Revision 1732
added beaconBot demo. robot is just a BOM beacon
demos/beaconBot/lib/src/libwireless/wl_token_ring.c | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file wl_token_ring.c |
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* @brief Token Ring Implementation |
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* |
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* Implementation of the token ring packet group. |
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* |
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* @author Brian Coltin, Colony Project, CMU Robotics Club |
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**/ |
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#include <wl_token_ring.h> |
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#include <stdlib.h> |
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#include <wl_defs.h> |
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#include <wireless.h> |
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#include <sensor_matrix.h> |
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#ifdef ROBOT |
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#ifndef FIREFLY |
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#include <bom.h> |
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#endif |
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#include <time.h> |
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#endif |
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//#define DEFAULT_SENSOR_MATRIX_SIZE 20 |
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/*Ring States*/ |
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#define NONMEMBER 0 |
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#define MEMBER 1 |
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#define JOINING 2 |
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#define ACCEPTED 3 |
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#define LEAVING 4 |
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/*Frame Types*/ |
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#define TOKEN_JOIN_ACCEPT_FRAME 1 |
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#define WL_TOKEN_PASS_FRAME 2 |
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/*Function Prototypes*/ |
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/*Wireless Library Prototypes*/ |
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static void wl_token_ring_timeout_handler(void); |
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static void wl_token_ring_response_handler(int frame, int received); |
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static void wl_token_ring_receive_handler(char type, int source, unsigned char* packet, int length); |
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static void wl_token_ring_cleanup(void); |
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/*Helper Functions*/ |
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static int wl_token_pass_token(void); |
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static int get_token_distance(int robot1, int robot2); |
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static void wl_token_get_token(void); |
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/*Packet Handling Routines*/ |
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static void wl_token_pass_receive(int source); |
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static void wl_token_sensor_matrix_receive(int source, unsigned char* sensorData, int sensorDataLength); |
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static void wl_token_bom_on_receive(int source); |
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static void wl_token_join_receive(int source); |
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static void wl_token_join_accept_receive(int source); |
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/*Global Variables*/ |
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//the robot we are waiting to say it has received the token. -1 if unspecified |
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static int wl_token_next_robot = -1; |
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//true if the robot should be in the token ring, 0 otherwise |
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static int ringState = NONMEMBER; |
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//the id of the robot who accepted us into the token ring, only used in ACCEPTED state |
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static int acceptor = -1; |
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//id of the robot we are accepting |
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static int accepted = -1; |
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//the counter for when we assume a robot is dead |
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static int deathDelay = -1; |
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//the counter for joining, before we form our own token ring |
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static int joinDelay = -1; |
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//current robot to check in the iterator |
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static int iteratorCount = 0; |
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// the amount of time a robot has had its BOM on for |
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static int bom_on_count = 0; |
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#ifndef ROBOT |
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static void do_nothing(void) {} |
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static int get_nothing(void) {return -1;} |
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#endif |
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#ifdef ROBOT |
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#ifndef FIREFLY |
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static void (*bom_on_function) (void) = bom_on; |
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static void (*bom_off_function) (void) = bom_off; |
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static int (*get_max_bom_function) (void) = get_max_bom; |
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#else |
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static void (*bom_on_function) (void) = do_nothing; |
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static void (*bom_off_function) (void) = do_nothing; |
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static int (*get_max_bom_function) (void) = get_nothing; |
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#endif |
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#else |
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static void (*bom_on_function) (void) = do_nothing; |
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static void (*bom_off_function) (void) = do_nothing; |
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static int (*get_max_bom_function) (void) = get_nothing; |
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#endif |
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static PacketGroupHandler wl_token_ring_handler = |
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{WL_TOKEN_RING_GROUP, wl_token_ring_timeout_handler, |
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wl_token_ring_response_handler, wl_token_ring_receive_handler, |
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wl_token_ring_cleanup}; |
