Colony

/**

 * Copyright (c) 2007 Colony Project

 *

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 *

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 *

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file sensor_matrix.h

 * @brief Definitions for sensor matrices

 *

 * Contains functions and declarations for using sensor matrices.

 *

 * @author Brian Coltin, Colony Project, CMU Robotics Club

 **/

#ifndef SENSOR_MATRIX_H

#define SENSOR_MATRIX_H

/**

 * @defgroup sensormatrix Sensor Matrix

 * @brief the robot sensor matrix

 *

 * These functions and structures are used for localization

 * to determine the relative directions of robots.

 *

 * @{

 **/

#define MAXIMUM_XBEE_ID                0x10

#define READING_UNKNOWN                0xFF

typedef struct

{

        /* direction of max reading */

        unsigned char dir;

        /* estimated distance */

        unsigned char dist;

} SensorReading;

/**

 * @struct SensorMatrix

 *

 * A sensor matrix.

 **/

//TODO: the order of member variables in this struct should be changed in case the compile packs the struct

// In order to achieve the best packing, the variables should be listed in order of decreasing memory size.

// Thus, pointers should be first, followed by int, followed by char.

typedef struct

{

        /**

         * The number of robots in the token ring.

         **/

        int numJoined;

        /**

         * The element representing a robot is true if that robot

         * is in the token ring and false otherwise.

         **/

        unsigned char joined[MAXIMUM_XBEE_ID];

        // on the bayboard, we don't include the matrix to save memory.

#ifndef BAYBOARD

        /**

         * The matrix. Each row represents the readings of one

         * robot.

         **/

        SensorReading matrix[MAXIMUM_XBEE_ID][MAXIMUM_XBEE_ID];

#endif

} SensorMatrix;

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

void sensor_matrix_create(void);

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

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

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

SensorReading * sensor_matrix_get_reading(int observer, int robot);

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

void sensor_matrix_set_in_ring(int robot, int in);

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

int sensor_matrix_get_in_ring(int robot);

/**@brief Get the number of robots which have joined the token ring **/

int sensor_matrix_get_joined(void);

/**@brief Get the maximum size of the sensor matrix **/

int sensor_matrix_get_size(void);

/** @} **/ //end defgroup

#endif