Colony

send functions:

- core:

    wl_send(char *data, uint8_t length, uint8_t group, uint8 scope, uint8 dest, uint8 mode)

    - scope = global or current PAN?

    - dest = robot ID

    - mode = TCP or UDP?

- wrappers:

    wl_send_global(char *data, uint8_t length, uint8_t group)

    wl_send_pan(char *data, uint8_t length, uint8_t group)

    wl_send_robot/p2p(char *data, uint8_t length, uint8_t group, uint8 dest, uint8 mode)

- default:

    wl_send_basic(char *data)

ACK (private, for the most part...):

- error

    int8_t wl_ack_error()

    - return error on lost packet (only last packet sent)

      - maybe the # of lost packets, reset on call to this function

receive functions:

- receive functions

    int8_t wl_dispatch( void )

    - get new packets and call handler functions for received groups

    - does not handle default group

    - returns error codes

    int8_t wl_get( char *data, uint8_t length)

    - data is an already-initialized packet

    - length is the length of data

    - handles basic and dispatch/group

    - on return

      - data will point to BASIC packet data

      - returns the length of packet data or error

- default receive function:

    int8_t wl_get_basic( char *data, uint8_t length )

    - data is an already-initialized packet

    - length is the length of data

    - on return

      - data will point to packet data

      - returns the length of packet data or error

- other per-group handlers:

    registered by user

init functions:

- regular init

    wl_init( void )

    - initialize xbee

    - set default channel, PAN

register functions:

- user registers packet group and handler function

    int8_t wl_register_handler(uint8_t group, void (*func)(void), uint8_t priority)

    - group = group number

    - func = function pointer to handler

    - priority = 0 for normal (put on buffer), anything else (e.g. 1) for high