Colony

/**

 * @file wl_token_ring.h

 * @brief Declarations for the token ring packet group

 * 

 * Contains declarations for the token ring packet group.

 *

 * @author Brian Coltin, Colony Project, CMU Robotics Club

 **/

#ifndef WL_TOKEN_RING_H

#define WL_TOKEN_RING_H

/**

 * @defgroup tokenring Token Ring

 * @brief Wireless library token ring implementation

 *

 * This packet group is used to form a token ring, which

 * keeps track of the relative directions of the robots

 * from one another.

 *

 * @{

 **/

/**@brief Register the token ring group with the wireless library.**/

void wl_token_ring_register(void);

/**@brief Unregister the token ring group with the wirelss library.**/

void wl_token_ring_unregister(void);

/**@brief Set the functions called to turn the bom on and off.**/

void wl_token_ring_set_bom_functions(void (*on_function) (void), 

                void (*off_function) (void), int (*max_bom_function) (void));

/**@brief Join the token ring **/

void wl_token_ring_join(void);

/**@brief Leave the token ring **/

void wl_token_ring_leave(void);

/**@brief Request a BOM flash from the specified robot **/

void wl_token_request(int robot);

/**@brief Return the number of robots in the token ring **/

int wl_token_get_robots_in_ring(void);

/**@brief Return whether a given robot is in the token ring **/

int wl_token_is_robot_in_ring(int robot);

/**@brief Begin iterating through robots in the token ring **/

void wl_token_iterator_begin(void);

/**@brief Returns whether there are more robots to iterate through **/

int wl_token_iterator_has_next(void);

/**@brief Returns the ID of the next robot in the token ring **/

int wl_token_iterator_next(void);

/**@brief Return the latest BOM reading between two robots **/

int wl_token_get_sensor_reading(int source, int dest);

/**@brief Return the latest BOM reading between us and another robot **/

int wl_token_get_my_sensor_reading(int dest);

/**@brief Return the number of robots in the sensor matrix.*/

int wl_token_get_num_robots(void);

/**@brief Return the number of non-null elements in the sensor matrix*/

int wl_token_get_matrix_size(void);

/** @} **/ //end token ring group

#endif