Revision 1456 branches/colonetmk2/code/projects/libwireless/lib/sensor_matrix.h

sensor_matrix.h (revision 1456)
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#define MAXIMUM_XBEE_ID		0x10
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#define READING_UNKNOWN		0xFF
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typedef struct


  		
  




  
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{


  		
  




  
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	/* direction of max reading */


  		
  




  
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	unsigned char dir;


  		
  




  
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	/* estimated distance */


  		
  




  
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	unsigned char dist;


  		
  




  
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} SensorReading;


  		
  




  
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/**


  		
  




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 * @struct SensorMatrix


  		
  




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 *


  		
  




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	 * The matrix. Each row represents the readings of one


  		
  




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	 * robot.


  		
  




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	 **/


  		
  




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	unsigned char matrix[MAXIMUM_XBEE_ID][MAXIMUM_XBEE_ID];


  		
  




  
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	SensorReading matrix[MAXIMUM_XBEE_ID][MAXIMUM_XBEE_ID];


  		
  




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#endif


  		
  




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} SensorMatrix;


  		
  




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/**@brief Create a sensor matrix **/


  		
  




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void sensor_matrix_create(void);


  		
  




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/**@brief Set a reading in a sensor matrix **/


  		
  




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


  		
  




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


  		
  




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/**@brief Get a reading in a sensor matrix **/


  		
  




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int sensor_matrix_get_reading(int observer, int robot);


  		
  




  
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SensorReading * sensor_matrix_get_reading(int observer, int robot);


  		
  




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/**@brief Set whether the robot is in the token ring **/


  		
  




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void sensor_matrix_set_in_ring(int robot, int in);


  		
  




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/**@brief Get whether the robot is in the sensor ring **/


  		
  












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