How to use the marabunta.XBeeNetwork.XBeeNetwork function in marabunta

def read_background(self):
        """Function meant to be called in a separate
        thread to continuosly check for incoming
        messages. The frequency at which new
        messages are checked could require some
        tweaking depending on the hardware limitations.
        and the number of robots broadcasting.
        """
        while self.broadcasting:
            self.read()
            sleep(self.period / 15.)  # assuming is enough to get all messages
            self.awake.wait()
        return


class XBeeExpirationNetwork(XBeeNetwork):
    """Extension of XBeeNetwork where the data
    received is ignored after *expiration_time*
    number of seconds since it was first sent
    (according to the sender).
    """
    def __init__(self, expiration_time, window_start, window_end,
                 period=1, ID=None, lock=None):
        self.expiration_time = expiration_time
        self.expirations = {}
        XBeeNetwork.__init__(self, window_start, window_end, period, ID, lock)
        return

    def parse_state(self, message):
        """Parse a message containing x, y, theta, time, ID.
        Store the expiration date of the message in self.expirations."""
        try: