 * Initializes the XBee library so that other functions may be used.

 **/

int xbee_lib_init()

{

	WL_DEBUG_PRINT("in xbee_init\n");

#ifdef ROBOT

	//enable the receiving interrupt

#ifdef FIREFLY

	UCSR0B |= _BV(RXCIE) | _BV(RXEN);

#else

#ifdef BAYBOARD

	UCSR1B |= _BV(RXCIE1);

#else

	UCSR1B |= _BV(RXCIE);

#endif

#endif

	sei();

#else

	xbee_stream = open(xbee_com_port, O_RDWR);

	if (xbee_stream == -1/* || lockf(xbee_stream, F_TEST, 0) != 0*/)

	{

		WL_DEBUG_PRINT("Failed to open connection to XBee on port ");

		WL_DEBUG_PRINT_INT(xbee_com_port);

		WL_DEBUG_PRINT(".\n");

		return -1;

	} else {

	  WL_DEBUG_PRINT("Successfully opened connection to XBee on port ");

		WL_DEBUG_PRINT_INT(xbee_com_port);

		WL_DEBUG_PRINT(".\n");

	}

	// set baud rate, etc. correctly

	struct termios options;

	tcgetattr(xbee_stream, &options);

	cfsetispeed(&options, B9600);

	cfsetospeed(&options, B9600);

	options.c_iflag &= ~ICRNL;

	options.c_oflag &= ~OCRNL;

	options.c_cflag |= (CLOCAL | CREAD);

	options.c_cflag &= ~PARENB;

	options.c_cflag &= ~CSTOPB;

	options.c_cflag &= ~CSIZE;

	options.c_cflag |= CS8;

	options.c_lflag &= ~ICANON;

	options.c_cc[VMIN] = 1;

	options.c_cc[VTIME] = 50;

	if (tcsetattr(xbee_stream, TCSANOW, &options))

	{

		WL_DEBUG_PRINT("Error setting attributes.\n");

		return -1;

	}

	xbee_listen_thread = (pthread_t*)malloc(sizeof(pthread_t));

	if (xbee_listen_thread == NULL)

	{

		WL_DEBUG_PRINT("Malloc failed.\n");

		return -1;

	}

	int ret = pthread_create(xbee_listen_thread, NULL, listen_to_xbee, NULL);

	if (ret)

	{

		WL_DEBUG_PRINT("Failed to create listener thread.\n");

		return -1;

	}

#endif

	WL_DEBUG_PRINT("Entering command mode.\n");

	if (xbee_enter_command_mode() != 0) {

		return -1;

	}

	WL_DEBUG_PRINT("Entered command mode.\n");

	if (xbee_enter_api_mode() != 0) {

		return -1;

	}

	WL_DEBUG_PRINT("Entered api mode.\n");

	if (xbee_exit_command_mode() != 0) {

	     return -1;

	}

	WL_DEBUG_PRINT("Left command mode.\n");

	if (xbee_send_read_at_command("MY")) {

		return -1;

	}

	WL_DEBUG_PRINT("Getting ATMY address.\n");

#ifndef ROBOT

	int i;

	for (i = 0; xbee_address == 0 && i < XBEE_GET_PACKET_TIMEOUT; i++) {

	  ret = xbee_get_packet(NULL);

	  usleep(1000);

/* 	  if (ret == -1) { */

/* 	    WL_DEBUG_PRINT("xbee_get_packet(NULL) failed.\n"); */

/* 	    return -1; */

/* 	  } */

	}

#else

	//wait to return until the address is set

  //TODO: this shouldn't wait indefinitely.  There should be some sort of reasonable timeout

  // so if the address is never set right, an error can be returned instead of having the

  // robot hang forever

	while (xbee_address == 0) {

	  xbee_get_packet(NULL);

	}

#endif

	WL_DEBUG_PRINT("Got ATMY address.\n");

#ifndef ROBOT

	if (i == XBEE_GET_PACKET_TIMEOUT) { // We timed-out.

	  WL_DEBUG_PRINT("xbee_get_packet timed out.\n");

	  return -1;

	} else {

	  return 0;

	}

#else

	return 0;

#endif

}

/**

 * Call when finished using the XBee library. This releases

 * all sued resources.