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/** |
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* Causes the robot to join an existing token ring, or create one |
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* if no token ring exists. The token ring uses global and robot to robot |
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* packets, and does not rely on any PAN. |
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**/ |
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int wl_token_ring_join() |
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{ |
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WL_DEBUG_PRINT("Joining the token ring.\r\n"); |
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ringState = JOINING; |
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joinDelay = DEATH_DELAY * 2; |
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if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN, NULL, 0, 0) != 0) { |
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return -1; |
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} |
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return 0; |
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} |
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/** |
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* Causes the robot to leave the token ring. The robot stops |
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* alerting others of its location, but continues storing the |
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* locations of other robots. |
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**/ |
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void wl_token_ring_leave() |
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{ |
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ringState = LEAVING; |
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} |
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/** |
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* Initialize the token ring packet group and register it with the |
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* wireless library. The robot will not join a token ring. |
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**/ |
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int wl_token_ring_register() |
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{ |
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if (wl_get_xbee_id() > 0xFF) |
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{ |
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//Note: if this becomes an issue (unlikely), we could limit sensor information |
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//to half a byte and use 12 bits for the id |
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WL_DEBUG_PRINT("XBee ID must be single byte for token ring, is "); |
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WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
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WL_DEBUG_PRINT(".\r\n"); |
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return -1; |
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} |
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sensor_matrix_create(); |
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//add ourselves to the sensor matrix |
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sensor_matrix_set_in_ring(wl_get_xbee_id(), 0); |
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wl_register_packet_group(&wl_token_ring_handler); |
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return 0; |
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} |
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/** |
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* Removes the packet group from the wireless library. |
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**/ |
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void wl_token_ring_unregister() |
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{ |
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wl_unregister_packet_group(&wl_token_ring_handler); |
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} |
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/** |
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* Sets the functions that are called when the BOM ought to be |
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* turned on or off. This could be used for things such as |
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* charging stations, which have multiple BOMs. |
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* |
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* @param on_function the function to be called when the BOM |
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* should be turned on |
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* @param off_function the function to be called when the BOM |
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* should be turned off |
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* @param max_bom_function the function to be called when a |
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* measurement of the maximum BOM reading is needed. |
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**/ |
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void wl_token_ring_set_bom_functions(void (*on_function) (void), |
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void (*off_function) (void), int (*max_bom_function) (void)) |
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{ |
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bom_on_function = on_function; |
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bom_off_function = off_function; |
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get_max_bom_function = max_bom_function; |
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} |
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/** |
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* Called to cleanup the token ring packet group. |
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**/ |
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static void wl_token_ring_cleanup() |
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{ |
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} |
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/** |
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* Called approximately every quarter second by the wireless library. |
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**/ |
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static void wl_token_ring_timeout_handler() |
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{ |
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//someone is not responding, assume they are dead |
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if (deathDelay == 0) |
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{ |
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//pass the token to the next robot if we think someone has died |
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//also, declare that person dead, as long as it isn't us |
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if (wl_token_next_robot != wl_get_xbee_id()) |
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{ |
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sensor_matrix_set_in_ring(wl_token_next_robot, 0); |
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WL_DEBUG_PRINT("Robot "); |
