Colony

#define DATA_REQUEST_GROUP 7

#define BOM_TYPE 0

#define IR_TYPE 1

#define ENCODER_TYPE 2

#define ALL_TYPE 3

/** 

* @brief I tried to leave the data in an easy manipulable form, however

* the side effect is that you're going to have to reference here sometimes.

* The fields are obvious...

*   robot_id is the id of the robot that was being looked at by robot that the

* list encapsulates.

*   value is the 0-15 value of the IR receiver that saw the robot. (Counter clockwise

* from the right side.

*   next is a pointer to the next BomNode (or NULL).

*/

typedef struct {

  short int robot_id;

  char value;

  struct BomNode* next;

} BomNode;

/*typedef struct{

    unsigned char* packet;

    char type;

    int source;

    int length;

} RawData;*/

/** 

* @brief Initializes the Data Request functionality on the server side.

* 

* @param void*(bom_data_handler(BomNode** head)) A function that accepts 

* a BomNode** as an argument and handles the bom data however you would like.

* 

* @param void*(IR_data_handler(short** data)) A function that accepts an

* array of shorts for processing.

*

* @param void*(encoder_data_handler(unsigned char** data)) A function that

* accepts an array of unsigned chars (tentatively) as data for processing.

*/

void data_requests_init(

                        void(*bom_data_handler)(short id, BomNode** head),

                        void(*IR_data_handler)(short id, short** data),

                        void(*encoder_data_handler)(short id, unsigned char** data));

/** 

* @brief Pings the robot for BOM data.

* 

* @param robot_id The robot ID of the robot to ping. Typically you will need

* to join (if not insert yourself into) the token ring to get a list of robot

* id's.

*/

void request_bom_data(int robot_id);

/** 

* @brief Pings the robot for BOM data.

*/

void request_IR_data(int robot_id);

/** 

* @brief Pings the robot for encoder data.

* NOT YET DONE (We don't have encoders yet...)

*/

void request_encoder_data(int robot_id);

void request_all(int robot_id);