Colony

/**

 * Copyright (c) 2009 Colony Project

 *

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 *

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 *

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file wireless.h

 * @brief Contains definitions for using the wireless library

 *

 * Contains definitions for interfacing with the

 * wireless library.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef WIRELESS_H

#define WIRELESS_H

// need this for C99 int types

#ifndef STDINT_H

#define STDINT_H

#include <stdint.h>

#endif

/**

 * @defgroup wireless Wireless

 * @brief Interface with the wireless library

 *

 * Interface with the wireless library.

 *

 * @{

 **/

/**@defgroup wl_defines Public Constants

 * @{ **/

/**@brief basic group code **/

#define BASIC UINT8_C(0)

/**@brief global scope **/

#define GLOBAL UINT8_C(0)

/**@brief local pan scope **/

#define PAN UINT8_C(1)

/**@brief broadcast address **/

#define BROADCAST UINT16_C(0xFFFF)

/**@brief reliable (TCP) mode **/

#define RELIABLE UINT8_C(0)

/**@brief fast (UDP) mode **/

#define FAST UINT8_C(1)

/**@brief standard priority **/

#define NORMAL_PRIORITY UINT8_C(0)

/**@brief high priority, handle immediately **/

#define HIGH_PRIORITY UINT8_C(1)

/**@brief packet still in sending phase **/

#define SENDING UINT8_C(0)

/**@brief packet was send successfully **/

#define ACK_OK UINT8_C(1)

/**@brief packet failure - no acknowledgment **/

#define ACK_FAILURE UINT8_C(2)

/**@brief packet failure - network too busy **/

#define CCA_FAILURE UINT8_C(3)

/**@brief packet handler function pointer type **/

#define FUNC func

/**@brief packet handler function pointer type **/

#define FNPTR void (*FUNC)(uint8_t* data,uint8_t length,uint8_t source)

// 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(16)

/**@brief init_flag when library has not been initialized **/

#define INIT_NO UINT8_C(0)

/**@brief init_flag when library has been initialized **/

#define INIT_YES UINT8_C(1)

/**@brief numer of reliable sending retries **/

#define NUM_RETRIES UINT8_C(3)

/**@} **/ // end defines group

/**

 * @struct PacketGroupHandler

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

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

 * a function pointer to the packet handler function and the priority

 * of the packet group.

 **/

typedef struct {

    // function pointer of handler for this packet group

    FNPTR;

    // priority for this packet group

    uint8_t priority;

} PacketGroupHandler;

/**@defgroup wl_functions Public API Functions

 * @{ **/

// the init function

/**@brief Initialize wireless. **/

int8_t wl_init(void);

/**@brief Terminate wireless. **/

int8_t wl_terminate(void);

// the send functions

/**@brief The core send function. This will take all possible arguments and send all types of packets. **/

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. **/

int16_t wl_send_global(uint8_t *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. **/

int16_t wl_send_pan(uint8_t *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. **/

int16_t wl_send_robot(uint8_t *data, uint8_t length, uint8_t group, uint16_t dest, uint8_t mode);

/**@brief Default (i.e. basic) send wrapper. **/

int16_t wl_send_basic(uint8_t *data, uint8_t length);

// the ack function

/**@brief Returns the number of acknowledgment errors. **/

uint8_t wl_ack_error(void);

/**@brief Checks a specific packet for the acknowledgement status. **/

int8_t wl_ack_check(uint8_t packet);

/**@brief Resets acknowledgement statistics back to zero. **/

void wl_ack_reset(void);

// the receive functions

/**@brief The main receive function.  Dispatches packets for registered handlers and returns next basic packet if available. **/

int8_t wl_get(char *data, uint8_t length);

/**@brief Returns the next basic packet if available. **/

int8_t wl_get_basic(char *data, uint8_t length);

/**@brief Dispatches packets for registered handlers. **/

int8_t wl_dispatch(void);

// the group register function

/**@brief Function to register new packet handlers (for non-default groups only). **/

int8_t wl_register_handler(uint8_t group, FNPTR, uint8_t priority);

/**@brief Function to unregister existing packet handlers (for non-default groups only). **/

int8_t wl_unregister_handler(uint8_t group);

/**@} **/ //end functions group

/**@} **/ //end wireless group

#endif