/ - Diff - Colony - Robotics Club

           break;
         case BATTERY:
           sprintf(buf, "it's a battery request\n");
           usb_puts(buf);
           sprintf((char*)pkt->data, "%d", (int)battery8());
           // TODO: THIS IS NOT WORKING!  SERVER DOES NOT GET PACKET!
           wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(pkt), wl_source, 0);
           sprintf(buf, "sent battery value: %s\n", pkt->data);
           sprintf(buf, "it's a battery request\nsent battery value: %s\n", pkt->data);
           usb_puts(buf);
           break;

      * @return 0 on success, a negative error code on failure
      */
     int colonet_wl_send(short client_source, short dest, ColonetRobotMessageType msg_type, unsigned char msg_code,
       unsigned char* args) {
       //printf("colonet_wl_send: client_source:%d, dest:%d, msg_code:%d\n", client_source, dest, msg_code);
                         unsigned char* args) {
       printf("colonet_wl_send: client_source:%d, dest:%d, msg_code:%d\n", client_source, dest, msg_code);
       //create a new packet to be sent
       //create and set up new packet to be sent.
       ColonetRobotServerPacket pkt;
       //set up the packet
       pkt.client_id = client_source;
       pkt.msg_code = msg_code;
-...
       if (dest == GLOBAL_DEST) {
         //printf("sending to global dest\n");
         if (wl_send_global_packet(COLONET_PACKET_GROUP_ID, (char)msg_type, (char*)(&pkt),
                                   sizeof(ColonetRobotServerPacket), 0) != 0) {
         int ret = wl_send_global_packet(COLONET_PACKET_GROUP_ID, (char)msg_type, (char*)(&pkt),
                                         sizeof(ColonetRobotServerPacket), 0);
         if (ret != 0) {
           fprintf(stderr, "%s: wl_send_global_packet failed.\n", __FUNCTION__);
           return -1;
+        }
       } else {
         //("sending to specific robot: %d.\n", dest);
         if (wl_send_robot_to_robot_global_packet(COLONET_PACKET_GROUP_ID, (char)msg_type, (char*)(&pkt),
           sizeof(ColonetRobotServerPacket), dest, COLONET_RESPONSE_PACKET_FRAME_ID) != 0) {
         int ret = wl_send_robot_to_robot_global_packet(COLONET_PACKET_GROUP_ID, (char)msg_type, (char*)(&pkt),
                                                        sizeof(ColonetRobotServerPacket), dest,
                                                        COLONET_RESPONSE_PACKET_FRAME_ID);
         if (ret != 0) {
           fprintf(stderr, "%s: wl_send_robot_to_robot_global_packet failed.\n", __FUNCTION__);
           return -1;
+        }
+      }
-...
      * @brief Gets the sensor matrix from the wireless library
+     *
      * @param numrobots A pointer to the variable where you want the number of robots to be stored
      * @param ids_ A pointer to a pointer that you want to point to the list of xbee ids.  This memory is dynamically allocated and should be freed by the calling process when it is done with it
      * @param ids_ A pointer to a pointer that you want to point to the list of xbee ids.  This memory is dynamically
      * allocated and should be freed by the calling process when it is done with it
+     *
      * @return The 2d matrix reprsenting the sensor matrix.  This memory is dynamically allocated and should be freed by the calling process when it is done with it
      * @return The 2d matrix reprsenting the sensor matrix.  This memory is dynamically allocated and should be freed by
      * the calling process when it is done with it
      */
     int** colonet_get_sensor_matrix(int* numrobots, int** ids_) {
       int num_robots;
-...
+    }
     static void handle_receive(char type, int source, unsigned char* data, int len) {
       //TODO: These are just here to get rid of compiler warnings
       type = type;
       type = type; //TODO: This is just here to get rid of compiler warnings.
       printf("!!!***Got packet from robot***!!!\n");
       fprintf(stderr, "***Got packet from robot***\n");
       ColonetRobotServerPacket* pkt = (ColonetRobotServerPacket*)data;
-...
      * @return NULL
      */
     static void* listen(void* args) {
       //TODO: These are just here to get rid of compiler warnings
       args = args;
       args = args; //TODO: These are just here to get rid of compiler warnings.
       printf("Called listen.\n");
       fprintf(stderr, "Called listen.\n");
       PacketGroupHandler pgh = {COLONET_PACKET_GROUP_ID,
                                 timeout_handler,
                                 handle_response,
                                 handle_receive,
                                 unregister};
       PacketGroupHandler pgh = {COLONET_PACKET_GROUP_ID, timeout_handler, handle_response, handle_receive, unregister};
       wl_register_packet_group(&pgh);
       while (1) {

     ColonetServer colonet_server;
     void cleanup(int a) {
       a = a;
       //wl_terminate();
       printf("todo - close wl port\n");

trunk/code/projects/colonet/client/Colonet.java
822	822	RobotIcon r = entry.getValue();
823	823	if (r.id >= 0) {
824	824	csi.sendBatteryRequest(r.id);
	825	System.out.println("Sent battery request (" + r.id + ")");
825	826	}
826	827	}
827	828	}

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