Colony

import org.roboticsclub.colony.*;

import java.util.Scanner;

import java.util.Arrays;

public class CWirelessTest

{

private static final byte TEST_PACKET_GROUP_ID = 15;

public static void main(String[] args) throws Exception

{

  if (args.length!=1)

  {

    System.err.println("Usage: java CWirelessTest <port name>");

    System.exit(1);

  }

  try {

    CWirelessTest ctest = new CWirelessTest(args[0]);

  } catch (Exception e) {

    e.printStackTrace();

    System.exit(1);

  }

  Scanner in = new Scanner(System.in);

  while(true)

  {

    String command = in.nextLine();

    if (command.charAt(0)=='\\')

    {

      //command mode

      switch(command.charAt(1))

      {

        case 'i':

          System.out.println("XBee IDs: " + Arrays.toString(get_xbee_ids()));

          break;

        case 'n':

          System.out.println("Number of robots: " + get_num_robots());

          break;

        case 'm':

          SensorReading[][] matrix = get_sensor_matrix();

          System.out.println("BOM Matrix:");

          for (int i = 0; i < matrix.length; i++)

          {

            System.out.println("  From robot " + matrix[i][0].botid + ":");

            for (int j = 0; j < matrix.length; j++)

            {

              System.out.print("    " + matrix[i][j].target + ": " + matrix[i][j].reading);

            }

          }

          break;

        case 's':

          char dest = command.charAt(2);

          String message = command.substring(3);

          test_wl_send((short)dest, (short)1, command.getBytes());

          break;

        default:

          System.out.println("Command not recognized");

          break;

      }

    }

    else

    {

      //send message

      test_wl_send((short)-1, (short)1, command.getBytes());

    }

  }

}

public CWirelessTest(String wl_port) throws Exception

{

  Wireless.wl_set_com_port(wl_port);

  System.out.println("Calling wl_init(" + wl_port + ")...");

  if (Wireless.wl_init() != 0) {

    throw new Exception("wl_init failed.\n");

  }

  Wireless.wl_set_channel(0xF);

  TokenRing.wl_token_ring_register();

  System.out.println("Joining token ring...");

  if (TokenRing.wl_token_ring_join() != 0) {

    throw new Exception("Failed to join token ring.");

  }

  System.out.println("Joined token ring.");

  System.out.println("Spawning listener thread...");

  Wireless.PacketGroupHandler pgh = new TestPacketGroupHandler();

  Wireless.wl_register_packet_group(pgh);

  Wireless.startWirelessThread(1);

}

public static void test_wl_send(short dest, short msg_type, byte[] data) throws Exception

{

  System.out.println("test_wl_send: dest:" + dest + ", msg_type:" + msg_type + ", data:" + new String(data));

  if (dest < 0) {

    System.out.println("sending to global dest");

    int ret = Wireless.wl_send_global_packet(TEST_PACKET_GROUP_ID, (byte)msg_type, data, (byte)0);

    if (ret != 0) {

      throw new Exception("test_wl_send: wl_send_global_packet failed.");

    }

  } else {

    System.out.println("sending to specific robot: " + dest);

    int ret = Wireless.wl_send_robot_to_robot_global_packet(TEST_PACKET_GROUP_ID, (byte)msg_type, data, dest, (byte)0);

    if (ret != 0) {

      throw new Exception("test_wl_send: wl_send_robot_to_robot_global_packet failed.");

    }

  }

}

public static int get_num_robots() {

  return TokenRing.wl_token_get_num_robots();

}

public static int[] get_xbee_ids() {

  int num_robots = TokenRing.wl_token_get_num_robots();

  int[] ids = new int[num_robots];

  TokenRing.wl_token_iterator_begin();

  int i = 0;

  while (TokenRing.wl_token_iterator_has_next()!=0) {

    ids[i] = TokenRing.wl_token_iterator_next();

    i++;

  }

  return ids;

}

public static class SensorReading

{

  public int botid;

  public int target;

  public int reading;

  public SensorReading(int botid, int target, int reading)

  {

    this.botid = botid;

    this.target = target;

    this.reading = reading;

  }

}

public static SensorReading[][] get_sensor_matrix() {

  int[] ids = get_xbee_ids();

  int num_robots = ids.length;

  SensorReading[][] m = new SensorReading[num_robots][num_robots];

  for (int i = 0; i < num_robots; i++) {

    for (int j = 0; j < num_robots; j++) {

      m[i][j] = new SensorReading(ids[i], ids[j], TokenRing.wl_token_get_sensor_reading(ids[i], ids[j]) );

    }

  }

  return m;

}

public static class TestPacketGroupHandler implements Wireless.PacketGroupHandler

