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

Revision 343

Added by Jason knichel over 16 years ago

changed the brace style and reformatted the files

     //Note: the actual frame sent has group as the first four bits and
     //frame as the last four.
     void wl_send_packet(char group, char type, char* data, int len,
     					int dest, char options, char frame);
     		    int dest, char options, char frame);
     /*Data Members*/
-...
     #ifndef ROBOT
     //called when we time out, or receive interrupt
     void sig_handler(int signo)
+    {
     	switch (signo)
+    	{
     		case SIGALRM:
     			wl_timeout = 1;
     			break;
     		case SIGINT:
     			wl_terminate();
     			exit(1);
     			break;
+    	}
     	return;
     void sig_handler(int signo) {
       switch (signo)	{
       case SIGALRM:
         wl_timeout = 1;
         break;
       case SIGINT:
         wl_terminate();
         exit(1);
         break;
+      }
       return;
+    }
     #else
     //called when the timer ticks
     void timer_handler(void)
+    {
     	wl_timeout = 1;
     void timer_handler(void) {
       wl_timeout = 1;
+    }
     #endif
-...
      * Initializes the wireless library. Must be called before any
      * other function.
      **/
     int wl_init()
+    {
     	int i;
     	for (i = 0; i < WL_MAX_PACKET_GROUPS; i++)
     		wl_packet_groups[i] = NULL;
     int wl_init() {
       int i;
       for (i = 0; i < WL_MAX_PACKET_GROUPS; i++)
         wl_packet_groups[i] = NULL;
     	if (xbee_lib_init() == -1) {
     	  return -1;
+    	}
       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);
     	#endif
     	#else
       //begin timeout timer
     #ifdef ROBOT
     #ifdef FIREFLY
       rtc_init(PRESCALE_DIV_256, 32, &timer_handler);
     #else
       rtc_init(HALF_SECOND, &timer_handler);
     #endif
     #else
     	//create our timer
     	struct itimerval timer_val;
     	struct timeval interval;
     	interval.tv_sec = 0;
     	interval.tv_usec = 500000;
     	struct timeval first_time;
     	first_time.tv_sec = 0;
     	first_time.tv_usec = 500000;
     	timer_val.it_interval = interval;
     	timer_val.it_value = first_time;
     	if(setitimer(ITIMER_REAL,&timer_val,NULL)==-1)
+    	{
     		WL_DEBUG_PRINT("Error creating a timer.\r\n");
     		perror("Failure's cause");
     		exit(1);
+    	}
       //create our timer
       struct itimerval timer_val;
       struct timeval interval;
       interval.tv_sec = 0;
       interval.tv_usec = 500000;
       struct timeval first_time;
       first_time.tv_sec = 0;
       first_time.tv_usec = 500000;
       timer_val.it_interval = interval;
       timer_val.it_value = first_time;
       if(setitimer(ITIMER_REAL,&timer_val,NULL)==-1) {
         WL_DEBUG_PRINT("Error creating a timer.\r\n");
         perror("Failure's cause");
         exit(1);
+      }
     	//create signal handler
     	struct sigaction wl_sig_act;
     	wl_sig_act.sa_handler = sig_handler;
     	wl_sig_act.sa_flags = 0;
     	sigemptyset(&wl_sig_act.sa_mask);
     	sigaction(SIGALRM, &wl_sig_act, 0);
     	sigaction(SIGINT, &wl_sig_act, 0);
     	#endif
       //create signal handler
       struct sigaction wl_sig_act;
       wl_sig_act.sa_handler = sig_handler;
       wl_sig_act.sa_flags = 0;
       sigemptyset(&wl_sig_act.sa_mask);
       sigaction(SIGALRM, &wl_sig_act, 0);
       sigaction(SIGINT, &wl_sig_act, 0);
     #endif
     	return 0;
       return 0;
+    }
     /**
      * Uninitializes the wireless library.