 **/

void xbee_terminate()

{

	#ifndef ROBOT

	pthread_cancel(*xbee_listen_thread);

    pthread_join(*xbee_listen_thread, NULL);

	free(xbee_listen_thread);

	lockf(xbee_stream, F_ULOCK, 0);

	close(xbee_stream);

  #else

  xbee_exit_api_mode();

	#endif

}

/**

 * Send a buffer buf of size bytes to the XBee.

 *

 * @param buf the buffer of data to send

 * @param size the number of bytes to send

 **/

static int xbee_send(char* buf, int size)

{

#ifdef ROBOT

	int i;

	for (i = 0; i < size; i++) {

		xbee_putc(buf[i]);

	}

	return 0;

#else

	int ret = write(xbee_stream, buf, size);

	//success

	if (ret == size)

		return 0;

	if (ret == -1)

	{

		//interrupted by system signal, probably timer interrupt.

		//just try again

		if (errno == 4)

		{

			return xbee_send(buf, size);

		}

		WL_DEBUG_PRINT("Failed to write to xbee\r\n");

		return -1;

	}

	//write was interrupted after writing ret bytes

	return xbee_send(buf + ret, size - ret);

#endif

}

/**

 * Sends a string to the XBee.

 *

 * @param c the string to send to the XBEE

 **/

static int xbee_send_string(char* c)

{

	return xbee_send(c, strlen(c));

}

#ifndef ROBOT

static int xbee_read(char* buf, int size)

{

	if (read(xbee_stream, buf, size) == -1) {

		WL_DEBUG_PRINT("Failed to read from xbee.\r\n");

		return -1;

	}

	return 0;

}

#endif

/**

 * Enter into command mode.

 **/

static int xbee_enter_command_mode()

{

	if (xbee_send_string("+++") != 0) {

		return -1;

	}

	if (xbee_wait_for_ok() != 0) {

	  return -1;

	}

	  return 0;

}

/**

 * Exit from command mode.

 **/

static int xbee_exit_command_mode()

{

	if (xbee_send_string("ATCN\r") != 0) {

		return -1;

	}

	xbee_wait_for_ok();

	return 0;

}

/**

 * Enter API mode.

 **/

static int xbee_enter_api_mode()

{

	if (xbee_send_string("ATAP 1\r") != 0) {

		return -1;

	}

	xbee_wait_for_ok();

	return 0;

}

/**

 * Exit API mode.

 **/

static int xbee_exit_api_mode()

{

	if (xbee_send_modify_at_command("AP","0") != 0) {

		return -1;

	}

	return 0;

}

/**

 * Wait until the string "OK\r" is received from the XBee.

 **/

static int xbee_wait_for_ok()

{

	return xbee_wait_for_string("OK\r", 3);

}

/**

 * Delay until the specified string is received from

 * the XBee. Discards all other XBee data.

 *

 * ********* Robot often hangs here ****************

 *

 * @param s the string to receive

 * @param len the length of the string

 **/

static int xbee_wait_for_string(char* s, int len)

{

	char* curr = s;

	while (curr - s < len) {

    WL_DEBUG_PRINT("waiting for string\r\n");

		// check if buffer is empty

		if (buffer_last != buffer_first) {

			char c = arrival_buf[buffer_first++];

			if (buffer_first == XBEE_BUFFER_SIZE) {

				buffer_first = 0;

			}

			if (c == *curr) {

				curr++;

			} else {

#ifndef ROBOT

			  //return -1; // Computer is less forgiving.

			  curr = s;

#else

			  curr = s;

#endif

			}

		} // else buffer is empty.

#ifndef ROBOT

		usleep(100);

#endif

	}

	return 0;

}

/**

 * Verifies that the packets checksum is correct.

 * (If the checksum is correct, the sum of the bytes

 * is 0xFF.)

 *

 * @param packet the packet received. This includes the first

 * three bytes, which are header information from the XBee.

 *

 * @param len The length of the packet received from the XBee

 *

 * @return 0 if the checksum is incorrect, nonzero

 * otherwise

 **/

int xbee_verify_checksum(char* packet, int len)

{

	unsigned char sum = 0;

	int i;

	for (i = 3; i < len; i++)

		sum += (unsigned char)packet[i];

	return sum == 0xFF;

}

/**

 * Returns the checksum of the given packet.

