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

Revision 343

Added by Jason knichel over 16 years ago

changed the brace style and reformatted the files

     int xbee_handle_packet(char* packet, int len);
     void xbee_handle_at_command_response(char* command, char result,
     	char* extra, int extraLen);
     				     char* extra, int extraLen);
     void xbee_handle_status(char status);
     int xbee_verify_checksum(char* packet, int len);
     char xbee_compute_checksum(char* packet, int len);
-...
      * to the buffer.
      **/
     #ifndef FIREFLY
     ISR(USART1_RX_vect)
+    {
     	char c = UDR1;
     	arrival_buf[buffer_last] = c;
     	int t = buffer_last + 1;
     	if (t == XBEE_BUFFER_SIZE)
     		t = 0;
     	if (t == buffer_first)
+    	{
     		WL_DEBUG_PRINT("Out of space in buffer.\n");
+    	}
     	buffer_last = t;
     ISR(USART1_RX_vect) {
       char c = UDR1;
       arrival_buf[buffer_last] = c;
       int t = buffer_last + 1;
       if (t == XBEE_BUFFER_SIZE)
         t = 0;
       if (t == buffer_first) {
         WL_DEBUG_PRINT("Out of space in buffer.\n");
+      }
       buffer_last = t;
+    }
     #else
     SIGNAL(SIG_USART0_RECV)
+    {
     	char c = UDR0;
     	arrival_buf[buffer_last] = c;
     	int t = buffer_last + 1;
     	if (t == XBEE_BUFFER_SIZE)
     		t = 0;
     	if (t == buffer_first)
+    	{
     		WL_DEBUG_PRINT("Out of space in buffer.\n");
+    	}
     	buffer_last = t;
     SIGNAL(SIG_USART0_RECV) {
       char c = UDR0;
       arrival_buf[buffer_last] = c;
       int t = buffer_last + 1;
       if (t == XBEE_BUFFER_SIZE)
         t = 0;
       if (t == buffer_first) {
         WL_DEBUG_PRINT("Out of space in buffer.\n");
+      }
       buffer_last = t;
+    }
     #endif
-...
     /**
      * Thread that listens to the xbee.
      **/
     void* listen_to_xbee(void* x)
+    {
     	char c;
     	while (1)
+    	{
     		xbee_read(&c, 1);
     		arrival_buf[buffer_last] = c;
     		int t = buffer_last + 1;
     		if (t == XBEE_BUFFER_SIZE)
     			t = 0;
     		if (t == buffer_first)
+    		{
     			WL_DEBUG_PRINT("Out of space in buffer.\n");
+    		}
     		buffer_last = t;
+    	}
     	return 0;
     void* listen_to_xbee(void* x) {
       char c;
       while (1) {
         xbee_read(&c, 1);
         arrival_buf[buffer_last] = c;
         int t = buffer_last + 1;
         if (t == XBEE_BUFFER_SIZE)
           t = 0;
         if (t == buffer_first) {
           WL_DEBUG_PRINT("Out of space in buffer.\n");
+        }
         buffer_last = t;
+      }
       return 0;
+    }
     #endif
-...
     /**
      * Initializes the XBee library so that other functions may be used.
