/trunk/code/projects/libwireless/lib/xbee.c - Diff - Colony - Robotics Club

Revision 418

Added by Eugene Marinelli about 16 years ago

added return values to a bunch of libwireless functions. Makefile for colonetserver now compiles libwireless when necessary. added static to a bunch of libwireless vars. commented out colonet timeout

     /*I/O Functions*/
     static int xbee_send(char* buf, int size);
     static void xbee_send_string(char* c);
     static int xbee_send_string(char* c);
     #ifndef ROBOT
     void xbee_read(char* buf, int size);
     static int xbee_read(char* buf, int size);
     #endif
     /*Command Mode Functions
      * Called during initialization.
      */
     static void xbee_enter_command_mode(void);
     static void xbee_exit_command_mode(void);
     static void xbee_enter_api_mode(void);
     static void xbee_exit_api_mode(void);
     static int xbee_enter_command_mode(void);
     static int xbee_exit_command_mode(void);
     static int xbee_enter_api_mode(void);
     static int xbee_exit_api_mode(void);
     static void xbee_wait_for_string(char* s, int len);
     static void xbee_wait_for_ok(void);
     /*API Mode Functions*/
     int xbee_handle_packet(char* packet, int len);
     void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen);
     void xbee_handle_status(char status);
     int xbee_verify_checksum(char* packet, int len);
     char xbee_compute_checksum(char* packet, int len);
     void xbee_send_frame(char* buf, int len);
     void xbee_send_read_at_command(char* command);
     void xbee_send_modify_at_command(char* command, char* value);
     static int xbee_handle_packet(char* packet, int len);
     static void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen);
     static void xbee_handle_status(char status);
     static int xbee_verify_checksum(char* packet, int len);
     static char xbee_compute_checksum(char* packet, int len);
     static int xbee_send_frame(char* buf, int len);
     static int xbee_send_read_at_command(char* command);
     static int xbee_send_modify_at_command(char* command, char* value);
     /*Global Variables*/
-...
     //used to store packets as they are read
     char xbee_buf[128];
     int currentBufPos = 0;
     static char xbee_buf[128];
     static int currentBufPos = 0;
     //XBee status
     unsigned int xbee_panID = XBEE_PAN_DEFAULT;
     unsigned int xbee_pending_panID = XBEE_PAN_DEFAULT;
     int xbee_channel = XBEE_CHANNEL_DEFAULT;
     int xbee_pending_channel = XBEE_CHANNEL_DEFAULT;
     unsigned int xbee_address = 0;
     static unsigned int xbee_panID = XBEE_PAN_DEFAULT;
     static unsigned int xbee_pending_panID = XBEE_PAN_DEFAULT;
     static int xbee_channel = XBEE_CHANNEL_DEFAULT;
     static int xbee_pending_channel = XBEE_CHANNEL_DEFAULT;
     static unsigned int xbee_address = 0;
     /*Function Implementations*/
-...
     #else
     // Computer code
     /**
      * Thread that listens to the xbee.
      **/
     void* listen_to_xbee(void* x)
     static void* listen_to_xbee(void* x)
+    {
     	char c;
     	while (1)
+    	{
     		xbee_read(&c, 1);
     		if (xbee_read(&c, 1) != 0) {
     			fprintf(stderr, "xbee_read failed.\n");
     			return NULL;
+    		}
     		arrival_buf[buffer_last] = c;
     		int t = buffer_last + 1;
     		if (t == XBEE_BUFFER_SIZE)
-...
     		usleep(1000);
+    	}
     	return 0;
     	return NULL;
+    }
     #endif
-...
+    	}
     #endif
     	xbee_enter_command_mode();
     	xbee_enter_api_mode();
     	xbee_exit_command_mode();
     	xbee_send_read_at_command("MY");
     	if (xbee_enter_command_mode() != 0) {
     		return -1;
+    	}
     	if (xbee_enter_api_mode() != 0) {
     		return -1;
+    	}
     	if (xbee_exit_command_mode() != 0) {
     		return -1;
+    	}
     	if (xbee_send_read_at_command("MY")) {
     		return -1;
+    	}
     	//wait to return until the address is set
     	while (xbee_address == 0) xbee_get_packet(NULL);
