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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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* @file wireless_send.c
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* @brief Wireless library send functions
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*
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* Implementation of high level wireless communication.
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* This is the send functions portion of the library.
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*
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* @author Colony Project, CMU Robotics Club
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**/
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#include "wl_defs.h" |
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#include "wireless.h" |
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#include "xbee.h" |
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#include <string.h> |
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/**
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* Definition for wireless library send packet structure
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* byte 1: length of packet (from frame number to end of data)
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* byte 2: frame number
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* bytes 3-n: data (dest, options, frame number, group code, packet)
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* byte n+1: num retries
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*
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* Definition for ack buffer
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* 2 bit system: 0=still sending
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* 1=OK
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* 2=ack failure
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* 3=CCA failure
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**/
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/* global variables */
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uint8_t nextframe = 1; // number of next frame |
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uint8_t ack_buf[64]; // ack buffer (holds 255 packet return codes) |
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uint8_t send_buf[PACKET_BUFFER_SIZE]; // sending buffer for retries
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uint8_t send_buf_first = 0; // first byte of data on buffer |
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uint8_t send_buf_last = 0; // next free byte on buffer |
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uint8_t send_buf_num_packets = 0; // number of packets in sending buffer |
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/* private function prototypes */
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void setack(uint8_t num,uint8_t val);
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void ackhandle(uint8_t num,uint8_t val);
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int8_t send_buf_add(uint8_t *ptr, uint8_t byte); |
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uint8_t send_buf_get(uint8_t *ptr); |
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// the send functions
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/**
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* @addtogroup wireless Wireless
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* @{
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**/
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/**
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* The core send function. This will take all possible arguments and send all types of packets.
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*
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* @param data pointer to the byte array of data to be included in the packet
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* @param length the length of the data array
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* @param group the packet group of the packet
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* @param scope flag for sending global packet or your current PAN
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* @param dest robot ID (for robot to robot packet)
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* @param mode flag for using FAST or RELIABLE sending
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*
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* @return positive packet number for tracking acks, or error code
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**/
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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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uint8_t packet[6];
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int16_t ret = WL_SUCCESS; |
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// build packet header
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packet[0] = nextframe;
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packet[1] = (dest&0xFF00)>>8; |
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packet[2] = dest&0x00FF; |
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packet[3] = XBEE_OPTIONS_NONE;
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packet[4] = nextframe;
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packet[5] = group;
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// set scope
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if (scope == GLOBAL)
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packet[3] &= XBEE_OPTIONS_BROADCAST_ALL_PANS;
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else if (scope != PAN) { |
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WL_DEBUG_PRINT_P("Error - bad scope in core send function\r\n");
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return WL_ERROR_SCOPE;
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} |
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// set mode
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if (mode == FAST) {
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packet[3] &= XBEE_OPTIONS_DISABLE_RESPONSE;
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} else if (mode != RELIABLE) { |
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WL_DEBUG_PRINT_P("Error - bad mode in core send function\r\n");
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return WL_ERROR_MODE;
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} |
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// do checksum
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group = XBEE_FRAME_TX_REQUEST_16; |
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xbee_checksum_add(packet,6,&group);
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xbee_checksum_add(data,length,&group); |
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group = 0xFF-group;
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// send the packet
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if (xbee_send_header(length+7) != WL_SUCCESS) { |
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WL_DEBUG_PRINT_P("1Error sending packet from core send function\r\n");
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return WL_ERROR_SEND;
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} |
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if (xbee_sendc(XBEE_FRAME_TX_REQUEST_16) != WL_SUCCESS) {
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WL_DEBUG_PRINT_P("2Error sending packet from core send function\r\n");
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return WL_ERROR_SEND;
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} |
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if (xbee_send(packet,6) != WL_SUCCESS) { |
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WL_DEBUG_PRINT_P("3Error sending packet from core send function\r\n");
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return WL_ERROR_SEND;
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} |
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if (xbee_send(data,length) != WL_SUCCESS) {
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WL_DEBUG_PRINT_P("4Error sending packet from core send function\r\n");
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return WL_ERROR_SEND;
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} |
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if (xbee_sendc(group) != WL_SUCCESS) {
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WL_DEBUG_PRINT_P("5Error sending packet from core send function\r\n");
