File content as of revision 0:2deb247ab4bd:

#include "irobotUART.h"
#include "irobotSensor.h"
#include "irobotSensorPoll.h"
#include "irobotSensorStream.h"
#include "irobotActuator.h"
#include "irobotCommand.h"
#include "irobotTime.h"

int32_t irobotOpen(const irobotUARTPort_t port){
	int32_t status = ERROR_SUCCESS;
	
	irobot_IfIsNotError(status, irobotUARTOpen(port, IROBOT_BAUD_57600));

	// in case iRobot was just powered on, wait for it to start up
	if(!irobot_IsError(status)){
		irobotDelayMs(5000);
	}
	
	// put robot into start mode; delay for startup
	irobot_IfIsNotError(status, irobotStart(port));
	if(!irobot_IsError(status)){
		irobotDelayMs(1000);
	}

	irobot_IfIsNotError(status, irobotFull(port));

	irobot_IfIsNotError(status, irobotStop(port));

	// clear receive queue, which may have old sensor stream data
	irobot_IfIsNotError(status, irobotSensorStreamPause(port, true));
	if(!irobot_IsError(status)){
		irobotDelayMs(250);
	}
	irobot_IfIsNotError(status, irobotUARTClear(port));

	// set status LEDs
	irobot_IfIsNotError(status, irobotLEDs(port, LED_ADVANCE_PLAY, 0, 255));

	return status;
}

int32_t irobotClose(const irobotUARTPort_t port){
	int32_t status = ERROR_SUCCESS;

	// Always attempt to stop, even if an error has occurred
	irobot_StatusMerge(&status, irobotStop(port));

	// Clear sensor stream
	irobot_IfIsNotError(status, irobotSensorStreamPause(port, true));
	if(!irobot_IsError(status)){
		irobotDelayMs(150);
	}

	// Clear UART
	irobot_IfIsNotError(status, irobotUARTClear(port));

	// reset LED state
	irobot_IfIsNotError(status, irobotLEDs(port, LED_NONE, 255, 255));

	// restore baud
	irobot_IfIsNotError(status, irobotBaudChange(port, IROBOT_BAUD_57600));

	// always close UART, even if an error has occurred
	irobot_StatusMerge(&status, irobotUARTClose(port));

	return status;
}