 *

 * @param buf the data for the packet to send

 * @param len the length of the packet in bytes

 *

 * @return the checksum of the packet, which will

 * become the last byte sent in the packet

 **/

char xbee_compute_checksum(char* buf, int len)

{

	int i;

	unsigned char sum = 0;

	for (i = 0; i < len; i++)

		sum += (unsigned char)buf[i];

	return 0xFF - sum;

}

/**

 * Adds header information and checksum to the given

 * packet and sends it. Header information includes

 * XBEE_FRAME_START and the packet length, as two bytes.

 *

 * @param buf the packet data

 * @param len the size in bytes of the packet data

 *

 **/

static int xbee_send_frame(char* buf, int len)

{

	char prefix[3];

	prefix[0] = XBEE_FRAME_START;

	prefix[1] = (len & 0xFF00) >> 8;

	prefix[2] = len & 0xFF;

	char checksum = xbee_compute_checksum(buf, len);

	if (xbee_send(prefix, 3) != 0) {

		return -1;

	}

	if (xbee_send(buf, len) != 0) {

		return -1;

	}

	if (xbee_send(&checksum, 1) != 0) {

		return -1;

	}

	return 0;

}

/**

 * Sends an AT command to read a parameter.

 *

 * @param command the AT command to send. For exmaple,

 * use ID to read the PAN ID and MY to return the XBee ID.

 * See the XBee reference guide for a complete listing.

 **/

int xbee_send_read_at_command(char* command)

{

	return xbee_send_modify_at_command(command, NULL);

}

/**

 * Sends the given AT command.

 *

 * @param command the AT command to send (e.g., MY, ID)

 * @param value the value to pass as a parameter

 * (or NULL if there is no parameter)

 **/

static int xbee_send_modify_at_command(char* command, char* value)

{

	char buf[16];

	int i;

	buf[0] = XBEE_FRAME_AT_COMMAND;

	buf[1] = 1;

	buf[2] = command[0];

	buf[3] = command[1];

	int valueLen = 0;

	if (value != NULL)

	{

		valueLen = strlen(value);

		if (valueLen > 8)

		{

			WL_DEBUG_PRINT("AT Command too large.\r\n");

			return -1;

		}

		for (i = 0; i < valueLen; i++) {

			buf[4 + i] = value[i];

		}

	}

	return xbee_send_frame(buf, 4 + valueLen);

}

/**

 * Send the specified packet.

 *

 * @param packet the packet data to send

 * @param len the number of bytes in the packet

 *

 * @param dest the ID of the XBee to send the packet to,

 * or XBEE_BROADCAST to send the message to all robots

 * in the PAN.

 *

 * @param options a combination of the flags

 * XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and

 * XBEE_OPTIONS_BROADCAST_ALL_PANS

 *

 * @param frame the frame number to associate this packet

 * with. This will be used to identify the response when

 * the XBee alerts us as to whether or not our message

 * was received.

 **/

int xbee_send_packet(char* packet, int len, int dest, char options, char frame)

{

	char buf[5];

	char prefix[3];

	int i;

	unsigned char checksum = 0;

	if (len > 100)

	{

		WL_DEBUG_PRINT("Packet is too large.\r\n");

		return -1;

	}

	//data for sending request

	buf[0] = XBEE_FRAME_TX_REQUEST_16;

	buf[1] = frame;

	buf[2] = (dest >> 8) & 0xFF;

	buf[3] = dest & 0xFF;

	buf[4] = options;

	//packet prefix, do this here so we don't need an extra buffer

	prefix[0] = XBEE_FRAME_START;

	prefix[1] = ((5 + len) & 0xFF00) >> 8;

	prefix[2] = (5 + len) & 0xFF;

	for (i = 0; i < 5; i++)

		checksum += (unsigned char)buf[i];

	for (i = 0; i < len; i++)

		checksum += (unsigned char)packet[i];

	checksum = 0xFF - checksum;

	if (xbee_send(prefix, 3) != 0) {

		return -1;

	}

	if (xbee_send(buf, 5) != 0) {

		return -1;

	}

	if (xbee_send(packet, len) != 0) {

		return -1;

	}

	if (xbee_send((char*)&checksum, 1) != 0) {

		return -1;

	}

	return 0;

}

/**

 * Reads a packet received from the XBee. This function

 * is non-blocking. The resulting packet is stored in dest.

