Colony

/**

 * 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

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * 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

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file wl_defs.h

 * @brief Definitions for Wireless

 *

 * Contains definitions for wireless packet groups, packet types,

 * debugging information, etc.

 *

 * @author Brian Coltin, Colony Project, CMU Robotics Club

 **/

#ifndef WL_DEFS_H

#define WL_DEFS_H

//comment out this line if using a computer hooked up to an xbee

//#define ROBOT

//uncomment this line for debug information

//#define WL_DEBUG

// Packet Groups and Types

// Error group

#define WL_ERROR_GROUP 1

#define WL_ERROR_STRING_TYPE 1

// Token Ring group

#define WL_TOKEN_RING_GROUP 2

#define WL_TOKEN_PASS 1

#define WL_TOKEN_BOM_ON 2

#define WL_TOKEN_JOIN 3

#define WL_TOKEN_JOIN_ACCEPT 4

// timing constants

#ifndef FIREFLY

#define BOM_DELAY 100

#else

#define BOM_DELAY 200

#endif

#define DEATH_DELAY 4

#define JOIN_DELAY 8

// Recharging group

#define WL_RECHARGE_GROUP 3

#define WL_RECHARGE_POLL_STATIONS 1

#define WL_RECHARGE_STATION_AVAILABLE 2

#define WL_RECHARGE_REQUEST 3

#define WL_RECHARGE_REQUEST_ACCEPT 4

#define WL_RECHARGE_VERIFY 5

#define WL_RECHARGE_CANCEL 6

#define WL_RECHARGE_SEEKING 7

#define WL_RECHARGE_DOCKED 8

#define WL_BATTERY_REQUEST 9

#ifdef WL_DEBUG

#ifdef ROBOT

#include <serial.h>

#endif

#ifdef ROBOT

#define WL_DEBUG_PRINT( s ) usb_puts( s )

#else

#define WL_DEBUG_PRINT( s ) printf( s )

#endif

#ifdef ROBOT

#define WL_DEBUG_PRINT_INT( i ) usb_puti(i)

#else

#define WL_DEBUG_PRINT_INT( i ) printf("%i", i)

#endif

#else

#define WL_DEBUG_PRINT( s )

#define WL_DEBUG_PRINT_INT( i )

#endif

#endif