-...
      * @param buf the buffer of data to send
      * @param size the number of bytes to send
      **/
     int xbee_send(char* buf, int size)
     static int xbee_send(char* buf, int size)
+    {
     	#ifdef ROBOT
     #ifdef ROBOT
     	int i;
     	for (i = 0; i < size; i++)
     	for (i = 0; i < size; i++) {
     		xbee_putc(buf[i]);
     	#else
+    	}
     	return 0;
     #else
     	int ret = write(xbee_stream, buf, size);
     	//success
     	if (ret == size)
-...
+    	}
     	//write was interrupted after writing ret bytes
     	xbee_send(buf + ret, size - ret);
     	#endif
     	return 0;
     	return xbee_send(buf + ret, size - ret);
     #endif
+    }
     /**
-...
+     *
      * @param c the string to send to the XBEE
      **/
     void xbee_send_string(char* c)
     static int xbee_send_string(char* c)
+    {
     	xbee_send(c, strlen(c));
     	return xbee_send(c, strlen(c));
+    }
     #ifndef ROBOT
     void xbee_read(char* buf, int size)
     static int xbee_read(char* buf, int size)
+    {
     	if (read(xbee_stream, buf, size) == -1)
     	if (read(xbee_stream, buf, size) == -1) {
     		printf("Failed to read from xbee.\r\n");
     		return -1;
+    	}
     	return 0;
+    }
     #endif
     /**
      * Enter into command mode.
      **/
     static void xbee_enter_command_mode()
     static int xbee_enter_command_mode()
+    {
     	xbee_send_string("+++");
     	if (xbee_send_string("+++") != 0) {
     		return -1;
+    	}
     	xbee_wait_for_ok();
     	return 0;
+    }
     /**
      * Exit from command mode.
      **/
     static void xbee_exit_command_mode()
     static int xbee_exit_command_mode()
+    {
     	xbee_send_string("ATCN\r");
     	if (xbee_send_string("ATCN\r") != 0) {
     		return -1;
+    	}
     	xbee_wait_for_ok();
     	return 0;
+    }
     /**
      * Enter API mode.
      **/
     static void xbee_enter_api_mode()
     static int xbee_enter_api_mode()
+    {
     	xbee_send_string("ATAP 1\r");
     	if (xbee_send_string("ATAP 1\r") != 0) {
     		return -1;
+    	}
     	xbee_wait_for_ok();
     	return 0;
+    }
     /**
      * Exit API mode. (warning - does not check for response)
      **/
     static void xbee_exit_api_mode()
     static int xbee_exit_api_mode()
+    {
     	xbee_send_string("ATAP 0\r");
     	return xbee_send_string("ATAP 0\r");
+    }
     /**
-...
      * @param len the size in bytes of the packet data
+     *
      **/
     void xbee_send_frame(char* buf, int len)
     static int xbee_send_frame(char* buf, int len)
+    {
     	char prefix[3];
     	prefix[0] = XBEE_FRAME_START;
     	prefix[1] = (len & 0xFF00) >> 8;
     	prefix[2] = len & 0xFF;
     	char checksum = xbee_compute_checksum(buf, len);
     	xbee_send(prefix, 3);
     	xbee_send(buf, len);
     	xbee_send(&checksum, 1);
     	if (xbee_send(prefix, 3) != 0) {
     		return -1;
+    	}
     	if (xbee_send(buf, len) != 0) {
     		return -1;
+    	}
     	if (xbee_send(&checksum, 1) != 0) {
     		return -1;
+    	}
     	return 0;
+    }
     /**
-...
      * use ID to read the PAN ID and MY to return the XBee ID.
      * See the XBee reference guide for a complete listing.
      **/
     void xbee_send_read_at_command(char* command)
     static int xbee_send_read_at_command(char* command)
+    {
     	xbee_send_modify_at_command(command, NULL);
     	return xbee_send_modify_at_command(command, NULL);
+    }
     /**
-...
      * @param value the value to pass as a parameter
      * (or NULL if there is no parameter)
      **/
     void xbee_send_modify_at_command(char* command, char* value)
     static int xbee_send_modify_at_command(char* command, char* value)
+    {
     	char buf[16];
     	int i;
-...
     		if (valueLen > 8)
+    		{
     			WL_DEBUG_PRINT("AT Command too large.\r\n");
     			return;
     			return -1;
+    		}
     		for (i = 0; i < valueLen; i++)
     		for (i = 0; i < valueLen; i++) {