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WL_DEBUG_PRINT_INT(wl_token_next_robot); |
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WL_DEBUG_PRINT(" has died.\r\n"); |
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wl_token_next_robot = -1; |
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deathDelay = DEATH_DELAY; |
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} |
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// we may have been dropped from the ring when this is received |
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if (ringState == MEMBER) { |
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wl_token_pass_token(); |
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} |
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} |
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//we must start our own token ring, no one is responding to us |
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if (joinDelay == 0) |
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{ |
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if (sensor_matrix_get_joined() == 0) |
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{ |
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WL_DEBUG_PRINT("Creating our own token ring, no robots seem to exist.\r\n"); |
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sensor_matrix_set_in_ring(wl_get_xbee_id(), 1); |
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ringState = MEMBER; |
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//this will make us pass the token to ourself |
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//repeatedly, and other robots when they join |
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deathDelay = DEATH_DELAY; |
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wl_token_next_robot = wl_get_xbee_id(); |
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} |
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else |
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{ |
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WL_DEBUG_PRINT("Attempting to join the token ring again.\r\n"); |
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//attempt to rejoin with a random delay |
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//TODO: should we use the constant JOIN_DELAY ? |
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wl_token_ring_join(); |
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joinDelay = rand() / (RAND_MAX / JOIN_DELAY) + 1; |
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} |
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} |
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if (deathDelay >= 0) { |
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deathDelay--; |
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} |
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if (joinDelay >= 0) { |
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joinDelay--; |
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} |
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if (bom_on_count >= 0) { |
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bom_on_count++; |
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} |
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} |
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/** |
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* Called when the XBee tells us if a packet we sent has been received. |
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* |
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* @param frame the frame number assigned when the packet was sent |
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* @param received 1 if the packet was received, 0 otherwise |
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**/ |
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static void wl_token_ring_response_handler(int frame, int received) |
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{ |
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if (!received) |
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{ |
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WL_DEBUG_PRINT("FAILED.\r\n"); |
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} |
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} |
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/** |
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* Called when we recieve a token ring packet. |
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* @param type the type of the packet |
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* @param source the id of the robot who sent the packet |
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* @param packet the data in the packet |
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* @param length the length of the packet in bytes |
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**/ |
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static void wl_token_ring_receive_handler(char type, int source, unsigned char* packet, int length) |
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{ |
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switch (type) |
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{ |
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case WL_TOKEN_PASS: |
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wl_token_pass_receive(source); |
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break; |
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case WL_TOKEN_SENSOR_MATRIX: |
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wl_token_sensor_matrix_receive(source, packet, length); |
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break; |
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case WL_TOKEN_BOM_ON: |
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//add the robot to the sensor matrix if it is not already there |
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wl_token_bom_on_receive(source); |
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break; |
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case WL_TOKEN_JOIN: |
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wl_token_join_receive(source); |
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break; |
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case WL_TOKEN_JOIN_ACCEPT: |
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wl_token_join_accept_receive(source); |
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break; |
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default: |
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WL_DEBUG_PRINT("Unimplemented token ring packet received.\r\n"); |
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break; |
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} |
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} |
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/** |
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* Returns the BOM reading robot source has for robot dest. |
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* |
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* @param source the robot that made the BOM reading |
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* @param dest the robot whose relative location is returned |
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* |
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* @return a BOM reading from robot source to robot dest, |
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* in the range 0-15, or -1 if it is unknown |
