root / trunk / code / projects / libwireless / lib / wireless.c @ 203
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1 | 17 | bcoltin | #include "wireless.h" |
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2 | #include "xbee.h" |
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3 | #include <stdlib.h> |
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4 | #include <stdio.h> |
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5 | |||
6 | #include "wl_defs.h" |
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7 | |||
8 | #ifndef ROBOT
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9 | 109 | bcoltin | #include <sys/time.h> |
10 | 17 | bcoltin | #include <signal.h> |
11 | #else
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12 | #include <time.h> |
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13 | 86 | bcoltin | #ifndef FIREFLY
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14 | 17 | bcoltin | #include <bom.h> |
15 | #endif
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16 | 86 | bcoltin | #endif
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17 | 17 | bcoltin | |
18 | /*Function Prototypes*/
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19 | |||
20 | void wl_do_timeout(void); |
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21 | |||
22 | //Note: the actual frame sent has group as the first four bits and
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23 | //frame as the last four.
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24 | void wl_send_packet(char group, char type, char* data, int len, |
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25 | int dest, char options, char frame); |
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26 | |||
27 | /*Data Members*/
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28 | |||
29 | //used to store incoming and outgoing packets
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30 | unsigned char wl_buf[128]; |
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31 | //1 if we have timed out since we last checked, 0 otherwise.
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32 | int wl_timeout = 0; |
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33 | |||
34 | PacketGroupHandler* wl_packet_groups[WL_MAX_PACKET_GROUPS]; |
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35 | |||
36 | #ifndef ROBOT
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37 | |||
38 | //called when we time out, or receive interrupt
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39 | void sig_handler(int signo) |
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40 | { |
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41 | switch (signo)
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42 | { |
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43 | case SIGALRM:
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44 | wl_timeout = 1;
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45 | break;
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46 | case SIGINT:
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47 | wl_terminate(); |
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48 | exit(1);
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49 | break;
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50 | } |
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51 | return;
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52 | } |
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53 | 166 | bcoltin | #else
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54 | |||
55 | //called when the timer ticks
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56 | void timer_handler(void) |
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57 | { |
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58 | wl_timeout = 1;
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59 | } |
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60 | |||
61 | 17 | bcoltin | #endif
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62 | |||
63 | /**
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64 | * Initializes the wireless library. Must be called before any
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65 | * other function.
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66 | **/
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67 | void wl_init()
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68 | { |
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69 | int i;
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70 | for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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71 | wl_packet_groups[i] = NULL;
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72 | |||
73 | 60 | bcoltin | xbee_lib_init(); |
74 | 17 | bcoltin | |
75 | //begin timeout timer
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76 | #ifdef ROBOT
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77 | 86 | bcoltin | #ifdef FIREFLY
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78 | 166 | bcoltin | rtc_init(PRESCALE_DIV_256, 32, &timer_handler);
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79 | 86 | bcoltin | #else
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80 | 166 | bcoltin | rtc_init(HALF_SECOND, &timer_handler); |
81 | 86 | bcoltin | #endif
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82 | 17 | bcoltin | #else
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83 | 109 | bcoltin | |
84 | //create our timer
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85 | struct itimerval timer_val;
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86 | struct timeval interval;
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87 | interval.tv_sec = 0;
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88 | interval.tv_usec = 500000;
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89 | struct timeval first_time;
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90 | first_time.tv_sec = 0;
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91 | first_time.tv_usec = 500000;
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92 | timer_val.it_interval = interval; |
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93 | timer_val.it_value = first_time; |
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94 | if(setitimer(ITIMER_REAL,&timer_val,NULL)==-1) |
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95 | 119 | bcoltin | { |
96 | 17 | bcoltin | WL_DEBUG_PRINT("Error creating a timer.\r\n");
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97 | 109 | bcoltin | perror("Failure's cause");
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98 | 17 | bcoltin | exit(1);
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99 | } |
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100 | 109 | bcoltin | |
101 | //create signal handler
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102 | 17 | bcoltin | struct sigaction wl_sig_act;
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103 | 162 | jknichel | wl_sig_act.sa_handler = sig_handler; |
104 | 17 | bcoltin | wl_sig_act.sa_flags = 0;
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105 | sigemptyset(&wl_sig_act.sa_mask); |
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106 | sigaction(SIGALRM, &wl_sig_act, 0);
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107 | sigaction(SIGINT, &wl_sig_act, 0);
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108 | #endif
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109 | } |
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110 | |||
111 | /**
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112 | * Uninitializes the wireless library.
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113 | **/
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114 | void wl_terminate()
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115 | { |
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116 | int i;
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117 | for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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118 | if (wl_packet_groups[i] != NULL && |
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119 | wl_packet_groups[i]->unregister != NULL)
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120 | wl_packet_groups[i]->unregister(); |
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121 | |||
122 | xbee_terminate(); |
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123 | } |
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124 | |||
125 | /**
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126 | 60 | bcoltin | * Set the PAN for the XBee to join.
