/ - Diff - Colony - Robotics Club

Revision 726

Working on bayboard wireless

     #include <bayboard_lib.h>
     #include <wireless.h>
     #include <wl_token_ring.h>
     #include <xbee.h>
     #include <ctype.h>
     void test_bom_on (void)
+    {
     	set_orb(0,200,0);
     	delay_ms(50);
+    }
     void test_bom_off(void)
+    {
     	set_orb(0,0,0);
     	set_orb(200,0,200);
     	delay_ms(50);
+    }
     int test_nothing(void)
-...
     int main(void)
+    {
     	bayboard_init(ALL_ON);
     	delay_ms(500);
     	//xbee_lib_init();
     	set_orb(200,0,0);
     	wl_init();
     	wl_token_ring_set_bom_functions(do_nothing, do_nothing, test_nothing);
     	wl_token_ring_register();
     	if(wl_token_ring_register() < 0) {
     	  set_orb(200,0,0);
     	  return -1;
+    	}
     	if(wl_token_ring_join() < 0) {
     	  set_orb(200,0,0);
     	  return -1;
+    	}
     	if (wl_token_ring_join())
     		set_orb(200,0,0);
     	else
     		set_orb(0,200,0);
     	set_orb(0,200,0);
     	usb_puts("== start ==\n");
     	delay_ms(200);
     	//bom_init(0);
     	while (1)
     		wl_do();
       //int c;
       //char buf[20];
     	while (1) {
     	  wl_do();
+    	}
     	return 0;
+    }

     #endif
     static PacketGroupHandler wl_token_ring_handler =
     	{WL_TOKEN_RING_GROUP, wl_token_ring_timeout_handler,
     	{wl_token_ring_timeout_handler,
     		wl_token_ring_response_handler, wl_token_ring_receive_handler,
     		wl_token_ring_cleanup};
        wl_token_ring_cleanup, WL_TOKEN_RING_GROUP};
     /**
      * Causes the robot to join an existing token ring, or create one

     /**
      * 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
-...
     typedef struct
+    {
     	/**
     	 * The size of the sensor matrix.
     	**/
     	int size;
     	/**
     	 * The matrix. Each row represents the readings of one
     	 * robot.
     	 **/
     	int** matrix;
     	/**
     	 * The element representing a robot is true if that robot
     	 * is in the token ring and false otherwise.
     	 **/
     	int* joined;
     	char* joined;
     	/**
     	 * The number of robots in the token ring.
     	 **/
     	int numJoined;
     	/**
     	 * The size of the sensor matrix.
     	**/
     	int size;
     } SensorMatrix;
     /**@brief Create a sensor matrix **/

     /**
      * 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
-...
     #ifndef WIRELESS_H
     #define WIRELESS_H
     //Note: If this is raised above 16, we will need to do
     //something about frame numbers for TX Status packets.
     /**
      * The maximum number of packet groups.
      **/
     #define WL_MAX_PACKET_GROUPS 16
     #define WL_MAX_PACKET_GROUPS 4
     /**
      * @defgroup wireless Wireless
-...
+     *
      * Contains functions and definitions for dealing with wireless functionality.<br><br>
+     *
      * The wireless library provides a modular method for dealing with
      * The wireless library provides a modular method for dealing with
      * wireless packets, by allowing packet groups to be registered.
      * A packet group is a collection of packets which share a packet
      * group code. Each packet in the group also has a type. A packet
      * group code. Each packet in the group also has a type. A packet
      * group code and type are sent with each packet. When a packet
      * with a group code registered in the wireless library is
      * with a group code registered in the wireless library is
      * received, the corresponding event handler is called. The
      * event handler uses the packet type and other information
      * stored in the packet to respond.<br><br>
-...
     /**
      * @struct PacketGroupHandler
      * A PacketGroupHandler represents a packet group, and is used to
      * A PacketGroupHandler represents a packet group, and is used to
      * register a packet group with the wireless library. It contains
      * handlers for various events which can occur related to a packet
      * group.
-...
     typedef struct
+    {
     	/**
     	 * The group code for this packet group. This number
     	 * must be unique. The maximum number of packet groups
     	 * is defined by WL_MAX_PACKET_GROUPS.
     	 **/
     	unsigned int groupCode;
     	/**
     	 * Called every half second (not in interrupt,
     	 * but in wl_do).
     	 **/
     	void (*timeout_handler) (void);
     	/**
     	 * Called when a transmit status packet is received
     	 * from the XBee where the first four bits of the frame
-...
     	 * we did not.
     	 **/
     	void (*handle_response) (int frame, int received);
     	/**
     	 * Called when we receive a packet from this group.
+    	 *
-...
     	 **/
     	void (*unregister) (void);
     	/**
     	 * The group code for this packet group. This number
     	 * must be unique. The maximum number of packet groups
     	 * is defined by WL_MAX_PACKET_GROUPS.
     	 **/
     	unsigned int groupCode;
     } PacketGroupHandler;
     /**@brief Initialize the wireless library **/