      **/
     int xbee_lib_init(void)
+    {
     	arrival_buf[0] = 'A';
     	arrival_buf[1] = 'A';
     	arrival_buf[2] = 'A';
     	#ifdef ROBOT
     int xbee_lib_init(void) {
       arrival_buf[0] = 'A';
       arrival_buf[1] = 'A';
       arrival_buf[2] = 'A';
     #ifdef ROBOT
     	//enable the receiving interrupt
     	#ifdef FIREFLY
     	UCSR0B |= _BV(RXCIE) | _BV(RXEN);
     	#else
     	UCSR1B |= _BV(RXCIE);
     	#endif
     	sei();
     	#else
     	printf("Connecting to port %s.\n", xbee_com_port);
     	xbee_stream = open(xbee_com_port, O_RDWR);
     	if (xbee_stream == -1/* || lockf(xbee_stream, F_TEST, 0) != 0*/)
+    	{
     		printf("Failed to open connection to XBee on port %s\r\n", xbee_com_port);
     		return -1;
+    	}
       //enable the receiving interrupt
     #ifdef FIREFLY
       UCSR0B |= _BV(RXCIE) | _BV(RXEN);
     #else
       UCSR1B |= _BV(RXCIE);
     #endif
       sei();
     #else
       printf("Connecting to port %s.\n", xbee_com_port);
       xbee_stream = open(xbee_com_port, O_RDWR);
       if (xbee_stream == -1/* || lockf(xbee_stream, F_TEST, 0) != 0*/) {
         printf("Failed to open connection to XBee on port %s\r\n", xbee_com_port);
         return -1;
+      }
     	// set baud rate, etc. correctly
     	struct termios options;
       // set baud rate, etc. correctly
       struct termios options;
     	tcgetattr(xbee_stream, &options);
     	cfsetispeed(&options, B9600);
     	cfsetospeed(&options, B9600);
     	options.c_iflag &= ~ICRNL;
     	options.c_oflag &= ~OCRNL;
     	options.c_cflag |= (CLOCAL | CREAD);
     	options.c_cflag &= ~PARENB;
     	options.c_cflag &= ~CSTOPB;
     	options.c_cflag &= ~CSIZE;
     	options.c_cflag |= CS8;
     	options.c_lflag &= ~ICANON;
     	options.c_cc[VMIN] = 1;
     	options.c_cc[VTIME] = 50;
       tcgetattr(xbee_stream, &options);
       cfsetispeed(&options, B9600);
       cfsetospeed(&options, B9600);
       options.c_iflag &= ~ICRNL;
       options.c_oflag &= ~OCRNL;
       options.c_cflag |= (CLOCAL | CREAD);
       options.c_cflag &= ~PARENB;
       options.c_cflag &= ~CSTOPB;
       options.c_cflag &= ~CSIZE;
       options.c_cflag |= CS8;
       options.c_lflag &= ~ICANON;
       options.c_cc[VMIN] = 1;
       options.c_cc[VTIME] = 50;
     	if (tcsetattr(xbee_stream, TCSANOW, &options))
+    	{
     		fprintf(stderr, "Error setting attributes.\n");
     		return -1;
+    	}
       if (tcsetattr(xbee_stream, TCSANOW, &options)) {
         fprintf(stderr, "Error setting attributes.\n");
         return -1;
+      }
     	//lockf(xbee_stream, F_LOCK, 0);
       //lockf(xbee_stream, F_LOCK, 0);
     	xbee_listen_thread =
     		(pthread_t*)malloc(sizeof(pthread_t));
     	if (xbee_listen_thread == NULL)
+    	{
     		fprintf(stderr, "%s: Malloc failed.\n", __FUNCTION__);
     		return -1;
+    	}
       xbee_listen_thread =
         (pthread_t*)malloc(sizeof(pthread_t));
       if (xbee_listen_thread == NULL) {
         fprintf(stderr, "%s: Malloc failed.\n", __FUNCTION__);
         return -1;
+      }
     	int ret = pthread_create(xbee_listen_thread, NULL,
     		listen_to_xbee, NULL);
     	if (ret)
+    	{
     		fprintf(stderr, "Failed to create listener thread.\r\n");
     		return -1;
+    	}
       int ret = pthread_create(xbee_listen_thread, NULL,
     			   listen_to_xbee, NULL);
       if (ret) {
         fprintf(stderr, "Failed to create listener thread.\r\n");
         return -1;
+      }
     	#endif
     	xbee_enter_command_mode();
     	xbee_enter_api_mode();
     	xbee_exit_command_mode();
     	xbee_send_read_at_command("MY");
     #endif
       xbee_enter_command_mode();
       xbee_enter_api_mode();
       xbee_exit_command_mode();
       xbee_send_read_at_command("MY");
     	//wait to return until the address is set
     	while (xbee_address == 0) xbee_get_packet(NULL);
       //wait to return until the address is set
       while (xbee_address == 0) xbee_get_packet(NULL);
     	return 0;
       return 0;
+    }
     /**
      * Call when finished using the XBee library. This releases
      * all sued resources.
