/ - Diff - Colony - Robotics Club

       message_handler = message_handler_;
       printf("Calling wl_init...\n");
       wl_init();
       printf("wl_init succeeded.\n");
       wl_set_com_port(wl_port);
       printf("Calling wl_init(%s)...\n", wl_port);
       if (wl_init() != 0) {
         fprintf(stderr, "wl_init failed.\n");
         return -1;
+      }
       wl_token_ring_register();
       printf("Joining token ring...\n");

     extern ColonetServer colonet_server;
     /* Public functions */
     int wirelessMessageHandler(unsigned char type, short source, int dest,
                                unsigned char* data, int len) {
     int wirelessMessageHandler(unsigned char type, short source, int dest, unsigned char* data, int len) {
       printf("Server received wireless message!!!\n");
       printf("server received this packet: ");

       memset(&optionsG, 0, sizeof(ColonetServerOptionsT));
       if (argc < 2) {
         printf("No port was specified for listening for client connections."
                "  Defaulting to %d\n", DEFAULTPORT);
         printf("No port was specified for listening for client connections. Defaulting to %d\n", DEFAULTPORT);
+      }
       /* Defaults */
-...
           optionsG.listen_port = atoi(optarg);
           if (optionsG.listen_port < SMALLEST_POSS_LISTEN_PORT) {
             printf("You cannot listen on a port less than %d.\n",
                    SMALLEST_POSS_LISTEN_PORT);
             printf("You cannot listen on a port less than %d.\n", SMALLEST_POSS_LISTEN_PORT);
             printf("Setting listener port to %d\n", DEFAULTPORT);
             optionsG.listen_port = DEFAULTPORT;
+          }
-...
         case 'w':
           /* Set wireless port */
           strcpy(optionsG.wireless_port, optarg);
           printf("Wireless port set to %s.\n", optionsG.wireless_port);
           break;
         case 'l':
           /* Set log filename (and enable logging) */

     TROUBLESHOOTING
     "Failed to write to xbee, error 9."
     The Xbee is not being recognized by the computer (assuming it is plugged in).  Try unplugging it and plugging it in
     again.
     If you get an error like:
        Failed to write to xbee, error 9.
        Failed to join token ring.
        ERROR - colonet_wl_init failed.
        initialize_server: initWireless failed
     The xbee on the specified wireless port/file descriptor is not being recognized by the computer (assuming it is
     plugged in and you are using the right port (/dev/ttyUSB0, /dev/ttyUSB1)).  Try unplugging it and plugging it in again.
     Check the wireless port (-w option of ColonetServer).

     } PacketGroupHandler;
     /**@brief Initialize the wireless library **/
     int wl_init(void);
     int wl_init();
     /**@brief Uninitialize the wireless library **/
     void wl_terminate(void);
     /**@brief Perform wireless library functionality **/
-...
     void wl_send_robot_to_robot_global_packet(char group, char type,
     		char* data, int len, int dest, char frame);
     /**@brief Send a packet to a specific robot in our PAN **/
     void wl_send_robot_to_robot_packet(char group, char type,
     		char* data, int len, int dest, char frame);
     void wl_send_robot_to_robot_packet(char group, char type, char* data, int len, int dest, char frame);
     /**@brief Send a packet to all robots **/
     int wl_send_global_packet(char group, char type, char* data, int len, char frame);
     /**@brief Send a packet to all robots in our PAN **/

     /*Global Variables*/
     #ifndef ROBOT
     char* xbee_com_port = XBEE_PORT_DEFAULT;
     int xbee_stream;
     pthread_t* xbee_listen_thread;
     static char* xbee_com_port = XBEE_PORT_DEFAULT;
     static int xbee_stream;
     static pthread_t* xbee_listen_thread;
     #endif
     // TODO: is this a good size?
-...
     /**
      * Initializes the XBee library so that other functions may be used.
      **/
     int xbee_lib_init(void)
     int xbee_lib_init()
+    {
     	arrival_buf[0] = 'A';
     	arrival_buf[1] = 'A';

     #define XBEE_RX 0x81
     /**@brief Initialize the XBee library **/
     int xbee_lib_init(void);
     int xbee_lib_init();
     /**@brief Uninitialize the XBee library **/
     void xbee_terminate(void);
     /**@brief Get a packet from the XBee **/

     /**
      * Initializes the wireless library. Must be called before any
      * other function.
+     *
      * @param wl_port File descriptor for wireless port, or NULL for default.
      **/
     int wl_init()
+    {

Colony