{

  public int getGroupCode() {

    return TEST_PACKET_GROUP_ID;

  }

  public void timeout_handler() {

    System.err.println("wireless - timeout!");

  }

  public void handle_response(int frame, int received) {

  }

  public void handle_received(byte type, int source_robot, byte[] data) {

    System.out.println("***Got packet from robot***");

    System.out.println("Received message " + type + " from " + source_robot + ": " + new String(data));

  }

  public void unregister() {

    System.out.println("unregister");

  }

}

}

all :

	javac -cp .:../lib/colonywireless.jar CWirelessTest.java

run :

	java -cp .:../lib/colonywireless.jar -Djava.library.path=../lib CWirelessTest /dev/ttyUSB0

clean :

	rm *.class

#include <dragonfly_lib.h>

#include <wireless.h>

#include <wl_token_ring.h>

#include <xbee.h>

#define TEST_PACKET_GROUP_ID 15

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

{

  wl_send_robot_to_robot_global_packet(TEST_PACKET_GROUP_ID, type, (char *)packet, length, source, 0);

}

int main(void)

{

	//usb_puts("Turned on.\n");

	dragonfly_init(ALL_ON);

	usb_puts("Dragonfly initialized.\n");

	wl_init();

	usb_puts("Wireless initialized.\n");

	PacketGroupHandler pgh = { TEST_PACKET_GROUP_ID, NULL, NULL, handle_receive, NULL };

	wl_register_packet_group(&pgh);

	wl_set_channel(0xF);

	usb_puts("Wireless channel set.\n");

	wl_token_ring_register();

	usb_puts("Token ring initialized.\n");

	wl_token_ring_join();

	usb_puts("Token ring joined.\n");

	while (1)

	{

		wl_do();

	}

}

# Hey Emacs, this is a -*- makefile -*-

#----------------------------------------------------------------------------

# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.

#

# Released to the Public Domain

#

# Additional material for this makefile was written by:

# Peter Fleury

# Tim Henigan

# Colin O'Flynn

# Reiner Patommel

# Markus Pfaff

# Sander Pool

# Frederik Rouleau

#

#----------------------------------------------------------------------------

# On command line:

#

# make all = Make software.

#

# make clean = Clean out built project files.

#

# make coff = Convert ELF to AVR COFF.

#

# make extcoff = Convert ELF to AVR Extended COFF.

#

# make program = Download the hex file to the device, using avrdude.

#                Please customize the avrdude settings below first!

#

# make debug = Start either simulavr or avarice as specified for debugging, 

#              with avr-gdb or avr-insight as the front end for debugging.

#

# make filename.s = Just compile filename.c into the assembler code only.

#

# make filename.i = Create a preprocessed source file for use in submitting

#                   bug reports to the GCC project.

#

# To rebuild project do "make clean" then "make all".

#----------------------------------------------------------------------------

#if you want your code to work on the Firefly++ and not Firefly+

#then add the -DFFPP line to CDEFS

COLONYROOT = y:

CDEFS = 

#-DFFPP

# MCU name

MCU = atmega128

# Processor frequency.

#     This will define a symbol, F_CPU, in all source code files equal to the 

#     processor frequency. You can then use this symbol in your source code to 

#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done

#     automatically to create a 32-bit value in your source code.

F_CPU = 8000000

# Output format. (can be srec, ihex, binary)

FORMAT = ihex

# Target file name (without extension).

TARGET = main

# List C source files here. (C dependencies are automatically generated.)

SRC = $(wildcard *.c)

#$(TARGET).c 

# List Assembler source files here.

#     Make them always end in a capital .S.  Files ending in a lowercase .s

#     will not be considered source files but generated files (assembler

#     output from the compiler), and will be deleted upon "make clean"!

#     Even though the DOS/Win* filesystem matches both .s and .S the same,

#     it will preserve the spelling of the filenames, and gcc itself does

#     care about how the name is spelled on its command-line.

ASRC = 

# Optimization level, can be [0, 1, 2, 3, s]. 

#     0 = turn off optimization. s = optimize for size.

#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)

OPT = s

# Debugging format.

#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.

#     AVR Studio 4.10 requires dwarf-2.

#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.

