Colony

#if (!(defined ROBOT)) || (defined FIREFLY)

static SensorReading get_nothing(void) { SensorReading ret = { READING_UNKNOWN, READING_UNKNOWN }; return ret;}

#else

static SensorReading default_get_bom(void) { int dist, dir; bom_refresh(BOM_ALL); dir = bom_get_max10(&dist); SensorReading ret = { dir, dist}; return ret; }

static SensorReading (*get_max_bom_function) (void) = default_get_bom;

static SensorReading (*get_max_bom_function) (void) = get_nothing;

static SensorReading (*get_max_bom_function) (void) = get_nothing;

	void (*off_function) (void), SensorReading (*max_bom_function) (void))

SensorReading * wl_token_get_sensor_reading(int source, int dest)

	return NULL;

SensorReading * wl_token_get_my_sensor_reading(int dest)

	SensorReading r;

		if (j < sensorDataLength / 2 && sensorData[3 * j] == i)

			r.dir = sensorData[3 * j + 1];

			r.dist = sensorData[3 * j + 2];

			sensor_matrix_set_reading(source, i, r);

	char buf[3 * sensor_matrix_get_size()];

			SensorReading *r = sensor_matrix_get_reading(wl_get_xbee_id(), i);

			buf[3*j] = i;

			buf[3*j + 1] = r->dir;

			buf[3*j + 2] = r->dist;

	int packetSize = 3 * j * sizeof(char);

	SensorReading r;

	r = get_max_bom_function();

		source, r);

	WL_DEBUG_PRINT_INT(r.dir);

	WL_DEBUG_PRINT("\tDist: ");

	WL_DEBUG_PRINT_INT(r.dist);

typedef struct

{

	/* direction of max reading */

	unsigned char dir;

	/* estimated distance */

	unsigned char dist;

} SensorReading;

	SensorReading matrix[MAXIMUM_XBEE_ID][MAXIMUM_XBEE_ID];

void sensor_matrix_set_reading(int observer, int robot, SensorReading reading);

SensorReading * sensor_matrix_get_reading(int observer, int robot);

#include <stdio.h>

#include <stdlib.h>

#include "sensor_matrix.h"

  SensorReading (*max_bom_function) (void));

SensorReading * wl_token_get_sensor_reading(int source, int dest);

SensorReading * wl_token_get_my_sensor_reading(int dest);

#include "wireless.h"

#include "wl_defs.h"

#include "wl_defs.h"

			m.matrix[i][j].dir = READING_UNKNOWN;

void sensor_matrix_set_reading(int observer, int robot, SensorReading reading)

	m.matrix[observer][robot] = reading;

SensorReading * sensor_matrix_get_reading(int observer, int robot)

		return NULL;

	return &m.matrix[observer][robot];

	return NULL;

#include <stddef.h>

#ifdef WL_DEBUG

#endif

		#ifdef WL_DEBUG

		#ifndef ROBOT

		#endif

		#endif

<?xml version="1.0" encoding="UTF-8"?>

<classpath>

	<classpathentry kind="src" path="src"/>

	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>

	<classpathentry kind="output" path="bin"/>

</classpath>

<?xml version="1.0" encoding="UTF-8"?>

<projectDescription>

	<name>BOMPosRender</name>

	<comment></comment>

	<projects>

	</projects>

	<buildSpec>

		<buildCommand>

			<name>org.eclipse.jdt.core.javabuilder</name>

			<arguments>

			</arguments>

		</buildCommand>

	</buildSpec>

	<natures>

		<nature>org.eclipse.jdt.core.javanature</nature>

	</natures>

</projectDescription>

import java.awt.*;

import java.io.*;

import java.net.*;

import java.util.Arrays;

import java.util.Scanner;

import java.util.Vector;

import javax.swing.JApplet;

public class BOMPosServer extends JApplet implements Runnable {

	private static final long serialVersionUID = 0L;

	private boolean running;

	class Client implements Runnable {

		final Socket socket;

		Scanner stream;

		public Client(Socket s) throws IOException

		{

			this.socket = s;

			this.stream = new Scanner(this.socket.getInputStream());

			new Thread(this).run();

		}

		public void close()