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**/ |
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int wl_token_get_sensor_reading(int source, int dest) |
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{ |
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if (wl_token_is_robot_in_ring(dest) && |
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(source == wl_get_xbee_id() || wl_token_is_robot_in_ring(source))) { |
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return sensor_matrix_get_reading(source, dest); |
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} |
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return -1; |
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} |
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/** |
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* Returns the BOM reading we have for robot dest. |
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* |
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* @param dest the robot whose relative location is returned |
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* |
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* @return a BOM reading from us to robot dest, in the range |
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* 0-15, or -1 if it is unkown |
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**/ |
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int wl_token_get_my_sensor_reading(int dest) |
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{ |
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return wl_token_get_sensor_reading(wl_get_xbee_id(), dest); |
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} |
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/** |
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* Returns the number of robots in the token ring. |
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* |
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* @return the number of robots in the token ring |
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**/ |
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int wl_token_get_robots_in_ring(void) |
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{ |
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return sensor_matrix_get_joined(); |
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} |
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/** |
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* Returns true if the specified robot is in the token ring, false |
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* otherwise. |
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* |
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* @param robot the robot to check for whether it is in the token ring |
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* @return nonzero if the robot is in the token ring, zero otherwise |
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**/ |
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int wl_token_is_robot_in_ring(int robot) |
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{ |
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return sensor_matrix_get_in_ring(robot); |
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} |
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/** |
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* Begins iterating through the robots in the token ring. |
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* |
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* @see wl_token_iterator_has_next, wl_token_iterator_next |
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**/ |
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void wl_token_iterator_begin(void) |
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{ |
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int i = 0; |
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//TODO: the compiler may or may not optimize this such that my comment is useless: |
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// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring |
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// the overhead of a function call each iteration, call it only once before the loop and store |
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// the value in a variable and check against that variable in the loop condition |
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while (!sensor_matrix_get_in_ring(i) && i < sensor_matrix_get_size()) { |
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i++; |
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} |
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//TODO: if you do the above comment, then you can compare this to the variable also |
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if (i == sensor_matrix_get_size()) { |
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i = -1; |
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} |
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iteratorCount = i; |
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} |
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/** |
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* Returns true if there are more robots in the token ring |
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* to iterate through, and false otherwise. |
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* |
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* @return nonzero if there are more robots to iterate through, |
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* zero otherwise |
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* |
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* @see wl_token_iterator_begin, wl_token_iterator_next |
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**/ |
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int wl_token_iterator_has_next(void) |
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{ |
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return iteratorCount != -1; |
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} |
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/** |
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* Returns the next robot ID in the token ring. |
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* |
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* @return the next robot ID in the token ring, or -1 if none exists |
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* |
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* @see wl_token_iterator_begin, wl_token_iterator_has_next |
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**/ |
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int wl_token_iterator_next(void) |
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{ |
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int result = iteratorCount; |
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if (result < 0) { |
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return result; |
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} |
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//TODO: the compiler may or may not optimize this such that my comment is useless: |
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// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring |
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// the overhead of a function call each iteration, call it only once before the loop and store |
