/ - Diff - Colony - Robotics Club

     void wl_charging_send_cancel(int dest);
     void wl_charging_send_seeking(int dest);
     void wl_charging_send_docked(int dest);
     void wl_charging_send_battery(int dest);
     // the handler
     PacketGroupHandler wl_charging_handler =
-...
     #define CANCEL_FRAME 4
     #define SEEKING_FRAME 5
     #define DOCKED_FRAME 6
     #define BATTERY_FRAME 7
     /**
      * Register this packet group with the wireless library.
-...
+    }
     /**
      * Sends a packet to request for the robot's battery reading
+     *
      * @param dest the robot to request
      **/
     void wl_charging_send_battery(int dest)
+    {
     	wl_send_robot_to_robot_global_packet(WL_RECHARGE_GROUP, WL_RECHARGE_BATTERY, NULL, 0, dest, BATTERY_FRAME);
+    }
     /**
      * Called when this packet is unregistered with the wireless library.
      **/
     void wl_charging_cleanup(void)
-...
     		case WL_RECHARGE_DOCKED:
     			wl_charging_docked(source);
     			break;
     		case WL_RECHARGE_BATTERY:
     			wl_charging_battery(source,packet,length);
     		default:
     			STATION_DEBUG_PRINT("Error packet of unknown type received.\n");
     			break;
-...
+    {
     	if (charging_is_space_available() && !charging_is_robot_seeking())
     		wl_charging_send_station_available(source);
     	wl_charging_send_battery(source);
+    }
     /**
-...
     		charging_dock(source);
+    }
     /**
      * Called when we recieve a packet with a battery reading
+     *
      * @param source the robot that is sending the battery reading
      **/
     void wl_charging_battery(int source, unsigned char* packet, int length)
+    {
     	if (charging_get_robot_state(source)==STATE_NOT_CHARGING)
     		check_battery(source, (int)packet[0]);
     	else
     		update_battery(source, (int)packet[0]);
+    }

     	int state;
     	int bay;
     	int verifyCount;
     	int battery;
     } ChargingRobot;
     ChargingRobot** robots;
-...
     	r->state = STATE_SEEKING;
     	r->bay = assign_bay(robot);
     	r->verifyCount = VERIFY_DELAY;
     	r->battery = 0;
     	robots[robot] = r;
     	numRobots++;
     	is_seeking = 1;
-...
+    }
     /**
      * Update battery reading of a robot
+     *
      * @param robot the robot to update battery reading
      **/
     void update_battery(int robot, int battery)
+    {
     	if (robot < robotSize && robots[robot] != NULL)
     		robots[robot]->battery = battery;
+    }
     void check_battery(int robot, int battery)
+    {
     	if (charging_is_space_available()) return;
     	// 152 low voltage
     	// 179 charging voltage
     	// there's no way to tell the voltage of a charging robot, so we just eject the first one
     	charging_robot_iterator_init();
     	int r = charging_robot_iterator_next();
     	int b = robots[r]->battery;
     	if (battery<153){
     		//cancel robot r
     		wl_charging_send_cancel(r);
     		charging_cancel(r);
     		//tell robot that charging station is now available
     		wl_charging_send_station_available(robot);
+    	}
+    }
     /**
      * Called when the BOM needs to be turned on for the
      * token ring. If a robot is seeking, only the BOM of
      * the bay that is being sought will turn on. If no

     /** @brief Get the supposed state of a robot **/
     int charging_get_robot_state(int robot);
     /** @brief Update battery reading of a robot **/
     void update_battery(int robot, int battery);
     /** @brief Check if the robot has lower battery level than those already docked **/
     void check_battery(int robot, int battery);
     /** @} **/

branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/wl_defs.h
78	78	#define WL_RECHARGE_CANCEL 6
79	79	#define WL_RECHARGE_SEEKING 7
80	80	#define WL_RECHARGE_DOCKED 8
	81	#define WL_RECHARGE_BATTERY 11
81	82
82	83	#ifdef WL_DEBUG
83	84

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