Controls radio commands sent between robots. More...

Data Structures
struct	RadioCmd
	A radio command is a linked list of the radio commands received. More...

Typedefs
typedef struct RadioCmd	RadioCmd
	A radio command is a linked list of the radio commands received.

Functions
void	radioCommandInit (void)
	Initializes radio command processing. More...

void	radioCommandAddCallback (RadioCmd radioCmdPtr, const char name, void(funcPtr)(RadioCmd radioCmdPtr, RadioMessage *message))
	Creates radio command that will call function. More...

void	radioCommandAddQueue (RadioCmd radioCmdPtr, const char name, uint8 messageQueueSize)
	Create radio command that uses a queue of specified size. More...

void	radioCommandAdd (RadioCmd radioCmdPtr, const char name, void(funcPtr)(RadioCmd radioCmdPtr, RadioMessage message), uint8 messageQueueSize, void externalDataPtr)
	Creates a radio command that can call a function or a queue. More...

boolean	radioCommandReceive (RadioCmd radioCmdPtr, RadioMessage messagePtr, uint32 maxDelay)
	Receives specific radio commands. More...

boolean	radioCommandReceiveNonBlocking (RadioCmd radioCmdPtr, RadioMessage messagePtr)
	Receives specific radio commands. More...

void	radioCommandXmit (RadioCmd radioCmdPtr, uint8 destinationID, RadioMessage message)
	Sends a radio message to the specified ID if RC mode is off. More...

boolean	radioCommandTimeout (RadioCmd *radioCmdPtr, uint32 timeout)
	Check if time since last time stamp has exceeded timeout. More...

uint8	radioCommandGetType (RadioMessage *messagePtr)
	Get radio command type. More...

uint8	radioCommandGetSubnet (RadioMessage *messagePtr)
	Get radio command subnet. More...

void	radioCommandSetSubnet (uint8 subnet)
	Sets the radio command subnet. More...

char *	radioCommandGetDataPtr (RadioMessage *messagePtr)
	Get radio command data pointer. More...

Detailed Description

Controls radio commands sent between robots.

Since: March 17, 2012

Author: James McLurkin

Function Documentation

void radioCommandAdd	(	RadioCmd *	radioCmdPtr,
		const char *	name,
		void()(RadioCmd radioCmdPtr, RadioMessage *message)	funcPtr,
		uint8	messageQueueSize,
		void *	externalDataPtr
	)

Creates a radio command that can call a function or a queue.

Parameters

radioCmdPtr	is pointer to specific radio command group to be sent
name	is the name of the command
funcPtr	points to function that radio message will be sent to
messageQueueSize	is maximum size of queue - the number of messages that it can hold, not the size of the message. The radio message size is RADIO_COMMAND_MESSAGE_DATA_LENGTH, currently
externalDataPtr	is a void* that can be set to whatever structure the user needs access to during the callback.

Returns: void

void radioCommandAddCallback	(	RadioCmd *	radioCmdPtr,
		const char *	name,
		void()(RadioCmd radioCmdPtr, RadioMessage *message)	funcPtr
	)

Creates radio command that will call function.

Parameters

radioCmdPtr	is pointer to specific radio command group to be sent
name	is the name of the command
funcPtr	points to function that radio message will be sent to

Returns: void

void radioCommandAddQueue	(	RadioCmd *	radioCmdPtr,
		const char *	name,
		uint8	messageQueueSize
	)

Create radio command that uses a queue of specified size.

Parameters

radioCmdPtr	is pointer to specific radio command
name	is the name of the command
messageQueueSize	is maximum size of queue - the number of messages that it can hold, not the size of the message. The radio message size is RADIO_COMMAND_MESSAGE_DATA_LENGTH, currently

Returns: void

char* radioCommandGetDataPtr ( RadioMessage * messagePtr)

Get radio command data pointer.

Parameters

messagePtr is the message to examine

Returns: pointer to data associated with the message

uint8 radioCommandGetSubnet ( RadioMessage * messagePtr)

Get radio command subnet.

Parameters

messagePtr is the message to examine

Returns: radio command message subnet

uint8 radioCommandGetType ( RadioMessage * messagePtr)

Get radio command type.

Parameters

messagePtr is the message to examine

Returns: radio command message type

void radioCommandInit ( void )

Initializes radio command processing.

Returns: void

boolean radioCommandReceive	(	RadioCmd *	radioCmdPtr,
		RadioMessage *	messagePtr,
		uint32	maxDelay
	)

Receives specific radio commands.

Parameters

radioCmdPtr	The command group of radio messages that will go into messagePtr
messagePtr	Will contain the next message for the given radio command group
maxDelay	The maximum time the call will take before returning. If 0, will not block (call radioCommandReceiveNonBlocking() instead)..

Returns: TRUE if there is a message. FALSE otherwise.

boolean radioCommandReceiveNonBlocking	(	RadioCmd *	radioCmdPtr,
		RadioMessage *	messagePtr
	)

Receives specific radio commands.

Parameters

radioCmdPtr	The command group of radio messages that will go into messagePtr
messagePtr	Will contain the next message for the given radio command group

Returns: TRUE if there is a message. FALSE otherwise.

void radioCommandSetSubnet ( uint8 subnet)

Sets the radio command subnet.

Parameters

subnet is the subnet to join. Range is from 0-3.

Returns: void

boolean radioCommandTimeout	(	RadioCmd *	radioCmdPtr,
		uint32	timeout
	)

Check if time since last time stamp has exceeded timeout.

Parameters

radioCmdPtr	The command group of the radio message to be sent
timeout	is the amount of time in milliseconds before the function returns

Returns: if timeout has been exceeded, return True; else, return False

void radioCommandXmit	(	RadioCmd *	radioCmdPtr,
		uint8	destinationID,
		RadioMessage *	message
	)

Sends a radio message to the specified ID if RC mode is off.

Parameters

radioCmdPtr	The command group of the radio message to be sent
destinationID	Which robots the message is being sent to. 0xFF (ROBOT_ID_ALL) sends to all robots
message	the message to be sent

Data Structures

Typedefs

Functions

Detailed Description

Function Documentation