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// the value in a variable and check against that variable in the loop condition |
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iteratorCount++; |
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while (!sensor_matrix_get_in_ring(iteratorCount) |
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&& iteratorCount < sensor_matrix_get_size()) { |
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iteratorCount++; |
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} |
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//TODO: if you do the above comment, then you can compare this to the variable also |
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if (iteratorCount == sensor_matrix_get_size()) { |
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iteratorCount = -1; |
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} |
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return result; |
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} |
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/** |
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* Returns the number of robots currently in the token ring. |
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* |
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* @return the number of robots in the token ring |
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**/ |
|
461 |
int wl_token_get_num_robots(void) |
|
462 |
{ |
|
463 |
return sensor_matrix_get_joined(); |
|
464 |
} |
|
465 |
|
|
466 |
/** |
|
467 |
* Returns the number of robots in the sensor matrix. |
|
468 |
* |
|
469 |
* @return the number of robots in the sensor matrix |
|
470 |
**/ |
|
471 |
int wl_token_get_matrix_size(void) |
|
472 |
{ |
|
473 |
return sensor_matrix_get_size(); |
|
474 |
} |
|
475 |
|
|
476 |
/** |
|
477 |
* This method is called when we receive a token pass packet. |
|
478 |
* |
|
479 |
* @param source the robot who passed the token to us. |
|
480 |
**/ |
|
481 |
static void wl_token_pass_receive(int source) |
|
482 |
{ |
|
483 |
WL_DEBUG_PRINT("Received token from "); |
|
484 |
WL_DEBUG_PRINT_INT(source); |
|
485 |
WL_DEBUG_PRINT(", expected "); |
|
486 |
WL_DEBUG_PRINT_INT(wl_token_next_robot); |
|
487 |
WL_DEBUG_PRINT(".\n"); |
|
488 |
// this prevents two tokens from being passed around at a time (second clause is in case we are joining) |
|
489 |
if ((source != wl_token_next_robot && wl_get_xbee_id() != wl_token_next_robot) && bom_on_count <= DEATH_DELAY / 2 && |
|
490 |
ringState != ACCEPTED) |
|
491 |
{ |
|
492 |
WL_DEBUG_PRINT("Received token pass when a robot should not have died yet.\n"); |
|
493 |
WL_DEBUG_PRINT("There are probably two tokens going around, packet ignored.\n"); |
|
494 |
return; |
|
495 |
} |
|
496 |
bom_on_count = -1; |
|
497 |
deathDelay = -1; |
|
498 |
sensor_matrix_set_in_ring(source, 1); |
|
499 |
wl_token_get_token(); |
|
500 |
} |
|
501 |
|
|
502 |
/** |
|
503 |
* This method is called when we receive a token pass packet. |
|
504 |
* @param source is the robot it came from |
|
505 |
* @param nextRobot is the robot the token was passed to |
|
506 |
* @param sensorData a char with an id followed by a char with the sensor |
|
507 |
* reading for that robot, repeated for sensorDataLength bytes |
|
508 |
* @param sensorDataLength the length in bytes of sensorData |
|
509 |
*/ |
|
510 |
static void wl_token_sensor_matrix_receive(int source, unsigned char* sensorData, int sensorDataLength) |
|
511 |
{ |
|
512 |
int i, j; |
|
513 |
char nextRobot; |
|
514 |
|
|
515 |
bom_on_count = -1; |
|
516 |
deathDelay = -1; |
|
517 |
sensor_matrix_set_in_ring(source, 1); |
|
518 |
|
|
519 |
//with this packet, we are passed the id of the next robot in the ring |
|
520 |
//and the sensor matrix, a list of id and sensor reading pairs (two bytes for both) |
|
521 |
j = 0; |
|
522 |
//TODO: the compiler may or may not optimize this such that my comment is useless: |
|
523 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring |
|
524 |
// the overhead of a function call each iteration, call it only once before the loop and store |
|
525 |
// the value in a variable and check against that variable in the loop condition |
|
526 |
for (i = 0; i < sensor_matrix_get_size(); i++) |
|
527 |
{ |
|
528 |
if (i == source) { |
|
529 |
continue; |
|
530 |
} |
|
531 |
|
|
532 |
//set the sensor information we receive |
|
533 |
if (j < sensorDataLength / 2 && sensorData[2 * j] == i) |
|
534 |
{ |
|
535 |
//the robot we were going to accept has already been accepted |
|
536 |
if (accepted == i) |
|
537 |
{ |
|
538 |
accepted = -1; |
|
539 |
WL_DEBUG_PRINT("Someone accepted the robot we did.\r\n"); |
|
540 |
} |
|
541 |
sensor_matrix_set_reading(source, i, |
|
542 |
sensorData[2 * j + 1]); |
|
543 |
if (!sensor_matrix_get_in_ring(i)) |
|
544 |
{ |
|
545 |
WL_DEBUG_PRINT("Robot "); |
|
546 |
WL_DEBUG_PRINT_INT(i); |
|
547 |
WL_DEBUG_PRINT(" has been added to the sensor matrix of robot "); |
|
548 |
WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
|
549 |
WL_DEBUG_PRINT(" due to a packet from robot "); |
|
550 |
WL_DEBUG_PRINT_INT(source); |
|
551 |
WL_DEBUG_PRINT(".\r\n"); |
|
552 |
} |
|
553 |
sensor_matrix_set_in_ring(i, 1); |
|
554 |
j++; |
|
555 |
} |
|
556 |
else |
|
557 |
{ |
|
558 |
if (sensor_matrix_get_in_ring(i)) |
|
559 |
{ |
|
560 |
WL_DEBUG_PRINT("Robot "); |
|
561 |
WL_DEBUG_PRINT_INT(i); |
|
562 |
WL_DEBUG_PRINT(" has been removed from the sensor matrix of robot "); |
|
563 |
WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
|
564 |
WL_DEBUG_PRINT(" due to a packet from robot "); |
|
565 |
WL_DEBUG_PRINT_INT(source); |
|
566 |
WL_DEBUG_PRINT(".\r\n"); |
|
567 |
sensor_matrix_set_in_ring(i, 0); |
|
568 |
} |
|
569 |
|
|
570 |
if (i == wl_get_xbee_id() && ringState == MEMBER) |
|
571 |
{ |
|
572 |
ringState = NONMEMBER; |
|
573 |
wl_token_ring_join(); |
|
574 |
|
|
575 |
WL_DEBUG_PRINT("We have been removed from the ring "); |
|
576 |
WL_DEBUG_PRINT("and are rejoining.\r\n"); |
|
577 |
} |
|
578 |
|
|
579 |
//the person who accepted us is dead... let's ask again |
|
580 |
if (i == acceptor) |
|
581 |
{ |
|
582 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 0); |
|
583 |
ringState = NONMEMBER; |
|
584 |
acceptor = -1; |
|
585 |
wl_token_ring_join(); |
|
586 |
} |
|
587 |
} |
|
588 |
} |
|
589 |
|
|
590 |
// get the next robot in the token ring |
|
591 |
i = source + 1; |
|
592 |
while (1) |
|
593 |
{ |
|
594 |
if (i == sensor_matrix_get_size()) { |
|
595 |
i = 0; |
|
596 |
} |
|
597 |
|
|
598 |
if (sensor_matrix_get_in_ring(i) || i == source) |
|
599 |
{ |
|
600 |
nextRobot = (char)i; |
|
601 |
break; |
|
602 |
} |
|
603 |
|
|
604 |
i++; |
|
605 |
} |
|
606 |
|
|
607 |
if (nextRobot != wl_get_xbee_id()) |
|
608 |
wl_token_next_robot = nextRobot; |
|
609 |
|
|
610 |
deathDelay = get_token_distance(wl_get_xbee_id(), nextRobot) * DEATH_DELAY; |
|
611 |
|
|
612 |
if (sensor_matrix_get_joined() == 0 && ringState == JOINING) |
|
613 |
wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME); |
|
614 |
} |
|
615 |
|
|
616 |
/** |
|
617 |
* Gets the distance in the token ring between two robots. |
|
618 |
* |
|
619 |
* @param robot1 the first robot |
|
620 |
* @param robot2 the second robot |
|
621 |
* |
|
622 |
* @return the number of passes before the token is expected |
|
623 |
* to reach robot2 from robot1 |
|
624 |
**/ |
|
625 |
static int get_token_distance(int robot1, int robot2) |
|
626 |
{ |
|
627 |
int curr = robot1 + 1; |
|
628 |
int count = 1; |
|
629 |
while (1) |
|
630 |
{ |
|
631 |
//TODO: the compiler may or may not optimize this such that my comment is useless: |
