Colony

/**

 * @file wireless.h

 * @brief Contains definitions for the wireless library.

 *

 * Contains functions for the wireless library.

 *

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

 **/

//Note: If this is raised above 16, we will need to do

//something about frame numbers for TX Status packets.

/**

 * The maximum number of packet groups.

 **/

#define WL_MAX_PACKET_GROUPS 16

/**

 * The default PAN.

 **/

#define WL_DEFAULT_PAN 0x3331

/**

 * @defgroup wireless Wireless

 * @brief Wireless definitions.

 *

 * Contains functions and definitions for dealing with wireless functionality.<br><br>

 *

 * The wireless library provides a modular method for dealing with 

 * wireless packets, by allowing packet groups to be registered.

 * A packet group is a collection of packets which share a packet

 * group code. Each packet in the group also has a type. A packet 

 * group code and type are sent with each packet. When a packet

 * with a group code registered in the wireless library is 

 * received, the corresponding event handler is called. The

 * event handler uses the packet type and other information

 * stored in the packet to respond.<br><br>

 *

 * This architecture allows different wireless functionality to be

 * defined and handled separately, making it simpler and more

 * efficient to take advantage of the XBee's wireless functionality.

 *

 * @{

 **/

/**

 * @struct PacketGroupHandler

 * A PacketGroupHandler represents a packet group, and is used to 

 * register a packet group with the wireless library. It contains

 * handlers for various events which can occur related to a packet

 * group.

 **/

typedef struct

{

        /**

         * The group code for this packet group. This number

         * must be unique. The maximum number of packet groups

         * is defined by WL_MAX_PACKET_GROUPS.

         **/

        unsigned int groupCode;

        /**

         * Called every half second (not in interrupt,

         * but in wl_do).

         **/

        void (*timeout_handler) (void);

        /**

         * Called when a transmit status packet is received

         * from the XBee where the first four bits of the frame

         * are  the group code.

         *

         * @param frame the last four bits of the frame

         * @param received is true if we received an ack, 0 if

         * we did not.

         **/

        void (*handle_response) (int frame, int received);

        /**

         * Called when we receive a packet from this group.

         *

         * @param type the packet type

         * @param source the 16-bit address of the XBee this

         * packet was sent from

         * @param packet the packet received

         * @param length the length of the packet

         **/

        void (*handle_receive) (char type, int source, unsigned char* packet,

                                                        int length);

        /**

         * Called for any cleanup when the network is turned off.

         **/

        void (*unregister) (void);

} PacketGroupHandler;

/**@brief Initialize the wireless library **/

void wl_init(void);

/**@brief Uninitialize the wireless library **/

void wl_terminate(void);

/**@brief Perform wireless library functionality **/

void wl_do(void);

/**@brief Register a packet group with the wireless library **/

void wl_register_packet_group(PacketGroupHandler* h);

/**@brief Unregister a packet group with the wireless library **/

void wl_unregister_packet_group(PacketGroupHandler* h);

/**@brief Send a packet to a specific robot in any PAN **/

void wl_send_robot_to_robot_global_packet(char group, char type,

                char* data, int len, int dest, char frame);

/**@brief Send a packet to a specific robot in our PAN **/

void wl_send_robot_to_robot_packet(char group, char type,

                char* data, int len, int dest, char frame);

/**@brief Send a packet to all robots **/

void wl_send_global_packet(char group, char type,

                char* data, int len, char frame);

/**@brief Send a packet to all robots in our PAN **/

void wl_send_pan_packet(char group, char type,

                char* data, int len, char frame);

/**@brief Get the 16-bit address of the XBee module **/

unsigned int wl_get_xbee_id(void);

/** @} **/ // end defgroup