     #include <serial.h>
     #include <avr/interrupt.h>
     #include <ctype.h>
     #endif
     #include <stdio.h>
-...
     static int xbee_send_modify_at_command(char* command, char* value);
     /*Global Variables*/
     #define MAX_XBEE_FRAME_SIZE 32
     #ifndef ROBOT
     static char* xbee_com_port = XBEE_PORT_DEFAULT;
     static int xbee_stream;
-...
     #endif
     // TODO: is this a good size?
     #define XBEE_BUFFER_SIZE	256
     #define XBEE_BUFFER_SIZE	128
     // a buffer for data received from the XBee
     char arrival_buf[XBEE_BUFFER_SIZE];
     // location of last unread byte in buffer
-...
     //used to store packets as they are read
     static char xbee_buf[128];
     static char xbee_buf[MAX_XBEE_FRAME_SIZE];
     static int currentBufPos = 0;
     //XBee status
-...
     static int xbee_pending_channel = XBEE_CHANNEL_DEFAULT;
     static volatile unsigned int xbee_address = 0;
     #ifndef ROBOT
     void printHex(char * s, int len) {
       int i;
       for (i = 0; i < len; i++) {
-...
+      }
       printf("\n");
+    }
     #endif
     /*Function Implementations*/
-...
     #ifdef FIREFLY
     SIGNAL(SIG_USART0_RECV)
+    {
       usb_puts("In USART0 interrupt\n");
     	char c = UDR0;
     	arrival_buf[buffer_last] = c;
     	int t = buffer_last + 1;
     	if (t == XBEE_BUFFER_SIZE)
     		t = 0;
     	if (t == buffer_first)
+    	{
     		WL_DEBUG_PRINT("Out of space in buffer.\n");
+    	}
+        {
           WL_DEBUG_PRINT("Out of space in buffer.\n");
+        }
     	buffer_last = t;
+    }
     #else
-...
     ISR(USART1_RX_vect)
+    {
     	char c = UDR1;
     	/*
         char buf[30];
         char buf2[5];
     	  buf2[0] = '\\';
     	  if (c == '\b') {
         buf2[1] = 'b';
         buf2[2] = '\0';
+    	  }
     	  else if (c == '\n') {
         buf2[1] = 'n';
         buf2[2] = '\0';
+    	  }
     	  else if (c == '\r') {
         buf2[1] = 'r';
         buf2[2] = '\0';
+    	  }
     	  else if (c == '\t') {
         buf2[1] = 't';
         buf2[2] = '\0';
+    	  }
     	  else if (!isprint(c)) {
         sprintf(buf2, "0x%.2x", c);
+    	  }
     	  else {
         buf2[0] = c;
         buf2[1] = '\0';
+    	  }
         sprintf(buf, "In USART1 interrupt [%s]\n", buf2);
         usb_puts(buf);
     	*/
     	arrival_buf[buffer_last] = c;
     	int t = buffer_last + 1;
     	if (t == XBEE_BUFFER_SIZE)
     		t = 0;
     	if (t == buffer_first)
+    	{
     		WL_DEBUG_PRINT("Out of space in buffer.\n");
+    	}
+        {
           WL_DEBUG_PRINT("Out of space in buffer.\n");
+        }
     	buffer_last = t;
+    }
     #else
-...
     	if (t == XBEE_BUFFER_SIZE)
     		t = 0;
     	if (t == buffer_first)
+    	{
     		WL_DEBUG_PRINT("Out of space in buffer.\n");
+    	}
+        {
           WL_DEBUG_PRINT("Out of space in buffer.\n");
+        }
     	buffer_last = t;
+    }
     #endif
-...
+    {
     	char c;
     	while (1)
+    	{
     		if (xbee_read(&c, 1) != 0) {
     			fprintf(stderr, "xbee_read failed.\n");
     			return NULL;
+    		}
     		//DEBUGGING PRINT
     		//printf("interrupt: %c (%d)\n", c, (int)c);
     		arrival_buf[buffer_last] = c;
     		int t = buffer_last + 1;
     		if (t == XBEE_BUFFER_SIZE)
     			t = 0;
     		if (t == buffer_first)
+    		{
     			WL_DEBUG_PRINT("Out of space in buffer.\n");
+    		}
     		buffer_last = t;
+        {
           if (xbee_read(&c, 1) != 0) {
             fprintf(stderr, "xbee_read failed.\n");
             return NULL;
+          }
     		usleep(1000);
+    	}
           //DEBUGGING PRINT
           //printf("interrupt: %c (%d)\n", c, (int)c);
           arrival_buf[buffer_last] = c;
           int t = buffer_last + 1;
           if (t == XBEE_BUFFER_SIZE)
             t = 0;
           if (t == buffer_first)
+            {