|
632 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring |
|
633 |
// the overhead of a function call each iteration, call it only once before the loop and store |
|
634 |
// the value in a variable and check against that variable in the loop condition |
|
635 |
if (curr == sensor_matrix_get_size()) |
|
636 |
curr = 0; |
|
637 |
if (curr == robot2) |
|
638 |
break; |
|
639 |
if (sensor_matrix_get_in_ring(curr)) |
|
640 |
count++; |
|
641 |
curr++; |
|
642 |
} |
|
643 |
return count; |
|
644 |
} |
|
645 |
|
|
646 |
/** |
|
647 |
* Passes the token to the next robot in the token ring. |
|
648 |
**/ |
|
649 |
static int wl_token_pass_token() |
|
650 |
{ |
|
651 |
char nextRobot = 0xFF; |
|
652 |
int i = wl_get_xbee_id() + 1; |
|
653 |
char buf[2 * sensor_matrix_get_size()]; |
|
654 |
if (accepted == -1) |
|
655 |
{ |
|
656 |
while (1) |
|
657 |
{ |
|
658 |
//TODO: the compiler may or may not optimize this such that my comment is useless: |
|
659 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring |
|
660 |
// the overhead of a function call each iteration, call it only once before the loop and store |
|
661 |
// the value in a variable and check against that variable in the loop condition |
|
662 |
if (i == sensor_matrix_get_size()) { |
|
663 |
i = 0; |
|
664 |
} |
|
665 |
|
|
666 |
if (sensor_matrix_get_in_ring(i)) |
|
667 |
{ |
|
668 |
nextRobot = (char)i; |
|
669 |
break; |
|
670 |
} |
|
671 |
|
|
672 |
i++; |
|
673 |
} |
|
674 |
} |
|
675 |
else |
|
676 |
{ |
|
677 |
WL_DEBUG_PRINT("Accepting new robot, sending it the token.\r\n"); |
|
678 |
//add a new robot to the token ring |
|
679 |
sensor_matrix_set_in_ring(accepted, 1); |
|
680 |
nextRobot = accepted; |
|
681 |
accepted = -1; |
|
682 |
} |
|
683 |
|
|
684 |
int j = 0; |
|
685 |
//TODO: the compiler may or may not optimize this such that my comment is useless: |
|
686 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring |
|
687 |
// the overhead of a function call each iteration, call it only once before the loop and store |
|
688 |
// the value in a variable and check against that variable in the loop condition |
|
689 |
for (i = 0; i < sensor_matrix_get_size(); i++) { |
|
690 |
if (sensor_matrix_get_in_ring(i) && i != wl_get_xbee_id()) |
|
691 |
{ |
|
692 |
buf[2*j] = i; |
|
693 |
buf[2*j + 1] = sensor_matrix_get_reading(wl_get_xbee_id(), i); |
|
694 |
j++; |
|
695 |
} |
|
696 |
} |
|
697 |
|
|
698 |
int packetSize = 2 * j * sizeof(char); |
|
699 |
WL_DEBUG_PRINT("Passing the token to robot "); |
|
700 |
WL_DEBUG_PRINT_INT(nextRobot); |
|
701 |
WL_DEBUG_PRINT(".\r\n"); |
|
702 |
if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_SENSOR_MATRIX, buf, packetSize, 0) != 0) |
|
703 |
return -1; |
|
704 |
if (wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME)) |
|
705 |
return -1; |
|
706 |
|
|
707 |
wl_token_next_robot = nextRobot; |
|
708 |
deathDelay = DEATH_DELAY; |
|
709 |
|
|
710 |
return 0; |
|
711 |
} |
|
712 |
|
|
713 |
/** |
|
714 |
* Called when a packet is received stating that another robot has turned |
|
715 |
* its BOM on. Our BOM is then read, and the data is added to the sensor |
|
716 |
* matrix. |
|
717 |
* |
|
718 |
* @param source the robot whose BOM is on |
|
719 |
**/ |
|
720 |
static void wl_token_bom_on_receive(int source) |
|
721 |
{ |
|
722 |
int max; |
|
723 |
|
|
724 |
WL_DEBUG_PRINT("Robot "); |
|
725 |
WL_DEBUG_PRINT_INT(source); |
|
726 |
WL_DEBUG_PRINT(" has flashed its bom.\r\n"); |
|
727 |
|
|
728 |
bom_on_count = 0; |
|
729 |
|
|
730 |
max = get_max_bom_function(); |
|
731 |
sensor_matrix_set_reading(wl_get_xbee_id(), |
|
732 |
source, max); |
|
733 |
|
|
734 |
WL_DEBUG_PRINT("Max: "); |
|
735 |
WL_DEBUG_PRINT_INT(max); |
|
736 |
WL_DEBUG_PRINT("\n\n"); |
|
737 |
} |
|
738 |
|
|
739 |
/** |
|
740 |
* This method is called when we receive the token. Upon receiving |
|
741 |
* the token, we must send a BOM_ON packet, flash the BOM, and send |
|
742 |
* the token to the next robot. |
|
743 |
* |
|
744 |
* If there is a pending request for the token, this is processed first. |
|
745 |
**/ |
|
746 |
static void wl_token_get_token() |
|
747 |
{ |
|
748 |
WL_DEBUG_PRINT("We have the token.\r\n"); |
|
749 |
if (ringState == ACCEPTED) |
|
750 |
{ |
|
751 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 1); |
|
752 |
WL_DEBUG_PRINT("Now a member of the token ring.\r\n"); |
|
753 |
ringState = MEMBER; |
|
754 |
joinDelay = -1; |
|
755 |
} |
|
756 |
|
|
757 |
if (ringState == LEAVING || ringState == NONMEMBER) |
|
758 |
{ |
|
759 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 0); |
|
760 |
if (ringState == NONMEMBER) |
|
761 |
{ |
|
762 |
WL_DEBUG_PRINT("We should have left the token ring, but didn't.\r\n"); |
|
763 |
} |
|
764 |
return; |
|
765 |
} |
|
766 |
|
|
767 |
WL_DEBUG_PRINT("Our BOM has been flashed.\r\n"); |
|
768 |
wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON, NULL, 0, 0); |
|
769 |
|
|
770 |
bom_on_function(); |
|
771 |
#ifdef ROBOT |
|
772 |
delay_ms(BOM_DELAY); |
|
773 |
#endif |
|
774 |
bom_off_function(); |
|
775 |
|
|
776 |
if (!sensor_matrix_get_in_ring(wl_get_xbee_id())) |
|
777 |
{ |
|
778 |
WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n"); |
|
779 |
return; |
|
780 |
} |
|
781 |
|
|
782 |
wl_token_pass_token(); |
|
783 |
} |
|
784 |
|
|
785 |
/** |
|
786 |
* Called when a request to join the token ring is received. |
|
787 |
* If we are the robot preceding the requester in the ring, |
|
788 |
* we respond with a JOIN_ACCEPT packet and pass the token to |
|
789 |
* this robot when we receive the token. |
|
790 |
* |
|
791 |
* @param source the robot who requested to join |
|
792 |
**/ |
|
793 |
static void wl_token_join_receive(int source) |
|
794 |
{ |
|
795 |
WL_DEBUG_PRINT("Received joining request from robot "); |
|
796 |
WL_DEBUG_PRINT_INT(source); |
|
797 |
WL_DEBUG_PRINT(".\r\n"); |
|
798 |
|
|
799 |
//we cannot accept the request if we are not a member |
|
800 |
if (ringState != MEMBER) |
|
801 |
return; |
|
802 |
//if they didn't get our response, see if we should respond again |
|
803 |
if (accepted == source) |
|
804 |
accepted = -1; |
|
805 |
//we can only accept one request at a time |
|
806 |
if (accepted != -1) |
|
807 |
return; |
|
808 |
|
|
809 |
//check if we are the preceding robot in the token ring |
|
810 |
int i = source - 1; |
|
811 |
while (1) |
|
812 |
{ |
|
813 |
if (i < 0) |
|
814 |
i = sensor_matrix_get_size() - 1; |
|
815 |
|
|
816 |
//we must send a join acceptance |
|
817 |
if (i == wl_get_xbee_id()) |
|
818 |
break; |
|
819 |
|
|
820 |
//another robot will handle it |
|
821 |
if (sensor_matrix_get_in_ring(i)) |
|
822 |
return; |
|
823 |
|
|
824 |
i--; |
|
825 |
} |
|
826 |
|
|
827 |
accepted = source; |
|
828 |
wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN_ACCEPT, |
|
829 |
NULL, 0, source, TOKEN_JOIN_ACCEPT_FRAME); |
|
830 |
|
|
831 |
WL_DEBUG_PRINT("Accepting robot "); |
|
832 |
WL_DEBUG_PRINT_INT(source); |
|
833 |
WL_DEBUG_PRINT(" into the token ring.\r\n"); |
|
834 |
|
|
835 |
// the token ring has not started yet |
|
836 |
if (sensor_matrix_get_joined() == 1) |
|
837 |
wl_token_pass_token(); |
|
838 |
} |
|
839 |
|
|
840 |
/** |
|
841 |
* Called when we receive a JOIN_ACCEPT packet in attempting to join |
|
842 |
* the token ring. |
|
843 |
* Our attempt to join the ring is stopped, and we wait for the token. |
|
844 |
* |
|
845 |
* @param source the robot who accepted us |
|
846 |
**/ |
|
847 |
static void wl_token_join_accept_receive(int source) |
|
848 |
{ |
|
849 |
WL_DEBUG_PRINT("Accepted into the token ring by robot "); |
|
850 |
WL_DEBUG_PRINT_INT(source); |
|
851 |
WL_DEBUG_PRINT(".\r\n"); |