DEBUG =

# List any extra directories to look for include files here.

#     Each directory must be seperated by a space.

#     Use forward slashes for directory separators.

#     For a directory that has spaces, enclose it in quotes.

EXTRAINCDIRS = $(COLONYROOT)/code/firefly_plus_lib

#C:\WinAVR\include\fwr

# Compiler flag to set the C Standard level.

#     c89   = "ANSI" C

#     gnu89 = c89 plus GCC extensions

#     c99   = ISO C99 standard (not yet fully implemented)

#     gnu99 = c99 plus GCC extensions

CSTANDARD = -std=gnu99

# Place -D or -U options here

CDEFS += -DF_CPU=$(F_CPU)UL 

CDEFS += -DFFP

# Place -I options here

CINCS = -I../../lib -I../../../libdragonfly -L../../lib -L../../../libdragonfly

#---------------- Compiler Options ----------------

#  -g*:          generate debugging information

#  -O*:          optimization level

#  -f...:        tuning, see GCC manual and avr-libc documentation

#  -Wall...:     warning level

#  -Wa,...:      tell GCC to pass this to the assembler.

#    -adhlns...: create assembler listing

CFLAGS = -g$(DEBUG)

CFLAGS += $(CDEFS) $(CINCS)

CFLAGS += -O$(OPT)

CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums

CFLAGS += -Wall -Wstrict-prototypes

CFLAGS += -Wa,-adhlns=$(<:.c=.lst)

CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))

CFLAGS += $(CSTANDARD)

CFLAGS += -DROBOT

#---------------- Assembler Options ----------------

#  -Wa,...:   tell GCC to pass this to the assembler.

#  -ahlms:    create listing

#  -gstabs:   have the assembler create line number information; note that

#             for use in COFF files, additional information about filenames

#             and function names needs to be present in the assembler source

#             files -- see avr-libc docs [FIXME: not yet described there]

ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 

#---------------- Library Options ----------------

# Minimalistic printf version

PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min

# Floating point printf version (requires MATH_LIB = -lm below)

PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt

# If this is left blank, then it will use the Standard printf version.

PRINTF_LIB = 

#PRINTF_LIB = $(PRINTF_LIB_MIN)

#PRINTF_LIB = $(PRINTF_LIB_FLOAT)

# Minimalistic scanf version

SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min

# Floating point + %[ scanf version (requires MATH_LIB = -lm below)

SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt

# If this is left blank, then it will use the Standard scanf version.

SCANF_LIB = 

#SCANF_LIB = $(SCANF_LIB_MIN)

#SCANF_LIB = $(SCANF_LIB_FLOAT)

MATH_LIB = -lm

#---------------- External Memory Options ----------------

# 64 KB of external RAM, starting after internal RAM (ATmega128!),

# used for variables (.data/.bss) and heap (malloc()).

#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff

# 64 KB of external RAM, starting after internal RAM (ATmega128!),

# only used for heap (malloc()).

#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff

EXTMEMOPTS =

#---------------- Linker Options ----------------

#  -Wl,...:     tell GCC to pass this to linker.

#    -Map:      create map file

#    --cref:    add cross reference to  map file

LDFLAGS = -Wl,-Map=$(TARGET).map,--cref

LDFLAGS += $(EXTMEMOPTS)

LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)

LDFLAGS += -lwireless -ldragonfly

#---------------- Programming Options (avrdude) ----------------

# Programming hardware: alf avr910 avrisp bascom bsd 

# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500

#

# Type: avrdude -c ?

# to get a full listing.

#

AVRDUDE_PROGRAMMER = avrisp

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = /dev/ttyUSB1

# programmer connected to serial device

AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex

#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep

# Uncomment the following if you want avrdude's erase cycle counter.

# Note that this counter needs to be initialized first using -Yn,

# see avrdude manual.

#AVRDUDE_ERASE_COUNTER = -y

# Uncomment the following if you do /not/ wish a verification to be

# performed after programming the device.

#AVRDUDE_NO_VERIFY = -V

# Increase verbosity level.  Please use this when submitting bug

# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> 

# to submit bug reports.

#AVRDUDE_VERBOSE = -v -v

AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)

AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)

AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)

AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)

#don't check for device signature

AVRDUDE_FLAGS += -F

AVRDUDE_FLAGS += -D

#---------------- Debugging Options ----------------

# For simulavr only - target MCU frequency.

DEBUG_MFREQ = $(F_CPU)

# Set the DEBUG_UI to either gdb or insight.

# DEBUG_UI = gdb

DEBUG_UI = insight

# Set the debugging back-end to either avarice, simulavr.

DEBUG_BACKEND = avarice

#DEBUG_BACKEND = simulavr

# GDB Init Filename.

GDBINIT_FILE = __avr_gdbinit

# When using avarice settings for the JTAG

JTAG_DEV = /dev/com1

# Debugging port used to communicate between GDB / avarice / simulavr.

DEBUG_PORT = 4242

# Debugging host used to communicate between GDB / avarice / simulavr, normally

#     just set to localhost unless doing some sort of crazy debugging when 

#     avarice is running on a different computer.

DEBUG_HOST = localhost

#============================================================================

# Define programs and commands.

SHELL = sh

CC = avr-gcc

OBJCOPY = avr-objcopy

OBJDUMP = avr-objdump

SIZE = avr-size

NM = avr-nm

AVRDUDE = avrdude

REMOVE = rm -f

REMOVEDIR = rm -rf

COPY = cp

WINSHELL = cmd

# Define Messages

# English

MSG_ERRORS_NONE = Errors: none

MSG_BEGIN = -------- begin --------

MSG_END = --------  end  --------

MSG_SIZE_BEFORE = Size before: 