      **/
     void wl_terminate()
+    {
     	int i;
     	for (i = 0; i < WL_MAX_PACKET_GROUPS; i++)
     		if (wl_packet_groups[i] != NULL &&
     			wl_packet_groups[i]->unregister != NULL)
     			wl_packet_groups[i]->unregister();
     void wl_terminate() {
       int i;
       for (i = 0; i < WL_MAX_PACKET_GROUPS; i++)
         if (wl_packet_groups[i] != NULL &&
     	wl_packet_groups[i]->unregister != NULL)
           wl_packet_groups[i]->unregister();
     	xbee_terminate();
       xbee_terminate();
+    }
     /**
-...
+     *
      * @see wl_get_pan
      **/
     void wl_set_pan(int pan)
+    {
     	xbee_set_pan_id(pan);
     void wl_set_pan(int pan) {
       xbee_set_pan_id(pan);
+    }
     /**
-...
+     *
      * @see wl_set_pan
      **/
     int wl_get_pan(void)
+    {
     	return xbee_get_pan_id();
     int wl_get_pan(void) {
       return xbee_get_pan_id();
+    }
     /**
-...
+     *
      * @see wl_get_channel
      **/
     void wl_set_channel(int channel)
+    {
     	xbee_set_channel(channel);
     void wl_set_channel(int channel) {
       xbee_set_channel(channel);
+    }
     /**
-...
+     *
      * @see wl_set_channel
      **/
     int wl_get_channel(void)
+    {
     	return xbee_get_channel();
     int wl_get_channel(void) {
       return xbee_get_channel();
+    }
     /**
-...
+     *
      * @return the 16-bit address of the XBee module.
      **/
     int wl_get_xbee_id()
+    {
     	return xbee_get_address();
     int wl_get_xbee_id() {
       return xbee_get_address();
+    }
     /**
-...
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_robot_to_robot_global_packet(char group, char type,
     		char* data, int len, int dest, char frame)
+    {
     	wl_send_packet(group, type, data, len, dest,
     			XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
     					  char* data, int len, int dest, char frame) {
       wl_send_packet(group, type, data, len, dest,
     		 XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
+    }
     /**
-...
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_robot_to_robot_packet(char group, char type,
     		char* data, int len, int dest, char frame)
+    {
     	wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_NONE,
     			frame);
     				   char* data, int len, int dest, char frame) {
       wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_NONE,
     		 frame);
+    }
     /**
-...
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_global_packet(char group, char type,
     		char* data, int len, char frame)
+    {
     	wl_send_packet(group, type, data, len, XBEE_BROADCAST,
     			XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
     			   char* data, int len, char frame) {
       wl_send_packet(group, type, data, len, XBEE_BROADCAST,
     		 XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
+    }
     /**
-...
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_pan_packet(char group, char type,
     		char* data, int len, char frame)
+    {
     	wl_send_packet(group, type, data, len, XBEE_BROADCAST,
     			XBEE_OPTIONS_NONE, frame);
     			char* data, int len, char frame) {
       wl_send_packet(group, type, data, len, XBEE_BROADCAST,
     		 XBEE_OPTIONS_NONE, frame);
+    }
     /**
-...
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_packet(char group, char type, char* data, int len,
     					int dest, char options, char frame)
+    {
     	char buf[128];
     	int i;
     	if (frame != 0)
     		frame = (frame & 0x0F) | ((group & 0x0F) << 4);
     	buf[0] = group;
     	buf[1] = type;
     	for (i = 0; i < len; i++)
     		buf[2 + i] = data[i];
     	xbee_send_packet(buf, len + 2, dest, options, frame);
     		    int dest, char options, char frame) {
       char buf[128];
       int i;
       if (frame != 0)
         frame = (frame & 0x0F) | ((group & 0x0F) << 4);
       buf[0] = group;
       buf[1] = type;
       for (i = 0; i < len; i++)
         buf[2 + i] = data[i];
       xbee_send_packet(buf, len + 2, dest, options, frame);
+    }
     /**
-...