      **/
     void xbee_terminate()
+    {
     	#ifndef ROBOT
     	pthread_cancel(*xbee_listen_thread);
     	free(xbee_listen_thread);
     	lockf(xbee_stream, F_ULOCK, 0);
     	close(xbee_stream);
     	#endif
     void xbee_terminate() {
     #ifndef ROBOT
       pthread_cancel(*xbee_listen_thread);
       free(xbee_listen_thread);
       lockf(xbee_stream, F_ULOCK, 0);
       close(xbee_stream);
     #endif
+    }
     /**
-...
      * @param buf the buffer of data to send
      * @param size the number of bytes to send
      **/
     void xbee_send(char* buf, int size)
+    {
     	#ifdef ROBOT
     	int i;
     	for (i = 0; i < size; i++)
     		xbee_putc(buf[i]);
     	#else
     	int ret = write(xbee_stream, buf, size);
     	//success
     	if (ret == size)
     		return;
     	if (ret == -1)
+    	{
     		//interrupted by system signal, probably timer interrupt.
     		//just try again
     		if (errno == 4)
+    		{
     			xbee_send(buf, size);
     			return;
+    		}
     		printf("Failed to write to xbee, error %i.\r\n", errno);
     		return;
+    	}
     void xbee_send(char* buf, int size) {
     #ifdef ROBOT
       int i;
       for (i = 0; i < size; i++)
         xbee_putc(buf[i]);
     #else
       int ret = write(xbee_stream, buf, size);
       //success
       if (ret == size)
         return;
       if (ret == -1) {
         //interrupted by system signal, probably timer interrupt.
         //just try again
         if (errno == 4) {
           xbee_send(buf, size);
           return;
+        }
         printf("Failed to write to xbee, error %i.\r\n", errno);
         return;
+      }
     	//write was interrupted after writing ret bytes
     	xbee_send(buf + ret, size - ret);
     	#endif
       //write was interrupted after writing ret bytes
       xbee_send(buf + ret, size - ret);
     #endif
+    }
     /**
-...
+     *
      * @param c the string to send to the XBEE
      **/
     void xbee_send_string(char* c)
+    {
     	xbee_send(c, strlen(c));
     void xbee_send_string(char* c) {
       xbee_send(c, strlen(c));
+    }
     #ifndef ROBOT
     void xbee_read(char* buf, int size)
+    {
     	if (read(xbee_stream, buf, size) == -1)
     		printf("Failed to read from xbee.\r\n");
     void xbee_read(char* buf, int size) {
       if (read(xbee_stream, buf, size) == -1)
         printf("Failed to read from xbee.\r\n");
+    }
     #endif
     /**
      * Enter into command mode.
      **/
     void xbee_enter_command_mode()
+    {
     	xbee_send_string("+++");
     	xbee_wait_for_ok();
     void xbee_enter_command_mode() {
       xbee_send_string("+++");
       xbee_wait_for_ok();
+    }
     /**
      * Exit from command mode.
      **/
     void xbee_exit_command_mode()
+    {
     	xbee_send_string("ATCN\r");
     	xbee_wait_for_ok();
     void xbee_exit_command_mode() {
       xbee_send_string("ATCN\r");
       xbee_wait_for_ok();
+    }
     /**
      * Enter API mode.
      **/
     void xbee_enter_api_mode()
+    {
     	xbee_send_string("ATAP 1\r");
     	xbee_wait_for_ok();
     void xbee_enter_api_mode() {
       xbee_send_string("ATAP 1\r");
       xbee_wait_for_ok();
+    }
     /**
      * Exit API mode. (warning - does not check for response)
      **/
     void xbee_exit_api_mode()
+    {
     	xbee_send_string("ATAP 0\r");
     void xbee_exit_api_mode() {
       xbee_send_string("ATAP 0\r");
+    }
     /**
      * Wait until the string "OK\r" is received from the XBee.