		{

			try {

				socket.close();

			} catch (IOException e) {

				e.printStackTrace();

			}

		}

		public void run()

		{

			System.out.println("Client connected");

			try {

				SensorReading[] readings = new SensorReading[16];

				int robot = -1;

				int source, dest = -1;

				while(this.socket.isConnected())

				{

					while(!"st".equals(stream.next()))

						System.out.println("bad token");

					source = stream.nextInt();

					int destp = stream.nextInt();

					if (dest >= destp || robot != source)

					{

						if (robot > 0)

						{

							updateMap(robot, readings);

							BOMPosServer.this.repaint();

						}

						Arrays.fill(readings, null);

						robot = source;

					}

					dest = destp;

					float dir = stream.nextInt()*2.0f*(float)Math.PI/160.0f;

					int dist = stream.nextInt();

					//System.out.print(source + " " + dest + " " + dir + " " + dist + "\n");

					if (dir > Math.PI*2)

						readings[dest] = null;

					else

						readings[dest] = new SensorReading(dir, dist);

					BOMPosServer.this.readings[source][dest] = readings[dest];

				}

			} catch (Exception e) {

				e.printStackTrace();

				try {

					this.socket.close();

				} catch (IOException ex) {}

			}

			System.out.println("Client exit");

		}

	}

	ServerSocket server;

	Vector<Client> clients;

	@Override

	public void run() {

		try {

			/*while(!server.isClosed())

			{

				Socket s = server.accept();

				clients.add(new Client(s));

			}*/

			while (running)

			{

				new Client(new Socket("localhost", 2000)).run();

			}

		} catch (IOException e) {

			e.printStackTrace();

		}

		/*positions[0].th = 0;

		float a = 0.0f;

		while(running)

		{

			repaint();

			readings[0][1] = new SensorReading(a, 2);

			a += Math.PI/20;

			try {

				Thread.sleep(50);

			} catch (InterruptedException e) {}

		}*/

	}

	@Override

	public void init() {

		setSize(400, 400);

		clients = new Vector<Client>();

		/*try {

			server = new ServerSocket(2000);

		} catch (IOException e) {

			e.printStackTrace();

		}*/

		running = true;

		new Thread(this).start();

	}

	@Override

	public void stop() {

		for(Client c : clients) {

			c.close();

		}

	}

	@Override

	public void paint(Graphics g)

	{

		g.clearRect(0, 0, getWidth(), getHeight());

		for(int i=0; i<16; i++)

		{

			if (Float.isNaN(positions[i].th)) continue;

			//System.out.println(i + ": (" + positions[i].x + "," + positions[i].y + ") " + positions[i].th);

			drawBot(g, i);

		}

	}

	private void drawBot(Graphics g, int i) {

		int x = 3*positions[i].x + getWidth()/2;

		int y = -3*positions[i].y + getHeight()/2;

		g.drawOval(x-8, y-8, 16, 16);

		g.drawString(String.valueOf(i), x-4, y+4);

		for(int j=0; j<16; j++)

		{

			if (readings[i][j]==null) continue;

			float ang = readings[i][j].dir + positions[i].th;

			g.drawString(String.valueOf(j), x+(int)(12*Math.cos(ang)-4), y-(int)(14*Math.sin(ang)-5));

		}

		if (!Float.isNaN(positions[i].th))

		{

			g.drawLine(x, y, (int)(x + 8*Math.cos(positions[i].th)), (int)(y - 8*Math.sin(positions[i].th)));

		}

	}

	public int get_num_robots()

	{

		return 3;

	}

	static class SensorReading

	{

		public float dir;

		public int dist;

		public SensorReading(float dir, int dist)

		{

			this.dir = dir;

			this.dist = dist;

		}

	}

	SensorReading[][] readings = new SensorReading[16][16];

	static class R2

	{

		public int x;

		public int y;

		public float th;

		public R2(int x, int y, float th)

		{

			this.x = x;

			this.y = y;

			this.th = th;

		}

	}

	static R2[] positions;

	static {

		positions = new R2[16];

		for(int i=0; i<16; i++)

			positions[i] = new R2(0, 0, Float.NaN);

	}

	public void updateMap(int robot, SensorReading[] readings)