 * Only returns transmission response packets and

 * received packets. The returned packet does not include

 * header information or the checksum. This method also

 * handles special packets dealt with by the XBee library,

 * and so should be called frequently while the XBee is in

 * use.<br><br>

 *

 * The first byte of the packet will be either

 * XBEE_TX_STATUS or XBEE_RX to indicated

 * a response to a sent message or a received message,

 * respectively.<br><br>

 *

 * For a status response packet:<br>

 * The first byte will be XBEE_TX_STATUS.<br>

 * The second byte will be the frame number.<br>

 * The third byte will be the result. 0 indicates success,

 * and nonzero indicates that an error ocurred in

 * transmitting the packet.<br><br>

 *

 * For a received packet:<br>

 * The first byte will be XBEE_RX.<br>

 * The second and third bytes will be the 16-bit

 * address of the packet's sender.<br>

 * The fourth byte is the signal strength.<br>

 * The fifth byte is 1 if the packet were sent to

 * a specific address, and 2 if it is a broadcast packet.<br><br>

 *

 * @param dest set to the packet data

 * @return the length of the packet, or -1 if no packet

 * is available

 **/

int xbee_get_packet(unsigned char* dest)

{

     int ret;

	//start reading a packet with XBEE_FRAME_START

	if (currentBufPos == 0)

	{

		do

		{

			if (buffer_first == XBEE_BUFFER_SIZE)

				buffer_first = 0;

			// check if buffer is empty

			if (buffer_first == buffer_last) {

				return -1;

			}

		} while (arrival_buf[buffer_first++] != XBEE_FRAME_START);

		if (buffer_first == XBEE_BUFFER_SIZE) {

			buffer_first = 0;

		}

		xbee_buf[0] = XBEE_FRAME_START;

		currentBufPos++;

	}

	int len = -1;

	if (currentBufPos >= 3) {

		len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8);

	}

	while (len == -1 //packet length has not been read yet

		|| currentBufPos < len + 4)

	{

		if (currentBufPos == 3)

		{

			len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8);

			if (len > 120)

			{

				WL_DEBUG_PRINT("Packet too large. Probably error in XBee transmission.\n");

				currentBufPos = 0;

				return -1;

			}

		}

		// check if buffer is empty

		if (buffer_first == buffer_last) {

			return -1;

		}

		xbee_buf[currentBufPos++] = arrival_buf[buffer_first++];

		if (buffer_first == XBEE_BUFFER_SIZE) {

			buffer_first = 0;

		}

	}

	currentBufPos = 0;

	if (!xbee_verify_checksum(xbee_buf, len + 4))

	{

		WL_DEBUG_PRINT("XBee checksum failed.\r\n");

		return -1;

	}

	//we will take care of the packet

	ret = xbee_handle_packet(xbee_buf+3, len);

	if (ret == 1) {

		return 3;

	}

	if (dest == NULL) {

		return -1;

	}

	int i;

	for (i = 3; i < len + 3; i++) {

		dest[i - 3] = xbee_buf[i];

	}

	return len;

}

/**

 * Handles modem status packets.

 *

 * @param status the type of status packet received.

 **/

void xbee_handle_status(char status)

{

	switch (status)

	{

		case 0:

			WL_DEBUG_PRINT("XBee hardware reset.\r\n");

			break;

		case 1:

			WL_DEBUG_PRINT("Watchdog timer reset.\r\n");

			break;

		case 2:

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

			break;

		case 3:

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

			break;

		case 4:

			WL_DEBUG_PRINT("Synchronization lost.\r\n");

			break;

		case 5:

			WL_DEBUG_PRINT("Coordinator realignment.\r\n");

			break;

		case 6:

			WL_DEBUG_PRINT("Coordinator started.\r\n");

			break;

	}

}

/**

 * Handles AT command response packets.