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127 | *
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128 | * @param pan the new PAN
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129 | *
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130 | * @see wl_get_pan
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131 | **/
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132 | void wl_set_pan(int pan) |
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133 | { |
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134 | xbee_set_pan_id(pan); |
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135 | } |
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136 | |||
137 | /**
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138 | * Get the PAN the XBee is currently part of.
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139 | *
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140 | * @return the PAN of the XBee
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141 | *
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142 | * @see wl_set_pan
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143 | **/
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144 | int wl_get_pan(void) |
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145 | { |
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146 | return xbee_get_pan_id();
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147 | } |
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148 | |||
149 | /**
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150 | * Set the channel the XBee is listening to.
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151 | *
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152 | * @param channel the new channel to join
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153 | *
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154 | * @see wl_get_channel
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155 | **/
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156 | void wl_set_channel(int channel) |
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157 | { |
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158 | xbee_set_channel(channel); |
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159 | } |
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160 | |||
161 | /**
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162 | * Get the channel the XBee is part of.
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163 | *
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164 | * @return the channel the XBee is part of
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165 | *
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166 | * @see wl_set_channel
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167 | **/
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168 | int wl_get_channel(void) |
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169 | { |
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170 | return xbee_get_channel();
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171 | } |
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172 | |||
173 | /**
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174 | 17 | bcoltin | * Returns the 16-bit address of the XBee module.
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175 | *
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176 | * @return the 16-bit address of the XBee module.
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177 | **/
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178 | unsigned int wl_get_xbee_id() |
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179 | { |
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180 | return xbee_get_address();
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181 | } |
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182 | |||
183 | /**
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184 | * Send a packet to a specific XBee without specifying a PAN.
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185 | *
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186 | * @param group the packet group
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187 | * @param type the packet type
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188 | * @param data the packet data
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189 | * @param len the packet length in bytes
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190 | * @param dest the 16-bit address of the XBee to send the packet to
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191 | * @param frame the frame number to see with a TX_STATUS response
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192 | **/
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193 | void wl_send_robot_to_robot_global_packet(char group, char type, |
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194 | char* data, int len, int dest, char frame) |
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195 | { |
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196 | wl_send_packet(group, type, data, len, dest, |
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197 | XBEE_OPTIONS_BROADCAST_ALL_PANS, frame); |
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198 | } |
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199 | |||
200 | /**
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201 | * Send a packet to a specific XBee in the same PAN.
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202 | *
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203 | * @param group the packet group
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204 | * @param type the packet type
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205 | * @param data the packet data
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206 | * @param len the packet length in bytes
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207 | * @param dest the 16-bit address of the XBee to send the packet to
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208 | * @param frame the frame number to see with a TX_STATUS response
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209 | **/
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210 | void wl_send_robot_to_robot_packet(char group, char type, |
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211 | char* data, int len, int dest, char frame) |
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212 | { |
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213 | wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_NONE, |
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214 | frame); |
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215 | } |
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216 | |||
217 | /**
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218 | * Send a packet to all XBees in all PANs.
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219 | *
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220 | * @param group the packet group
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221 | * @param type the packet type
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222 | * @param data the packet data
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223 | * @param len the packet length in bytes
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224 | * @param frame the frame number to see with a TX_STATUS response
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225 | **/
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226 | void wl_send_global_packet(char group, char type, |
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227 | char* data, int len, char frame) |
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228 | { |
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229 | wl_send_packet(group, type, data, len, XBEE_BROADCAST, |
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230 | XBEE_OPTIONS_BROADCAST_ALL_PANS, frame); |
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231 | } |
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232 | |||
233 | /**
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234 | * Send a packet to all XBee's in the same PAN.
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235 | *
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236 | * @param group the packet group
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237 | * @param type the packet type
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238 | * @param data the packet data
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239 | * @param len the packet length in bytes
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240 | * @param frame the frame number to see with a TX_STATUS response
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241 | **/
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242 | void wl_send_pan_packet(char group, char type, |
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243 | char* data, int len, char frame) |
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244 | { |
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245 | wl_send_packet(group, type, data, len, XBEE_BROADCAST, |
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246 | XBEE_OPTIONS_NONE, frame); |
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247 | } |
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248 | |||
249 | /**
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250 | * Send a packet.
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251 | *
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252 | * @param group the packet group
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253 | * @param type the packet type
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254 | * @param data the packet data
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255 | * @param len the packet length in bytes
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256 | * @param dest the destination of the packet
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257 | * @param options the options for sending the packet
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258 | * @param frame the frame number to see with a TX_STATUS response
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259 | **/
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260 | void wl_send_packet(char group, char type, char* data, int len, |
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261 | int dest, char options, char frame) |
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262 | { |
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263 | char buf[128]; |
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264 | int i;
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265 | if (frame != 0) |
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266 | frame = (frame & 0x0F) | ((group & 0x0F) << 4); |
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267 | buf[0] = group;
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268 | buf[1] = type;
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269 | for (i = 0; i < len; i++) |
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270 | buf[2 + i] = data[i];
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271 | xbee_send_packet(buf, len + 2, dest, options, frame);
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272 | } |
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273 | |||
274 | /**
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275 | * Register a packet group with the wireless library. The event
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276 | * handlers in the packet group will be called whenever an
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277 | * event dealing with the packet group's group code occurs.