	{

		float a = 0.0f;

		int count = 0;

		for(int target=0; target<16; target++)

		{

			if (readings[target] == null) continue;

			a += (Math.atan2(positions[target].y - positions[robot].y, positions[target].x - positions[robot].x) - readings[target].dir + 4*Math.PI) % (2*Math.PI);

			count++;

		}

		if (count > 0)

		{

			a /= count;

		}

		positions[robot].th = /*robot==1 ? 0 :*/ a;

		for(int target=0; target<16; target++)

		{

			if (readings[target] == null) continue;

			if (readings[target].dist < 2) continue;

			if (readings[target].dist > 200) continue;

			/*System.out.println(target + " " + readings[target].dist + " " + readings[target].dir + " (" +

								readings[target].dist*Math.cos(readings[target].dir) + "," + readings[target].dist*Math.sin(readings[target].dir) + ")");*/

			int scale = 2 * get_num_robots(); // readings[target].dist/5;

			positions[target].x = ( (scale-1)*positions[target].x + (int)(readings[target].dist*Math.cos(positions[robot].th + readings[target].dir)) )/scale;

			positions[target].y = ( (scale-1)*positions[target].y + (int)(readings[target].dist*Math.sin(positions[robot].th + readings[target].dir)) )/scale;

		}

		System.out.println(robot + ": (" + positions[robot].x + "," + positions[robot].y + ") " + positions[robot].th);

	}

}

/* AUTOMATICALLY GENERATED ON Tue Apr 16 17:20:59 EDT 2002*/

/* DO NOT EDIT */

grant {

  permission java.security.AllPermission;

};

		for(int source=0; source<16; source++)

		{

			for(int dest=0; dest<source; dest++)

			{

				if (sensors[source][dest]==null)

				{

					if (sensors[dest][source]!=null)

					{

						sensors[source][dest] = new SensorReading(Float.NaN, sensors[dest][source].dist); 

					}

				}

				else if (sensors[dest][source]==null)

				{

					sensors[dest][source] = new SensorReading(Float.NaN, sensors[source][dest].dist);

				}

				else

				{

					int avgdist = (sensors[source][dest].dist + sensors[dest][source].dist)/2;

					sensors[source][dest].dist = avgdist;

					sensors[dest][source].dist = avgdist;

				}

			}

		}

		boolean firstbot = true;

		for(int i=0; i<16; i++)

		{

			for(int j=0; j<i; j++)

			{

				if (sensors[i][j]==null) continue;

				if (positions[j]!=null) continue;

				if (firstbot)

				{

					firstbot = false;

					positions[i] = new R2(0, 0, 0);

				}

				if (positions[i]==null) continue;

				if (Float.isNaN(positions[i].th)) continue;

				positions[j] = new R2((int)  (positions[i].x + sensors[i][j].dist*Math.cos(positions[i].th + sensors[i][j].dir)),

									 (int)  (positions[i].y + sensors[i][j].dist*Math.sin(positions[i].th + sensors[i][j].dir)),

									 (float)(/*robostat[i].th + sensors[i][j].dir +*/ sensors[j][i].dir /*- Math.PI*/));

			}

		}

		/*for(int i=0; i<16; i++)

		{

			for(int j=0; j<16; j++)

			{

				for(int k=0; k<16; k++)

				{

					if (sensors[i][j]!=null &&

						sensors[i][k]!=null &&

						sensors[j][k]!=null)

					{

					}

				}

			}

		}*/

#include <colonet_wireless.h>

#include <wireless.h>

#include <stdio.h>

#include <string.h>

#include <stdlib.h>

#include <signal.h>

#include <unistd.h>

#include <pthread.h>

#define SWARM_PACKET_GROUP_ID 0x8

static PacketGroupHandler colonet_pgh;

static void colonet_handle_receive(char type, int wl_source, unsigned char* packet, int length);

void cleanup(int a)

{

    a = a;

    wl_terminate();

    printf("todo - close wl port\n");

    exit(0);

}

int main(int argc, char* argv[])

{

    struct sigaction act;

    memset(&act, 0, sizeof(struct sigaction));

    act.sa_handler = cleanup;

    if (argc < 2) return -1;

