Colony

/**

 * 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

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * 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

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file wireless.h

 * @brief Contains definitions for the wireless library.

 *

 * Contains functions for the wireless library.

 *

 * @author Brian Coltin, Colony Project, CMU Robotics Club

 **/

#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.

 **/

//TODO: a PacketGroupHandler is at least 10 bytes (I don't know if function pointers are 2 bytes

// or 4 bytes).  That means that in the c file, your array of packet groups is at least 160 bytes.

// Normally that might be fine (the robot's avr chips have 4k SRAM), but austin's chip only has

// 1k SRAM, so if this number can be reduced or if the size of the struct could be reduced, that would be a plus.

#define WL_MAX_PACKET_GROUPS 16

/**

 * @defgroup wireless Wireless

 * @brief Wireless definitions.

 *

 * Contains functions and definitions for dealing with wireless functionality.<br><br>

 *

 * 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 and type are sent with each packet. When a packet

 * 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>

 *

 * This architecture allows different wireless functionality to be

 * defined and handled separately, making it simpler and more

 * efficient to take advantage of the XBee's wireless functionality.

 *

 * @{

 **/

/**

 * @struct PacketGroupHandler

 * 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.

 **/

//TODO: the order of member variables in this struct should be changed in case the compile packs the struct

// In order to achieve the best packing, the variables should be listed in order of decreasing memory size.

// Thus, pointers should be first, followed by int, followed by char.

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.

         **/

  //TODO: if this number must be less than or equal to WL_MAX_PACKET_GROUPS, don't you only need

  // one byte for it and it can be made an unsigned char?

        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

         * are  the group code.

         *

         * @param frame the last four bits of the frame

         * @param received is true if we received an ack, 0 if

         * we did not.

         **/

        void (*handle_response) (int frame, int received);

        /**

         * Called when we receive a packet from this group.

         *

         * @param type the packet type

         * @param source the 16-bit address of the XBee this

         * packet was sent from

         * @param packet the packet received

         * @param length the length of the packet

         **/

        void (*handle_receive) (char type, int source, unsigned char* packet, int length);

        /**

         * Called for any cleanup when the network is turned off.

         **/

        void (*unregister) (void);

} PacketGroupHandler;

/**@brief Initialize the wireless library **/

int wl_init(void);

/**@brief Uninitialize the wireless library **/

void wl_terminate(void);

/**@brief Perform wireless library functionality **/

void wl_do(void);

/**@brief Register a packet group with the wireless library **/

void wl_register_packet_group(PacketGroupHandler* h);

/**@brief Unregister a packet group with the wireless library **/

void wl_unregister_packet_group(PacketGroupHandler* h);

/**@brief Send a packet to a specific robot in any PAN **/

int wl_send_robot_to_robot_global_packet(char group, char type, char* data, int len, int dest, char frame);

/**@brief Send a packet to a specific robot in our PAN **/

int wl_send_robot_to_robot_packet(char group, char type, char* data, int len, int dest, char frame);

/**@brief Send a packet to all robots **/

int wl_send_global_packet(char group, char type, char* data, int len, char frame);

/**@brief Send a packet to all robots in our PAN **/

void wl_send_pan_packet(char group, char type, char* data, int len, char frame);

/**@brief Set the PAN we are using **/

int wl_set_pan(int pan);

/**@brief Get the PAN we are using **/

int wl_get_pan(void);

/**@brief Set the channel we are using **/

int wl_set_channel(int channel);

/**@brief Get the channel we are using **/

int wl_get_channel(void);

/**@brief Get the 16-bit address of the XBee module **/

int wl_get_xbee_id(void);

/**@brief Set the com port on a computer, undefined on the robot.**/

void wl_set_com_port(char* port);

/** @} **/ // end defgroup

#endif