MSG_SIZE_AFTER = Size after:

MSG_COFF = Converting to AVR COFF:

MSG_EXTENDED_COFF = Converting to AVR Extended COFF:

MSG_FLASH = Creating load file for Flash:

MSG_EEPROM = Creating load file for EEPROM:

MSG_EXTENDED_LISTING = Creating Extended Listing:

MSG_SYMBOL_TABLE = Creating Symbol Table:

MSG_LINKING = Linking:

MSG_COMPILING = Compiling:

MSG_ASSEMBLING = Assembling:

MSG_CLEANING = Cleaning project:

# Define all object files.

OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) 

# Define all listing files.

LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) 

# Compiler flags to generate dependency files.

GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d

# Combine all necessary flags and optional flags.

# Add target processor to flags.

ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)

ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)

# Default target.

all: begin gccversion sizebefore build sizeafter end

build: elf hex eep lss sym

elf: $(TARGET).elf

hex: $(TARGET).hex

eep: $(TARGET).eep

lss: $(TARGET).lss 

sym: $(TARGET).sym

# Eye candy.

# AVR Studio 3.x does not check make's exit code but relies on

# the following magic strings to be generated by the compile job.

begin:

	@echo

	@echo $(MSG_BEGIN)

end:

	@echo $(MSG_END)

	@echo

# Display size of file.

HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex

ELFSIZE = $(SIZE) -A $(TARGET).elf

AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)

sizebefore:

	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \

	$(AVRMEM) 2>/dev/null; echo; fi

sizeafter:

	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \

	$(AVRMEM) 2>/dev/null; echo; fi

# Display compiler version information.

gccversion : 

	@$(CC) --version

# Program the device.  

program: $(TARGET).hex $(TARGET).eep

	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)

# Generate avr-gdb config/init file which does the following:

#     define the reset signal, load the target file, connect to target, and set 

#     a breakpoint at main().

gdb-config: 

	@$(REMOVE) $(GDBINIT_FILE)

	@echo define reset >> $(GDBINIT_FILE)

	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)

	@echo end >> $(GDBINIT_FILE)

	@echo file $(TARGET).elf >> $(GDBINIT_FILE)

	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)

ifeq ($(DEBUG_BACKEND),simulavr)

	@echo load  >> $(GDBINIT_FILE)

endif	

	@echo break main >> $(GDBINIT_FILE)

debug: gdb-config $(TARGET).elf

ifeq ($(DEBUG_BACKEND), avarice)

	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.

	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \

	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)

	@$(WINSHELL) /c pause

else

	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \

	$(DEBUG_MFREQ) --port $(DEBUG_PORT)

endif

	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)

# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.

COFFCONVERT=$(OBJCOPY) --debugging \

--change-section-address .data-0x800000 \

--change-section-address .bss-0x800000 \

--change-section-address .noinit-0x800000 \

--change-section-address .eeprom-0x810000 

coff: $(TARGET).elf

	@echo

	@echo $(MSG_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof

extcoff: $(TARGET).elf

	@echo

	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof

# Create final output files (.hex, .eep) from ELF output file.

%.hex: %.elf

	@echo

	@echo $(MSG_FLASH) $@

	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

%.eep: %.elf

	@echo

	@echo $(MSG_EEPROM) $@

	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \

	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@

# Create extended listing file from ELF output file.

%.lss: %.elf

	@echo

	@echo $(MSG_EXTENDED_LISTING) $@

	$(OBJDUMP) -h -S $< > $@

# Create a symbol table from ELF output file.

%.sym: %.elf

	@echo

	@echo $(MSG_SYMBOL_TABLE) $@

	$(NM) -n $< > $@

# Link: create ELF output file from object files.

.SECONDARY : $(TARGET).elf

.PRECIOUS : $(OBJ)

%.elf: $(OBJ)

	@echo

	@echo $(MSG_LINKING) $@

	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)

