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/**
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 * @file wl_basic.c
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 * @brief High Level Wireless Packet Sending-Receiving Functions
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 *
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 * Abstracted wireless functionality for sending and receiving packets
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 *
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 * @author Christopher Mar, Colony Project, CMU Robotics Club
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 **/
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#include "wl_basic.h"
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/**
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 * Wrapper for wl_init().
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 * Initializes wireless and registers a packet handler function for Basic Group.
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 *
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 * @param handle_receive function pointer to handler function for Basic Group
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 * @return 0 on success, -1 on error 
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 **/
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int wl_basic_init( void(*handle_receive) (char type, int source,
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                   unsigned char* packet, int length) ) {
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    int returnme = wl_init();
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    wl_basic_register_handler(handle_receive);
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    current_packet.new_flag = 0;
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    return returnme;
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}
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/**
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 * Wrapper for wl_init().
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 * Initializes wireless and registers the default packet handler for Basig Group.
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 *
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 **/
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int wl_basic_init_default( ) {
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    return wl_basic_init(&wl_basic_packet_receive_handler);
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}
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/**
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 * Internal function to register a packet group handler for Basic Group.
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 *
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 * @param handle_receive function pointer to handler function for Basic Group
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 **/
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void wl_basic_register_handler( void (*handle_receive) (char type, int source,
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                        unsigned char* packet, int length)) {
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    wl_basic_group_handler.groupCode = WL_BASIC_GROUP;
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    wl_basic_group_handler.timeout_handler = 0;
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    wl_basic_group_handler.handle_response = 0;
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    wl_basic_group_handler.handle_receive = handle_receive;
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    wl_basic_group_handler.unregister = 0;
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    wl_register_packet_group(&wl_basic_group_handler);
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}
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/**
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 * Send a packet to a single robot in Basic Group.
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 *
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 * @param type Packet type
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 * @param data Packet buffer, data you want to send
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 * @param len Length of the data buffer in bytes
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 * @param dest Robot ID of the destination robot
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 **/
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void wl_basic_send_robot_packet( char type, char* data, int len, int dest ) {
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    wl_send_robot_to_robot_global_packet(WL_BASIC_GROUP, type, data, len, dest, 0);
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}
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/**
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 * Send a packet to all robots in Basic Group.
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 *
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 * @param type Packet type
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 * @param data Packet buffer, data you want to send
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 * @param len Length of the data buffer in bytes
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 **/
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void wl_basic_send_global_packet( char type, char* data, int len ) {
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    wl_send_global_packet(WL_BASIC_GROUP, type, data, len, 0);
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}
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/**
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 * Default packet handler used if none is specified on init.
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 * This should not be called directly by any user program.
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 *
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 * @param type Packet type
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 * @param source the robot ID of the sending robot
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 * @param packet Packet buffer, data you received
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 * @param length Length of the data buffer in bytes
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 **/
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void wl_basic_packet_receive_handler( char type, int source, unsigned char* packet, int length ) {
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    current_packet.new_flag = 1;
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    current_packet.type = type;
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    current_packet.source = source;
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    current_packet.data = packet;
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    current_packet.length = length;
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}
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/**
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 * Wrapper for wl_do() for use with the Basic Wireless group.
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 * Can only be called if wl_basic_init_default and your packets
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 *  are handled with the default packet handler.
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 * To access packet information, use PacketInfo current_packet.
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 *
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 * @param length a pointer to int to store the length of the data buffer
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 * 
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 * @return pointer to the data of the packet just received, 0 if no new packet
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 **/
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unsigned char* wl_basic_do_default( int *length ) {
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    wl_do();
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    if (current_packet.new_flag == 1) { 
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        current_packet.new_flag = 0;
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        *length = current_packet.length;
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        return current_packet.data;
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    }
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    return 0;
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}
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