               WL_DEBUG_PRINT("Out of space in buffer.\n");
+            }
           buffer_last = t;
           usleep(1000);
+        }
     	return NULL;
+    }
-...
     	printf("Connecting to port %s.\n", xbee_com_port);
     	xbee_stream = open(xbee_com_port, O_RDWR);
     	if (xbee_stream == -1/* || lockf(xbee_stream, F_TEST, 0) != 0*/)
+    	{
     		printf("Failed to open connection to XBee on port %s\r\n", xbee_com_port);
     		return -1;
     	} else {
+        {
           printf("Failed to open connection to XBee on port %s\r\n", xbee_com_port);
           return -1;
         } else {
     	  printf("Successfully opened connection to XBee on port %s\r\n", xbee_com_port);
+    	}
-...
     	options.c_cc[VTIME] = 50;
     	if (tcsetattr(xbee_stream, TCSANOW, &options))
+    	{
     		fprintf(stderr, "Error setting attributes.\n");
     		return -1;
     	} else {
+        {
           fprintf(stderr, "Error setting attributes.\n");
           return -1;
         } else {
     	  //printf("Successfully set termios attributes.\n");
+    	}
-...
     	xbee_listen_thread = (pthread_t*)malloc(sizeof(pthread_t));
     	if (xbee_listen_thread == NULL)
+    	{
     		fprintf(stderr, "%s: Malloc failed.\n", __FUNCTION__);
     		return -1;
+    	}
+        {
           fprintf(stderr, "%s: Malloc failed.\n", __FUNCTION__);
           return -1;
+        }
     	int ret = pthread_create(xbee_listen_thread, NULL, listen_to_xbee, NULL);
     	if (ret)
+    	{
     		fprintf(stderr, "Failed to create listener thread.\r\n");
     		return -1;
     	} else {
+        {
           fprintf(stderr, "Failed to create listener thread.\r\n");
           return -1;
         } else {
     	  //printf("Successfully created listener thread.\n");
+    	}
     #endif
-...
     	  usleep(1000);
     	  if (ret == -1) {
     		//printf("xbee_get_packet(NULL) failed.\n");
     		return -1;
           //printf("xbee_get_packet(NULL) failed.\n");
           return -1;
+    	  }
+    	}
-...
      **/
     void xbee_terminate()
+    {
     	#ifndef ROBOT
     #ifndef ROBOT
     	pthread_cancel(*xbee_listen_thread);
     	free(xbee_listen_thread);
     	lockf(xbee_stream, F_ULOCK, 0);
     	close(xbee_stream);
     	#endif
     #endif
+    }
     /**
-...
     	if (ret == size)
     		return 0;
     	if (ret == -1)
+    	{
     		//interrupted by system signal, probably timer interrupt.
     		//just try again
     		if (errno == 4)
+    		{
     			return xbee_send(buf, size);
+    		}
     		printf("Failed to write to xbee, error %i.\r\n", errno);
     		return -1;
+    	}
+        {
           //interrupted by system signal, probably timer interrupt.
           //just try again
           if (errno == 4)
+            {
               return xbee_send(buf, size);
+            }
           printf("Failed to write to xbee, error %i.\r\n", errno);
           return -1;
+        }
     	//write was interrupted after writing ret bytes
     	return xbee_send(buf + ret, size - ret);
-...
     	while (curr - s < len) {
     		// check if buffer is empty
     		if (buffer_last != buffer_first) {
     		  cli();
     			char c = arrival_buf[buffer_first++];
     			if (buffer_first == XBEE_BUFFER_SIZE) {
     				buffer_first = 0;
+    			}
     			sei();
     			//DEBUGGING PRINT
     			//printf("\t\t c is %c (%d)\n", c, (int)c);
-...
     	buf[3] = command[1];
     	int valueLen = 0;
     	if (value != NULL)
+    	{
     		valueLen = strlen(value);
     		if (valueLen > 8)
+    		{
     			WL_DEBUG_PRINT("AT Command too large.\r\n");
     			return -1;
+    		}
+        {
           valueLen = strlen(value);
           if (valueLen > 8)
+            {
               WL_DEBUG_PRINT("AT Command too large.\r\n");
               return -1;
+            }
     		for (i = 0; i < valueLen; i++) {
     			buf[4 + i] = value[i];
+    		}