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278 | *
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279 | * @param h the PacketGroupHandler to register
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280 | **/
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281 | void wl_register_packet_group(PacketGroupHandler* h)
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282 | { |
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283 | if (h->groupCode >= WL_MAX_PACKET_GROUPS)
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284 | { |
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285 | WL_DEBUG_PRINT("Packet group code too large.\r\n");
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286 | return;
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287 | } |
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288 | if (wl_packet_groups[h->groupCode] != NULL) |
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289 | { |
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290 | WL_DEBUG_PRINT("Packet group code already registered.\r\n");
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291 | return;
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292 | } |
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293 | wl_packet_groups[h->groupCode] = h; |
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294 | } |
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295 | |||
296 | /**
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297 | * Unregister a packet group from the wireless library.
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298 | *
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299 | * @param h the packet group to remove
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300 | **/
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301 | void wl_unregister_packet_group(PacketGroupHandler* h)
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302 | { |
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303 | unsigned int groupCode = h->groupCode; |
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304 | PacketGroupHandler* p = wl_packet_groups[groupCode]; |
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305 | if (p != NULL && p->unregister != NULL) |
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306 | p->unregister(); |
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307 | wl_packet_groups[groupCode] = NULL;
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308 | } |
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309 | |||
310 | /**
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311 | * Called when the timer is triggered. This calls the timeout
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312 | * handlers of all the registered packet groups.
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313 | **/
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314 | void wl_do_timeout()
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315 | { |
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316 | int i;
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317 | for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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318 | if (wl_packet_groups[i] != NULL && |
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319 | wl_packet_groups[i]->timeout_handler != NULL)
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320 | wl_packet_groups[i]->timeout_handler(); |
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321 | } |
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322 | |||
323 | /**
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324 | * Performs wireless library functionality. This function must
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325 | * be called frequently for wireless to perform effectively.
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326 | * This function will call timeout handlers, as well as
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327 | * received packet and transmit status handlers.
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328 | **/
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329 | void wl_do()
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330 | { |
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331 | if (wl_timeout)
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332 | { |
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333 | wl_do_timeout(); |
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334 | wl_timeout = 0;
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335 | } |
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336 | |||
337 | int len = xbee_get_packet(wl_buf);
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338 | if (len < 0)//no packet received |
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339 | return;
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340 | |||
341 | if (wl_buf[0] == XBEE_TX_STATUS) |
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342 | { |
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343 | if (len != 3) |
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344 | { |
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345 | WL_DEBUG_PRINT("Transmit Status packet should be of length 3.\r\n");
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346 | return;
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347 | } |
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348 | |||
349 | //the first four bits are the packet group
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350 | //this only works with under 16 groups
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351 | int group = (int)(wl_buf[1] >> 4); |
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352 | int success = 0; |
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353 | if (wl_buf[2] == 0) |
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354 | success = 1;
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355 | else
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356 | { |
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357 | WL_DEBUG_PRINT("No response received.\r\n");
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358 | if (wl_buf[2] == 2) |
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359 | 119 | bcoltin | { |
360 | 17 | bcoltin | WL_DEBUG_PRINT("CCA Failure\r\n");
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361 | 119 | bcoltin | } |
362 | 17 | bcoltin | if (wl_buf[2] == 3) |
363 | 119 | bcoltin | { |
364 | 17 | bcoltin | WL_DEBUG_PRINT("Purged\r\n");
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365 | 119 | bcoltin | } |
366 | 17 | bcoltin | } |
367 | |||
368 | if (wl_packet_groups[group] != NULL && |
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369 | wl_packet_groups[group]->handle_response != NULL)
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370 | wl_packet_groups[group]->handle_response( |
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371 | (int)wl_buf[1] & 0x0F, success); |
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372 | return;
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373 | } |
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374 | |||
375 | if (wl_buf[0] == XBEE_RX) |
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376 | { |
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377 | if (len < 7) |
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378 | { |
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379 | WL_DEBUG_PRINT("Packet is too small.\r\n");
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380 | return;
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381 | } |
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382 | |||
383 | int source = ((int)wl_buf[1] << 8) + ((int)wl_buf[2]); |
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384 | |||
385 | /*
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386 | //unused for now
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387 | int signalStrength = wl_buf[3];
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388 | //1 for Address broadcast, 2 for PAN broadcast
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389 | int options = wl_buf[4];
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390 | */
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391 | |||
392 | int group = wl_buf[5]; |
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393 | int type = wl_buf[6]; |
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394 | int packetLen = len - 7; |
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395 | |||
396 | if (wl_packet_groups[group] != NULL |
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397 | && wl_packet_groups[group]->handle_receive != NULL)
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398 | wl_packet_groups[group]->handle_receive(type, source, |
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399 | wl_buf + 7, packetLen);
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400 | return;
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401 | } |
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402 | |||
403 | WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
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404 | return;
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405 | } |
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406 | |||
407 | 203 | justin | |
408 | #ifndef ROBOT
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409 | void wl_set_com_port(char* port){ |
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410 | xbee_set_com_port(port); |
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411 | } |
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412 | #endif
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413 |