|
852 |
joinDelay = JOIN_DELAY; |
|
853 |
ringState = ACCEPTED; |
|
854 |
acceptor = source; |
|
855 |
|
|
856 |
//add ourselves to the token ring |
|
857 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 1); |
|
858 |
} |
|
0 | 859 |
demos/beaconBot/lib/src/libwireless/Doxyfile | ||
---|---|---|
1 |
# Doxyfile 1.4.6 |
|
2 |
|
|
3 |
# This file describes the settings to be used by the documentation system |
|
4 |
# doxygen (www.doxygen.org) for a project |
|
5 |
# |
|
6 |
# All text after a hash (#) is considered a comment and will be ignored |
|
7 |
# The format is: |
|
8 |
# TAG = value [value, ...] |
|
9 |
# For lists items can also be appended using: |
|
10 |
# TAG += value [value, ...] |
|
11 |
# Values that contain spaces should be placed between quotes (" ") |
|
12 |
|
|
13 |
#--------------------------------------------------------------------------- |
|
14 |
# Project related configuration options |
|
15 |
#--------------------------------------------------------------------------- |
|
16 |
|
|
17 |
# The PROJECT_NAME tag is a single word (or a sequence of words surrounded |
|
18 |
# by quotes) that should identify the project. |
|
19 |
|
|
20 |
PROJECT_NAME = libwireless |
|
21 |
|
|
22 |
# The PROJECT_NUMBER tag can be used to enter a project or revision number. |
|
23 |
# This could be handy for archiving the generated documentation or |
|
24 |
# if some version control system is used. |
|
25 |
|
|
26 |
PROJECT_NUMBER = 1.0 |
|
27 |
|
|
28 |
# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) |
|
29 |
# base path where the generated documentation will be put. |
|
30 |
# If a relative path is entered, it will be relative to the location |
|
31 |
# where doxygen was started. If left blank the current directory will be used. |
|
32 |
|
|
33 |
OUTPUT_DIRECTORY = docs |
|
34 |
|
|
35 |
# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create |
|
36 |
# 4096 sub-directories (in 2 levels) under the output directory of each output |
|
37 |
# format and will distribute the generated files over these directories. |
|
38 |
# Enabling this option can be useful when feeding doxygen a huge amount of |
|
39 |
# source files, where putting all generated files in the same directory would |
|
40 |
# otherwise cause performance problems for the file system. |
|
41 |
|
|
42 |
CREATE_SUBDIRS = NO |
|
43 |
|
|
44 |
# The OUTPUT_LANGUAGE tag is used to specify the language in which all |
|
45 |
# documentation generated by doxygen is written. Doxygen will use this |
|
46 |
# information to generate all constant output in the proper language. |
|
47 |
# The default language is English, other supported languages are: |
|
48 |
# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, |
|
49 |
# Dutch, Finnish, French, German, Greek, Hungarian, Italian, Japanese, |
|
50 |
# Japanese-en (Japanese with English messages), Korean, Korean-en, Norwegian, |
|
51 |
# Polish, Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish, |
|
52 |
# Swedish, and Ukrainian. |
|
53 |
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|
54 |
OUTPUT_LANGUAGE = English |
|
55 |
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# This tag can be used to specify the encoding used in the generated output. |
|
57 |
# The encoding is not always determined by the language that is chosen, |
|
58 |
# but also whether or not the output is meant for Windows or non-Windows users. |
|
59 |
# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES |
|
60 |
# forces the Windows encoding (this is the default for the Windows binary), |
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61 |
# whereas setting the tag to NO uses a Unix-style encoding (the default for |
|
62 |
# all platforms other than Windows). |
|
63 |
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|
64 |
USE_WINDOWS_ENCODING = NO |
|
65 |
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|
66 |
# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will |
|
67 |
# include brief member descriptions after the members that are listed in |
|
68 |
# the file and class documentation (similar to JavaDoc). |
|
69 |
# Set to NO to disable this. |
|
70 |
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|
71 |
BRIEF_MEMBER_DESC = YES |
|
72 |
|
|
73 |
# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend |
|
74 |
# the brief description of a member or function before the detailed description. |
|
75 |
# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the |
|
76 |
# brief descriptions will be completely suppressed. |
|
77 |
|
|
78 |
REPEAT_BRIEF = YES |
|
79 |
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|
80 |
# This tag implements a quasi-intelligent brief description abbreviator |
|
81 |
# that is used to form the text in various listings. Each string |
|
82 |
# in this list, if found as the leading text of the brief description, will be |
|
83 |
# stripped from the text and the result after processing the whole list, is |
|
84 |
# used as the annotated text. Otherwise, the brief description is used as-is. |
|
85 |
# If left blank, the following values are used ("$name" is automatically |
|
86 |
# replaced with the name of the entity): "The $name class" "The $name widget" |
|
87 |
# "The $name file" "is" "provides" "specifies" "contains" |
|
88 |
# "represents" "a" "an" "the" |
|
89 |
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|
90 |
ABBREVIATE_BRIEF = |
|
91 |
|
|
92 |
# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then |
|
93 |
# Doxygen will generate a detailed section even if there is only a brief |
|
94 |
# description. |
|
95 |
|
|
96 |
ALWAYS_DETAILED_SEC = NO |
|
97 |
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|
98 |
# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all |
|
99 |
# inherited members of a class in the documentation of that class as if those |
|
100 |
# members were ordinary class members. Constructors, destructors and assignment |
|
101 |
# operators of the base classes will not be shown. |
|
102 |
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INLINE_INHERITED_MEMB = NO |
|
104 |
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105 |
# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full |
|
106 |
# path before files name in the file list and in the header files. If set |
|
107 |
# to NO the shortest path that makes the file name unique will be used. |
|
108 |
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|
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FULL_PATH_NAMES = YES |
|
110 |
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# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag |
|
112 |
# can be used to strip a user-defined part of the path. Stripping is |
|
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# only done if one of the specified strings matches the left-hand part of |
|
114 |
# the path. The tag can be used to show relative paths in the file list. |
|
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# If left blank the directory from which doxygen is run is used as the |
|
116 |
# path to strip. |
|
117 |
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STRIP_FROM_PATH = |
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119 |
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# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of |
|
121 |
# the path mentioned in the documentation of a class, which tells |
|
122 |
# the reader which header file to include in order to use a class. |
|
123 |
# If left blank only the name of the header file containing the class |
|
124 |
# definition is used. Otherwise one should specify the include paths that |
|