      **/
     void xbee_wait_for_ok()
+    {
     	xbee_wait_for_string("OK\r", 3);
     void xbee_wait_for_ok() {
       xbee_wait_for_string("OK\r", 3);
+    }
     /**
-...
      * @param s the string to receive
      * @param len the length of the string
      **/
     void xbee_wait_for_string(char* s, int len)
+    {
     	char* curr = s;
     	while (curr - s < len)
+    	{
     		// check if buffer is empty
     		if (buffer_last == buffer_first)
     			continue;
     		char c = arrival_buf[buffer_first++];
     		if (buffer_first == XBEE_BUFFER_SIZE)
     			buffer_first = 0;
     		if (c == *curr)
     			curr++;
     		else
     			curr = s;
+    	}
     void xbee_wait_for_string(char* s, int len) {
       char* curr = s;
       while (curr - s < len) {
         // check if buffer is empty
         if (buffer_last == buffer_first)
           continue;
         char c = arrival_buf[buffer_first++];
         if (buffer_first == XBEE_BUFFER_SIZE)
           buffer_first = 0;
         if (c == *curr)
           curr++;
         else
           curr = s;
+      }
+    }
     /**
-...
      * @return 0 if the checksum is incorrect, nonzero
      * otherwise
      **/
     int xbee_verify_checksum(char* packet, int len)
+    {
     	unsigned char sum = 0;
     	int i;
     	for (i = 3; i < len; i++)
     		sum += (unsigned char)packet[i];
     	return sum == 0xFF;
     int xbee_verify_checksum(char* packet, int len) {
       unsigned char sum = 0;
       int i;
       for (i = 3; i < len; i++)
         sum += (unsigned char)packet[i];
       return sum == 0xFF;
+    }
     /**
-...
      * @return the checksum of the packet, which will
      * become the last byte sent in the packet
      **/
     char xbee_compute_checksum(char* buf, int len)
+    {
     	int i;
     	unsigned char sum = 0;
     	for (i = 0; i < len; i++)
     		sum += (unsigned char)buf[i];
     	return 0xFF - sum;
     char xbee_compute_checksum(char* buf, int len) {
       int i;
       unsigned char sum = 0;
       for (i = 0; i < len; i++)
         sum += (unsigned char)buf[i];
       return 0xFF - sum;
+    }
     /**
-...
      * @param len the size in bytes of the packet data
+     *
      **/
     void xbee_send_frame(char* buf, int len)
+    {
     	char prefix[3];
     	prefix[0] = XBEE_FRAME_START;
     	prefix[1] = (len & 0xFF00) >> 8;
     	prefix[2] = len & 0xFF;
     	char checksum = xbee_compute_checksum(buf, len);
     	xbee_send(prefix, 3);
     	xbee_send(buf, len);
     	xbee_send(&checksum, 1);
     void xbee_send_frame(char* buf, int len) {
       char prefix[3];
       prefix[0] = XBEE_FRAME_START;
       prefix[1] = (len & 0xFF00) >> 8;
       prefix[2] = len & 0xFF;
       char checksum = xbee_compute_checksum(buf, len);
       xbee_send(prefix, 3);
       xbee_send(buf, len);
       xbee_send(&checksum, 1);
+    }
     /**
-...
      * use ID to read the PAN ID and MY to return the XBee ID.
      * See the XBee reference guide for a complete listing.
      **/
     void xbee_send_read_at_command(char* command)
+    {
     	xbee_send_modify_at_command(command, NULL);
     void xbee_send_read_at_command(char* command) {
       xbee_send_modify_at_command(command, NULL);
+    }
     /**
-...
