/ - Diff - Colony - Robotics Club

     int main(int argc, char** argv)
+    {
     	bayboard_init(ALL_ON);
     	usb_puts("Start.\n");
     	usb_puts("Start.\n\r");
     	set_orb(0, 0, 200);
     	wl_init();
     	//wl_set_channel(0xf);
     	set_orb(0, 200, 0);
     	/*if (wl_token_ring_register() < 0)
     		usb_puts("Failed to register token ring.\n");
     	if (wl_token_ring_register() < 0)
     		usb_puts("Failed to register token ring.\n\r");
     	if (wl_token_ring_join() < 0)
     		usb_puts("Failed to join token ring.\n");*/
     	usb_puts("Wireless initialized.\n");
     	//while (1)
     	//	wl_do();
     		usb_puts("Failed to join token ring.\n\r");
     	usb_puts("Wireless initialized.\n\r");
     	while (1)
     		wl_do();
     	return 0;
+    }

     USE_WIRELESS = 1
     # com1 = serial port. Use lpt1 to connect to parallel port.
     AVRDUDE_PORT = /dev/ttyUSB1
     AVRDUDE_PORT = COM3
+    #
+    #
     ###################################
-...
     # to submit bug reports.
     #AVRDUDE_VERBOSE = -v -v
     AVRDUDE_FLAGS = -p m164p -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
     AVRDUDE_FLAGS = -p m164 -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
     AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
     AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
     AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)

      **/
     static void wl_token_ring_timeout_handler()
+    {
     	usb_putc('t');
     	//someone is not responding, assume they are dead
     	if (deathDelay == 0)
+    	{
-...
     		//also, declare that person dead, as long as it isn't us
     		if (wl_token_next_robot != wl_get_xbee_id())
+    		{
     			usb_puts("Death.\n\r");
     			usb_puti(wl_token_next_robot);
     			usb_puts("\n\r");
     			sensor_matrix_set_in_ring(wl_token_next_robot, 0);
     			WL_DEBUG_PRINT("Robot ");
     			WL_DEBUG_PRINT_INT(wl_token_next_robot);
-...
+    	{
     		if (sensor_matrix_get_joined() == 0)
+    		{
     			usb_puts("Gave up.\n\r");
     			WL_DEBUG_PRINT("Creating our own token ring, no robots seem to exist.\r\n");
     			sensor_matrix_set_in_ring(wl_get_xbee_id(), 1);
     			ringState = MEMBER;
-...
     	switch (type)
+    	{
     		case WL_TOKEN_PASS:
     			usb_puts("Got token.\n\r");
     			wl_token_pass_receive(source);
     			break;
     		case WL_TOKEN_SENSOR_MATRIX:
     			usb_puts("Got sensor matrix.\n\r");
     			wl_token_sensor_matrix_receive(source, packet, length);
     			break;
     		case WL_TOKEN_BOM_ON:
     			usb_puts("Got BOM on.\n\r");
     			//add the robot to the sensor matrix if it is not already there
     			wl_token_bom_on_receive(source);
     			break;
     		case WL_TOKEN_JOIN:
     			usb_puts("Got join request.\n\r");
     			wl_token_join_receive(source);
     			break;
     		case WL_TOKEN_JOIN_ACCEPT:
     			usb_puts("Got join accept.\n\r");
     			wl_token_join_accept_receive(source);
     			break;
     		default:
-...
     	WL_DEBUG_PRINT_INT(wl_token_next_robot);
     	WL_DEBUG_PRINT(".\n");
     	// this prevents two tokens from being passed around at a time (second clause is in case we are joining)
     	usb_puti(source); usb_putc(' '); usb_puti(wl_token_next_robot); usb_putc(' '); usb_puti(wl_get_xbee_id());
     	usb_putc(' '); usb_puti(bom_on_count); usb_putc(' '); usb_puti(ringState); usb_putc(' '); usb_puts("\n\r");
     	if ((source != wl_token_next_robot && wl_get_xbee_id() != wl_token_next_robot) && bom_on_count <= DEATH_DELAY / 2 &&
     		ringState != ACCEPTED)
+    	{
-...
+    	}
     	else
+    	{
     		usb_puts("Accepting.\n\r");
     		WL_DEBUG_PRINT("Accepting new robot, sending it the token.\r\n");
     		//add a new robot to the token ring
     		sensor_matrix_set_in_ring(accepted, 1);
-...
     			buf[2*j] = i;
     			buf[2*j + 1] = sensor_matrix_get_reading(wl_get_xbee_id(), i);
     			j++;
     			usb_puti(i);
     			usb_puts("\n\r");
+    		}
+    	}
     	usb_puts("\n\r");
     	int packetSize = 2 * j * sizeof(char);
     	WL_DEBUG_PRINT("Passing the token to robot ");
     	WL_DEBUG_PRINT_INT(nextRobot);
     	WL_DEBUG_PRINT(".\r\n");
     	usb_puts("Passing token ");
     	usb_puti(nextRobot);
     	usb_puts("\n\r");
     	if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_SENSOR_MATRIX, buf, packetSize, 0) != 0)
     		return -1;
     	if (wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME))
     		return -1;
     	wl_token_next_robot = nextRobot;
     	usb_puti(nextRobot);
     	deathDelay = DEATH_DELAY;
     	return 0;
-...
     	WL_DEBUG_PRINT("Our BOM has been flashed.\r\n");
     	wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON, NULL, 0, 0);
     	bom_on_function();
     	#ifdef ROBOT
     	//bom_on_function();
     	//#ifdef ROBOT
     	usb_puts("BOM ON!\n\r");
     	delay_ms(BOM_DELAY);
     	#endif
     	bom_off_function();
     	usb_puts("BOM OFF!\n\r");
     	//#endif
     	//bom_off_function();
     	if (!sensor_matrix_get_in_ring(wl_get_xbee_id()))
+    	{
     		usb_puts("FAIL\n\r");
     		WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n");
     		return;
+    	}

