/branches/autonomous_recharging/code/projects/libwireless/lib/wireless.c - Diff - Colony - Robotics Club

Revision 668

Added by Brian Coltin about 16 years ago

Updated port of wireless library to bay boards.

     /*Function Prototypes*/
     void wl_do_timeout(void);
     static void wl_do_timeout(void);
     //Note: the actual frame sent has group as the first four bits and
     //frame as the last four.
     void wl_send_packet(char group, char type, char* data, int len,
     					int dest, char options, char frame);
     static int wl_send_packet(char group, char type, char* data, int len, int dest, char options, char frame);
     /*Data Members*/
     //used to store incoming and outgoing packets
     unsigned char wl_buf[128];
     static unsigned char wl_buf[128];
     //1 if we have timed out since we last checked, 0 otherwise.
     int wl_timeout = 0;
     static int wl_timeout = 0;
     PacketGroupHandler* wl_packet_groups[WL_MAX_PACKET_GROUPS];
     static PacketGroupHandler* wl_packet_groups[WL_MAX_PACKET_GROUPS];
     #ifndef ROBOT
     //called when we time out, or receive interrupt
     void sig_handler(int signo)
     static void sig_handler(int signo)
+    {
     	switch (signo)
+    	{
-...
     #else
     //called when the timer ticks
     void timer_handler(void)
     static void timer_handler(void)
+    {
     	wl_timeout = 1;
+    }
-...
     /**
      * 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()
+    {
-...
     		wl_packet_groups[i] = NULL;
     	if (xbee_lib_init() == -1) {
     	  return -1;
     		return -1;
+    	}
     	//begin timeout timer
     	#ifdef ROBOT
     	#ifdef FIREFLY
     #ifdef ROBOT
     #ifdef FIREFLY
     	rtc_init(PRESCALE_DIV_256, 32, &timer_handler);
     	#else
     #else
     	rtc_init(HALF_SECOND, &timer_handler);
     	#endif
     	#else
     #endif
     #else
     	//create our timer
     	struct itimerval timer_val;
-...
     	sigemptyset(&wl_sig_act.sa_mask);
     	sigaction(SIGALRM, &wl_sig_act, 0);
     	sigaction(SIGINT, &wl_sig_act, 0);
     	#endif
     #endif
     	return 0;
+    }
-...
     void wl_terminate()
+    {
     	int i;
     	for (i = 0; i < WL_MAX_PACKET_GROUPS; i++)
     	for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) {
     		if (wl_packet_groups[i] != NULL &&
     			wl_packet_groups[i]->unregister != NULL)
     			wl_packet_groups[i]->unregister != NULL) {
     			wl_packet_groups[i]->unregister();
+    		}
+    	}
     	xbee_terminate();
+    }
-...
+     *
      * @see wl_get_pan
      **/
     void wl_set_pan(int pan)
     int wl_set_pan(int pan)
+    {
     	xbee_set_pan_id(pan);
     	return xbee_set_pan_id(pan);
+    }
     /**
-...
+     *
      * @see wl_get_channel
      **/
     void wl_set_channel(int channel)
     int wl_set_channel(int channel)
+    {
     	xbee_set_channel(channel);
     	return xbee_set_channel(channel);
+    }
     /**
-...
      * @param dest the 16-bit address of the XBee to send the packet to
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_robot_to_robot_global_packet(char group, char type,
     		char* data, int len, int dest, char frame)
     int wl_send_robot_to_robot_global_packet(char group, char type, char* data, int len, int dest, char frame)
+    {
     	wl_send_packet(group, type, data, len, dest,
     			XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
     	return wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
+    }
     /**
-...
      * @param dest the 16-bit address of the XBee to send the packet to
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_robot_to_robot_packet(char group, char type,
     		char* data, int len, int dest, char frame)
     int wl_send_robot_to_robot_packet(char group, char type, char* data, int len, int dest, char frame)
+    {
     	wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_NONE,
     			frame);
     	return wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_NONE, frame);
+    }
     /**
-...
      * @param len the packet length in bytes
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_global_packet(char group, char type,
     		char* data, int len, char frame)
     int wl_send_global_packet(char group, char type, char* data, int len, char frame)
+    {
     	wl_send_packet(group, type, data, len, XBEE_BROADCAST,
     			XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
     	return wl_send_packet(group, type, data, len, XBEE_BROADCAST, XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
+    }
     /**
-...
      * @param len the packet length in bytes
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_pan_packet(char group, char type,
     		char* data, int len, char frame)
     void wl_send_pan_packet(char group, char type, char* data, int len, char frame)
+    {
     	wl_send_packet(group, type, data, len, XBEE_BROADCAST,
     			XBEE_OPTIONS_NONE, frame);
-...
      * @param options the options for sending the packet
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_packet(char group, char type, char* data, int len,
     					int dest, char options, char frame)
     int wl_send_packet(char group, char type, char* data, int len, int dest, char options, char frame)
+    {
     	char buf[128];
     	int i;
     	if (frame != 0)
     		frame = (frame & 0x0F) | ((group & 0x0F) << 4);
     	buf[0] = group;
     	buf[1] = type;
     	for (i = 0; i < len; i++)
     		buf[2 + i] = data[i];
     	xbee_send_packet(buf, len + 2, dest, options, frame);
     	return xbee_send_packet(buf, len + 2, dest, options, frame);
+    }
     /**
-...
+    	}
     	int len = xbee_get_packet(wl_buf);
     	if (len < 0)//no packet received
     	if (len == -1)
     		return;
     	if (wl_buf[0] == XBEE_TX_STATUS)
-...
     		int group = (int)(wl_buf[1] >> 4);
     		int success = 0;
     		if (wl_buf[2] == 0)
+    		{
     			success = 1;
+    		}
     		else
+    		{
     			WL_DEBUG_PRINT("No response received.\r\n");
-...
+    			}
+    		}
     		if (wl_packet_groups[group] != NULL &&
     					wl_packet_groups[group]->handle_response != NULL)
     			wl_packet_groups[group]->handle_response(
     					(int)wl_buf[1] & 0x0F, success);
     		return;
     		if (wl_packet_groups[group] != NULL && wl_packet_groups[group]->handle_response != NULL)
     			wl_packet_groups[group]->handle_response((int)wl_buf[1] & 0x0F, success);
+    	}
     	if (wl_buf[0] == XBEE_RX)
     	else if (wl_buf[0] == XBEE_RX)
+    	{
     		if (len < 7)
+    		{
-...
     		int type = wl_buf[6];
     		int packetLen = len - 7;
     		if (wl_packet_groups[group] != NULL
     				&& wl_packet_groups[group]->handle_receive != NULL)
     			wl_packet_groups[group]->handle_receive(type, source,
     				wl_buf + 7, packetLen);
     		return;
     		if (wl_packet_groups[group] != NULL && wl_packet_groups[group]->handle_receive != NULL) {
     			wl_packet_groups[group]->handle_receive(type, source, wl_buf + 7, packetLen);
+    		}
+    	}
     	WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
     	return;
     	else
+    	{
     		WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
+    	}
+    }

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Revision 668