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/**
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 * Copyright (c) 2007 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file wireless.h
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 * @brief Contains definitions for the wireless library.
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 *
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 * Contains functions for the wireless library.
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 *
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 * @author Brian Coltin, Colony Project, CMU Robotics Club
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 **/
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#ifndef WIRELESS_H
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#define WIRELESS_H
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//Note: If this is raised above 16, we will need to do
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//something about frame numbers for TX Status packets.
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/**
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 * The maximum number of packet groups.
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 **/
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#define WL_MAX_PACKET_GROUPS 16
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/**
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 * @defgroup wireless Wireless
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 * @brief Wireless definitions.
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 *
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 * Contains functions and definitions for dealing with wireless functionality.<br><br>
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 *
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 * The wireless library provides a modular method for dealing with 
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 * wireless packets, by allowing packet groups to be registered.
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 * A packet group is a collection of packets which share a packet
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 * group code. Each packet in the group also has a type. A packet 
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 * group code and type are sent with each packet. When a packet
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 * with a group code registered in the wireless library is 
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 * received, the corresponding event handler is called. The
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 * event handler uses the packet type and other information
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 * stored in the packet to respond.<br><br>
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 *
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 * This architecture allows different wireless functionality to be
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 * defined and handled separately, making it simpler and more
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 * efficient to take advantage of the XBee's wireless functionality.
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 *
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 * @{
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 **/
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/**
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 * @struct PacketGroupHandler
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 * A PacketGroupHandler represents a packet group, and is used to 
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 * register a packet group with the wireless library. It contains
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 * handlers for various events which can occur related to a packet
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 * group.
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 **/
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typedef struct
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{
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        /**
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         * The group code for this packet group. This number
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         * must be unique. The maximum number of packet groups
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         * is defined by WL_MAX_PACKET_GROUPS.
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         **/
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        unsigned int groupCode;
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        /**
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         * Called every half second (not in interrupt,
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         * but in wl_do).
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         **/
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        void (*timeout_handler) (void);
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        /**
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         * Called when a transmit status packet is received
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         * from the XBee where the first four bits of the frame
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         * are  the group code.
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         *
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         * @param frame the last four bits of the frame
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         * @param received is true if we received an ack, 0 if
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         * we did not.
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         **/
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        void (*handle_response) (int frame, int received);
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        /**
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         * Called when we receive a packet from this group.
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         *
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         * @param type the packet type
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         * @param source the 16-bit address of the XBee this
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         * packet was sent from
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         * @param packet the packet received
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         * @param length the length of the packet
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         **/
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        void (*handle_receive) (char type, int source, unsigned char* packet,
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                                                        int length);
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        /**
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         * Called for any cleanup when the network is turned off.
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         **/
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        void (*unregister) (void);
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} PacketGroupHandler;
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/**@brief Initialize the wireless library **/
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int wl_init(void);
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/**@brief Uninitialize the wireless library **/
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void wl_terminate(void);
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/**@brief Perform wireless library functionality **/
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void wl_do(void);
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/**@brief Register a packet group with the wireless library **/
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void wl_register_packet_group(PacketGroupHandler* h);
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/**@brief Unregister a packet group with the wireless library **/
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void wl_unregister_packet_group(PacketGroupHandler* h);
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/**@brief Send a packet to a specific robot in any PAN **/
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void wl_send_robot_to_robot_global_packet(char group, char type,
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                char* data, int len, int dest, char frame);
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/**@brief Send a packet to a specific robot in our PAN **/
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void wl_send_robot_to_robot_packet(char group, char type,
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                char* data, int len, int dest, char frame);
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/**@brief Send a packet to all robots **/
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void wl_send_global_packet(char group, char type,
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                char* data, int len, char frame);
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/**@brief Send a packet to all robots in our PAN **/
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void wl_send_pan_packet(char group, char type,
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                char* data, int len, char frame);
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/**@brief Set the PAN we are using **/
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void wl_set_pan(int pan);
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/**@brief Get the PAN we are using **/
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int wl_get_pan(void);
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/**@brief Set the channel we are using **/
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void wl_set_channel(int channel);
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/**@brief Get the channel we are using **/
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int wl_get_channel(void);
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/**@brief Get the 16-bit address of the XBee module **/
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int wl_get_xbee_id(void);
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/**@brief Set the com port on a computer, undefined on the robot.**/
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void wl_set_com_port(char* port);
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/** @} **/ // end defgroup
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#endif
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