      * @param value the value to pass as a parameter
      * (or NULL if there is no parameter)
      **/
     void xbee_send_modify_at_command(char* command, char* value)
+    {
     	char buf[16];
     	int i;
     void xbee_send_modify_at_command(char* command, char* value) {
       char buf[16];
       int i;
     	buf[0] = XBEE_FRAME_AT_COMMAND;
     	buf[1] = 1;
     	buf[2] = command[0];
     	buf[3] = command[1];
     	int valueLen = 0;
     	if (value != NULL)
+    	{
     		valueLen = strlen(value);
     		if (valueLen > 8)
+    		{
     			WL_DEBUG_PRINT("AT Command too large.\r\n");
     			return;
+    		}
     		for (i = 0; i < valueLen; i++)
     			buf[4 + i] = value[i];
+    	}
     	xbee_send_frame(buf, 4 + valueLen);
       buf[0] = XBEE_FRAME_AT_COMMAND;
       buf[1] = 1;
       buf[2] = command[0];
       buf[3] = command[1];
       int valueLen = 0;
       if (value != NULL) {
         valueLen = strlen(value);
         if (valueLen > 8) {
           WL_DEBUG_PRINT("AT Command too large.\r\n");
           return;
+        }
         for (i = 0; i < valueLen; i++)
           buf[4 + i] = value[i];
+      }
       xbee_send_frame(buf, 4 + valueLen);
+    }
     /**
-...
      * was received.
      **/
     void xbee_send_packet(char* packet, int len, int dest,
     	char options, char frame)
+    {
     	char buf[5];
     	char prefix[3];
     	int i;
     	unsigned char checksum = 0;
     		      char options, char frame) {
       char buf[5];
       char prefix[3];
       int i;
       unsigned char checksum = 0;
     	if (len > 100)
+    	{
     		WL_DEBUG_PRINT("Packet is too large.\r\n");
     		return;
+    	}
       if (len > 100) {
         WL_DEBUG_PRINT("Packet is too large.\r\n");
         return;
+      }
     	//data for sending request
     	buf[0] = XBEE_FRAME_TX_REQUEST_16;
     	buf[1] = frame;
     	buf[2] = (dest >> 8) & 0xFF;
     	buf[3] = dest & 0xFF;
     	buf[4] = options;
       //data for sending request
       buf[0] = XBEE_FRAME_TX_REQUEST_16;
       buf[1] = frame;
       buf[2] = (dest >> 8) & 0xFF;
       buf[3] = dest & 0xFF;
       buf[4] = options;
     	//packet prefix, do this here so we don't need an extra buffer
     	prefix[0] = XBEE_FRAME_START;
     	prefix[1] = ((5 + len) & 0xFF00) >> 8;
     	prefix[2] = (5 + len) & 0xFF;
       //packet prefix, do this here so we don't need an extra buffer
       prefix[0] = XBEE_FRAME_START;
       prefix[1] = ((5 + len) & 0xFF00) >> 8;
       prefix[2] = (5 + len) & 0xFF;
     	for (i = 0; i < 5; i++)
     		checksum += (unsigned char)buf[i];
     	for (i = 0; i < len; i++)
     		checksum += (unsigned char)packet[i];
     	checksum = 0xFF - checksum;
     	xbee_send(prefix, 3);
     	xbee_send(buf, 5);
     	xbee_send(packet, len);
     	xbee_send((char*)&checksum, 1);
       for (i = 0; i < 5; i++)
         checksum += (unsigned char)buf[i];
       for (i = 0; i < len; i++)
         checksum += (unsigned char)packet[i];
       checksum = 0xFF - checksum;
       xbee_send(prefix, 3);
       xbee_send(buf, 5);
       xbee_send(packet, len);
       xbee_send((char*)&checksum, 1);
+    }
     /**
-...
