Colony

    // Receive TAG, send ACK

    printf("Receive TAG, send ACK... ");

    // Wait until we receive a packet

    while (!(packet_data = wl_basic_do_default(&data_length)));

    if (data_length > 2)

	printf("Excessive TAG packet length... ");

    if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG)

    {

    // Send a TAG, receive an ACK

    printf("Send TAG, wait for ACK... ");

    send_buffer[0] = HUNTER_PREY_ACTION_TAG;

    send_buffer[1] = ROBOTID;

    // Receive a TAG, send a delayed ACK

    printf("Receive a TAG, send a delayed ACK... ");

    while (!(packet_data = wl_basic_do_default(&data_length)));

    // Receive a TAG, never send an ACK

    printf("Receive TAG, never send ACK... ");

    while (!(packet_data = wl_basic_do_default(&data_length)));

    // Receive TAG, send ACK to incorrect robot

    printf("Receive TAG, send ACK to incorrect robot... ");

    // Wait until we receive a packet

    while (!(packet_data = wl_basic_do_default(&data_length)));

    // Simulate TAG from robot A to B, ACK from robot B to A

    printf("Send TAG from robot A to B, ACK from B to A... ");

    // TAG

    send_buffer[0] = HUNTER_PREY_ACTION_TAG;