    //register a signal handler to be called when we get a SIGINT signal (killing the server by cntrl+c would generate this)

    sigaction(SIGINT, &act, NULL);

    char *wireless_port = argv[1];

    //initialize the wireless library giving it the port and the log file name

    if (colonet_wl_init(wireless_port) != 0) {

        printf("colonet_wl_init failed.\n");

        return -1;

    }

    colonet_pgh.groupCode = SWARM_PACKET_GROUP_ID;

    colonet_pgh.timeout_handler = NULL;

    colonet_pgh.handle_response = NULL;

    colonet_pgh.handle_receive = colonet_handle_receive;

    colonet_pgh.unregister = NULL;

    wl_register_packet_group(&colonet_pgh);

    //call the function that will start the thread that will listen for wireless messages

    if (colonet_wl_run_listener_thread()) {

        printf("colonet_wl_run_listener_thread failed.\n");

        return -1;

    }

    unsigned char i, j;

    int numRobots = 1;

    //int* robots = (int *)malloc(0);

    int robots[] = {13};

    for(i=0; ; i++)

    {

        if (i==0)

        {

            //numRobots = colonet_get_num_robots();

            //robots = (int *)realloc(robots, sizeof(int) * numRobots);

            //colonet_get_xbee_ids(robots);

        }

        /*for (j=0; j < numRobots; j++)

        {

            usleep(1000);

            printf("\rSending %d to %d    ", i, robots[j]);

            char packet[] = { i, i, i, i };

            wl_send_robot_to_robot_packet(SWARM_PACKET_GROUP_ID, 0, packet, sizeof(char) * 4, robots[j], 0);

        }*/

        pthread_yield();

    }

    //colonet_wl_join();

    printf("Exiting normally\n");

    return 0;

}

unsigned char count[] = { -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1};

static void colonet_handle_receive(char type, int wl_source, unsigned char* packet, int length)

{

    type = type;

    if (length != 17)

    {

        printf("Bad packet length from %d\n", wl_source);

        return;

    }

    for (int i = 0; i < length; i++)

    {

        /*if (packet[i] != i)

        {

            printf("Corrupted packet from %d\n", wl_source);

            break;

        }*/

        printf("%d ", packet[i]);

    }

    printf("\n");

    if (packet[16]!=++count[wl_source])

        printf("Bad packet number from %d (%d, should be %d)\n", wl_source, packet[16], count[wl_source]);

    if (packet[16] == 0)

    {

        printf("Packet 0 received from %d\n", wl_source);

    }

    count[wl_source] = packet[16];

    fflush(stdout);

}

/** @file colonet_wireless.c

 *

 * @brief Implementation of server-side colonet wireless library

 *

 * @author Eugene Marinelli

 */

/********************************* Includes **********************************/

#include <stdio.h>

#include <string.h>

#include <stdlib.h>

#include <unistd.h>

#include <pthread.h>

#include <signal.h>

#include <wireless.h> // Colonet wireless library.

#include <wl_token_ring.h>

#include <colonet_wireless.h>

/******************************* Definitions *********************************/

//Enable debug printouts

//#define DEBUG 1

#ifdef DEBUG

#define dbg_printf(...) printf(__VA_ARGS__)

#define dbg_fprintf(...) fprintf(__VA_ARGS__)

#else

#define dbg_printf(...)

#define dbg_fprintf(...)

#endif

static pthread_t listener_thread;

static char wl_port[40];

/************************* Internal prototypes *******************************/

static void* listen(void* args);

/**************************** Public functions *******************************/

/**

 * @brief Initializes the wireless library

 *

 * @param wl_port_ The port to listen for wireless messages on

 *

 * @return 0 on success, negative error code on failure

 */

int colonet_wl_init(char* wl_port_) {

  strncpy(wl_port, wl_port_, 40);

  wl_set_com_port(wl_port);

  fprintf(stderr, "Calling wl_init(%s)...\n", wl_port);

  if (wl_init() != 0) {

    fprintf(stderr, "wl_init failed.\n");

    return -1;

  }

  fprintf(stderr, "Setting channel\n");

  wl_set_channel(0xF);

  wl_set_pan(0x3332);