      * @return the length of the packet, or -1 if no packet
      * is available
      **/
     int xbee_get_packet(unsigned char* dest)
+    {
     	//start reading a packet with XBEE_FRAME_START
     	if (currentBufPos == 0)
+    	{
     		do
+    		{
     			if (buffer_first == XBEE_BUFFER_SIZE)
     				buffer_first = 0;
     			// check if buffer is empty
     			if (buffer_first == buffer_last)
     				return -1;
+    		}
     		while (arrival_buf[buffer_first++] != XBEE_FRAME_START);
     		if (buffer_first == XBEE_BUFFER_SIZE)
     			buffer_first = 0;
     		xbee_buf[0] = XBEE_FRAME_START;
     		currentBufPos++;
+    	}
     int xbee_get_packet(unsigned char* dest) {
       //start reading a packet with XBEE_FRAME_START
       if (currentBufPos == 0) {
         do {
           if (buffer_first == XBEE_BUFFER_SIZE)
     	buffer_first = 0;
           // check if buffer is empty
           if (buffer_first == buffer_last)
     	return -1;
+        }
         while (arrival_buf[buffer_first++] != XBEE_FRAME_START);
         if (buffer_first == XBEE_BUFFER_SIZE)
           buffer_first = 0;
         xbee_buf[0] = XBEE_FRAME_START;
         currentBufPos++;
+      }
     	int len = -1;
     	if (currentBufPos >= 3)
     		len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8);
       int len = -1;
       if (currentBufPos >= 3)
         len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8);
     	while (len == -1 //packet length has not been read yet
     			|| currentBufPos < len + 4)
+    	{
     		if (currentBufPos == 3)
+    		{
     			len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8);
     			if (len > 120)
+    			{
     				WL_DEBUG_PRINT("Packet too large. Probably error in XBee transmission.\n");
     				currentBufPos = 0;
     				return -1;
+    			}
+    		}
     		// check if buffer is empty
     		if (buffer_first == buffer_last)
     			return -1;
     		xbee_buf[currentBufPos++] = arrival_buf[buffer_first++];
     		if (buffer_first == XBEE_BUFFER_SIZE)
     			buffer_first = 0;
+    	}
       while (len == -1 //packet length has not been read yet
     	 || currentBufPos < len + 4) {
         if (currentBufPos == 3) {
           len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8);
           if (len > 120) {
     	WL_DEBUG_PRINT("Packet too large. Probably error in XBee transmission.\n");
     	currentBufPos = 0;
     	return -1;
+          }
+        }
         // check if buffer is empty
         if (buffer_first == buffer_last)
           return -1;
         xbee_buf[currentBufPos++] = arrival_buf[buffer_first++];
         if (buffer_first == XBEE_BUFFER_SIZE)
           buffer_first = 0;
+      }
     	if (!xbee_verify_checksum(xbee_buf, len + 4))
+    	{
     		WL_DEBUG_PRINT("XBee checksum failed.\r\n");
     		return -1;
+    	}
       currentBufPos = 0;
       if (!xbee_verify_checksum(xbee_buf, len + 4)) {
         WL_DEBUG_PRINT("XBee checksum failed.\r\n");
         return -1;
+      }
     	//we will take care of the packet
     	if (xbee_handle_packet(xbee_buf + 3, len))
     		return -1;
       //we will take care of the packet
       if (xbee_handle_packet(xbee_buf + 3, len))
         return -1;
     	if (dest == NULL)
     		return -1;
       if (dest == NULL)
         return -1;
     	int i;
     	for (i = 3; i < len + 3; i++)
     		dest[i - 3] = xbee_buf[i];
     	return len;
       int i;
       for (i = 3; i < len + 3; i++)
         dest[i - 3] = xbee_buf[i];
       return len;
+    }
     /**
-...
+     *
      * @param status the type of status packet received.
      **/
     void xbee_handle_status(char status)
+    {
     	switch (status)
+    	{
     		case 0:
     			WL_DEBUG_PRINT("XBee hardware reset.\r\n");
     			break;
     		case 1:
     			WL_DEBUG_PRINT("Watchdog timer reset.\r\n");
     			break;
     		case 2:
     			WL_DEBUG_PRINT("Associated.\r\n");
     			break;
     		case 3:
     			WL_DEBUG_PRINT("Disassociated.\r\n");
     			break;
     		case 4:
     			WL_DEBUG_PRINT("Synchronization lost.\r\n");
     			break;
     		case 5:
     			WL_DEBUG_PRINT("Coordinator realignment.\r\n");
     			break;
     		case 6:
     			WL_DEBUG_PRINT("Coordinator started.\r\n");
     			break;
+    	}
     void xbee_handle_status(char status) {
       switch (status) {
       case 0:
         WL_DEBUG_PRINT("XBee hardware reset.\r\n");
         break;
       case 1:
         WL_DEBUG_PRINT("Watchdog timer reset.\r\n");
         break;
       case 2:
         WL_DEBUG_PRINT("Associated.\r\n");
         break;
       case 3:
         WL_DEBUG_PRINT("Disassociated.\r\n");
         break;
       case 4:
         WL_DEBUG_PRINT("Synchronization lost.\r\n");
         break;
       case 5:
         WL_DEBUG_PRINT("Coordinator realignment.\r\n");
         break;
       case 6:
         WL_DEBUG_PRINT("Coordinator started.\r\n");
         break;
+      }
+    }
     /**
-...
