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1 | 1456 | rcahoon | /** @file colonet_wireless.h
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2 | *
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3 | * @brief Wireless library for communicating with colony robots
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4 | *
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5 | * @author Eugene Marinelli
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6 | * @date 10/10/07
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7 | */
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8 | |||
9 | #ifndef COLONET_WIRELESS_H_
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10 | #define COLONET_WIRELESS_H_
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11 | |||
12 | /** @brief Initializes colonet wireless library
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13 | *
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14 | * @param wl_port Either SERIAL_PORT or USB_PORT (as defined in COLONET_DEFS)
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15 | * @param msg_handler Function to be called when a packet is received.
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16 | * Must take a ColonetPacket as an argument (see defn of MsgHandlerFunction)
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17 | *
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18 | * @return new ColonetWireless object
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19 | */
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20 | int colonet_wl_init(char* wl_port); |
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21 | |||
22 | /** @brief Spawns a thread which reads data from the hardware interface
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23 | * with the colony (either a dongle or a robot programmed to relay data)
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24 | * and runs msg_handler when a full packet is received
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25 | *
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26 | * @return pointer to the thread
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27 | */
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28 | int colonet_wl_run_listener_thread(void); |
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29 | |||
30 | void colonet_wl_kill_listener_thread(void); |
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31 | |||
32 | void colonet_wl_join();
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33 | |||
34 | int colonet_get_num_robots(void); |
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35 | |||
36 | void colonet_get_sensor_matrix(int* ids, int** matrix); |
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37 | void colonet_get_xbee_ids(int ids[]); |
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38 | |||
39 | #endif |