Colony

/** @file colonet_wireless.h

 *

 * @brief Wireless library for communicating with colony robots

 *

 * @author Eugene Marinelli

 * @date 10/10/07

 */

#ifndef COLONET_WIRELESS_H_

#define COLONET_WIRELESS_H_

#include <colonet_defs.h>

typedef int(*MsgHandlerFunction)(unsigned char type, short source, int dest, unsigned char* data, int len);

/** @brief Initializes colonet wireless library

 *

 * @param wl_port Either SERIAL_PORT or USB_PORT (as defined in COLONET_DEFS)

 * @param log_filename Path to log file - outputs all raw data on the network

 * If set to NULL, logging is disabled.

 * @param msg_handler Function to be called when a packet is received.

 * Must take a ColonetPacket as an argument (see defn of MsgHandlerFunction)

 *

 * @return new ColonetWireless object

 */

int colonet_wl_init(char* wl_port, MsgHandlerFunction message_handler_, char* log_filename_);

/** @brief Spawns a thread which reads data from the hardware interface

 * with the colony (either a dongle or a robot programmed to relay data)

 * and runs msg_handler when a full packet is received

 *

 * @return pointer to the thread

 */

int colonet_wl_run_listener_thread(void);

void colonet_wl_kill_listener_thread(void);

/**

 * @brief ...

 *

 * @return void

 */

int colonet_wl_send(short client_source, short dest, ColonetMessageType msg_type, unsigned char msg_code,

                    unsigned char* args);

int colonet_get_num_robots(void);

int** colonet_get_sensor_matrix(int* numrobots, int** ids);

int* colonet_get_xbee_ids(int* numrobots);

#endif