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return WL_ERROR_SEND;
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} |
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// save in ack system
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if (mode == FAST) {
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setack(nextframe,ACK_OK); // assume the send was successful
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nextframe = (nextframe == 0xFF)?1:nextframe+1; // increment frame number |
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return ret; // no frame number |
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} else if (mode == RELIABLE) { |
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setack(nextframe,SENDING); // set status to SENDING
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// save packet on sending buffer
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scope = send_buf_last; // use as ptr to send buffer
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if (send_buf_add(&scope,length+6) != WL_SUCCESS) { // add length |
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WL_DEBUG_PRINT_P("Error adding length to sending buffer\r\n");
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ret = WL_ERROR_SENDING_BUFFER_FULL; |
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} |
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for(mode=0;mode<6;mode++) { // add header |
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if (send_buf_add(&scope,packet[mode]) != WL_SUCCESS) {
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WL_DEBUG_PRINT_P("Error adding header to sending buffer\r\n");
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ret = WL_ERROR_SENDING_BUFFER_FULL; |
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} |
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} |
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for(mode=0;mode<length;mode++) { // add data |
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if (send_buf_add(&scope,data[mode]) != WL_SUCCESS) {
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WL_DEBUG_PRINT_P("Error adding data to sendig buffer\r\n");
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ret = WL_ERROR_SENDING_BUFFER_FULL; |
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} |
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} |
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if (send_buf_add(&scope,0) != WL_SUCCESS) { // add num retries=0 |
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WL_DEBUG_PRINT_P("Error adding num_retries to sending buffer\r\n");
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ret = WL_ERROR_SENDING_BUFFER_FULL; |
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} |
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send_buf_last = scope; |
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send_buf_num_packets++; |
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WL_DEBUG_PRINT_P("send_buf_last:");
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WL_DEBUG_PRINT_INT(send_buf_last); |
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WL_DEBUG_PRINT_P("pos:");
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WL_DEBUG_PRINT_INT(scope); |
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WL_DEBUG_PRINT_P("send_buf_num_packets:");
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WL_DEBUG_PRINT_INT(send_buf_num_packets); |
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nextframe = (nextframe == 0xFF)?1:nextframe+1; // increment frame number |
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return (ret == WL_SUCCESS)?packet[0]:ret; // return frame number for ack tracking |
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} |
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return WL_ERROR_SEND; // shouldn't get here, but if it does there's a problem |
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} |
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/**
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* Wrapper for core send function that will send a global packet across the current channel.
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*
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* @param data pointer to the byte array of data to be included in the packet
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* @param length the length of the data array
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* @param group the packet group of the packet
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*
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* @return positive packet number for tracking acks, or error code
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**/
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int16_t wl_send_global(uint8_t *data, uint8_t length, uint8_t group) { |
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return wl_send(data, length, group, GLOBAL, BROADCAST, RELIABLE);
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} |
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/**
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* Wrapper for core send function that will send a packet across the current channel on the current pan.
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*
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* @param data pointer to the byte array of data to be included in the packet
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* @param length the length of the data array
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* @param group the packet group of the packet
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*
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* @return positive packet number for tracking acks, or error code (TBD)
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**/
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int16_t wl_send_pan(uint8_t *data, uint8_t length, uint8_t group) { |
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return wl_send(data, length, group, PAN, BROADCAST, RELIABLE);
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} |
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/**
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* Wrapper for core send function that will send a packet across the current channel to a specific robot.
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*
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* @param data pointer to the byte array of data to be included in the packet
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* @param length the length of the data array
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* @param group the packet group of the packet
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* @param dest robot ID (for robot to robot packet)
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* @param mode flag for using FAST or RELIABLE sending
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*
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* @return positive packet number for tracking acks, or error code (TBD)
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**/
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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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return wl_send(data, length, group, GLOBAL, dest, mode);
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} |
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/**
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* Default (i.e. basic) send wrapper.
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*
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* @param data pointer to the byte array of data to be included in the packet
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* @param length the length of the data array
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*
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* @return positive packet number for tracking acks, or error code (TBD)
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**/
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int16_t wl_send_basic(uint8_t *data, uint8_t length) { |
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/** Check if it needs to adjust according to data type. **/
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return wl_send(data, length, BASIC, GLOBAL, BROADCAST, RELIABLE);
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} |
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/**
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* acknowledgment error
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* check if any of the packets you have sent have been lost.