  /*wl_token_ring_register();

  fprintf(stderr, "Joining token ring...\n");

  if (wl_token_ring_join() != 0) {

    fprintf(stderr, "Failed to join token ring.\n");

    return -1;

  }

  fprintf(stderr, "Joined token ring.\n");*/

  return 0;

}

/**

 * @brief This function will kill the thread that is listening for wireless messages

 */

void colonet_wl_kill_listener_thread() {

  pthread_kill(listener_thread, 9);

}

void colonet_wl_join() {

  pthread_join(listener_thread, NULL);

}

/**

 * @brief This function spawns a thread to listen for wireless messages

 *

 * @return 0 on success, negative error code on failure

 */

int colonet_wl_run_listener_thread() {

  dbg_printf("Spawning listener thread...\n");

  if (pthread_create(&listener_thread, NULL, listen, NULL)) {

    perror("pthread_create");

    return -1;

  }

  return 0;

}

/**

 * @brief Used to get the number of robots in the token ring

 *

 * @return The result of wl_token_get_num_robots()

 */

int colonet_get_num_robots(void) {

  return wl_token_get_num_robots();

}

/**

 * @brief Gets a list of the xbee ids of the ones in the token ring

 *

 * @param numrobots A pointer to the variable where you want the number of robots to be stored

 *

 * @return A dynamically allocated piece of memory that contains the list of xbee ids.

 *   The function calling this function must free this memory when done with it.

 */

void colonet_get_xbee_ids(int ids[]) {

  wl_token_iterator_begin();

  int i = 0;

  while (wl_token_iterator_has_next()) {

    ids[i++] = wl_token_iterator_next();

  }

}

/**

 * @brief Gets the sensor matrix from the wireless library

 *

 * @param numrobots A pointer to the variable where you want the number of robots to be stored

 * @param ids_ A pointer to a pointer that you want to point to the list of xbee ids.  This memory is dynamically

 * allocated and should be freed by the calling process when it is done with it

 *

 * @return The 2d matrix reprsenting the sensor matrix.  This memory is dynamically allocated and should be freed by

 * the calling process when it is done with it

 */

void colonet_get_sensor_matrix(int* ids, SensorReading*** m) {

  int num_robots = colonet_get_num_robots();

  colonet_get_xbee_ids(ids);

  for (int i = 0; i < num_robots; i++) {

    for (int j = 0; j < num_robots; j++) {

      m[i][j] = wl_token_get_sensor_reading(ids[i], ids[j]);

    }

  }

}

/** @brief Analogous to the "SIGNAL" or "ISR" function on the robots.

 * Listens for bytes on the wireless port and constructs packets based on them.

 * Not part of the ColonetWireless class since a function pointer must be

 * passed in starting the thread that runs it (tricky or impossible if it's

 * a class function).

 *

 * @param args Pointer to arguments.  Can be safely casted to ListenerArgs type

 * @return NULL

 */

static void* listen(void* args) {

  args = args; //TODO: These are just here to get rid of compiler warnings.

  fprintf(stderr, "Called listen.\n");

  while (1) {

    wl_do();

    //this sleep is here so the thread this runs in doesn't hog the cpu

    pthread_yield();

  }

  fprintf(stderr, "Listen is returning.\n");

  wl_terminate();

  return NULL;

}

#include <wireless.h>

#include <wl_token_ring.h>

#include <stdio.h>

#include <string.h>

#include <unistd.h>

#include <sys/socket.h>

#include <arpa/inet.h>

#include <sys/ioctl.h>

typedef struct {

    int x;

    int y;

    char c;

} arrow_t;

arrow_t arrows[16] = {

                    { 8, 2, '-'  }, // 0

                    { 8, 1, '/'  }, // 1

                    { 7, 0, '/'  }, // 2

                    { 5, 0, '/'  }, // 3

                    { 4, 0, '|'  }, // 4

                    { 3, 0, '\\' }, // 5

                    { 1, 0, '\\' }, // 6

                    { 0, 1, '\\' }, // 7

                    { 0, 2, '-'  }, // 8

                    { 0, 3, '/'  }, // 9

                    { 1, 4, '/'  }, // 10

                    { 3, 4, '/' }, // 11

                    { 4, 4, '|'  }, // 12

                    { 5, 4, '\\'  }, // 13

                    { 7, 4, '\\'  }, // 14

                    { 8, 3, '\\'  }, // 15

                  };

char mobot[5][10] = {"   ___   ",

                     "  /   \\  ",

                     " |     | ",

                     "  \\___/  ",

                     "         "};

char mobot_m[5][10];

int main(int argc, char *argv[])