# Compile: create object files from C source files.

%.o : %.c

	@echo

	@echo $(MSG_COMPILING) $<

	$(CC) -c $(ALL_CFLAGS) $< -o $@ 

# Compile: create assembler files from C source files.

%.s : %.c

	$(CC) -S $(ALL_CFLAGS) $< -o $@

# Assemble: create object files from assembler source files.

%.o : %.S

	@echo

	@echo $(MSG_ASSEMBLING) $<

	$(CC) -c $(ALL_ASFLAGS) $< -o $@

# Create preprocessed source for use in sending a bug report.

%.i : %.c

	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ 

# Target: clean project.

clean: begin clean_list end

clean_list :

	@echo

	@echo $(MSG_CLEANING)

	$(REMOVE) $(TARGET).hex

	$(REMOVE) $(TARGET).eep

	$(REMOVE) $(TARGET).cof

	$(REMOVE) $(TARGET).elf

	$(REMOVE) $(TARGET).map

	$(REMOVE) $(TARGET).sym

	$(REMOVE) $(TARGET).lss

	$(REMOVE) $(OBJ)

	$(REMOVE) $(LST)

	$(REMOVE) $(SRC:.c=.s)

	$(REMOVE) $(SRC:.c=.d)

	$(REMOVEDIR) .dep

# Include the dependency files.

-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)

# Listing of phony targets.

.PHONY : all begin finish end sizebefore sizeafter gccversion \

build elf hex eep lss sym coff extcoff \

clean clean_list program debug gdb-config

void callUnregister(int num);

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

void callHandleResponse(int num, int frame, int received);

void callTimeout(int num);

#define HANDLER(num) void jni_timeout_handler##num() \

{ \

    callTimeout(num); \

} \

void jni_handle_response##num(int frame, int received) \

{ \

    callHandleResponse(num, frame, received); \

} \

void jni_handle_receive##num(char type, int source, unsigned char* packet, int length) \

{ \

    callHandleReceived(num, type, source, packet, length); \

} \

void jni_unregister##num() \

{ \

    callUnregister(num); \

}

HANDLER(0)

HANDLER(1)

HANDLER(2)

HANDLER(3)

HANDLER(4)

HANDLER(5)

HANDLER(6)

HANDLER(7)

HANDLER(8)

HANDLER(9)

HANDLER(10)

HANDLER(11)

HANDLER(12)

HANDLER(13)

HANDLER(14)

HANDLER(15)

#define DEC_HANDLER(num) {num, jni_timeout_handler##num, jni_handle_response##num, jni_handle_receive##num, jni_unregister##num }

PacketGroupHandler packet_groups[WL_MAX_PACKET_GROUPS] = {

DEC_HANDLER(0), DEC_HANDLER(1), DEC_HANDLER(2), DEC_HANDLER(3),

DEC_HANDLER(4), DEC_HANDLER(5), DEC_HANDLER(6), DEC_HANDLER(7),

DEC_HANDLER(8), DEC_HANDLER(9), DEC_HANDLER(10),DEC_HANDLER(11),

DEC_HANDLER(12),DEC_HANDLER(13),DEC_HANDLER(14),DEC_HANDLER(15)

};

#include "org_roboticsclub_colony_Wireless.h"

#include "wireless.h"

#include <string.h>

/* Memory used to hold XBee port name */

char xbeeport[128];

/* Flag to track whether wl has been initialized */

static int _init = 0;

JavaVM *jvm;

#include "handlers.c"

jobject handlers[WL_MAX_PACKET_GROUPS] = {0};

void callTimeout(int num)

{

    jobject pgh = handlers[num];

    JNIEnv *env;

    int bAttached = 0;

    if (jvm==NULL) /* JVM wasn't set - there was an error */

        return;

    if ((*jvm)->GetEnv(jvm, (void **)&env, JNI_VERSION_1_1))

    {

        /* Aren't attached to a JVM, so try to attach */

        if ((*jvm)->AttachCurrentThread(jvm, (void **)&env, NULL))

            return; /* Error getting JNI Environment, can't continue */

        else

            bAttached = 1;

    }

    jclass cls = (*env)->GetObjectClass(env, pgh);

    jmethodID mid = (*env)->GetMethodID(env, cls, "timeout_handler", "()V");

    if (mid == NULL)

        return; /* method not found */

    (*env)->CallVoidMethod(env, pgh, mid);

    if (bAttached)

        (*jvm)->DetachCurrentThread(jvm);

}

void callHandleResponse(int num, int frame, int received)

{

    jobject pgh = handlers[num];

    JNIEnv *env;

    int bAttached = 0;

    if (jvm==NULL) /* JVM wasn't set - there was an error */

        return;

    if ((*jvm)->GetEnv(jvm, (void **)&env, JNI_VERSION_1_1))