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*
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* note that all other error checking will be handled by library,
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* so your user behavior won't have to worry about it
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*
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* @return the # of packets lost (up to 255)
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**/
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uint8_t wl_ack_error(void) {
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WL_DEBUG_PRINT_P("entering wl_ack_error function");
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uint8_t val=0,i=1; |
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while(1) { |
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if (((ack_buf[i/4])&(0x2<<(i%4))) != 0) // if the ack is in an error state |
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val++; |
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if (i==255) |
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break;
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i++; |
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} |
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WL_DEBUG_PRINT_P("|num_errors:");
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WL_DEBUG_PRINT_INT(val); |
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WL_DEBUG_PRINT_P("\r\n");
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return val;
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} |
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/**
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* acknowledgement error check
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* check if a specific packet has been lost
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* note: buffer will overflow every 255 packets
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*
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* @param packet packet number
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*
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* @return {SENDING,ACK_OK,ACK_FAILURE,CCA_FAILURE}
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**/
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int8_t wl_ack_check(uint8_t packet) { |
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WL_DEBUG_PRINT_P("entering wl_ack_check function|ack=");
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if (packet == 0) { |
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// no ack information here
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WL_DEBUG_PRINT_P("packet number cannot be 0\r\n");
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return WL_ERROR_ARGUMENT;
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} |
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WL_DEBUG_PRINT_HEX(ack_buf[packet/4]&(0x3<<(packet%4))); |
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WL_DEBUG_PRINT_P("\r\n");
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// check ack
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return ack_buf[packet/4]&(0x3<<(packet%4)); |
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} |
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/**
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* acknowledgement reset
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* reset the acknowledgement buffer
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**/
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void wl_ack_reset(void) { |
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WL_DEBUG_PRINT_P("entering wl_ack_reset function\r\n");
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memset(ack_buf,0,64); |
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} |
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/**@} **/ //end defgroup |
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// Define all private functions down here
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/*
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* sets 2 bits in the ack_buf
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*
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* @param num the ack number
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* @param val {SENDING,ACK_OK,ACK_FAILURE,CCA_FAILURE}
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*/
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void setack(uint8_t num,uint8_t val) {
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WL_DEBUG_PRINT_P("entering setack function|num=");
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WL_DEBUG_PRINT_INT(num); |
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WL_DEBUG_PRINT_P("|val=");
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WL_DEBUG_PRINT_HEX(val); |
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WL_DEBUG_PRINT_P("\r\n");
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switch(num%4) { |
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case 0: |
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ack_buf[num/4] &= (0xFC|val); |
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break;
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case 1: |
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ack_buf[num/4] &= (0xF3|(val<<2)); |
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break;
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case 2: |
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ack_buf[num/4] &= (0xCF|(val<<4)); |
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break;
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case 3: |
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ack_buf[num/4] &= (0x3F|(val<<6)); |
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break;
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} |
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} |
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/* ack handler */