      * @param extraLen the length in bytes of extra
      **/
     void xbee_handle_at_command_response(char* command, char result,
     	char* extra, int extraLen)
+    {
     	if (result == 1)
+    	{
     		WL_DEBUG_PRINT("Error with AT");
     		WL_DEBUG_PRINT(command);
     		WL_DEBUG_PRINT(" packet.\r\n");
+    	}
     	WL_DEBUG_PRINT("AT");
     	WL_DEBUG_PRINT(command);
     	WL_DEBUG_PRINT(" command was successful.\r\n");
     				     char* extra, int extraLen) {
       if (result == 1) {
         WL_DEBUG_PRINT("Error with AT");
         WL_DEBUG_PRINT(command);
         WL_DEBUG_PRINT(" packet.\r\n");
+      }
       WL_DEBUG_PRINT("AT");
       WL_DEBUG_PRINT(command);
       WL_DEBUG_PRINT(" command was successful.\r\n");
     	if (command[0] == 'I' && command[1] == 'D')
+    	{
     		xbee_panID = xbee_pending_panID;
     		WL_DEBUG_PRINT("PAN ID set to ");
     		WL_DEBUG_PRINT_INT(xbee_panID);
     		WL_DEBUG_PRINT(".\r\n");
     		return;
+    	}
       if (command[0] == 'I' && command[1] == 'D') {
         xbee_panID = xbee_pending_panID;
         WL_DEBUG_PRINT("PAN ID set to ");
         WL_DEBUG_PRINT_INT(xbee_panID);
         WL_DEBUG_PRINT(".\r\n");
         return;
+      }
     	if (command[0] == 'C' && command[1] == 'H')
+    	{
     		xbee_channel = xbee_pending_channel;
     		WL_DEBUG_PRINT("Channel set to ");
     		WL_DEBUG_PRINT_INT(xbee_channel);
     		WL_DEBUG_PRINT(".\r\n");
     		return;
+    	}
       if (command[0] == 'C' && command[1] == 'H') {
         xbee_channel = xbee_pending_channel;
         WL_DEBUG_PRINT("Channel set to ");
         WL_DEBUG_PRINT_INT(xbee_channel);
         WL_DEBUG_PRINT(".\r\n");
         return;
+      }
     	if (command[0] == 'M' && command[1] == 'Y' && extraLen != 0)
+    	{
     		xbee_address = 0;
     		int i;
     		for (i = 0; i < extraLen; i++)
     			xbee_address = (xbee_address << 8) + extra[i];
       if (command[0] == 'M' && command[1] == 'Y' && extraLen != 0) {
         xbee_address = 0;
         int i;
         for (i = 0; i < extraLen; i++)
           xbee_address = (xbee_address << 8) + extra[i];
     		WL_DEBUG_PRINT("XBee address is ");
     		WL_DEBUG_PRINT_INT(xbee_address);
     		WL_DEBUG_PRINT(".\r\n");
         WL_DEBUG_PRINT("XBee address is ");
         WL_DEBUG_PRINT_INT(xbee_address);
         WL_DEBUG_PRINT(".\r\n");
     		if (xbee_address == 0)
+    		{
     			WL_DEBUG_PRINT("XBee 16-bit address must be set using ATMY.\r\n");
     			exit(0);
+    		}
+    	}
         if (xbee_address == 0) {
           WL_DEBUG_PRINT("XBee 16-bit address must be set using ATMY.\r\n");
           exit(0);
+        }
+      }
+    }
     /**
-...