     	 **/
     	int numJoined;
     	/**
     	 * The matrix. Each row represents the readings of one
     	 * robot.
     	 **/
     	unsigned char matrix[MAXIMUM_XBEE_ID][MAXIMUM_XBEE_ID];
     	/**
     	 * The element representing a robot is true if that robot
     	 * is in the token ring and false otherwise.
     	 **/

     		// check if buffer is empty
     		if (buffer_last != buffer_first) {
     			char c = arrival_buf[buffer_first++];
     			usb_putc(c);
     			usb_putc('\n');
     			if (buffer_first == XBEE_BUFFER_SIZE) {
     				buffer_first = 0;
+    			}
-...
     				buffer_first = 0;
     			// check if buffer is empty
     			if (buffer_first == buffer_last) {
     				return 0;
     				return -1;
+    			}
     		} while (arrival_buf[buffer_first++] != XBEE_FRAME_START);
-...
     		// check if buffer is empty
     		if (buffer_first == buffer_last) {
     			return 0;
     			return -1;
+    		}
     		xbee_buf[currentBufPos++] = arrival_buf[buffer_first++];
     		if (buffer_first == XBEE_BUFFER_SIZE) {
-...
     	currentBufPos = 0;
     	usb_puts("Got packet.\n\r");
     	if (!xbee_verify_checksum(xbee_buf, len + 4))
+    	{
     		usb_puts("Checksum failed.\n\r");
     		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) {
     		return 0;
     		usb_puts("We handled a packet.\n\r");
     		return -1;
+    	}
     	if (dest == NULL) {
     		return 0;
     		usb_puts("dest == NULL");
     		return -1;
+    	}
     	int i;

branches/autonomous_recharging/code/projects/libwireless/lib/sensor_matrix.c
55	55	for (i = 0; i < MAXIMUM_XBEE_ID; i++)
56	56	{
57	57	m.joined[i] = 0;
58		for (j = 0; j < MAXIMUM_XBEE_ID; j++)
59		m.matrix[i][j] = READING_UNKNOWN;
60	58	}
61	59	}
62	60
...	...
69	67	*/
70	68	void sensor_matrix_set_reading(int observer, int robot, int reading)
71	69	{
72		if (robot >= MAXIMUM_XBEE_ID \|\| observer >= MAXIMUM_XBEE_ID)
73		{
74		WL_DEBUG_PRINT("ID too large.");
75		return;
76		}
77	70
78		m.matrix[observer][robot] = (unsigned char)reading;
79	71	}
80	72
81	73	/**
...	...
88	80	**/
89	81	int sensor_matrix_get_reading(int observer, int robot)
90	82	{
91		if (observer >= MAXIMUM_XBEE_ID \|\| robot >= MAXIMUM_XBEE_ID)
92		return -1;
93
94		return (int)m.matrix[observer][robot];
	83	return -1;
95	84	}
96	85
97	86	/**
...	...
104	93	{
105	94	if (robot >= MAXIMUM_XBEE_ID)
106	95	{
	96	usb_puts("ID too large.\n\r");
107	97	WL_DEBUG_PRINT("ID too large.");
108	98	return;
109	99	}

     #ifdef FIREFLY
     	rtc_init(PRESCALE_DIV_256, 32, &timer_handler);
     #else
     	rtc_init(HALF_SECOND, &timer_handler);
     	//TODO: FIX THIS
     	rtc_init(10 * HALF_SECOND, &timer_handler);
     #endif
     #else
-...
+    	}
     	else if (wl_buf[0] == XBEE_RX)
+    	{
     		usb_puti(len);
     		usb_puts("Got packet!\n\r");
         //TODO: what does this 7 represent?  It shouldn't be hardcoded.  It should be set as a define
     		if (len < 7)
+    		{

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Revision 883