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void ackhandle(uint8_t num,uint8_t val) {
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uint8_t len; |
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uint8_t packets = 0;
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uint8_t num_packet = 0;
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WL_DEBUG_PRINT_P("entering ackhandle function: num:");
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WL_DEBUG_PRINT_HEX(num); |
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WL_DEBUG_PRINT_P("\r\n");
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switch(val) {
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case 0: |
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WL_DEBUG_PRINT_P("ack success\r\n");
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// success
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setack(num,ACK_OK); // set status code
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// remove from buffer
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val = send_buf_first; |
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if (send_buf_num_packets == 0) |
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return;
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WL_DEBUG_PRINT_P("|num_send_packets:");
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WL_DEBUG_PRINT_INT(send_buf_num_packets); |
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while (1) { |
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len = send_buf_get(&val); |
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WL_DEBUG_PRINT_P("|send_packet_buf_pos:");
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WL_DEBUG_PRINT_INT(val); |
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WL_DEBUG_PRINT_P("|send_packet_len:");
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WL_DEBUG_PRINT_INT(len); |
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WL_DEBUG_PRINT_P("|send_packet_first:");
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WL_DEBUG_PRINT_INT(send_buf_first); |
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WL_DEBUG_PRINT_P("|send_packet_last:");
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WL_DEBUG_PRINT_INT(send_buf_last); |
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WL_DEBUG_PRINT_P("|send_buf:");
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for(int i=send_buf_first;i<send_buf_last;i++) |
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WL_DEBUG_PRINT_HEX(send_buf[i]); |
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num_packet = send_buf_get(&val); |
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if (num_packet != num) {
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// not the correct packet
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if ((num_packet < num && num > 9 && num_packet < num-10) |
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|| (num_packet > num && num > 9)) {
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ackhandle(num_packet,1); // resend |
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ackhandle(num,0); // redo this packet |
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return;
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} |
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WL_DEBUG_PRINT_P("|not correct packet");
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val += len; |
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WL_DEBUG_PRINT_P("|send_packet_buf_pos:");
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WL_DEBUG_PRINT_INT(val); |
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if (val >= PACKET_BUFFER_SIZE)
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val -= PACKET_BUFFER_SIZE; |
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if (val == send_buf_last || ++packets >= send_buf_num_packets) {
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// reached end of bufer, so assume not present
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return;
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} |
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} else {
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// remove packet
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WL_DEBUG_PRINT_P("|remove packet");
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num = val+len; |
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val = (val<2)?PACKET_BUFFER_SIZE+val-2:val-2; |
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if (num >= PACKET_BUFFER_SIZE)
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num -= PACKET_BUFFER_SIZE; |
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while(num != send_buf_last) {
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if (send_buf_add(&val,send_buf_get(&num)) != WL_SUCCESS)
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return; // error |
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} |
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send_buf_last = val; // set new end of buffer
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send_buf_num_packets--; // remove packet from count
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WL_DEBUG_PRINT_P("|send_packet_first:");
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WL_DEBUG_PRINT_INT(send_buf_first); |
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WL_DEBUG_PRINT_P("|send_packet_last:");
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WL_DEBUG_PRINT_INT(send_buf_last); |
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WL_DEBUG_PRINT_P("|num_send_packets:");
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WL_DEBUG_PRINT_INT(send_buf_num_packets); |
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return;
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} |
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} |
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break;
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case 1: |
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WL_DEBUG_PRINT_P("no ack\r\n");
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// no ack
