Colony

    wl_send_robot_to_robot_global_packet(COLONET_PACKET_GROUP_ID, (char)msg_type, (char*)(&pkt),

                                         sizeof(ColonetRobotServerPacket), dest, COLONET_RESPONSE_PACKET_FRAME_ID);

  }

}

int colonet_get_num_robots(void) {

  while (1) {

    wl_do();

  }

  wl_terminate();

  return NULL;

}

#include <errno.h>

#include <netinet/in.h>

#include <string.h>

#include <sys/select.h>

#include <sys/socket.h>

  logger.log_message("Server initialized.  About to start listening for connections");

  while(1) {

    connection_pool.perform_select(listen_socket);

    //either no descriptors are ready or there was an error

# ColonetServer makefile

CC = g++

COLONETCPPFILES = Main.cpp ColonetServer.cpp wirelessMessageHandler.cpp ConnectionPool.cpp Command.cpp colonet_wireless.cpp

COLONETCPPOBJECTS = $(COLONETCPPFILES:.cpp=.o)

/**

 * 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

 * 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

/*Command Mode Functions

 * Called during initialization.

 */

/*API Mode Functions*/

			WL_DEBUG_PRINT("Out of space in buffer.\n");

		}

		buffer_last = t;

	}

	return 0;

}

		printf("Failed to open connection to XBee on port %s\r\n", xbee_com_port);

		return -1;

	}

	// set baud rate, etc. correctly

	struct termios options;

	}

	//lockf(xbee_stream, F_LOCK, 0);

	if (xbee_listen_thread == NULL)

	{

		fprintf(stderr, "%s: Malloc failed.\n", __FUNCTION__);

		return -1;

	}

	if (ret)

	{

		fprintf(stderr, "Failed to create listener thread.\r\n");

		return -1;

	}

	#endif

	xbee_enter_command_mode();

	xbee_enter_api_mode();

	xbee_exit_command_mode();

	xbee_send_read_at_command("MY");

	//wait to return until the address is set

	while (xbee_address == 0) xbee_get_packet(NULL);

/**

 * Send a buffer buf of size bytes to the XBee.

 * @param buf the buffer of data to send

 * @param size the number of bytes to send

 **/

/**

 * Enter into command mode.

 **/

{

	xbee_send_string("+++");

	xbee_wait_for_ok();

/**

 * Exit from command mode.

 **/

{

	xbee_send_string("ATCN\r");

	xbee_wait_for_ok();

/**

 * Enter API mode.

 **/

{

	xbee_send_string("ATAP 1\r");

	xbee_wait_for_ok();

/**

 * Exit API mode. (warning - does not check for response)

 **/

{

	xbee_send_string("ATAP 0\r");

}

/**

 * Wait until the string "OK\r" is received from the XBee.

 **/

{

	xbee_wait_for_string("OK\r", 3);

}

 * @param s the string to receive

 * @param len the length of the string

 **/

{

}

/**

{

	char buf[16];

	int i;

	buf[0] = XBEE_FRAME_AT_COMMAND;

	buf[1] = 1;

	buf[2] = command[0];

/**

 * Send the specified packet.

 * @param packet the packet data to send

 * @param len the number of bytes in the packet

 * @param dest the ID of the XBee to send the packet to,

 * or XBEE_BROADCAST to send the message to all robots

 * in the PAN.

 * @param options a combination of the flags

 * XBEE_OPTIONS_BROADCAST_ALL_PANS

 *

 * @param frame the frame number to associate this packet

 *

 * The first byte of the packet will be either

 * XBEE_TX_STATUS or XBEE_RX to indicated

 * respectively.<br><br>

 *

 * For a status response packet:<br>

 * The first byte will be XBEE_TX_STATUS.<br>

 * The second byte will be the frame number.<br>

 * The third byte will be the result. 0 indicates success,

 * transmitting the packet.<br><br>

 *

 * For a received packet:<br>

 * The fourth byte is the signal strength.<br>

 * The fifth byte is 1 if the packet were sent to

 * a specific address, and 2 if it is a broadcast packet.<br><br>

 * @param dest set to the packet data

 * @return the length of the packet, or -1 if no packet

 * is available

	int len = -1;

	if (currentBufPos >= 3)

		len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8);

	while (len == -1 //packet length has not been read yet

			|| currentBufPos < len + 4)

	{

		if (buffer_first == XBEE_BUFFER_SIZE)

			buffer_first = 0;

	}

	currentBufPos = 0;

	if (!xbee_verify_checksum(xbee_buf, len + 4))

	{

		WL_DEBUG_PRINT("XBee checksum failed.\r\n");

	//we will take care of the packet

	if (xbee_handle_packet(xbee_buf + 3, len))

		return -1;

	if (dest == NULL)

		return -1;

	int i;

	for (i = 3; i < len + 3; i++)

		dest[i - 3] = xbee_buf[i];

	WL_DEBUG_PRINT("AT");

	WL_DEBUG_PRINT(command);

	WL_DEBUG_PRINT(" command was successful.\r\n");

	if (command[0] == 'I' && command[1] == 'D')

	{

		xbee_panID = xbee_pending_panID;

		WL_DEBUG_PRINT(".\r\n");

		return;

	}

	if (command[0] == 'M' && command[1] == 'Y' && extraLen != 0)

	{

		xbee_address = 0;

 *

 * @param packet the packet to handle

 * @param len the length of the packet

 * @return 1 if we have handled the packet, 0 otherwise

 */

int xbee_handle_packet(char* packet, int len)

		WL_DEBUG_PRINT("Non-positive packet length.\r\n");

		return 0;

	}

	switch ((unsigned char)packet[0]) //packet type

	{

		case XBEE_FRAME_STATUS:

/**

 * Get the PAN ID for the XBee.

 * @return the personal area network id, or

 * XBEE_PAN_DEFAULT if it has not yet been set.

 **/

/**

 * Set the channel the XBee is using.

 *

 * between 0x0B and 0x1A

 *

 * @see xbee_get_channel

	@echo

	@echo $(MSG_CLEANING)

	$(REMOVE) $(TARGET).a

	$(REMOVE) $(OBJ)

	$(REMOVE) $(LST)

	$(REMOVE) $(SRC:.c=.s)

			}

		}

		return;

	}

		int type = wl_buf[6];

		int packetLen = len - 7;

		return;

	}