+     *
      * @param h the PacketGroupHandler to register
      **/
     void wl_register_packet_group(PacketGroupHandler* h)
+    {
     	if (h->groupCode >= WL_MAX_PACKET_GROUPS)
+    	{
     		WL_DEBUG_PRINT("Packet group code too large.\r\n");
     		return;
+    	}
     	if (wl_packet_groups[h->groupCode] != NULL)
+    	{
     		WL_DEBUG_PRINT("Packet group code already registered.\r\n");
     		return;
+    	}
     	wl_packet_groups[h->groupCode] = h;
     void wl_register_packet_group(PacketGroupHandler* h) {
       if (h->groupCode >= WL_MAX_PACKET_GROUPS) {
         WL_DEBUG_PRINT("Packet group code too large.\r\n");
         return;
+      }
       if (wl_packet_groups[h->groupCode] != NULL) {
         WL_DEBUG_PRINT("Packet group code already registered.\r\n");
         return;
+      }
       wl_packet_groups[h->groupCode] = h;
+    }
     /**
-...
+     *
      * @param h the packet group to remove
      **/
     void wl_unregister_packet_group(PacketGroupHandler* h)
+    {
     	unsigned int groupCode = h->groupCode;
     	PacketGroupHandler* p = wl_packet_groups[groupCode];
     	if (p != NULL && p->unregister != NULL)
     		p->unregister();
     	wl_packet_groups[groupCode] = NULL;
     void wl_unregister_packet_group(PacketGroupHandler* h) {
       unsigned int groupCode = h->groupCode;
       PacketGroupHandler* p = wl_packet_groups[groupCode];
       if (p != NULL && p->unregister != NULL)
         p->unregister();
       wl_packet_groups[groupCode] = NULL;
+    }
     /**
      * Called when the timer is triggered. This calls the timeout
      * handlers of all the registered packet groups.
      **/
     void wl_do_timeout()
+    {
     	int i;
     	for (i = 0; i < WL_MAX_PACKET_GROUPS; i++)
     		if (wl_packet_groups[i] != NULL &&
     			wl_packet_groups[i]->timeout_handler != NULL)
     			wl_packet_groups[i]->timeout_handler();
     void wl_do_timeout() {
       int i;
       for (i = 0; i < WL_MAX_PACKET_GROUPS; i++)
         if (wl_packet_groups[i] != NULL &&
     	wl_packet_groups[i]->timeout_handler != NULL)
           wl_packet_groups[i]->timeout_handler();
+    }
     /**
-...
      * This function will call timeout handlers, as well as
      * received packet and transmit status handlers.
      **/
     void wl_do()
+    {
     	if (wl_timeout)
+    	{
     		wl_do_timeout();
     		wl_timeout = 0;
+    	}
     void wl_do() {
       if (wl_timeout) {
         wl_do_timeout();
         wl_timeout = 0;
+      }
     	int len = xbee_get_packet(wl_buf);
     	if (len < 0)//no packet received
     		return;
       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;
+    		}
       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);
     		int success = 0;
     		if (wl_buf[2] == 0)
     			success = 1;
     		else
+    		{
     			WL_DEBUG_PRINT("No response received.\r\n");
     			if (wl_buf[2] == 2)
+    			{
     				WL_DEBUG_PRINT("CCA Failure\r\n");
+    			}
     			if (wl_buf[2] == 3)
+    			{
     				WL_DEBUG_PRINT("Purged\r\n");
+    			}
+    		}
         //the first four bits are the packet group
         //this only works with under 16 groups
         int group = (int)(wl_buf[1] >> 4);
         int success = 0;
         if (wl_buf[2] == 0)
           success = 1;
         else {
           WL_DEBUG_PRINT("No response received.\r\n");
           if (wl_buf[2] == 2) {
     	WL_DEBUG_PRINT("CCA Failure\r\n");
+          }
           if (wl_buf[2] == 3) {
     	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_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;
+    		}
       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]);
         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];
     		*/
         /*
         //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;
         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_buf + 7, packetLen);
     		return;
+    	}
         if (wl_packet_groups[group] != NULL
     	&& wl_packet_groups[group]->handle_receive != NULL)
           wl_packet_groups[group]->handle_receive(type, source,
     					      wl_buf + 7, packetLen);
         return;
+      }
     	WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
     	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 343