{

    int robots[16];

    SensorReading * sensors[16][16];

    int i,j;

	char sbuf[32];

	int sockfd, new_fd;  // listen on sock_fd, new connection on new_fd

	struct sockaddr_in serv_addr, their_addr;

	int rv;

    /*for(i=0; i<16; i++)

    {

        memcpy(mobot_m, mobot, 50*sizeof(char));

        arrow_t *arrow = &arrows[i];

        mobot_m[arrow->y][arrow->x] = arrow->c;

        printf("%d\n", i);

        for(j=0; j<5; j++)

        {

            printf("%s\n", mobot_m[j]);

        }

    }

    return 0;*/

    wl_set_com_port(argv[1]);

    if (wl_init() != 0) {

      fprintf(stderr, "wl_init failed.\n");

      return -1;

    }

    wl_set_channel(0xF);

    printf("wireless on\r\n");

    wl_token_ring_register();

    wl_token_ring_join();

    printf("wireless initialized\r\n");

	memset(&serv_addr, 0, sizeof serv_addr);

	serv_addr.sin_family = AF_INET;

	serv_addr.sin_addr.s_addr = htonl(INADDR_ANY);

	serv_addr.sin_port = htons(2000);

	if ((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1) {

		perror("server: socket");

		return 1;

	}

	if ((rv = bind(sockfd, (struct sockaddr *)&serv_addr, sizeof serv_addr)) < 0)  {

		perror("bind");

		close(sockfd);

		return 2;

	}

	if (listen(sockfd, 0) == -1) {

		perror("listen");

		return 1;

	}

	printf("server: waiting for connections...\n");

	while(1) {  // main accept() loop

		socklen_t sin_size = sizeof their_addr;

		wl_do();

		new_fd = accept(sockfd, (struct sockaddr *)&their_addr, &sin_size);

		if (new_fd == -1) {

			perror("accept");

			continue;

		}

		printf("server: got connection\n");

		while (1)

		{

		    int num_robots = 0;

		    wl_do();

		    wl_token_iterator_begin();

		    while(wl_token_iterator_has_next())

		    {

		        robots[num_robots++] = wl_token_iterator_next();

		    }

		    for(i=0; i < num_robots; i++)

		    {

		        if (robots[i]==wl_get_xbee_id()) continue;

		        memcpy(mobot_m, mobot, 50*sizeof(char));

		        for(j=0; j < num_robots; j++)

		        {

		            if (i==j) continue;

		            //if (robots[j]==wl_get_xbee_id()) continue;

		            sensors[robots[i]][robots[j]] = wl_token_get_sensor_reading(robots[i], robots[j]);

		            printf("%d -> %d:  %d @ %d\n", robots[i], robots[j], sensors[robots[i]][robots[j]]->dir, sensors[robots[i]][robots[j]]->dist);

		            //if (sensors[robots[i]][robots[j]]->dir>160) continue;

					sprintf(sbuf, "st %d %d %d %d\n", robots[i], robots[j], sensors[robots[i]][robots[j]]->dir, sensors[robots[i]][robots[j]]->dist);

					if (send(new_fd, sbuf, strlen(sbuf), MSG_NOSIGNAL) < 0)

					{

						fprintf(stderr, "Error sending data\n");

						goto close_sock;

					}

		            arrow_t *arrow = &arrows[sensors[robots[i]][robots[j]]->dir/10];

		            mobot_m[arrow->y][arrow->x] = arrow->c;

		        }

		        /*for(j=0; j<5; j++)

		        {

		            printf("%s\n", mobot_m[j]);

		        }

		        printf("\n");*/

		    }

		    printf("\n");

		    usleep(130000);

		}

close_sock:

		close(new_fd);

		break;

	}

}

Archive member included because of file (symbol)

