Colony

    if (basic_buf_first == 0xFF)

      basic_buf_first = 0;

    uint8_t buf_pos = basic_buf_first;	// start at beginning of first (oldest) basic packet

    uint8_t data_length = xbee_basic_buf[buf_pos % PACKET_BUFFER_SIZE];  // get packet length

    if (data_length - 3 > length)   // not enough room for data in destination

	return WL_ERROR_TOO_SMALL;

    // packet has not fully arrived yet

    if (buf_pos + data_length > basic_buf_last	// length goes farther than end of buffer

	    && !(buf_pos >= basic_buf_last && buf_pos + data_length > buf_pos))

	/* basic test is Beginning + Length > Buffer End means packet isn't all there yet

	   if end counter overflows, a complete packet's end may still be greater than the buffer end index,

	   but such a packet can be read from the buffer

	 */

	return WL_SUCCESS;  // no data written

    WL_DEBUG_PRINT_P("entered wl_get_basic\r\n");

    buf_pos++;

    buf_pos++;	// ignore the source ID

    // copy data to destination, byte by byte to account for circular buffer

    // don't copy the 3 header bytes. nobody wants those.

    for (; buf_pos < basic_buf_first + data_length; buf_pos++)

	memcpy(data + buf_pos - 3, xbee_basic_buf + (buf_pos % PACKET_BUFFER_SIZE), 1);

    basic_buf_first += data_length; // "free up" this packet's buffer space

    return data_length;

    if (other_buf_first == 0xFF)

      other_buf_first = 0;

    uint8_t buf_pos = other_buf_first;	// current position in buffer

    uint8_t group;  // group of packet under consideration

    void (*handler)(uint8_t *data, uint8_t length, uint8_t source);  // handler for group of packet under consideration

    uint8_t length = xbee_other_buf[buf_pos % PACKET_BUFFER_SIZE];  // length of packet under consideration

    uint8_t source; // robot ID of sender of packet under consideration

    // consider packets one at a time until buffer contains no complete packets

    while (buf_pos + length <= other_buf_last	// length goes farther than end of buffer

	    || (buf_pos >= other_buf_last && buf_pos + length > buf_pos)) {

	/* basic test is Beginning + Length > Buffer End means packet isn't all there yet

	   if end counter overflows, a complete packet's end may still be greater than the buffer end index,

	   but such a packet can be read from the buffer

	 */

	buf_pos++;

	group = xbee_other_buf[buf_pos];    // get group from packet

	if (group >= MAX_PACKET_GROUPS)  // invalid group number

	    buf_pos += length - 1 + 1;	// go to first byte of next packet

	else {	// valid group number

	    handler = wl_packet_handlers[group].FUNC;	// get function from handler array

	    buf_pos++;

	    buf_pos++;  // ignore 1st byte of ID (will be all 0s)

	    source = xbee_other_buf[buf_pos];   // get sender ID from packet

	    buf_pos++;  // now index of beginning of packet data (mod PACKET_BUFFER_SIZE)

	    if (handler)	// check whether group is handled

		(*handler)(xbee_other_buf + (buf_pos & PACKET_BUFFER_SIZE), length - 4, source);

	    // go to next packet

	    buf_pos += length - 4 + 1;  // go to first byte of next packet

	}

	length = xbee_other_buf[buf_pos & PACKET_BUFFER_SIZE];	// get length of next packet

    return WL_SUCCESS;