    {

        /* Aren't attached to a JVM, so try to attach */

        if ((*jvm)->AttachCurrentThread(jvm, (void **)&env, NULL))

            return; /* Error getting JNI Environment, can't continue */

        else

            bAttached = 1;

    }

    jclass cls = (*env)->GetObjectClass(env, pgh);

    jmethodID mid = (*env)->GetMethodID(env, cls, "handle_response", "(II)V");

    if (mid == NULL)

        return; /* method not found */

    (*env)->CallVoidMethod(env, pgh, mid, (jint)frame, (jint)received);

    if (bAttached)

        (*jvm)->DetachCurrentThread(jvm);

}

void callHandleReceived(int num, char type, int source, unsigned char *packet, int length)

{

    jobject pgh = handlers[num];

    JNIEnv *env;

    int bAttached = 0;

    if (jvm==NULL) /* JVM wasn't set - there was an error */

        return;

    if ((*jvm)->GetEnv(jvm, (void **)&env, JNI_VERSION_1_1))

    {

        /* Aren't attached to a JVM, so try to attach */

        if ((*jvm)->AttachCurrentThread(jvm, (void **)&env, NULL))

            return; /* Error getting JNI Environment, can't continue */

        else

            bAttached = 1;

    }

    jclass cls = (*env)->GetObjectClass(env, pgh);

    jmethodID mid = (*env)->GetMethodID(env, cls, "handle_received", "(BI[B)V");

    if (mid == NULL)

        return; /* method not found */

    jbyteArray arr = (*env)->NewByteArray(env, length);

    (*env)->SetByteArrayRegion(env, arr, 0, length, (jbyte *)packet);

    (*env)->CallVoidMethod(env, pgh, mid, (jbyte)type, (jint)source, packet);

    if (bAttached)

        (*jvm)->DetachCurrentThread(jvm);

}

void callUnregister(int num)

{

    jobject pgh = handlers[num];

    JNIEnv *env;

    int bAttached = 0;

    if (jvm==NULL) /* JVM wasn't set - there was an error */

        return;

    if ((*jvm)->GetEnv(jvm, (void **)&env, JNI_VERSION_1_1))

    {

        /* Aren't attached to a JVM, so try to attach */

        if ((*jvm)->AttachCurrentThread(jvm, (void **)&env, NULL))

            return; /* Error getting JNI Environment, can't continue */

        else

            bAttached = 1;

    }

    jclass cls = (*env)->GetObjectClass(env, pgh);

    jmethodID mid = (*env)->GetMethodID(env, cls, "unregister", "()V");

    if (mid == NULL)

        return; /* method not found */

    (*env)->CallVoidMethod(env, pgh, mid);

    (*env)->DeleteGlobalRef(env, pgh);

    if (bAttached)

        (*jvm)->DetachCurrentThread(jvm);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_init

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1init

  (JNIEnv *env, jclass class)

{

    int ret;

    //init_pga();

    (*env)->GetJavaVM(env, &jvm);

    ret = wl_init();

    if (!ret)

      _init = 1;

    return ret;

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_terminate

 * Signature: ()V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1terminate

  (JNIEnv *env, jclass class)

{

    if (_init)

        wl_terminate();

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_do

 * Signature: ()V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1do

  (JNIEnv *env, jclass class)

{

    wl_do();

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_register_packet_group

 * Signature: (Lorg/roboticsclub/colony/Wireless/PacketGroupHandler;)V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1register_1packet_1group

  (JNIEnv *env, jclass class, jobject pgh)

{

    jint groupId;

    jobject gPgh;

    jclass cls = (*env)->GetObjectClass(env, pgh);

    jmethodID mid = (*env)->GetMethodID(env, cls, "getGroupCode", "()I");

    if (mid == NULL)

        return; /* method not found */

    groupId = (*env)->CallIntMethod(env, pgh, mid);

    if (groupId > 15 || groupId < 0)

        return;

    gPgh = (*env)->NewGlobalRef(env, pgh);

    handlers[groupId] = gPgh;

    wl_register_packet_group(&packet_groups[groupId]);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_unregister_packet_group

 * Signature: (Lorg/roboticsclub/colony/Wireless/PacketGroupHandler;)V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1unregister_1packet_1group

  (JNIEnv *env, jclass class, jobject pgh)

{

    jint groupId;

    jclass cls = (*env)->GetObjectClass(env, pgh);

    jmethodID mid = (*env)->GetMethodID(env, cls, "getGroupCode", "()I");

    if (mid == NULL)

        return; /* method not found */

    groupId = (*env)->CallIntMethod(env, pgh, mid);

    if (groupId < 0 || groupId > 15)

        return;

    wl_unregister_packet_group(&packet_groups[groupId]);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_send_robot_to_robot_global_packet

