Revision 1617
wl: clean up unit tests
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/** |
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* Copyright (c) 2007 Colony Project
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* Copyright (c) 2009 Colony Project
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* @file wl_defs.h |
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* @brief Definitions for Wireless |
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* Contains definitions for wireless packet groups, packet types, |
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* debugging information, etc. |
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* Contains definitions for wireless, debugging information, etc. |
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* |
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* @author Brian Coltin, Colony Project, CMU Robotics Club
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* @author Colony Project, CMU Robotics Club |
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**/ |
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#ifndef WL_DEFS_H |
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#define WL_DEFS_H |
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// create main wireless page documentation |
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/** @mainpage The Wireless Library |
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* |
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* This is the documentation for the Colony wireless library.\n\n |
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* Xbee documentation can be found under @ref xbee \n |
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* Higher level wireless documentation can be found under @ref wireless \n |
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**/ |
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// need this for C99 int types |
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#ifndef STDINT_H |
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#define STDINT_H |
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#include <stdint.h> |
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#endif |
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// ***** TODO: these next two defines should be moved to makefile options |
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//comment out this line if using a computer hooked up to an xbee |
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//#define ROBOT |
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//uncomment this line for debug information |
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//#define WL_DEBUG |
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//return value definitions |
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/**@addtogroup wireless |
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* @{ **/ |
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/**@defgroup wl_error Error Codes |
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* @{ **/ |
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/** @brief Success **/ |
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#define WL_SUCCESS INT8_C(0) |
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/** @brief Error code for init failure **/ |
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#define WL_ERROR_INIT_FAILED 1 |
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#define WL_ERROR_INIT_FAILED INT8_C(-1) |
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/** @brief Error code for duplicate init calls **/ |
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#define WL_ERROR_INIT_ALREADY_INITD 2 |
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#define WL_ERROR_INIT_ALREADY_INITD INT8_C(-2) |
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/** @brief Error code for not calling init **/ |
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#define WL_ERROR_LIBRARY_NOT_INITD 3
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#define WL_ERROR_LIBRARY_NOT_INITD INT8_C(-3)
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// Packet Groups and Types |
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/** @brief Error code for failed termination **/ |
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#define WL_ERROR_TERMINATION_FAILED INT8_C(-4) |
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// Error group
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#define WL_ERROR_GROUP 1
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/** @brief Error code for failed packet group registration **/
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#define WL_ERROR_FAILED_REGISTRATION INT8_C(-5)
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#define WL_ERROR_STRING_TYPE 1 |
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/** @brief Error code for failed packet group registration **/ |
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#define WL_ERROR_FAILED_UNREGISTRATION INT8_C(-6) |
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// Token Ring group
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#define WL_TOKEN_RING_GROUP 2
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/** @brief Error in arguments **/
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#define WL_ERROR_ARGUMENT INT8_C(-7)
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#define WL_TOKEN_PASS 1 |
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#define WL_TOKEN_SENSOR_MATRIX 2 |
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#define WL_TOKEN_BOM_ON 3 |
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#define WL_TOKEN_JOIN 4 |
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#define WL_TOKEN_JOIN_ACCEPT 5 |
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/** @brief Error code for send failure **/ |
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#define WL_ERROR_SEND INT8_C(-10) |
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// timing constants |
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#ifndef FIREFLY |
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#define BOM_DELAY 100 |
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#else |
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#define BOM_DELAY 200 |
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#endif |
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/** @brief Error code for a bad group number **/ |
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#define WL_ERROR_BAD_GROUP INT8_C(-11) |
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#define DEATH_DELAY 4
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#define JOIN_DELAY 8
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/** @brief Error code for a bad scope **/
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#define WL_ERROR_SCOPE INT8_C(-12)
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/** @brief Error code for a bad robot address **/ |
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#define WL_ERROR_ADDRESS INT8_C(-13) |
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/** @brief Error code for a bad mode **/ |
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#define WL_ERROR_MODE INT8_C(-14) |
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/** @brief Error code for received paacket destination too small for received packet **/ |
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#define WL_ERROR_TOO_SMALL INT8_C(-15) |
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/** @brief Error code for sending buffer full (the packet was sent, but no retries will be made). **/ |
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#define WL_ERROR_SENDING_BUFFER_FULL INT8_C(-16) |
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/** @brief Error code for failed xbee command **/ |
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#define WL_ERROR_XBEE_COMMAND INT8_C(-17) |
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/** @brief Error code for failed 16bit xbee command **/ |
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#define WL_ERROR_XBEE_COMMAND_16BIT 0xFEFE |
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/** @brief Error code for bad baud rate **/ |
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#define WL_ERROR_BAUD INT8_C(-18) |
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/**@} */ // end error group |
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// TODO: is this a good size? |
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/*Buffer sizes*/ |
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#define PACKET_BUFFER_SIZE 128 |
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/**@} */ // end wireless group |
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#ifdef WL_DEBUG |
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#ifdef ROBOT |
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#include <serial.h> |
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#endif |
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#ifdef ROBOT |
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#define WL_DEBUG_PRINT( s ) usb_puts( s ) |
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#define WL_DEBUG_PRINT_CHAR( c ) usb_putc( c ) |
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#define WL_DEBUG_PRINT_INT( i ) usb_puti(i) |
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#else |
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#define WL_DEBUG_PRINT( s ) printf( s ) |
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#endif |
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#ifdef ROBOT |
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#define WL_DEBUG_PRINT_INT( i ) usb_puti(i) |
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#else |
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#define WL_DEBUG_PRINT_CHAR( c ) printf("%c", c) |
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#define WL_DEBUG_PRINT_INT( i ) printf("%i", i) |
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#endif |
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#else |
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#define WL_DEBUG_PRINT( s ) |
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#define WL_DEBUG_PRINT_CHAR( c ) |
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#define WL_DEBUG_PRINT_INT( i ) |
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#endif |
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#endif |
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