Colony

#include <dragonfly_lib.h>

#include <wl_basic.h>

#include "sendGraph.h"

#ifdef SENDGRAPH

int main(void){

    dragonfly_init(ALL_ON);

    wl_basic_init_default();

    wl_set_channel(12);

        node a;

        node b;

        edge aTob;

        edge bToa;

        //Create the edges

        aTob.to = 'b';

        aTob.dist = 25;

        bToa.to = 'a'; 

        bToa.dist = 25;

        a.outgoingEdges[0] = aTob;

        b.outgoingEdges[0] = bToa;

        a.type = 1;

        a.intNum = 1;

        a.numOut = 1;

        a.outSeen = 1;

        b.type = 1;

        b.intNum = 2;

        b.numOut = 1;

        b.outSeen = 1;

        intersections[0] = a;

        intersections[1] = b;

  while(1){

        sendIntersectionGraph();

  orb1_set_color(BLUE);

  delay_ms(500);

        sendIntersectionGraph();

  orb1_set_color(YELLOW);

  delay_ms(500);

  }

  return 0;

}

/*

 * Uses wireless to send the graph sructure

 * to other robots

 *

 * @return 

 *

 */

void sendIntersectionGraph() {

        int i;

        node_union graph;

        graph.n.packetType = WGRAPHDATA;

        for(i=0; i< NUM_FEATURES; i++){

                graph.n = intersections[i];

                wl_basic_send_global_packet(42, graph.array, 13);

//                wl_basic_send_global_packet(42, "\r\n", 3);

        }

}

#endif