+    	}
           for (i = 0; i < valueLen; i++) {
             buf[4 + i] = value[i];
+          }
+        }
     	return xbee_send_frame(buf, 4 + valueLen);
+    }
-...
     	unsigned char checksum = 0;
     	if (len > 100)
+    	{
     		WL_DEBUG_PRINT("Packet is too large.\r\n");
     		return -1;
+    	}
+        {
           WL_DEBUG_PRINT("Packet is too large.\r\n");
           return -1;
+        }
     	//data for sending request
     	buf[0] = XBEE_FRAME_TX_REQUEST_16;
-...
+    {
     	//start reading a packet with XBEE_FRAME_START
     	if (currentBufPos == 0)
+    	{
     		do
+    		{
     			if (buffer_first == XBEE_BUFFER_SIZE)
     				buffer_first = 0;
     			// check if buffer is empty
     			if (buffer_first == buffer_last) {
     				return 0;
+    			}
     		} while (arrival_buf[buffer_first++] != XBEE_FRAME_START);
+        {
           cli();
           do
+            {
               if (buffer_first == XBEE_BUFFER_SIZE)
                 buffer_first = 0;
               // check if buffer is empty
               if (buffer_first == buffer_last) {
                 sei();
                 return 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++;
+    	}
           if (buffer_first == XBEE_BUFFER_SIZE) {
             buffer_first = 0;
+          }
           sei();
           xbee_buf[0] = XBEE_FRAME_START;
           currentBufPos++;
+        }
     	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 (currentBufPos == 3)
+    		{
     			len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8);
     			if (len > 120)
+    			{
     				WL_DEBUG_PRINT("Packet too large. Probably error in XBee transmission.\n");
     				currentBufPos = 0;
     				return -1;
+    			}
+    		}
              || currentBufPos < len + 4)
+        {
           if (currentBufPos == 3)
+            {
               len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8);
               if (len > 120)
+                {
                   WL_DEBUG_PRINT("Packet too large. Probably error in XBee transmission.\n");
                   currentBufPos = 0;
                   return -1;
+                }
+            }
     		// check if buffer is empty
     		if (buffer_first == buffer_last) {
     			return 0;
+    		}
     		xbee_buf[currentBufPos++] = arrival_buf[buffer_first++];
     		if (buffer_first == XBEE_BUFFER_SIZE) {
     			buffer_first = 0;
+    		}
+    	}
           // check if buffer is empty
           if (buffer_first == buffer_last) {
             return 0;
+          }
           xbee_buf[currentBufPos++] = arrival_buf[buffer_first++];
           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");
     		return -1;
+    	}
+        {
           WL_DEBUG_PRINT("XBee checksum failed.\r\n");
           return -1;
+        }
     	//we will take care of the packet
     	if (xbee_handle_packet(xbee_buf + 3, len) != 0) {
-...
     void xbee_handle_status(char status)
+    {
     	switch (status)
+    	{
+        {
     		case 0:
     			WL_DEBUG_PRINT("XBee hardware reset.\r\n");
     			break;
-...
     		case 6:
     			WL_DEBUG_PRINT("Coordinator started.\r\n");
     			break;
+    	}
+        }
+    }
     /**
-...
     static void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen)
+    {
     	if (result == 1)
+    	{
     		WL_DEBUG_PRINT("Error with AT");
     		WL_DEBUG_PRINT(command);
     		WL_DEBUG_PRINT(" packet.\r\n");
+    	}
+        {
           WL_DEBUG_PRINT("Error with AT");
           WL_DEBUG_PRINT(command);
           WL_DEBUG_PRINT(" packet.\r\n");
+        }
     	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("PAN ID set to ");
     		WL_DEBUG_PRINT_INT(xbee_panID);
     		WL_DEBUG_PRINT(".\r\n");
     		return;
+    	}
+        {
           xbee_panID = xbee_pending_panID;
           WL_DEBUG_PRINT("PAN ID set to ");
