/ - Diff - Colony - Robotics Club

     // TODO: this max may be too big b/c the packet handler array stores 3*MAX_PACKET_GROUPS bytes
     /**@brief maximum number of packet groups, size of handler array **/
     #define MAX_PACKET_GROUPS UINT8_C(255)
     #define MAX_PACKET_GROUPS UINT8_C(16)
     /**@brief init_flag when library has not been initialized **/
     #define INIT_NO UINT8_C(0)
-...
     // the send functions
     /**@brief The core send function. This will take all possible arguments and send all types of packets. **/
     int8_t wl_send(char *data, uint8_t length, uint8_t group, uint8_t scope, uint8_t dest, uint8_t mode);
     int16_t wl_send(uint8_t *data, uint8_t length, uint8_t group, uint8_t scope, uint16_t dest, uint8_t mode);
     /**@brief Wrapper for core send function that will send a global packet across the current channel. **/
     int8_t wl_send_global(char *data, uint8_t length, uint8_t group);
     int16_t wl_send_global(char *data, uint8_t length, uint8_t group);
     /**@brief Wrapper for core send function that will send a packet across the current channel on the current pan. **/
     int8_t wl_send_pan(char *data, uint8_t length, uint8_t group);
     int16_t wl_send_pan(char *data, uint8_t length, uint8_t group);
     /**@brief Wrapper for core send function that will send a packet across the current channel to a specific robot. **/
     int8_t wl_send_robot(char *data, uint8_t length, uint8_t group, uint8_t dest, uint8_t mode);
     int16_t wl_send_robot(char *data, uint8_t length, uint8_t group, uint8_t dest, uint8_t mode);
     /**@brief Default (i.e. basic) send wrapper. **/
     int8_t wl_send_basic(char *data, uint8_t length);
     int16_t wl_send_basic(char *data, uint8_t length);
     // the ack function

     #include "wl_defs.h"
     #include "wireless.h"
     #include "xbee.h"
     #include <string.h>
-...
     /* private function prototypes */
     void setack(uint8_t num,uint8_t val);
     void ackhandle(uint8_t num,uint8_t val);
     int8_t send_buf_add(uint8_t *ptr, uint8_t byte)
     int8_t send_buf_add(uint8_t *ptr, uint8_t byte);
     uint8_t send_buf_get(uint8_t *ptr);
     // the send functions
-...
       // save in ack system
       if (mode == FAST) {
         setack(nextframe,ACK_OK); // assume the send was successful
         nextframe = (nextframe == 0xFF)?1:nextframe+1; // increment frame number
         return WL_SUCCESS; // no frame number
       } else if (mode == RELIABLE) {
         setack(nextframe,SENDING); // set status to SENDING
         // save packet on sending buffer
-...
+        }
         send_buf_last = scope;
         send_buf_num_packets++;
         nextframe = (nextframe == 0xFF)?1:nextframe+1; // increment frame number
         return packet[0]; // return frame number for ack tracking
+      }
       // increment frame number
       nextframe = (nextframe == 0xFF)?1:nextframe+1;
       return ret_val; // return frame number for ack tracking
+    }
     /**
-...
      * @return positive packet number for tracking acks, or error code (TBD)
      **/
     int16_t wl_send_global(char *data, uint8_t length, uint8_t group) {
       return wl_send(*data, length, group, PAN, 0, RELIABLE);
       return wl_send(data, length, group, GLOBAL, BROADCAST, RELIABLE);
+    }
     /**
-...
      * @return positive packet number for tracking acks, or error code (TBD)
      **/
     int16_t wl_send_pan(char *data, uint8_t length, uint8_t group) {
       return wl_send(*data, length, group, PAN, 0, RELIABLE);
       return wl_send(data, length, group, PAN, BROADCAST, RELIABLE);
+    }
     /**
-...
      * @return positive packet number for tracking acks, or error code (TBD)
      **/
     int16_t wl_send_robot(char *data, uint8_t length, uint8_t group, uint16_t dest, uint8_t mode) {
       return wl_send(*data, length, group, GLOBAL, dest, mode);
       return wl_send(data, length, group, GLOBAL, dest, mode);
+    }
     /**
-...
      **/
     int16_t wl_send_basic(char *data, uint8_t length) {
     /** Check if it needs to adjust according to data type. **/
       return wl_send(*data, length, BASIC, GLOBAL, 0, RELIABLE);
       return wl_send(*data, length, BASIC, GLOBAL, BROADCAST, RELIABLE);
+    }

         memset(wl_packet_handlers, sizeof(PacketGroupHandler)*MAX_PACKET_GROUPS, 0);
         // initialize xbee
         if(xbee_lib_init() == -1) {
         if(xbee_init() == -1) {
             return WL_ERROR_INIT_FAILED;
+        }
-...
         memset(wl_packet_handlers, sizeof(PacketGroupHandler)*MAX_PACKET_GROUPS, 0);
         if(xbee_terminate() != WL_SUCCESS) {
             return WL_ERROR_TERMINATION_FAILED
             return WL_ERROR_TERMINATION_FAILED;
+        }
         return WL_SUCCESS;

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