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/** |
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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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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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|
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/** |
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* @file wireless.h |
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* @brief Contains definitions for using the wireless library |
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* |
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* Contains definitions for interfacing with the |
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* wireless library. |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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|
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#ifndef WIRELESS_H |
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#define WIRELESS_H |
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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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|
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/** |
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* @defgroup wireless Wireless |
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* @brief Interface with the wireless library |
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* |
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* Interface with the wireless library. |
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* |
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* @{ |
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**/ |
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|
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/**@defgroup wl_defines Public Constants |
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* @{ **/ |
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|
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/**@brief basic group code **/ |
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#define BASIC UINT8_C(0) |
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|
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/**@brief global scope **/ |
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#define GLOBAL UINT8_C(0) |
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|
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/**@brief local pan scope **/ |
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#define PAN UINT8_C(1) |
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|
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/**@brief broadcast address **/ |
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#define BROADCAST UINT16_C(0xFFFF) |
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|
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/**@brief reliable (TCP) mode **/ |
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#define RELIABLE UINT8_C(0) |
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|
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/**@brief fast (UDP) mode **/ |
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#define FAST UINT8_C(1) |
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|
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/**@brief standard priority **/ |
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#define NORMAL_PRIORITY UINT8_C(0) |
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|
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/**@brief high priority, handle immediately **/ |
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#define HIGH_PRIORITY UINT8_C(1) |
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|
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/**@brief packet still in sending phase **/ |
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#define SENDING UINT8_C(0) |
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|
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/**@brief packet was send successfully **/ |
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#define ACK_OK UINT8_C(1) |
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|
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/**@brief packet failure - no acknowledgment **/ |
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#define ACK_FAILURE UINT8_C(2) |
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|
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/**@brief packet failure - network too busy **/ |
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#define CCA_FAILURE UINT8_C(3) |
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|
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/**@brief packet handler function pointer type **/ |
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#define FUNC func |
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|
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/**@brief packet handler function pointer type **/ |
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#define FNPTR void (*FUNC)(uint8_t* data,uint8_t length,uint8_t source) |
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|
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// TODO: this max may be too big b/c the packet handler array stores 3*MAX_PACKET_GROUPS bytes |
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/**@brief maximum number of packet groups, size of handler array **/ |
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#define MAX_PACKET_GROUPS UINT8_C(16) |
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|
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/**@brief init_flag when library has not been initialized **/ |
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#define INIT_NO UINT8_C(0) |
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|
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/**@brief init_flag when library has been initialized **/ |
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#define INIT_YES UINT8_C(1) |
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|
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/**@brief numer of reliable sending retries **/ |
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#define NUM_RETRIES UINT8_C(3) |
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|
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/**@} **/ // end defines group |
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/** |
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* @struct PacketGroupHandler |
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* A PacketGroupHandler represents a packet group, and is used to |
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* register a packet group with the wireless library. It contains |
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* a function pointer to the packet handler function and the priority |
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* of the packet group. |
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**/ |
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typedef struct { |
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|
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// function pointer of handler for this packet group |
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FNPTR; |
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|
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// priority for this packet group |
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uint8_t priority; |
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|
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} PacketGroupHandler; |
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static PacketGroupHandler wl_packet_handlers[MAX_PACKET_GROUPS]; |
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|
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/**@defgroup wl_functions Public API Functions |
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* @{ **/ |
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|
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// the init function |
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|
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/**@brief Initialize wireless. **/ |
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int8_t wl_init(void); |
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|
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/**@brief Terminate wireless. **/ |
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int8_t wl_terminate(void); |
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|
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// the send functions |
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/**@brief The core send function. This will take all possible arguments and send all types of packets. **/ |
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int16_t wl_send(uint8_t *data, uint8_t length, uint8_t group, uint8_t scope, uint16_t dest, uint8_t mode); |
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|
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/**@brief Wrapper for core send function that will send a global packet across the current channel. **/ |
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int16_t wl_send_global(uint8_t *data, uint8_t length, uint8_t group); |
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|
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/**@brief Wrapper for core send function that will send a packet across the current channel on the current pan. **/ |
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int16_t wl_send_pan(uint8_t *data, uint8_t length, uint8_t group); |
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|
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/**@brief Wrapper for core send function that will send a packet across the current channel to a specific robot. **/ |
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int16_t wl_send_robot(uint8_t *data, uint8_t length, uint8_t group, uint16_t dest, uint8_t mode); |
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/**@brief Default (i.e. basic) send wrapper. **/ |
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int16_t wl_send_basic(uint8_t *data, uint8_t length); |
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// the ack function |
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/**@brief Returns the number of acknowledgment errors. **/ |
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uint8_t wl_ack_error(void); |
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|
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/**@brief Checks a specific packet for the acknowledgement status. **/ |
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int8_t wl_ack_check(uint8_t packet); |
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|
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/**@brief Resets acknowledgement statistics back to zero. **/ |
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void wl_ack_reset(void); |
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// the receive functions |
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/**@brief The main receive function. Dispatches packets for registered handlers and returns next basic packet if available. **/ |
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int8_t wl_get(char *data, uint8_t length); |
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|
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/**@brief Returns the next basic packet if available. **/ |
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int8_t wl_get_basic(char *data, uint8_t length); |
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|
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/**@brief Dispatches packets for registered handlers. **/ |
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int8_t wl_dispatch(void); |
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// the group register function |
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|
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/**@brief Function to register new packet handlers (for non-default groups only). **/ |
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int8_t wl_register_handler(uint8_t group, FNPTR, uint8_t priority); |
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|
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/**@brief Function to unregister existing packet handlers (for non-default groups only). **/ |
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int8_t wl_unregister_handler(uint8_t group); |
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/**@} **/ //end functions group |
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|
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/**@} **/ //end wireless group |
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|
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#endif |