/ - Diff - Colony - Robotics Club

     static void* listen(void* args);
     static void timeout_handler(void);
     static void handle_response(int frame, int received);
     static void handle_receive(char type, int source, unsigned char* packet,
                                int len);
     static void handle_receive(char type, int source, unsigned char* packet, int len);
     static void unregister(void);
     static int log_packet(unsigned char* packet, int len);
     /**************************** Public functions *******************************/
     void colonet_wl_init(char* wl_port_, MsgHandlerFunction message_handler_, char* log_filename_) {
       if (log_filename_ != NULL) {
         printf("Log filename_=%p: %s\n", log_filename_, log_filename_);
         logging_enabled = true;
         strcpy(log_filename, log_filename_);
+      }
-...
     static void handle_receive(char type, int source, unsigned char* packet,
                                int len) {
       ColonetRobotServerPacket pkt;
       pkt.client_id = packet[0] | (packet[1]<<8) | (packet[2]<<16) |
         (packet[3]<<24); //little endian
       pkt.client_id = packet[0] | (packet[1]<<8) | (packet[2]<<16) | (packet[3]<<24); //little endian
       memcpy(pkt.data, packet + 5, PACKET_DATA_LEN);

     static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL];
     /* Internal function prototypes */
     static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt,
                                         char* pkt_buf);
     static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, unsigned char* pkt_buf);
     static unsigned int two_bytes_to_int(char high, char low);
     static void colonet_handle_receive(char type, int source,
                                        unsigned char* packet, int length);
     static void colonet_handle_receive(char type, int source, unsigned char* packet, int length);
     static PacketGroupHandler colonet_pgh;
-...
+     *
      * @return -1 on error (invalid msgId), 0 on success
      */
     static void colonet_handle_receive(char type, int source, unsigned char* packet,
                                        int length) {
     static void colonet_handle_receive(char type, int source, unsigned char* packet, int length) {
       ColonetRobotServerPacket pkt;
       unsigned char* args; //up to 7 char args
       unsigned int int_args[3]; //up to 3 int (2-byte) args
-...
         // Battery
         case BATTERY:
           usb_puts("Got battery request.\n");
     /*
           int xbeeDongleID = 0xA;  // too bad this is hard-coded.
           char data[20];
           data[0] = 0;  // client ID specified in bytes 0-3
-...
           data[11] = (char) battery8();  // battery reading
           data[12] = '\0';
           wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, COLONET_RESPONSE,
             data, 13, xbeeDongleID, 0);
           wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, COLONET_RESPONSE, data, 13, xbeeDongleID, 0);
           usb_puts("lol \n");
     */
           break;
         case ORB_INIT:
-...
           motors_off();
           break;
         case MOVE:
           buf[40];
           sprintf(buf, "calling move with: %d, %d\n", args[0], args[1]);
           usb_puts(buf);
           move(args[0], args[1]);
-...
      * Adds a user-defined message
      */
     int colonet_add_message(unsigned char msgId, void (*handler)(void)) {
       if(msgId < USER_DEFINED_MSG_ID_START || msgId > USER_DEFINED_MSG_ID_END){
       if(msgId < USER_DEFINED_MSG_ID_START  /* || msgId > USER_DEFINED_MSG_ID_END */){
         return -1;
+      }
-...
       return 0;
+    }
     static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt,
                                         char* pkt_buf) {
     static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, unsigned char* pkt_buf) {
       memcpy(dest_pkt, pkt_buf, sizeof(ColonetRobotServerPacket));
+    }

     CC = avr-gcc
     CFLAGS = -Wall -Wshadow -Wextra -g -mmcu=$(MCU)
     INCLUDES = -I../../../xfly_lib -I../ -I../../../libwireless/lib -I../../../../lib/include/libdragonfly
     INCLUDES = -I../ -I../../../libwireless/lib -I../../../../lib/include/libdragonfly
     all: colonet_dragonfly.o

       char* log_filename = NULL;
       if (optionsG.logging_enabled) {
         printf("Logging enabled.\n");
         printf("Logging enabled. Log filename: %s\n", optionsG.log_filename);
         log_filename = optionsG.log_filename;
       } else {
         printf("Logging disabled.\n");
+      }
       printf("log filename = %p\n", log_filename);
       colonet_wl_init(optionsG.wireless_port, wirelessMessageHandler, log_filename);
       if (colonet_wl_run_listener_thread()) {
         fprintf(stderr, "%s: colonet_wl_run_listener_thread failed.\n",
                 __FUNCTION__);
         fprintf(stderr, "%s: colonet_wl_run_listener_thread failed.\n", __FUNCTION__);
         return -1;
+      }
-...
      * @return 0 on success, negative error code on error
      */
     int ColonetServer::initialize_connection(int port) {
       printf("Initializing connection that will be used to listen for "
              "clients...\n");
       printf("Initializing connection that will be used to listen for clients...\n");
       int options = 1;
       struct sockaddr_in my_address;

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