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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<title>Colony: Public API Functions</title>
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<div class="contents">
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<h1>Public API Functions<br>
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<small>
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[<a class="el" href="group__wireless.html">Wireless</a>]</small>
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</h1><table border="0" cellpadding="0" cellspacing="0">
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<tr><td></td></tr>
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#g6a8d6179b1fe27f762937f0b47af2009">wl_init</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize wireless.  <a href="#g6a8d6179b1fe27f762937f0b47af2009"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#g223f437c2bc8ab8a3ac2e0e06841120f">wl_terminate</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Terminate wireless.  <a href="#g223f437c2bc8ab8a3ac2e0e06841120f"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gaa4e0d7014a74d0d59c08f9fbbf40bd7"></a><!-- doxytag: member="wl_functions::wl_send" ref="gaa4e0d7014a74d0d59c08f9fbbf40bd7" args="(char *data, uint8_t length, uint8_t group, uint8_t scope, uint8_t dest, uint8_t mode)" -->
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int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#gaa4e0d7014a74d0d59c08f9fbbf40bd7">wl_send</a> (char *data, uint8_t length, uint8_t group, uint8_t scope, uint8_t dest, uint8_t mode)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">The core send function. This will take all possible arguments and send all types of packets. <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#gd92093466d82f3f0c732ffe8323228d2">wl_send_global</a> (char *data, uint8_t length, uint8_t group)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Wrapper for core send function that will send a global packet across the current channel.  <a href="#gd92093466d82f3f0c732ffe8323228d2"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#g7886c2a37b7350211699dcabe48ff076">wl_send_pan</a> (char *data, uint8_t length, uint8_t group)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Wrapper for core send function that will send a packet across the current channel on the current pan.  <a href="#g7886c2a37b7350211699dcabe48ff076"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gbb08f7957bd0256c51f424fa770d3e60"></a><!-- doxytag: member="wl_functions::wl_send_robot" ref="gbb08f7957bd0256c51f424fa770d3e60" args="(char *data, uint8_t length, uint8_t group, uint8_t dest, uint8_t mode)" -->
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int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#gbb08f7957bd0256c51f424fa770d3e60">wl_send_robot</a> (char *data, uint8_t length, uint8_t group, uint8_t dest, uint8_t mode)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Wrapper for core send function that will send a packet across the current channel to a specific robot. <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#ga8fb657e4d3bf7cb396f36e99fdd01a0">wl_send_basic</a> (char *data, uint8_t length)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Default (i.e. basic) send wrapper.  <a href="#ga8fb657e4d3bf7cb396f36e99fdd01a0"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#g11aeeac54834f0357794ae60a7513acf">wl_ack_error</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Returns the number of acknowledgment errors.  <a href="#g11aeeac54834f0357794ae60a7513acf"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#ga364aa4d9cc8c789f05401e8adf44785">wl_ack_check</a> (uint8_t packet)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Checks a specific packet for the acknowledgement status.  <a href="#ga364aa4d9cc8c789f05401e8adf44785"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#g62e126abfcd382ec02524dd2f45a8a7b">wl_ack_reset</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Resets acknowledgement statistics back to zero.  <a href="#g62e126abfcd382ec02524dd2f45a8a7b"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#ga5a965e3443e4b2b60243225c50ecca7">wl_get</a> (char *data, uint8_t length)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">The main receive function. Dispatches packets for registered handlers and returns next basic packet if available.  <a href="#ga5a965e3443e4b2b60243225c50ecca7"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#ge2509e2b6bc61faa26d87b1d87881817">wl_get_basic</a> (char *data, uint8_t length)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Returns the next basic packet if available.  <a href="#ge2509e2b6bc61faa26d87b1d87881817"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ge91c1e1940dfbbd063fdcfb86049c64a"></a><!-- doxytag: member="wl_functions::wl_dispatch" ref="ge91c1e1940dfbbd063fdcfb86049c64a" args="(void)" -->
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int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#ge91c1e1940dfbbd063fdcfb86049c64a">wl_dispatch</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Dispatches packets for registered handlers. <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wl__functions.html#g8af34a6265a5d6af3a1525bb51e61d54">wl_register_handler</a> (uint8_t group, void(*func)(void), uint8_t priority)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Function to register new packet handlers (for non-default groups only).  <a href="#g8af34a6265a5d6af3a1525bb51e61d54"></a><br></td></tr>
