Colony

#include <wl_token_ring.h>

#include <stdlib.h>

#include <stdio.h>

#include <wl_defs.h>

#include <wireless.h>

#include <time.h>

#include <sys/timeb.h>

/*Function Prototypes*/

/*Wireless Library Prototypes*/

void wl_token_ring_receive_handler(char type, int source, unsigned char* packet,

                                                        int length);

void timeout_handler(void);

PacketGroupHandler wl_token_ring_handler =

                {WL_TOKEN_RING_GROUP, timeout_handler,

                NULL, wl_token_ring_receive_handler,

                NULL};

/* Global Variables */

time_t startTime, endTime;

void timeout_handler()

{

        if (time(NULL) > endTime)

                exit(0);

}

/**

 * Initialize the token ring packet group and register it with the

 * wireless library. The robot will not join a token ring.

 **/

void wl_token_logger_register(int seconds)

{

        if (wl_get_xbee_id() > 0xFF)

        {

                //Note: if this becomes an issue (unlikely), we could limit sensor information

                //to half a byte and use 12 bits for the id

                WL_DEBUG_PRINT("XBee ID must be single byte for token ring, is ");

                WL_DEBUG_PRINT_INT(wl_get_xbee_id());

                WL_DEBUG_PRINT(".\r\n");

                return;

        }

        startTime = time(NULL);

        endTime = startTime + seconds;

        wl_register_packet_group(&wl_token_ring_handler);

}

/**

 * Removes the packet group from the wireless library.

 **/

void wl_token_logger_unregister()

{

        wl_unregister_packet_group(&wl_token_ring_handler);

}

/**

 * Called when we recieve a token ring packet.

 * @param type the type of the packet

 * @param source the id of the robot who sent the packet

 * @param packet the data in the packet

 * @param length the length of the packet in bytes

 **/

void wl_token_ring_receive_handler(char type, int source, unsigned char* packet,

                                                        int length)

{

        struct timeb t;

        if (ftime(&t))

                exit(0);

        time_t seconds = t.time;

        int millis = t.millitm;

        if (seconds >= endTime)

                exit(0);

        int temp = (int)(seconds - startTime);

        printf("%d:%.2d.%.3d: ", temp / 60, temp % 60, millis);

        switch (type)

        {

                case WL_TOKEN_PASS:

                        printf("We were passed the token from robot %d.\n", source);

                        printf("This should not have happened.\n");

                        break;

                case WL_TOKEN_SENSOR_MATRIX:

                        printf("Sensor Matrix from %d:\n  ", source);

                        int i;

                        for (i = 0; i < length; i+=2)

                                printf("(%d %d)", packet[i], packet[i+1]);

                        printf("\n");

                        break;

                case WL_TOKEN_BOM_ON:

                        printf("Bom On from %d.\n", source);

                        break;

                case WL_TOKEN_JOIN:

                        printf("Join Request from %d.\n", source);

                        break;

                case WL_TOKEN_JOIN_ACCEPT:

                        printf("Join accept should be a robot to robot packet.\n");

                        break;

                default:

                        printf("Unimplemented token ring packet received.\r\n");

                        break;

        }

}