Revision 397
added error returns to some libwireless functions, handled in server.
| xbee.c | ||
|---|---|---|
| 69 | 69 |
/*Internal Function Prototypes*/ |
| 70 | 70 |
|
| 71 | 71 |
/*I/O Functions*/ |
| 72 |
void xbee_send(char* buf, int size);
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|
| 73 |
void xbee_send_string(char* c); |
|
| 72 |
static int xbee_send(char* buf, int size);
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|
| 73 |
static void xbee_send_string(char* c);
|
|
| 74 | 74 |
|
| 75 | 75 |
#ifndef ROBOT |
| 76 | 76 |
void xbee_read(char* buf, int size); |
| ... | ... | |
| 89 | 89 |
/*API Mode Functions*/ |
| 90 | 90 |
|
| 91 | 91 |
int xbee_handle_packet(char* packet, int len); |
| 92 |
void xbee_handle_at_command_response(char* command, char result, |
|
| 93 |
char* extra, int extraLen); |
|
| 92 |
void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen); |
|
| 94 | 93 |
void xbee_handle_status(char status); |
| 95 | 94 |
int xbee_verify_checksum(char* packet, int len); |
| 96 | 95 |
char xbee_compute_checksum(char* packet, int len); |
| ... | ... | |
| 291 | 290 |
* @param buf the buffer of data to send |
| 292 | 291 |
* @param size the number of bytes to send |
| 293 | 292 |
**/ |
| 294 |
void xbee_send(char* buf, int size)
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|
| 293 |
int xbee_send(char* buf, int size)
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|
| 295 | 294 |
{
|
| 296 | 295 |
#ifdef ROBOT |
| 297 | 296 |
int i; |
| ... | ... | |
| 301 | 300 |
int ret = write(xbee_stream, buf, size); |
| 302 | 301 |
//success |
| 303 | 302 |
if (ret == size) |
| 304 |
return; |
|
| 303 |
return 0;
|
|
| 305 | 304 |
if (ret == -1) |
| 306 | 305 |
{
|
| 307 | 306 |
//interrupted by system signal, probably timer interrupt. |
| 308 | 307 |
//just try again |
| 309 | 308 |
if (errno == 4) |
| 310 | 309 |
{
|
| 311 |
xbee_send(buf, size); |
|
| 312 |
return; |
|
| 310 |
return xbee_send(buf, size); |
|
| 313 | 311 |
} |
| 314 | 312 |
printf("Failed to write to xbee, error %i.\r\n", errno);
|
| 315 |
return; |
|
| 313 |
return -1;
|
|
| 316 | 314 |
} |
| 317 | 315 |
|
| 318 | 316 |
//write was interrupted after writing ret bytes |
| 319 | 317 |
xbee_send(buf + ret, size - ret); |
| 320 | 318 |
#endif |
| 319 |
|
|
| 320 |
return 0; |
|
| 321 | 321 |
} |
| 322 | 322 |
|
| 323 | 323 |
/** |
| ... | ... | |
| 529 | 529 |
* the XBee alerts us as to whether or not our message |
| 530 | 530 |
* was received. |
| 531 | 531 |
**/ |
| 532 |
void xbee_send_packet(char* packet, int len, int dest, |
|
| 533 |
char options, char frame) |
|
| 532 |
int xbee_send_packet(char* packet, int len, int dest, char options, char frame) |
|
| 534 | 533 |
{
|
| 535 | 534 |
char buf[5]; |
| 536 | 535 |
char prefix[3]; |
| ... | ... | |
| 540 | 539 |
if (len > 100) |
| 541 | 540 |
{
|
| 542 | 541 |
WL_DEBUG_PRINT("Packet is too large.\r\n");
|
| 543 |
return; |
|
| 542 |
return -1;
|
|
| 544 | 543 |
} |
| 545 | 544 |
|
| 546 | 545 |
//data for sending request |
| ... | ... | |
| 560 | 559 |
for (i = 0; i < len; i++) |
| 561 | 560 |
checksum += (unsigned char)packet[i]; |
| 562 | 561 |
checksum = 0xFF - checksum; |
| 563 |
xbee_send(prefix, 3); |
|
| 564 |
xbee_send(buf, 5); |
|
| 565 |
xbee_send(packet, len); |
|
| 566 |
xbee_send((char*)&checksum, 1); |
|
| 562 |
|
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| 563 |
if (xbee_send(prefix, 3) != 0) {
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| 564 |
return -1; |
|
| 565 |
} |
|
| 566 |
|
|
| 567 |
if (xbee_send(buf, 5) != 0) {
|
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| 568 |
return -1; |
|
| 569 |
} |
|
| 570 |
|
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| 571 |
if (xbee_send(packet, len) != 0) {
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| 572 |
return -1; |
|
| 573 |
} |
|
| 574 |
|
|
| 575 |
if (xbee_send((char*)&checksum, 1) != 0) {
|
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| 576 |
return -1; |
|
| 577 |
} |
|
| 578 |
|
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| 579 |
return 0; |
|
| 567 | 580 |
} |
| 568 | 581 |
|
| 569 | 582 |
/** |
Also available in: Unified diff