     			buf[4 + i] = value[i];
+    		}
+    	}
     	xbee_send_frame(buf, 4 + valueLen);
     	return xbee_send_frame(buf, 4 + valueLen);
+    }
     /**
-...
     			// check if buffer is empty
     			if (buffer_first == buffer_last)
     				return -1;
     		} while (arrival_buf[buffer_first++] != XBEE_FRAME_START);
     		if (buffer_first == XBEE_BUFFER_SIZE) {
     			buffer_first = 0;
+    		}
     		while (arrival_buf[buffer_first++] != XBEE_FRAME_START);
     		if (buffer_first == XBEE_BUFFER_SIZE)
     			buffer_first = 0;
     		xbee_buf[0] = XBEE_FRAME_START;
     		currentBufPos++;
+    	}
     	int len = -1;
     	if (currentBufPos >= 3)
     	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)
     		|| currentBufPos < len + 4)
+    	{
     		if (currentBufPos == 3)
+    		{
-...
     				return -1;
+    			}
+    		}
     		// check if buffer is empty
     		if (buffer_first == buffer_last)
     		if (buffer_first == buffer_last) {
     			return -1;
+    		}
     		xbee_buf[currentBufPos++] = arrival_buf[buffer_first++];
     		if (buffer_first == XBEE_BUFFER_SIZE)
     		if (buffer_first == XBEE_BUFFER_SIZE) {
     			buffer_first = 0;
+    		}
+    	}
     	currentBufPos = 0;
-...
+    	}
     	//we will take care of the packet
     	if (xbee_handle_packet(xbee_buf + 3, len))
     	if (xbee_handle_packet(xbee_buf + 3, len)) {
     		return -1;
+    	}
     	if (dest == NULL)
     	if (dest == NULL) {
     		return -1;
+    	}
     	int i;
     	for (i = 3; i < len + 3; i++)
     	for (i = 3; i < len + 3; i++) {
     		dest[i - 3] = xbee_buf[i];
+    	}
     	return len;
+    }
-...
      * @param extra the hex value of the requested register
      * @param extraLen the length in bytes of extra
      **/
     void xbee_handle_at_command_response(char* command, char result,
     	char* extra, int extraLen)
     static void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen)
+    {
     	if (result == 1)
+    	{
-...
     	if (command[0] == 'M' && command[1] == 'Y' && extraLen != 0)
+    	{
     //							printf("reading xbee_address\n");
     		xbee_address = 0;
     		int i;
     		for (i = 0; i < extraLen; i++)
     		for (i = 0; i < extraLen; i++) {
     			xbee_address = (xbee_address << 8) + extra[i];
+    		}
     //							printf("xbee address is: %d\n", xbee_address);
     		WL_DEBUG_PRINT("XBee address is ");
     		WL_DEBUG_PRINT_INT(xbee_address);
-...
+     *
      * @return 1 if we have handled the packet, 0 otherwise
      */
     int xbee_handle_packet(char* packet, int len)
     static int xbee_handle_packet(char* packet, int len)
+    {
     	char command[3] = {1, 2, 3};
     	if (len <= 0) //this should not happend
-...
     			command[0] = packet[2];
     			command[1] = packet[3];
     			command[2] = 0;
     			xbee_handle_at_command_response(command,
     				packet[4], packet + 5, len - 5);
     			xbee_handle_at_command_response(command, packet[4], packet + 5, len - 5);
     			return 1;
+    	}
     	return 0;
-...
+     *
      * @param id the new personal area network (PAN) id
      **/
     void xbee_set_pan_id(int id)
     int xbee_set_pan_id(int id)
+    {
     	char s[3];
     	s[0] = (id >> 8) & 0xFF;
     	s[1] = id & 0xFF;
     	s[2] = 0;
     	xbee_pending_panID = id;
     	xbee_send_modify_at_command("ID", s);
     	return xbee_send_modify_at_command("ID", s);
+    }
     /**
-...
+     *
      * @see xbee_get_channel
      **/
     void xbee_set_channel(int channel)
     int xbee_set_channel(int channel)
+    {
     	if (channel < 0x0B || channel > 0x1A)
+    	{
     		WL_DEBUG_PRINT("Channel out of range.\r\n");
     		return;
     		return -1;
+    	}
     	char s[3];
     	s[0] = channel & 0xFF;
     	s[1] = 0;
     	xbee_pending_channel = channel;
     	xbee_send_modify_at_command("CH", s);
     	return xbee_send_modify_at_command("CH", s);
+    }
     /**

Also available in: Unified diff

Project

General

Profile

Colony

Revision 418