 * Signature: (BB[BIB)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1send_1robot_1to_1robot_1global_1packet

  (JNIEnv *env, jclass class, jbyte group, jbyte type, jbyteArray data, jint dest, jbyte frame)

{

    jbyte buf[256];

    jsize length = (*env)->GetArrayLength(env, data);

    (*env)->GetByteArrayRegion(env, data, 0, 256, buf);

    return wl_send_robot_to_robot_global_packet(group, type, (char *)buf, length, (int)dest, frame);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_send_robot_to_robot_packet

 * Signature: (BB[BIB)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1send_1robot_1to_1robot_1packet

  (JNIEnv *env, jclass class, jbyte group, jbyte type, jbyteArray data, jint dest, jbyte frame)

{

    jbyte buf[256];

    jsize length = (*env)->GetArrayLength(env, data);

    (*env)->GetByteArrayRegion(env, data, 0, 256, buf);

    return wl_send_robot_to_robot_packet(group, type, (char *)buf, length, (int)dest, frame);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_send_global_packet

 * Signature: (BB[BB)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1send_1global_1packet

  (JNIEnv *env, jclass class, jbyte group, jbyte type, jbyteArray data, jbyte frame)

{

    jbyte buf[256];

    jsize length = (*env)->GetArrayLength(env, data);

    (*env)->GetByteArrayRegion(env, data, 0, 256, buf);

    return wl_send_global_packet(group, type, (char *)buf, length, frame);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_send_pan_packet

 * Signature: (BB[BB)V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1send_1pan_1packet

  (JNIEnv *env, jclass class, jbyte group, jbyte type, jbyteArray data, jbyte frame)

{

    jbyte buf[256];

    jsize length = (*env)->GetArrayLength(env, data);

    (*env)->GetByteArrayRegion(env, data, 0, 256, buf);

    wl_send_pan_packet(group, type, (char *)buf, length, frame);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_set_pan

 * Signature: (I)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1set_1pan

  (JNIEnv *env, jclass class, jint pan)

{

    return wl_set_pan((int)pan);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_get_pan

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1get_1pan

  (JNIEnv *env, jclass class)

{

    return wl_get_pan();

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_set_channel

 * Signature: (I)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1set_1channel

  (JNIEnv *env, jclass class, jint channel)

{

    return wl_set_channel((int)channel);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_get_channel

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1get_1channel

  (JNIEnv *env, jclass class)

{

    return wl_get_channel();

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_get_xbee_id

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1get_1xbee_1id

  (JNIEnv *env, jclass class)

{

    return wl_get_xbee_id();

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_set_com_port

 * Signature: (Ljava/lang/String;)V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1set_1com_1port

  (JNIEnv *env, jclass class, jstring port)

{

    const jbyte *str = (*env)->GetStringUTFChars(env, port, NULL);

    if (str == NULL)

        return; /* OutOfMemoryError already thrown */

    strcpy(xbeeport, (const char *)str);

    (*env)->ReleaseStringUTFChars(env, port, str);

    wl_set_com_port(xbeeport);

}

#include "org_roboticsclub_colony_TokenRing.h"

#include "wl_token_ring.h"

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_ring_register

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1ring_1register

  (JNIEnv *env, jclass class)

{

    return wl_token_ring_register();

}

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_ring_unregister

 * Signature: ()V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1ring_1unregister

  (JNIEnv *env, jclass class)

{

    wl_token_ring_register();

}

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_ring_join

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1ring_1join

  (JNIEnv *env, jclass class)

{

    return wl_token_ring_join();

}

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_ring_leave

 * Signature: ()V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1ring_1leave

  (JNIEnv *env, jclass class)

{

    wl_token_ring_leave();

}

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_get_robots_in_ring

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1get_1robots_1in_1ring

  (JNIEnv *env, jclass class)

{

    return wl_token_get_robots_in_ring();

}

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_is_robot_in_ring

 * Signature: (I)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1is_1robot_1in_1ring

  (JNIEnv *env, jclass class, jint robot)

{

    return wl_token_is_robot_in_ring((int)robot);

}

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_iterator_begin

 * Signature: ()V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1iterator_1begin

  (JNIEnv *env, jclass class)

{

    wl_token_iterator_begin();

}

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_iterator_has_next

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1iterator_1has_1next

  (JNIEnv *env, jclass class)

{

    return wl_token_iterator_has_next();

}

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_iterator_next

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1iterator_1next

  (JNIEnv *env, jclass class)

{

    return wl_token_iterator_next();

}

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_get_sensor_reading

 * Signature: (II)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1get_1sensor_1reading

  (JNIEnv *env, jclass class, jint source, jint dest)