 * @param command the two character AT command, e.g. MY or ID

 * @param result 0 for success, 1 for an error

 * @param extra the hex value of the requested register

 * @param extraLen the length in bytes of extra

 **/

static void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen)

{

	if (result == 1)

	{

		WL_DEBUG_PRINT("Error with AT");

		WL_DEBUG_PRINT(command);

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

	}

	WL_DEBUG_PRINT("AT");

	WL_DEBUG_PRINT(command);

	WL_DEBUG_PRINT(" command was successful.\r\n");

	if (command[0] == 'I' && command[1] == 'D')

	{

		xbee_panID = xbee_pending_panID;

		WL_DEBUG_PRINT("PAN ID set to ");

		WL_DEBUG_PRINT_INT(xbee_panID);

		WL_DEBUG_PRINT(".\r\n");

		return;

	}

	if (command[0] == 'C' && command[1] == 'H')

	{

		xbee_channel = xbee_pending_channel;

		WL_DEBUG_PRINT("Channel set to ");

		WL_DEBUG_PRINT_INT(xbee_channel);

		WL_DEBUG_PRINT(".\r\n");

		return;

	}

  if (command[0] == 'N' && command[1] == 'D')

	{

		xbee_channel = xbee_pending_channel;

		WL_DEBUG_PRINT("extra=");

    WL_DEBUG_PRINT(extra);

		WL_DEBUG_PRINT("\r\n");

		return;

	}

	if (command[0] == 'M' && command[1] == 'Y' && extraLen != 0)

	{

		xbee_address = 0;

		int i;

		for (i = 0; i < extraLen; i++) {

			xbee_address = (xbee_address << 8) + extra[i];

		}

		WL_DEBUG_PRINT("XBee address is ");

		WL_DEBUG_PRINT_INT(xbee_address);

		WL_DEBUG_PRINT(".\r\n");

		if (xbee_address == 0)

		{

			WL_DEBUG_PRINT("XBee 16-bit address must be set using ATMY.\r\n");

			#ifndef ROBOT

			exit(0);

			#endif

		}

	}

}

/**

 * Attempts to handle the packet if it is dealt with

 * by the library.

 * We will handle the following packet types:

 *    Modem Status

 *    AT Command Response

 *

 * @param packet the packet to handle

 * @param len the length of the packet

 *

 * @return 1 if we have handled the packet, 0 otherwise

 */

static int xbee_handle_packet(char* packet, int len)

{

	char command[3] = {1, 2, 3};

	if (len <= 0) //this should not happend

	{

		WL_DEBUG_PRINT("Non-positive packet length.\r\n");

		return 0;

	}

	switch ((unsigned char)packet[0]) //packet type

	{

		case XBEE_FRAME_STATUS:

			xbee_handle_status(packet[1]);

			return 1;

		case XBEE_FRAME_AT_COMMAND_RESPONSE:

			command[0] = packet[2];

			command[1] = packet[3];

			command[2] = 0;

			xbee_handle_at_command_response(command, packet[4], packet + 5, len - 5);

			return 1;

	}

	return 0;

}

/**

 * Sets the personal area network id.

 *

 * @param id the new personal area network (PAN) id

 **/

int xbee_set_pan_id(int id)

{

	char s[3];

	s[0] = (id >> 8) & 0xFF;

	s[1] = id & 0xFF;

	s[2] = 0;

	xbee_pending_panID = id;

	return xbee_send_modify_at_command("ID", s);

}

/**

 * Get the PAN ID for the XBee.

 *

 * @return the personal area network id, or

 * XBEE_PAN_DEFAULT if it has not yet been set.

 **/

unsigned int xbee_get_pan_id()

{

	return xbee_panID;

}

/**

 * Set the channel the XBee is using.

 *

 * @param channel the channel the XBee will not use,

 * between 0x0B and 0x1A

 *

 * @see xbee_get_channel

 **/

int xbee_set_channel(int channel)

{

	if (channel < 0x0B || channel > 0x1A)

	{

		WL_DEBUG_PRINT("Channel out of range.\r\n");

		return -1;

	}

	char s[3];

	s[0] = channel & 0xFF;

	s[1] = 0;

	xbee_pending_channel = channel;

	return xbee_send_modify_at_command("CH", s);

}

/**

 * Returns the channel which the XBee is currently using.

 *

 * @return the channel the XBee is using

 *

 * @see xbee_set_channel

 **/

int xbee_get_channel(void)

{

	return xbee_channel;

}

/**

 * Get the 16-bit address of the XBee.

