Colony

/** @file colonet_wireless.h

 *

 * @brief Wireless library for communicating with colony robots

 *

 * @author Eugene Marinelli

 * @date 10/10/07

 */

#ifndef COLONET_WIRELESS_H_

#define COLONET_WIRELESS_H_

/** @brief Initializes colonet wireless library

 *

 * @param wl_port Either SERIAL_PORT or USB_PORT (as defined in COLONET_DEFS)

 * @param msg_handler Function to be called when a packet is received.

 * Must take a ColonetPacket as an argument (see defn of MsgHandlerFunction)

 *

 * @return new ColonetWireless object

 */

int colonet_wl_init(char* wl_port);

/** @brief Spawns a thread which reads data from the hardware interface

 * with the colony (either a dongle or a robot programmed to relay data)

 * and runs msg_handler when a full packet is received

 *

 * @return pointer to the thread

 */

int colonet_wl_run_listener_thread(void);

void colonet_wl_kill_listener_thread(void);

void colonet_wl_join();

int colonet_get_num_robots(void);

void colonet_get_sensor_matrix(int* ids, int** matrix);

void colonet_get_xbee_ids(int ids[]);

#endif