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</table>
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<hr><h2>Function Documentation</h2>
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<a class="anchor" name="ga364aa4d9cc8c789f05401e8adf44785"></a><!-- doxytag: member="wireless.h::wl_ack_check" ref="ga364aa4d9cc8c789f05401e8adf44785" args="(uint8_t packet)" -->
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          <td class="memname">int8_t wl_ack_check           </td>
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          <td>(</td>
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          <td class="paramtype">uint8_t&nbsp;</td>
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          <td class="paramname"> <em>packet</em>          </td>
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          <td>&nbsp;)&nbsp;</td>
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<p>
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acknowledgement error check check if a specific packet has been lost note: buffer will overflow ever 255 packets<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>packet</em>&nbsp;</td><td>number</td></tr>
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  </table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0=still sending,1=ack received,-1=ack failure </dd></dl>
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<a class="anchor" name="g11aeeac54834f0357794ae60a7513acf"></a><!-- doxytag: member="wireless.h::wl_ack_error" ref="g11aeeac54834f0357794ae60a7513acf" args="(void)" -->
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          <td class="memname">int8_t wl_ack_error           </td>
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<p>
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acknowledgment error check if any of the packets you have sent have been lost.<p>
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note that all other error checking will be handled by library, so your user behavior won't have to worry about it<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the # of packets lost (up to 255) </dd></dl>
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</div><p>
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<a class="anchor" name="g62e126abfcd382ec02524dd2f45a8a7b"></a><!-- doxytag: member="wireless.h::wl_ack_reset" ref="g62e126abfcd382ec02524dd2f45a8a7b" args="(void)" -->
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          <td class="memname">void wl_ack_reset           </td>
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acknowledgement reset reset the acknowledgement buffer 
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<a class="anchor" name="ga5a965e3443e4b2b60243225c50ecca7"></a><!-- doxytag: member="wireless.h::wl_get" ref="ga5a965e3443e4b2b60243225c50ecca7" args="(char *data, uint8_t length)" -->
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          <td class="memname">int8_t wl_get           </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">uint8_t&nbsp;</td>
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          <td class="paramname"> <em>length</em></td><td>&nbsp;</td>
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the main receive function (similar to wl_do)<p>
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when called, this function will receive the next packet on the default packet group it will also dispatch registered packet handler functions for any other packet groups it has received<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>data</em>&nbsp;</td><td>an already-initialized array to store the default group packet data in </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>length</em>&nbsp;</td><td>the length of the initialized data array</td></tr>
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  </table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the length of the used portion of data array or error (&lt;0) </dd></dl>
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</div><p>
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<a class="anchor" name="ge2509e2b6bc61faa26d87b1d87881817"></a><!-- doxytag: member="wireless.h::wl_get_basic" ref="ge2509e2b6bc61faa26d87b1d87881817" args="(char *data, uint8_t length)" -->
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<p>
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function to receive only packets on the default group this function is only meant to receive packets sent using <a class="el" href="group__wl__functions.html#ga8fb657e4d3bf7cb396f36e99fdd01a0" title="Default (i.e. basic) send wrapper.">wl_send_basic()</a><p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>data</em>&nbsp;</td><td>an already-initialized array to store the default group packet data in </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>length</em>&nbsp;</td><td>the length of the initialized data array</td></tr>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the length of the used portion of data array or error (&lt;0) </dd></dl>
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<a class="anchor" name="g6a8d6179b1fe27f762937f0b47af2009"></a><!-- doxytag: member="wireless.h::wl_init" ref="g6a8d6179b1fe27f762937f0b47af2009" args="(void)" -->
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initialization function: set up xbee communication and packet handler infrastructure<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 on success, or error code </dd></dl>