 * This is used to specify who to send messages to

 * and who messages are from.

 *

 * @return the 16-bit address of the XBee.

 **/

unsigned int xbee_get_address()

{

	return xbee_address;

}

#ifndef ROBOT

void xbee_set_com_port(char* port)

{

	xbee_com_port = port;

}

#endif

########Update This Section########

#

#

# Relative path to the root directory (containing lib directory)

ifndef COLONYROOT

COLONYROOT = ../../..

endif

# Target file name (without extension).

TARGET = main

# Uncomment this to use the wireless library

USE_WIRELESS = 1

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)

include $(COLONYROOT)/code/makefile_root.mk

#include <dragonfly_lib.h>

int testinits(void) {

  if(usb_init())

    return -1;

  usb_puts("usb\n");

  if(xbee_init()) {

    usb_puts("ERROR! xbee\n"); 

    return -1;

  }

  usb_puts("xbee\n");

  if(analog_init(0)) {

    usb_puts("ERROR! analog\n");

    return -1;

  }

  usb_puts("analog\n");

  if(bom_init(BOM15)) {

    usb_puts("ERROR! bom\n");

    return -1;

  }

  usb_puts("bom\n");

  if(motors_init()) {

    usb_puts("ERROR! motors_init\n");

    return -1;

  }

  usb_puts("motors\n");

  if(range_init()) {

    usb_puts("ERROR: range\n");

    return -1;

  }

  usb_puts("range\n");

  if(encoders_init()) {

    usb_puts("ERROR! encoders_init\n");

    return -1;

  }

  usb_puts("encoders\n");

  usb_puts("\nfirst pass done, testing re-inits\n\n");

  //now each of these should return ERROR_INIT_ALREADY_INITD

  if(usb_init() != ERROR_INIT_ALREADY_INITD) {

    usb_puts("ERROR! usb\n");

    return -1;

  }

  usb_puts("usb\n");

  if(xbee_init() != ERROR_INIT_ALREADY_INITD) {

    usb_puts("ERROR! xbee\n"); 

    return -1;

  }

  usb_puts("xbee\n");

  if(analog_init(0) != ERROR_INIT_ALREADY_INITD) {

    usb_puts("ERROR! analog\n");

    return -1;

  }

  usb_puts("analog\n");

  if(bom_init(BOM15) != ERROR_INIT_ALREADY_INITD) {

    usb_puts("ERROR! bom\n");

    return -1;

  }

  usb_puts("bom\n");

  if(motors_init() != ERROR_INIT_ALREADY_INITD) {

    usb_puts("ERROR! motors_init\n");

    return -1;

  }

  usb_puts("motors\n");

  if(range_init() != ERROR_INIT_ALREADY_INITD) {

    usb_puts("ERROR: range\n");

    return -1;

  }

  usb_puts("range\n");

  if(encoders_init() != ERROR_INIT_ALREADY_INITD) {

    usb_puts("ERROR! encoders_init\n");

    return -1;

  }

  usb_puts("encoders\n");

  usb_puts("init test passed!\n");

  return 0;

}

#include <dragonfly_lib.h>

#define RUN_TEST(f) extern int f(void); f();

int main(void) {

  //RUN_TEST(testinits);

  dragonfly_init(ALL_ON);

  while (1) {

    //RUN_TEST(testusb);

    // RUN_TEST(testanalog);

    //RUN_TEST(testeeprom);

    // RUN_TEST(testencoders);

    // RUN_TEST(testlcd);

    //RUN_TEST(testlights);

    //RUN_TEST(testmotors);

    RUN_TEST(testrangefinder);

    // RUN_TEST(testtokenring);

    // RUN_TEST(testwireless);

    //RUN_TEST(testxbee);

    delay_ms(1000);

  }

  return 0;

}

#include <dragonfly_lib.h>

#define OFF 	140

#define SLOW 	160

#define	GO		220

int testmotors(void) {

    //usb_init();

    //usb_puts("usb turned on\n");

	//forward

	orb_set_color(RED);

	motors_off();

    delay_ms(3000);

    orb_set_color(YELLOW);

	motor_l_set(1, SLOW);

    motor_r_set(1, SLOW);

    delay_ms(3000);

    orb_set_color(GREEN);

	motor_l_set(1, GO);

    motor_r_set(1, GO);

    delay_ms(3000);

