Colony

/**

 * @file wl_basic.c

 * @brief High Level Wireless Packet Sending-Receiving Functions

 *

 * Abstracted wireless functionality for sending and receiving packets

 *

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

 **/

#include <wireless.h>

#include "wl_basic.h"

/**

 * Wrapper for wl_init().

 * Initializes wireless and registers a

 * packet handler function for Basic Group.

 *

 * @param handle_receive function pointer to handler function for Basic Group

 * @return 0 on success, -1 on error 

 **/

int wl_basic_init( void(*handle_receive) (char type, int source,

                   unsigned char* packet, int length) ) {

    int returnme = wl_init();

    wl_basic_register_handler(handle_receive);

    current_packet.new_flag = 0;

    return returnme;

}

/**

 *

 *

 **/

int wl_basic_init_default( ) {

    return wl_basic_init(&wl_basic_packet_receive_handler);

}

/**

 * Internal function to register a packet group handler for Basic Group

 *

 * @param handle_receive function pointer to handler function for Basic Group

 **/

void wl_basic_register_handler( void (*handle_receive) (char type, int source,

                        unsigned char* packet, int length)) {

    wl_basic_group_handler.groupCode = WL_BASIC_GROUP;

    wl_basic_group_handler.timeout_handler = 0;

    wl_basic_group_handler.handle_response = 0;

    wl_basic_group_handler.handle_receive = handle_receive;

    wl_basic_group_handler.unregister = 0;

    wl_register_packet_group(&wl_basic_group_handler);

}

/**

 * Send a packet to a single robot in Basic Group

 *

 * @param type Packet type

 * @param data Packet buffer, data you want to send

 * @param len Length of the data buffer in bytes

 * @dest Robot ID of the destination robot

 **/

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

    wl_send_robot_to_robot_global_packet(WL_BASIC_GROUP, type, data, len, dest, 0);

}

/**

 * Send a packet to all robots in Basic Group

 *

 * @param type Packet type

 * @param data Packet buffer, data you want to send

 * @param len Length of the data buffer in bytes

 **/

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

    wl_send_global_packet(WL_BASIC_GROUP, type, data, len, 0);

}

/**

 * Default packet handler used if none is specified on init

 *

 * @param type Packet type

 * @param data Packet buffer, data you received

 * @param length Length of the data buffer in bytes

 **/

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

    current_packet.new_flag = 1;

    current_packet.type = type;

    current_packet.source = source;

    current_packet.pointer = packet;

    current_packet.length = length;

}

/**

 * Wrapper for wl_do()

 *

 * @return pointer to the data of the packet just received

 **/

unsigned char* wl_basic_do( void ) {

    wl_do();

    if (current_packet.new_flag == 1) { 

        current_packet.new_flag = 0;

        return current_packet.pointer;

    }

    return 0;

}