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</div><p>
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<a class="anchor" name="g8af34a6265a5d6af3a1525bb51e61d54"></a><!-- doxytag: member="wireless.h::wl_register_handler" ref="g8af34a6265a5d6af3a1525bb51e61d54" args="(uint8_t group, void(*func)(void), uint8_t priority)" -->
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          <td>(</td>
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function to register new packet handlers (for non-default groups only)<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>group</em>&nbsp;</td><td>the packet group number of the packets to handle with this function </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>func</em>&nbsp;</td><td>the function pointer to the user-specified packet handler </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>priority</em>&nbsp;</td><td>flag to set the priority of the function handler</td></tr>
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  </table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 on success, or error code </dd></dl>
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<a class="anchor" name="ga8fb657e4d3bf7cb396f36e99fdd01a0"></a><!-- doxytag: member="wireless.h::wl_send_basic" ref="ga8fb657e4d3bf7cb396f36e99fdd01a0" args="(char *data, uint8_t length)" -->
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          <td>(</td>
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          <td class="paramkey"></td>
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          <td class="paramtype">uint8_t&nbsp;</td>
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<p>
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Default (i.e. basic) send wrapper.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>data</em>&nbsp;</td><td>pointer to the byte array of data to be included in the packet </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>length</em>&nbsp;</td><td>the length of the data array</td></tr>
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  </table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>positive packet number for tracking acks, or error code (TBD) </dd></dl>
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<a class="anchor" name="gd92093466d82f3f0c732ffe8323228d2"></a><!-- doxytag: member="wireless.h::wl_send_global" ref="gd92093466d82f3f0c732ffe8323228d2" args="(char *data, uint8_t length, uint8_t group)" -->
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          <td class="memname">int8_t wl_send_global           </td>
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          <td>(</td>
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          <td class="paramtype">char *&nbsp;</td>
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          <td class="paramname"> <em>data</em>, </td>
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          <td class="paramname"> <em>group</em></td><td>&nbsp;</td>
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Wrapper for core send function that will send a global packet across the current channel.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>data</em>&nbsp;</td><td>pointer to the byte array of data to be included in the packet </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>length</em>&nbsp;</td><td>the length of the data array </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>group</em>&nbsp;</td><td>the packet group of the packet</td></tr>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>positive packet number for tracking acks, or error code (TBD) </dd></dl>
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<a class="anchor" name="g7886c2a37b7350211699dcabe48ff076"></a><!-- doxytag: member="wireless.h::wl_send_pan" ref="g7886c2a37b7350211699dcabe48ff076" args="(char *data, uint8_t length, uint8_t group)" -->
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          <td class="memname">int8_t wl_send_pan           </td>
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          <td class="paramtype">char *&nbsp;</td>
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Wrapper for core send function that will send a packet across the current channel on the current pan.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>data</em>&nbsp;</td><td>pointer to the byte array of data to be included in the packet </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>length</em>&nbsp;</td><td>the length of the data array </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>group</em>&nbsp;</td><td>the packet group of the packet</td></tr>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>positive packet number for tracking acks, or error code (TBD) </dd></dl>
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<a class="anchor" name="g223f437c2bc8ab8a3ac2e0e06841120f"></a><!-- doxytag: member="wireless.h::wl_terminate" ref="g223f437c2bc8ab8a3ac2e0e06841120f" args="(void)" -->
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termination function: end xbee communication, deregister all handlers, etc<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 on success, or error code </dd></dl>
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<hr size="1"><address style="text-align: right;"><small>Generated on Tue Nov 24 12:45:55 2009 for Colony by&nbsp;
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<a href="http://www.doxygen.org/index.html">
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>
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