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/**
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 * Copyright (c) 2007 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file xbee.h
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 * @brief Contains definitions for using the XBee
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 *
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 * Contains definitions for interfacing with the 
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 * XBee module, from either a robot or a computer.
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 * To use a robot, define ROBOT in wl_defs.h, and
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 * to use a computer, don't define ROBOT.
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 *
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 * @author Brian Coltin, Colony Project, CMU Robotics Club
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 **/
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#ifndef XBEE_H
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#define XBEE_H
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/**
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 * The port to use the XBee from on the computer.
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 * Also, a backup port if the other is used.
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 **/
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#ifndef ROBOT
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#define XBEE_PORT_DEFAULT "/dev/ttyUSB1"
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#endif
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/**
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 * @defgroup xbee XBee
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 * @brief Interface with the XBee module
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 *
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 * Interface with the XBee module.
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 *
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 * @{
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 **/
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/*Definitions*/
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/**@brief Unset PAN, uses XBee default **/
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#define XBEE_PAN_DEFAULT 0xFFFF
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/**@brief Unset channel, uses XBee default **/
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#define XBEE_CHANNEL_DEFAULT 0
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/**@brief Broadcast to all robots in the PAN **/
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#define XBEE_BROADCAST 0xFFFF
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/**@brief No special options **/
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#define XBEE_OPTIONS_NONE 0x00
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/**@brief Do not receive a TX_STATUS message from this packet **/
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#define XBEE_OPTIONS_DISABLE_RESPONSE 0x01
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/**@brief Send the packet to all PANS **/
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#define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04
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/**@brief A transmit status packet **/
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#define XBEE_TX_STATUS 0x89
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/**@brief A packet received from another XBee **/
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#define XBEE_RX 0x81
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/**@brief Initialize the XBee library **/
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int xbee_lib_init(void);
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/**@brief Uninitialize the XBee library **/
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void xbee_terminate(void);
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/**@brief Get a packet from the XBee **/
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int xbee_get_packet(unsigned char* packet);
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/**@brief Send a packet to the XBee **/
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int xbee_send_packet(char* packet, int len, int dest, char options, char frame);
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/**@brief Set the PAN ID for the XBee **/
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int xbee_set_pan_id(int id);
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/**@brief Get the XBee's PAN ID **/
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unsigned int xbee_get_pan_id(void);
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/**@brief Set the channel the XBee is currently using **/
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int xbee_set_channel(int channel);
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/**@brief Get the channel the XBee is currently using **/
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int xbee_get_channel(void);
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/**@brief Get the XBee's 16-bit address **/
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unsigned int xbee_get_address(void);
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/**@brief Set the com port on a computer, undefined on the robot**/
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void xbee_set_com_port(char* port);
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/**@brief Reset XBee **/
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int xbee_reset(void);
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/**@}**/ //end defgroup
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#endif