/ - Diff - Colony - Robotics Club

       *y = robot_y;
+    }
     static void report_arrived() {
       //usb_puts("requesting_abs_position\n");
       ColonetRobotServerPacket pkt;
       pkt.client_id = -1; //global
       pkt.msg_code = ROBOT_REPORT_ARRIVED_AT_POSITION;
       wl_send_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(ColonetRobotServerPacket), 0);
+    }
     void request_abs_position() {
       //usb_puts("requesting_abs_position\n");
       ColonetRobotServerPacket pkt;
       pkt.client_id = -1;
       pkt.client_id = -1; //global
       pkt.msg_code = ROBOT_REQUEST_POSITION_FROM_SERVER;
       wl_send_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(ColonetRobotServerPacket), 0);
+    }
-...
                   // Reached destination.
                   motors_off();
                   robot_state = NO_COMMAND;
                   // Notify server that robot arrived.
                   report_arrived();
                 } else {
                   // e is the error vector (where we want to go)
                   //char buf[80];

     static void handle_receive(char type, int source_robot, unsigned char* data, int len) {
       type = type; //TODO: This is just here to get rid of compiler warnings.
       printf("***Got packet from robot***\n");
       //printf("***Got packet from robot***\n");
       ColonetRobotServerPacket* pkt = (ColonetRobotServerPacket*)data;

      * @brief Puts text into a write buffer that will be written to a client's file
      *  descriptor sometime when the client is ready to write.
+     *
      * @param pool_index Index in the pool of the client to write to
      * @param pool_index Index in the pool of the client to write to.  -1 for global.
      * @param message The message to be written
      * @param length The length of the message
+     *
      * @return 0 on success, negative error code on failure
      */
     int ConnectionPool::write_to_client(int pool_index, char * message, int length) {
       if (pool_index < 0 || pool_index >= next_available_slot) {
         return ERROR_INVALID_CLIENT_ID;
+      }
       if (!message) {
         return ERROR_INVALID_MESSAGE;
+      }
-...
         return ERROR_NOT_ENOUGH_ROOM;
+      }
       //printf("Connection pool: attempting to write [%s], length %i to index %i.\n", message, length, pool_index);
       if (pool_index == -1) {
         // Global message.
         for (int i = 0; i < number_clients_ready; i++) {
           memcpy(write_buffer[i], message, length);
           write_buffer_size[i] += length;
+        }
       } else {
         if (pool_index < 0 || pool_index >= next_available_slot) {
           return ERROR_INVALID_CLIENT_ID;
+        }
       memcpy(write_buffer[pool_index], message, length);
       write_buffer_size[pool_index] += length;
         //printf("Connection pool: attempting to write [%s], length %i to index %i.\n", message, length, pool_index);
         memcpy(write_buffer[pool_index], message, length);
         write_buffer_size[pool_index] += length;
+      }
       return 0;
+    }

trunk/code/projects/colonet/common/colonet_defs.h
157	157	#define SERVER_REPORT_VIRTUAL_WALL_LOWER 0x5B
158	158
159	159	#define SERVER_CLEAR_VIRTUAL_WALL 0x5C
	160	#define ROBOT_REPORT_ARRIVED_AT_POSITION 0x5D
160	161
161	162	///////////////////////////
162	163	//Colonet specific commands

     	public static final String CLIENT_ASSIGN_ROBOT_ID = "87";
       public static final String CLIENT_SET_VIRTUAL_WALL = "89";
     	public static final String MOVE_TO_ABSOLUTE_POSITION = "83"; //0x53
     	//Queue instructions
     	public static final String COLONET_QUEUE = "100";
     	public static final String QUEUE_UPDATE = "101";
-...
     			sendData(MOVE_TO_ABSOLUTE_POSITION + " " + x_high + " " + x_low + " " + y_high + " " + y_low, "" + id);
+    	}
         /**
         * Establish a boundary for robot motion.
         */

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Revision 681