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// check resend attempts
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val = send_buf_first; |
424 |
if (send_buf_num_packets == 0) |
425 |
return;
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while (1) { |
427 |
len = send_buf_get(&val); |
428 |
if (send_buf_get(&val) != num) {
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// not the correct packet, so continue
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val += len; |
431 |
if (val >= PACKET_BUFFER_SIZE)
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val -= PACKET_BUFFER_SIZE; |
433 |
if (val == send_buf_last) {
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// reached end of bufer, so assume not present
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setack(num,ACK_FAILURE); // mark as failed send
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return;
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} |
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} else {
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// check attempts on packet
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num = val+len-1; // set to end of packet |
441 |
if (num >= PACKET_BUFFER_SIZE)
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num -= PACKET_BUFFER_SIZE; |
443 |
if (send_buf[num] < NUM_RETRIES) {
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val = (val<2)?PACKET_BUFFER_SIZE+val-2:val-2; // set to start of this packet |
445 |
// retry sending
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send_buf[num]++; // increment retries
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val = (val==0)?PACKET_BUFFER_SIZE-1:val-1; // go back one byte |
448 |
if (xbee_send_header(len+1) != WL_SUCCESS) { |
449 |
WL_DEBUG_PRINT_P("Error sending packet from ackhandle function\r\n");
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return;
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} |
452 |
len = XBEE_FRAME_TX_REQUEST_16; |
453 |
while(val!=num) {
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// compute checksum
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len += send_buf[val]; |
456 |
if (xbee_putc(send_buf_get(&val)) != WL_SUCCESS) { // send byte |
457 |
WL_DEBUG_PRINT_P("Error sending packet from ackhandle function\r\n");
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return;
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} |
460 |
} |
461 |
len = 0xFF - len;
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if (xbee_putc(len) != WL_SUCCESS) { // send |
463 |
WL_DEBUG_PRINT_P("Error sending packet from ackhandle function\r\n");
|
464 |
return;
|
465 |
} |
466 |
return;
|
467 |
} else {
|
468 |
// done sending, mark as failed send
|
469 |
val = (val==0)?PACKET_BUFFER_SIZE-1:val-1; // set to frame num |
470 |
setack(send_buf[val],ACK_FAILURE); |
471 |
val = (val==0)?PACKET_BUFFER_SIZE-1:val-1; // set to start of this packet |
472 |
// remove packet
|
473 |
while(num != send_buf_last) {
|
474 |
if (send_buf_add(&val,send_buf_get(&num)) != WL_SUCCESS)
|
475 |
return; // error |
476 |
} |
477 |
return;
|
478 |
} |
479 |
} |
480 |
} |
481 |
break; // shouldn't get here, but just in case |
482 |
case 2: |
483 |
WL_DEBUG_PRINT_P("CCA failure\r\n");
|
484 |
// CCA failure
|
485 |
// check resend attempts
|
486 |
val = send_buf_first; |
487 |
if (send_buf_num_packets == 0) |
488 |
return;
|
489 |
while (1) { |
490 |
len = send_buf_get(&val); |
491 |
if (send_buf_get(&val) != num) {
|
492 |
// not the correct packet, so continue
|
493 |
val += len; |
494 |
if (val >= PACKET_BUFFER_SIZE)
|
495 |
val -= PACKET_BUFFER_SIZE; |
496 |
if (val == send_buf_last) {
|
497 |
// reached end of bufer, so assume not present
|
498 |
setack(num,CCA_FAILURE); // mark as failed send
|
499 |
return;
|
500 |
} |
501 |
} else {
|
502 |
// check attempts on packet
|
503 |
num = val+len-1; // set to end of packet |
504 |
if (num >= PACKET_BUFFER_SIZE)
|
505 |
num -= PACKET_BUFFER_SIZE; |
506 |
if (send_buf[num] < NUM_RETRIES) {
|
507 |
val = (val<2)?PACKET_BUFFER_SIZE+val-2:val-2; // set to start of this packet |
508 |
// retry sending
|
509 |
send_buf[num]++; // increment retries
|
510 |
val = (val==0)?PACKET_BUFFER_SIZE-1:val-1; // go back one byte |
511 |
if (xbee_send_header(len+1) != WL_SUCCESS) { |
512 |
WL_DEBUG_PRINT_P("Error sending packet from ackhandle function\r\n");
|
513 |
return;
|
514 |
} |
515 |
len = XBEE_FRAME_TX_REQUEST_16; |
516 |
while(val!=num) {
|
517 |
// compute checksum
|
518 |
len += send_buf[val]; |
519 |
if (xbee_putc(send_buf_get(&val)) != WL_SUCCESS) { // send byte |
520 |
WL_DEBUG_PRINT_P("Error sending packet from ackhandle function\r\n");
|
521 |
return;
|
522 |
} |
523 |
} |
524 |
len = 0xFF - len;
|
525 |
if (xbee_putc(len) != WL_SUCCESS) { // send |
526 |
WL_DEBUG_PRINT_P("Error sending packet from ackhandle function\r\n");
|
527 |
return;
|
528 |
} |
529 |
return;
|
530 |
} else {
|
531 |
// done sending, mark as failed send
|
532 |
val = (val==0)?PACKET_BUFFER_SIZE-1:val-1; // set to frame num |
533 |
setack(send_buf[val],CCA_FAILURE); |
534 |
val = (val==0)?PACKET_BUFFER_SIZE-1:val-1; // set to start of this packet |
535 |
// remove packet
|
536 |
while(num != send_buf_last) {
|
537 |
if (send_buf_add(&val,send_buf_get(&num)) != WL_SUCCESS)
|
538 |
return; // error |
539 |
} |
540 |
return;
|
541 |
} |
542 |
} |
543 |
} |
544 |
break; // shouldn't get here, but just in case |
545 |
} |
546 |
} |
547 |
|
548 |
/* adds a byte to the send buffer */
|
549 |
int8_t send_buf_add(uint8_t *ptr, uint8_t byte) { |
550 |
if (*ptr == send_buf_first && send_buf_num_packets > 0) { |
551 |
// buffer full
|
552 |
WL_DEBUG_PRINT_P("send buffer full\r\n");
|
553 |
return WL_ERROR_SENDING_BUFFER_FULL;
|
554 |
} |
555 |
send_buf[(*ptr)++] = byte; |
556 |
if (*ptr == PACKET_BUFFER_SIZE)
|
557 |
*ptr = 0;
|
558 |
return WL_SUCCESS;
|
559 |
} |
560 |
/* gets a byte from the send buffer */
|
561 |
uint8_t send_buf_get(uint8_t *ptr) { |
562 |
uint8_t byte = send_buf[(*ptr)++]; |
563 |
if (*ptr == PACKET_BUFFER_SIZE)
|
564 |
*ptr = 0;
|
565 |
return byte;
|
566 |
} |