Colony

/** @file colonet.h

 * @brief Colonet library for colony robots

 * @author Eugene Marinelli

 * @date 10/26/06

 */

#ifndef COLONET_DRAGONFLY_H_

#define COLONET_DRAGONFLY_H_

#include <colonet_defs.h>

/**

 */

int colonet_init(void);

/**

 */

void colonet_run(void (*step)(void));

/** @brief Registers a new colonet message handler function.  If a message

 * with msgId is received, then handler will be called.

 *

 * @param msgId The message id of the handler to be registered.  Must be

 * between USER_DEFINED_MSG_ID_START and USER_DEFINED_MSG_ID_END

 * @param handler The function to be called if a colonet packet with message

 * id msgId is received

 *

 * @return -1 on error (invalid msgId), 0 on success

 */

int colonet_add_message(unsigned char msgId, void (*handler)(void));

void request_abs_position(void);

void get_absolute_position(int* x, int* y);

#endif