../../../../code/projects/libwireless/lib/libwireless.a(wireless.o)

                              main.o (wl_do)

../../../../code/projects/libwireless/lib/libwireless.a(wl_token_ring.o)

                              main.o (wl_token_ring_join)

../../../../code/projects/libwireless/lib/libwireless.a(xbee.o)

                              ../../../../code/projects/libwireless/lib/libwireless.a(wireless.o) (xbee_get_packet)

../../../../code/projects/libwireless/lib/libwireless.a(sensor_matrix.o)

                              ../../../../code/projects/libwireless/lib/libwireless.a(wl_token_ring.o) (sensor_matrix_create)

../../../../code/projects/libdragonfly/libdragonfly.a(bom.o)

                              ../../../../code/projects/libwireless/lib/libwireless.a(wl_token_ring.o) (bom_get_max10)

../../../../code/projects/libdragonfly/libdragonfly.a(dio.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(bom.o) (digital_output)

../../../../code/projects/libdragonfly/libdragonfly.a(dragonfly_lib.o)

                              main.o (dragonfly_init)

../../../../code/projects/libdragonfly/libdragonfly.a(eeprom.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(dragonfly_lib.o) (get_bom_type)

../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(dragonfly_lib.o) (encoders_init)

../../../../code/projects/libdragonfly/libdragonfly.a(lcd.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(dragonfly_lib.o) (lcd_init)

../../../../code/projects/libdragonfly/libdragonfly.a(lights.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(dragonfly_lib.o) (orb_init)

../../../../code/projects/libdragonfly/libdragonfly.a(motor.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(dragonfly_lib.o) (motors_init)

../../../../code/projects/libdragonfly/libdragonfly.a(rangefinder.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(dragonfly_lib.o) (range_init)

../../../../code/projects/libdragonfly/libdragonfly.a(serial.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(dragonfly_lib.o) (usb_init)

../../../../code/projects/libdragonfly/libdragonfly.a(spi.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o) (spi_init)

../../../../code/projects/libdragonfly/libdragonfly.a(time.o)

                              ../../../../code/projects/libwireless/lib/libwireless.a(wl_token_ring.o) (delay_ms)

../../../../code/projects/libdragonfly/libdragonfly.a(analog.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(dragonfly_lib.o) (analog_init)

../../../../code/projects/libdragonfly/libdragonfly.a(buzzer.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(dragonfly_lib.o) (buzzer_init)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_divmodhi4.o)

                              ../../../../code/projects/libwireless/lib/libwireless.a(wl_token_ring.o) (__divmodhi4)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_divmodsi4.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(buzzer.o) (__divmodsi4)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_exit.o)

                              /usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/crtm128.o (exit)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_clear_bss.o)

                              main.o (__do_clear_bss)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_ashldi3.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(bom.o) (__ashldi3)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_divdi3.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(bom.o) (__divdi3)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_moddi3.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(bom.o) (__moddi3)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_mulsi3.o)

                              /usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_divdi3.o) (__mulsi3)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_udivmodhi4.o)

                              /usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_divmodhi4.o) (__udivmodhi4)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_udivmodsi4.o)

                              /usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_divmodsi4.o) (__udivmodsi4)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_prologue.o)

                              /usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_divdi3.o) (__prologue_saves__)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_epilogue.o)

                              /usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_divdi3.o) (__epilogue_restores__)

/usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_clz.o)

                              /usr/lib/gcc/avr/4.3.2/avr51/libgcc.a(_divdi3.o) (__clz_tab)

/usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(rand.o)

                              ../../../../code/projects/libwireless/lib/libwireless.a(wl_token_ring.o) (rand)

/usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(memcpy_P.o)

                              ../../../../code/projects/libdragonfly/libdragonfly.a(serial.o) (memcpy_P)

/usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(printf.o)

                              ../../../../code/projects/libwireless/lib/libwireless.a(wireless.o) (printf)

/usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(vfprintf_std.o)

                              /usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(printf.o) (vfprintf)

/usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(strnlen_P.o)

                              /usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(vfprintf_std.o) (strnlen_P)

/usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(strnlen.o)

                              /usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(vfprintf_std.o) (strnlen)

/usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(fputc.o)

                              /usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(vfprintf_std.o) (fputc)

/usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(iob.o)

                              /usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(printf.o) (__iob)

/usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(ultoa_invert.o)

                              /usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(vfprintf_std.o) (__ultoa_invert)

Allocating common symbols

Common symbol       size              file

pwm_buffer          0x27              ../../../../code/projects/libdragonfly/libdragonfly.a(lights.o)

orb_values          0x6               ../../../../code/projects/libdragonfly/libdragonfly.a(lights.o)

data_ready          0x2               ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

usb_fd              0x2               ../../../../code/projects/libdragonfly/libdragonfly.a(serial.o)

right_data          0x2               ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

left_data_buf       0x2               ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

left_data_array     0x5c              ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

left_data_idx       0x2               ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

right_dx            0x2               ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

timecount           0x4               ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

encoder_buf_index   0x1               ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

right_data_array    0x5c              ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

left_dx             0x2               ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

right_data_idx      0x2               ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

right_data_buf      0x2               ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

xbee_fd             0x2               ../../../../code/projects/libdragonfly/libdragonfly.a(serial.o)

arrival_buf         0x80              ../../../../code/projects/libwireless/lib/libwireless.a(xbee.o)

left_data           0x2               ../../../../code/projects/libdragonfly/libdragonfly.a(encoders.o)

an_val              0x21              ../../../../code/projects/libdragonfly/libdragonfly.a(analog.o)

m                   0x212             ../../../../code/projects/libwireless/lib/libwireless.a(sensor_matrix.o)

__iob               0x6               /usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a(iob.o)

Memory Configuration

Name             Origin             Length             Attributes

text             0x0000000000000000 0x0000000000020000 xr

data             0x0000000000800060 0x000000000000ffa0 rw !x

eeprom           0x0000000000810000 0x0000000000010000 rw !x

fuse             0x0000000000820000 0x0000000000000400 rw !x

lock             0x0000000000830000 0x0000000000000400 rw !x

signature        0x0000000000840000 0x0000000000000400 rw !x

*default*        0x0000000000000000 0xffffffffffffffff

Linker script and memory map

Address of section .data set to 0x800100

LOAD /usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/crtm128.o

LOAD main.o

LOAD /usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libm.a

LOAD ../../../../code/projects/libwireless/lib/libwireless.a

LOAD ../../../../code/projects/libdragonfly/libdragonfly.a

LOAD /usr/lib/gcc/avr/4.3.2/avr51/libgcc.a

LOAD /usr/lib/gcc/avr/4.3.2/../../../avr/lib/avr51/libc.a

LOAD /usr/lib/gcc/avr/4.3.2/avr51/libgcc.a

.hash

 *(.hash)

.dynsym

 *(.dynsym)

.dynstr

 *(.dynstr)

.gnu.version

 *(.gnu.version)

.gnu.version_d

 *(.gnu.version_d)

.gnu.version_r

 *(.gnu.version_r)

.rel.init

 *(.rel.init)

.rela.init

 *(.rela.init)

.rel.text

 *(.rel.text)

 *(.rel.text.*)

 *(.rel.gnu.linkonce.t*)

.rela.text

 *(.rela.text)

 *(.rela.text.*)

 *(.rela.gnu.linkonce.t*)

.rel.fini

 *(.rel.fini)

.rela.fini

 *(.rela.fini)

.rel.rodata

 *(.rel.rodata)

 *(.rel.rodata.*)

 *(.rel.gnu.linkonce.r*)

.rela.rodata

 *(.rela.rodata)

 *(.rela.rodata.*)

 *(.rela.gnu.linkonce.r*)

.rel.data

 *(.rel.data)

 *(.rel.data.*)

 *(.rel.gnu.linkonce.d*)

.rela.data

 *(.rela.data)

 *(.rela.data.*)

 *(.rela.gnu.linkonce.d*)

.rel.ctors

 *(.rel.ctors)

.rela.ctors

 *(.rela.ctors)

.rel.dtors

 *(.rel.dtors)

.rela.dtors

 *(.rela.dtors)

.rel.got

 *(.rel.got)

.rela.got

 *(.rela.got)

.rel.bss

 *(.rel.bss)