{

    return wl_token_get_sensor_reading((int)source, (int)dest);

}

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_get_my_sensor_reading

 * Signature: (I)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1get_1my_1sensor_1reading

  (JNIEnv *env, jclass class, jint dest)

{

    return wl_token_get_my_sensor_reading(dest);

}

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_get_num_robots

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1get_1num_1robots

  (JNIEnv *env, jclass class)

{

    return wl_token_get_num_robots();

}

/*

 * Class:     org_roboticsclub_colony_TokenRing

 * Method:    wl_token_get_matrix_size

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_TokenRing_wl_1token_1get_1matrix_1size

  (JNIEnv *env, jclass class)

{

    return wl_token_get_matrix_size();

}

package org.roboticsclub.colony;

public class TokenRing

{

    public static native int  wl_token_ring_register();

    public static native void wl_token_ring_unregister();

    public static native int  wl_token_ring_join();

    public static native void wl_token_ring_leave();

    public static native int  wl_token_get_robots_in_ring();

    public static native int  wl_token_is_robot_in_ring(int robot);

    public static native void wl_token_iterator_begin();

    public static native int  wl_token_iterator_has_next();

    public static native int  wl_token_iterator_next();

    public static native int  wl_token_get_sensor_reading(int source, int dest);

    public static native int  wl_token_get_my_sensor_reading(int dest);

    public static native int  wl_token_get_num_robots();

    public static native int  wl_token_get_matrix_size();

}

package org.roboticsclub.colony;

import java.util.Timer;

import java.util.TimerTask;

public class Wireless

{

    public static native int  wl_init();

    public static native void wl_terminate();

    public static native void wl_do();

    public static native void wl_register_packet_group(PacketGroupHandler pgh);

    public static native void wl_unregister_packet_group(PacketGroupHandler pgh);

    public static native int  wl_send_robot_to_robot_global_packet(byte group, byte type, byte[] data, int dest, byte frame);

    public static native int  wl_send_robot_to_robot_packet(byte group, byte type, byte[] data, int dest, byte frame);

    public static native int  wl_send_global_packet(byte group, byte type, byte[] data, byte frame);

    public static native void wl_send_pan_packet(byte group, byte type, byte[] data, byte frame);

    public static native int  wl_set_pan(int pan);

    public static native int  wl_get_pan();

    public static native int  wl_set_channel(int channel);

    public static native int  wl_get_channel();

    public static native int  wl_get_xbee_id();

    public static native void wl_set_com_port(String port);

    public static TimerTask wireless_thread;

    public static void startWirelessThread(int rate)

    {

        if (wireless_thread==null)

        {

            wireless_thread = new TimerTask() {

                    public void run()

                    {

                        wl_do();

                    }

                };

        }

        new Timer("Colony Wireless Monitor", true).scheduleAtFixedRate(wireless_thread, 0, rate);

    }

    static

    {

        Runtime.getRuntime().addShutdownHook(new Thread() {

                public void run()

                {

                    wl_terminate();

                    System.out.println("Wireless terminated");

                }

            });

    }

    static

    {

        System.loadLibrary("jniwireless");

    }

    public static interface PacketGroupHandler

    {

        public abstract int  getGroupCode();

        public abstract void timeout_handler();

        public abstract void handle_response(int frame, int received);

        public abstract void handle_received(byte type, int source, byte[] packet);

        public abstract void unregister();

    }

}

/* DO NOT EDIT THIS FILE - it is machine generated */

#include <jni.h>

/* Header for class org_roboticsclub_colony_Wireless */

#ifndef _Included_org_roboticsclub_colony_Wireless

#define _Included_org_roboticsclub_colony_Wireless

#ifdef __cplusplus

extern "C" {

#endif

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_init

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1init

  (JNIEnv *, jclass);

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_terminate

 * Signature: ()V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1terminate

  (JNIEnv *, jclass);

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_do

 * Signature: ()V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1do

  (JNIEnv *, jclass);

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_register_packet_group

 * Signature: (Lorg/roboticsclub/colony/Wireless/PacketGroupHandler;)V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1register_1packet_1group

  (JNIEnv *, jclass, jobject);

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_unregister_packet_group

 * Signature: (Lorg/roboticsclub/colony/Wireless/PacketGroupHandler;)V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1unregister_1packet_1group

  (JNIEnv *, jclass, jobject);

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_send_robot_to_robot_global_packet

 * Signature: (BB[BIB)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1send_1robot_1to_1robot_1global_1packet

  (JNIEnv *, jclass, jbyte, jbyte, jbyteArray, jint, jbyte);

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_send_robot_to_robot_packet

 * Signature: (BB[BIB)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1send_1robot_1to_1robot_1packet