           WL_DEBUG_PRINT_INT(xbee_panID);
           WL_DEBUG_PRINT(".\r\n");
           return;
+        }
     	if (command[0] == 'C' && command[1] == 'H')
+    	{
     		xbee_channel = xbee_pending_channel;
     		WL_DEBUG_PRINT("Channel set to ");
     		WL_DEBUG_PRINT_INT(xbee_channel);
     		WL_DEBUG_PRINT(".\r\n");
     		return;
+    	}
+        {
           xbee_channel = xbee_pending_channel;
           WL_DEBUG_PRINT("Channel set to ");
           WL_DEBUG_PRINT_INT(xbee_channel);
           WL_DEBUG_PRINT(".\r\n");
           return;
+        }
     	if (command[0] == 'M' && command[1] == 'Y' && extraLen != 0)
+    	{
     //							printf("reading xbee_address\n");
+        {
           //							printf("reading xbee_address\n");
     		xbee_address = 0;
     		int i;
     		for (i = 0; i < extraLen; i++) {
     			xbee_address = (xbee_address << 8) + extra[i];
+    		}
     //							printf("xbee address is: %d\n", xbee_address);
           xbee_address = 0;
           int 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);
     		WL_DEBUG_PRINT(".\r\n");
           WL_DEBUG_PRINT("XBee address is ");
           WL_DEBUG_PRINT_INT(xbee_address);
           WL_DEBUG_PRINT(".\r\n");
     		if (xbee_address == 0)
+    		{
     		  printf("XBee 16-bit address must be set using ATMY.\r\n");
     			WL_DEBUG_PRINT("XBee 16-bit address must be set using ATMY.\r\n");
     			exit(0);
+    		}
+    	}
           if (xbee_address == 0)
+            {
               printf("XBee 16-bit address must be set using ATMY.\r\n");
               WL_DEBUG_PRINT("XBee 16-bit address must be set using ATMY.\r\n");
               exit(0);
+            }
+        }
+    }
     /**
-...
     	char command[3] = {1, 2, 3};
     	if (len <= 0) //this should not happend
+    	{
     		WL_DEBUG_PRINT("Non-positive packet length.\r\n");
     		return 0;
+    	}
+        {
           WL_DEBUG_PRINT("Non-positive packet length.\r\n");
           return 0;
+        }
     	switch ((unsigned char)packet[0]) //packet type
+    	{
+        {
     		case XBEE_FRAME_STATUS:
     			xbee_handle_status(packet[1]);
     			return 1;
-...
     			command[2] = 0;
     			xbee_handle_at_command_response(command, packet[4], packet + 5, len - 5);
     			return 1;
+    	}
+        }
     	return 0;
+    }
-...
     int xbee_set_channel(int channel)
+    {
     	if (channel < 0x0B || channel > 0x1A)
+    	{
     		WL_DEBUG_PRINT("Channel out of range.\r\n");
     		return -1;
+    	}
+        {
           WL_DEBUG_PRINT("Channel out of range.\r\n");
           return -1;
+        }
     	char s[3];
     	s[0] = channel & 0xFF;

     /**
      * 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
-...
     							int length);
     PacketGroupHandler wl_error_handler =
     		{WL_ERROR_GROUP, NULL,
     		wl_error_response_receive, wl_error_handle_receive, NULL};
     		{NULL, wl_error_response_receive, wl_error_handle_receive, NULL,WL_ERROR_GROUP};
     void wl_error_response_receive(int frame, int received)
+    {
-...
     /**
      * Send an error message as a string.
+     *
+     *
      * @param str the error message to send
      **/
     void wl_error_send_string(char* str)

     	  free(m);
     	  return NULL;
+    	}
     	m->joined = (int*)malloc(m->size * sizeof(int));
     	m->joined = (char*)malloc(m->size * sizeof(int));
     	if (!(m->joined)) {
     	  WL_DEBUG_PRINT("Out of memory - allocating memory for joined.\r\n");
     	  free(m->matrix);
-...
     	m->size = nextSize;
     	//expand the size of joined
     	int* tempJoined = (int *)malloc(nextSize * sizeof(int));
     	char* tempJoined = (char *)malloc(nextSize * sizeof(int));
     	if (!tempJoined)
+    	{
     		WL_DEBUG_PRINT("Out of memory - expand matrix 3.\r\n");

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