+     *
      * @return 1 if we have handled the packet, 0 otherwise
      */
     int xbee_handle_packet(char* packet, int len)
+    {
     	char command[3] = {1, 2, 3};
     	if (len <= 0) //this should not happend
+    	{
     		WL_DEBUG_PRINT("Non-positive packet length.\r\n");
     		return 0;
+    	}
     int xbee_handle_packet(char* packet, int len) {
       char command[3] = {1, 2, 3};
       if (len <= 0) {
         //this should not happend
         WL_DEBUG_PRINT("Non-positive packet length.\r\n");
         return 0;
+      }
     	switch ((unsigned char)packet[0]) //packet type
+    	{
     		case XBEE_FRAME_STATUS:
     			xbee_handle_status(packet[1]);
     			return 1;
     		case XBEE_FRAME_AT_COMMAND_RESPONSE:
     			command[0] = packet[2];
     			command[1] = packet[3];
     			command[2] = 0;
     			xbee_handle_at_command_response(command,
     				packet[4], packet + 5, len - 5);
     			return 1;
+    	}
     	return 0;
       //packet type
       switch ((unsigned char)packet[0]) {
       case XBEE_FRAME_STATUS:
         xbee_handle_status(packet[1]);
         return 1;
       case XBEE_FRAME_AT_COMMAND_RESPONSE:
         command[0] = packet[2];
         command[1] = packet[3];
         command[2] = 0;
         xbee_handle_at_command_response(command,
     				    packet[4], packet + 5, len - 5);
         return 1;
+      }
       return 0;
+    }
     /**
-...
+     *
      * @param id the new personal area network (PAN) id
      **/
     void xbee_set_pan_id(int id)
+    {
     	char s[3];
     	s[0] = (id >> 8) & 0xFF;
     	s[1] = id & 0xFF;
     	s[2] = 0;
     	xbee_pending_panID = id;
     	xbee_send_modify_at_command("ID", s);
     void xbee_set_pan_id(int id) {
       char s[3];
       s[0] = (id >> 8) & 0xFF;
       s[1] = id & 0xFF;
       s[2] = 0;
       xbee_pending_panID = id;
       xbee_send_modify_at_command("ID", s);
+    }
     /**
-...
      * @return the personal area network id, or
      * XBEE_PAN_DEFAULT if it has not yet been set.
      **/
     unsigned int xbee_get_pan_id()
+    {
     	return xbee_panID;
     unsigned int xbee_get_pan_id() {
       return xbee_panID;
+    }
     /**
-...
+     *
      * @see xbee_get_channel
      **/
     void xbee_set_channel(int channel)
+    {
     	if (channel < 0x0B || channel > 0x1A)
+    	{
     		WL_DEBUG_PRINT("Channel out of range.\r\n");
     		return;
+    	}
     	char s[3];
     	s[0] = channel & 0xFF;
     	s[1] = 0;
     	xbee_pending_channel = channel;
     	xbee_send_modify_at_command("CH", s);
     void xbee_set_channel(int channel) {
       if (channel < 0x0B || channel > 0x1A) {
         WL_DEBUG_PRINT("Channel out of range.\r\n");
         return;
+      }
       char s[3];
       s[0] = channel & 0xFF;
       s[1] = 0;
       xbee_pending_channel = channel;
       xbee_send_modify_at_command("CH", s);
+    }
     /**
-...
+     *
      * @see xbee_set_channel
      **/
     int xbee_get_channel(void)
+    {
     	return xbee_channel;
     int xbee_get_channel(void) {
       return xbee_channel;
+    }
     /**
-...
+     *
      * @return the 16-bit address of the XBee.
      **/
     unsigned int xbee_get_address()
+    {
     	return xbee_address;
     unsigned int xbee_get_address() {
       return xbee_address;
+    }
     #ifndef ROBOT
     void xbee_set_com_port(char* port)
+    {
     	xbee_com_port = port;
     void xbee_set_com_port(char* port) {
       xbee_com_port = port;
+    }
     #endif

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Revision 343