Colony

/**

 * @file wl_basic.h

 * @brief High Level Wireless Packet Sending-Receiving Functions

 *

 * Abstracted wireless functionality for sending and receiving packets

 *

 * @author Christopher Mar, Colony Project, CMU Robotics Club

 **/

/**

 * @defgroup wl_basic Wireless Basic

 * @brief Wireless abstraction for easily sending and receing packets.

 *

 * A high level abstraction of the wireless library.

 *

 * This will allow you to easily send and receive packets.

 *

 * @{

 **/

#ifndef WL_BASIC_H

#define WL_BASIC_H

#include "wireless.h"

/** @brief default wireless group for basic sending and receiving packets **/

#define WL_BASIC_GROUP 8

/** @brief PacketGroupHandler struct for Basic Group **/

PacketGroupHandler wl_basic_group_handler;

/**

 * @brief struct that contains relevant packet information

 **/

struct PacketInfo {

    char new_flag;

    char type;

    int source;

    unsigned char* data;

    int length;

};

/**

 * @brief current packet information, correct after wl_basic_do()

 **/

struct PacketInfo current_packet;

/** @brief init wireless for Basic Group **/

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

/** @brief init wireless for Basic Group with default packet handling **/

int wl_basic_init_default( void );

/** @brief internal function to register a packet handler function **/

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

/** @brief send a packet to a single robot in Basic Group **/

void wl_basic_send_robot_packet( char type, char* data, int len, int dest );

/** @brief send a packet to all robots in Basic Group **/

void wl_basic_send_global_packet( char type, char* data, int len );

/** @brief internal default packet handler if none is specified on init **/

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

/** @brief wrapper for wl_do() to return packet data buffer **/

unsigned char* wl_basic_do_default( int *length );

/** @} **/ // end defgroup

#endif