Colony

#include "bayboard_lib.h"

#include "../libwireless/lib/wireless.h"

#include "../libwireless/lib/wl_token_ring.h"

int xbee_present(void);

static int xbee_send(char*, int);

static int xbee_send_string(char*, int);

static int xbee_enter_command_mode(void);

static int xbee_exit_command_mode(void);

static int xbee_wait_for_ok(void);

static int xbee_wait_for_string(char*, int);

/**

 * Detects whether or not an xbee is present.

 **/

int xbee_present(void){

        bayboard_init(ALL_ON);

        set_orb(255,0,0);

        if(xbee_enter_command_mode() == -1){

                return 0;

        }

        if(xbee_exit_command_mode() == -1){

                return 0;

        }

        return 1;

}

/**

 * Sends a string of size size to the xbee module.

 *

 * @param buf the string to send

 * @param size the length of the string

 **/

static int xbee_send(char* buf, int size)

{

        int i;

        for (i = 0; i < size; i++) {

                xbee_putc(buf[i]);

        }

        return 0;

}

/**

 * Wrapper for xbee_send.

 *

 * @param c the string to send

 * @param len the length of the string

 **/

static int xbee_send_string(char* c, int len)

{

        return xbee_send(c, len);

}

/**

 * Enter into command mode.

 **/

static int xbee_enter_command_mode()

{

        if (xbee_send_string("+++\r", 4) != 0) {

                return -1;

        }

        if (xbee_wait_for_ok() != 0) {

          return -1;

        }

        return 0;

}

/**

 * Exit from command mode.

 **/

static int xbee_exit_command_mode()

{

        if (xbee_send_string("ATCN\r", 5) != 0) {

                return -1;

        }

        xbee_wait_for_ok();

        return 0;

}

/**

 * Wait until the string "OK\r" is received from the XBee.

 **/

static int xbee_wait_for_ok()

{

        return xbee_wait_for_string("OK\r", 3);

}

/**

 * Delay until the specified string is received from

 * the XBee. Discards all other XBee data.

 *

 * @param s the string to receive

 * @param len the length of the string

 **/

static int xbee_wait_for_string(char* s, int len)

{

        long long timeout = 0;

        int cur = 0;

        while (cur < len) {

                if(timeout > 160000){

                        return -1;

                }

                if(xbee_getc_nb(s + cur) == 0){

                        timeout = 0;

                        cur++;

                }

                timeout++;

        }

        return 0;

}