/trunk/code/lib/src/libwireless/wireless.c - Diff - Colony - Robotics Club

Revision 336

Updated wireless to use a circular buffer instead of a queue using malloc. Tested on both the computer and robots with a token ring, and was successful.

     /**
      * Copyright (c) 2007 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
-...
      * 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
-...
      * Initializes the wireless library. Must be called before any
      * other function.
      **/
     void wl_init()
     int wl_init()
+    {
     	int i;
     	for (i = 0; i < WL_MAX_PACKET_GROUPS; i++)
     		wl_packet_groups[i] = NULL;
     	xbee_lib_init();
     	if (xbee_lib_init() == -1) {
     	  return -1;
+    	}
     	//begin timeout timer
     	#ifdef ROBOT
     	#ifdef FIREFLY
     	rtc_init(PRESCALE_DIV_256, 32, &timer_handler);
     	#else
     	rtc_init(HALF_SECOND, &timer_handler);
     	rtc_init(HALF_SECOND, &timer_handler);
     	#endif
     	#else
     	//create our timer
     	struct itimerval timer_val;
     	struct timeval interval;
-...
     	timer_val.it_value = first_time;
     	if(setitimer(ITIMER_REAL,&timer_val,NULL)==-1)
+    	{
     		WL_DEBUG_PRINT("Error creating a timer.\r\n");
     		WL_DEBUG_PRINT("Error creating a timer.\r\n");
     		perror("Failure's cause");
     		exit(1);
     		exit(1);
+    	}
     	//create signal handler
-...
     	sigaction(SIGALRM, &wl_sig_act, 0);
     	sigaction(SIGINT, &wl_sig_act, 0);
     	#endif
     	return 0;
+    }
     /**
-...
     		if (wl_packet_groups[i] != NULL &&
     			wl_packet_groups[i]->unregister != NULL)
     			wl_packet_groups[i]->unregister();
     	xbee_terminate();
+    }
-...
+     *
      * @return the 16-bit address of the XBee module.
      **/
     unsigned int wl_get_xbee_id()
     int wl_get_xbee_id()
+    {
     	return xbee_get_address();
+    }
-...
     void wl_send_pan_packet(char group, char type,
     		char* data, int len, char frame)
+    {
     	wl_send_packet(group, type, data, len, XBEE_BROADCAST,
     	wl_send_packet(group, type, data, len, XBEE_BROADCAST,
     			XBEE_OPTIONS_NONE, frame);
+    }
-...
     /**
      * Unregister a packet group from the wireless library.
+     *
+     *
      * @param h the packet group to remove
      **/
     void wl_unregister_packet_group(PacketGroupHandler* h)
-...
     		wl_do_timeout();
     		wl_timeout = 0;
+    	}
     	int len = xbee_get_packet(wl_buf);
     	if (len < 0)//no packet received
     		return;
     	if (wl_buf[0] == XBEE_TX_STATUS)
+    	{
     		if (len != 3)
-...
     			WL_DEBUG_PRINT("Transmit Status packet should be of length 3.\r\n");
     			return;
+    		}
     		//the first four bits are the packet group
     		//this only works with under 16 groups
     		int group = (int)(wl_buf[1] >> 4);
-...
     				WL_DEBUG_PRINT("Purged\r\n");
+    			}
+    		}
     		if (wl_packet_groups[group] != NULL &&
     					wl_packet_groups[group]->handle_response != NULL)
     			wl_packet_groups[group]->handle_response(
     					(int)wl_buf[1] & 0x0F, success);
     		return;
+    	}
     	if (wl_buf[0] == XBEE_RX)
+    	{
     		if (len < 7)
-...
     			WL_DEBUG_PRINT("Packet is too small.\r\n");
     			return;
+    		}
     		int source = ((int)wl_buf[1] << 8) + ((int)wl_buf[2]);
     		/*
     		//unused for now
     		int signalStrength = wl_buf[3];
     		//1 for Address broadcast, 2 for PAN broadcast
     		int options = wl_buf[4];
     		*/
     		int group = wl_buf[5];
     		int type = wl_buf[6];
     		int packetLen = len - 7;
     		if (wl_packet_groups[group] != NULL
     				&& wl_packet_groups[group]->handle_receive != NULL)
     			wl_packet_groups[group]->handle_receive(type, source,
     			wl_packet_groups[group]->handle_receive(type, source,
     				wl_buf + 7, packetLen);
     		return;
+    	}
     	WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
     	return;
+    }
     #ifndef ROBOT
     void wl_set_com_port(char* port){
       xbee_set_com_port(port);
     void wl_set_com_port(char* port)
+    {
     	xbee_set_com_port(port);
+    }
     #endif

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Revision 336