	//backward

    orb_set_color(RED);

	motors_off();

    delay_ms(3000);

    orb_set_color(YELLOW);

	motor_l_set(0, SLOW);

    motor_r_set(0, SLOW);

    delay_ms(3000);

    orb_set_color(GREEN);

	motor_l_set(0, GO);

    motor_r_set(0, GO);

    delay_ms(3000);

	//spin

	orb_set_color(RED);

	motors_off();

    delay_ms(3000);

    orb_set_color(YELLOW);

	motor_l_set(1, SLOW);

    motor_r_set(0, SLOW);

    delay_ms(3000);

    orb_set_color(GREEN);

	motor_l_set(1, GO);

    motor_r_set(0, GO);

    delay_ms(3000);

	//spin other way

	orb_set_color(RED);

	motors_off();

    delay_ms(3000);

    orb_set_color(YELLOW);

	motor_l_set(0, SLOW);

    motor_r_set(1, SLOW);

    delay_ms(3000);

    orb_set_color(GREEN);

	motor_l_set(0, GO);

    motor_r_set(1, GO);

    delay_ms(3000);

	//while(1){;}

    motors_off();

    return 0;

}

/*test data

left >154 forward

right >150 forward

both >152 backward

*/

/**

 * @file test_rangefinder.c

 * @brief Contains unit test for rangefinder.c module of libdragonfly

 *

 * Contains a function allowing the user to test whether the rangefinder module

 * works correctly.

 *

 * @author Colony Project, CMU Robotics Club

 **/

/* Testing Procedure

 * - Place hand in front of orbs in 4, 3, 2, 1, 5 order

 * - Observe orbs

 *

 * Expected Behavior:

 * - Orbs flash BLUE 3 times to signal start of test

 * - During test

 *  - Orb 1 changes to reflect which sensor is under test

 *  - Orb 2 stays RED until that sensor gets a usable reading, i.e. within visible distance

 * - Orbs flash PURPLE 3 times to signal end of test

 */

#include <dragonfly_lib.h>

#define TEST_TIME 500	// duration of success indicator (in ms)

#define ON_DELAY 500	// duration of flashes at beginning and end (in ms)

#define OFF_DELAY 250	// delay between flashes at beginning and end (in ms)

int testrangefinder(void) {

    int i;  // index

    int sensor[5] = {IR4, IR3, IR2, IR1, IR5};

    int color[5] = {RED, ORANGE, YELLOW, GREEN, BLUE};

    int ret;

    // flash orbs BLUE 3 times

    for (i = 0; i < 3; i++) {

	orb_set_color(BLUE);

	delay_ms(ON_DELAY);

	orb_set_color(ORB_OFF);

	delay_ms(OFF_DELAY);

    }

    for (i = 0; i < 5; i++) {

	// indicate sensor under test

	orb2_set_color(color[i]);

	// wait for sensor interaction

	while ((ret = range_read_distance(sensor[i])) == -1) {

	    // stay RED until IR4 sees something

	    orb1_set_color(RED);

	    if(ret == -3) { //library not init'd 

	      while(1) {

		orb2_set_color(GREEN);

		orb1_set_color(RED);

		delay_ms(250);

		orb1_set_color(GREEN);

		orb2_set_color(RED);

		delay_ms(250);

	      }

	    }

	}

	orb1_set_color(GREEN);

	delay_ms(TEST_TIME);

    }

    // flash orbs PURPLE 3 times

    for (i = 0; i < 3; i++) {

	orb_set_color(PURPLE);

	delay_ms(ON_DELAY);

	orb_set_color(ORB_OFF);

	delay_ms(OFF_DELAY);

    }

    return 0;

}

#include <dragonfly_lib.h>

#include <wireless.h>

#include <wl_token_ring.h>

/**

 * Tests the token ring and BOM

 * - prints table of bom values for every robot in token ring

 * - takes several seconds to initialize token ring

 */

#define MAX_ROBOTS 16

// set a list of integers to 0

void clearRobots(int* list) {

  for(int i=0;i<MAX_ROBOTS;i++)

    list[i] = 0;

}

int testtokenring(void) {

  usb_init();

	usb_puts("usb turned on\r\n");

  wl_init();