125 |
# are normally passed to the compiler using the -I flag. |
|
126 |
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|
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STRIP_FROM_INC_PATH = |
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128 |
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# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter |
|
130 |
# (but less readable) file names. This can be useful is your file systems |
|
131 |
# doesn't support long names like on DOS, Mac, or CD-ROM. |
|
132 |
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SHORT_NAMES = NO |
|
134 |
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# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen |
|
136 |
# will interpret the first line (until the first dot) of a JavaDoc-style |
|
137 |
# comment as the brief description. If set to NO, the JavaDoc |
|
138 |
# comments will behave just like the Qt-style comments (thus requiring an |
|
139 |
# explicit @brief command for a brief description. |
|
140 |
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|
141 |
JAVADOC_AUTOBRIEF = NO |
|
142 |
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|
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# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen |
|
144 |
# treat a multi-line C++ special comment block (i.e. a block of //! or /// |
|
145 |
# comments) as a brief description. This used to be the default behaviour. |
|
146 |
# The new default is to treat a multi-line C++ comment block as a detailed |
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# description. Set this tag to YES if you prefer the old behaviour instead. |
|
148 |
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|
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MULTILINE_CPP_IS_BRIEF = NO |
|
150 |
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# If the DETAILS_AT_TOP tag is set to YES then Doxygen |
|
152 |
# will output the detailed description near the top, like JavaDoc. |
|
153 |
# If set to NO, the detailed description appears after the member |
|
154 |
# documentation. |
|
155 |
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|
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DETAILS_AT_TOP = NO |
|
157 |
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158 |
# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented |
|
159 |
# member inherits the documentation from any documented member that it |
|
160 |
# re-implements. |
|
161 |
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|
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INHERIT_DOCS = YES |
|
163 |
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# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce |
|
165 |
# a new page for each member. If set to NO, the documentation of a member will |
|
166 |
# be part of the file/class/namespace that contains it. |
|
167 |
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|
168 |
SEPARATE_MEMBER_PAGES = NO |
|
169 |
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|
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# The TAB_SIZE tag can be used to set the number of spaces in a tab. |
|
171 |
# Doxygen uses this value to replace tabs by spaces in code fragments. |
|
172 |
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|
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TAB_SIZE = 8 |
|
174 |
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# This tag can be used to specify a number of aliases that acts |
|
176 |
# as commands in the documentation. An alias has the form "name=value". |
|
177 |
# For example adding "sideeffect=\par Side Effects:\n" will allow you to |
|
178 |
# put the command \sideeffect (or @sideeffect) in the documentation, which |
|
179 |
# will result in a user-defined paragraph with heading "Side Effects:". |
|
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# You can put \n's in the value part of an alias to insert newlines. |
|
181 |
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|
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ALIASES = |
|
183 |
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184 |
# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C |
|
185 |
# sources only. Doxygen will then generate output that is more tailored for C. |
|
186 |
# For instance, some of the names that are used will be different. The list |
|
187 |
# of all members will be omitted, etc. |
|
188 |
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|
189 |
OPTIMIZE_OUTPUT_FOR_C = YES |
|
190 |
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|
191 |
# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java |
|
192 |
# sources only. Doxygen will then generate output that is more tailored for Java. |
|
193 |
# For instance, namespaces will be presented as packages, qualified scopes |
|
194 |
# will look different, etc. |
|
195 |
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|
196 |
OPTIMIZE_OUTPUT_JAVA = NO |
|
197 |
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|
198 |
# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want to |
|
199 |
# include (a tag file for) the STL sources as input, then you should |
|
200 |
# set this tag to YES in order to let doxygen match functions declarations and |
|
201 |
# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. |
|
202 |
# func(std::string) {}). This also make the inheritance and collaboration |
|
203 |
# diagrams that involve STL classes more complete and accurate. |
|
204 |
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|
205 |
BUILTIN_STL_SUPPORT = NO |
|
206 |
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|
207 |
# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC |
|
208 |
# tag is set to YES, then doxygen will reuse the documentation of the first |
|
209 |
# member in the group (if any) for the other members of the group. By default |
|
210 |
# all members of a group must be documented explicitly. |
|
211 |
|
|
212 |
DISTRIBUTE_GROUP_DOC = NO |
|
213 |
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|
214 |
# Set the SUBGROUPING tag to YES (the default) to allow class member groups of |
|
215 |
# the same type (for instance a group of public functions) to be put as a |
|
216 |
# subgroup of that type (e.g. under the Public Functions section). Set it to |
|
217 |
# NO to prevent subgrouping. Alternatively, this can be done per class using |
|
218 |
# the \nosubgrouping command. |
|
219 |
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|
220 |
SUBGROUPING = YES |
|
221 |
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|
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#--------------------------------------------------------------------------- |
|
223 |
# Build related configuration options |
|
224 |
#--------------------------------------------------------------------------- |
|
225 |
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|
226 |
# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in |
|
227 |
# documentation are documented, even if no documentation was available. |
|
228 |
# Private class members and static file members will be hidden unless |
|
229 |
# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES |
|
230 |
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|
231 |
EXTRACT_ALL = NO |
|
232 |
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|
233 |
# If the EXTRACT_PRIVATE tag is set to YES all private members of a class |
|
234 |
# will be included in the documentation. |
|
235 |
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|
236 |
EXTRACT_PRIVATE = NO |
|
237 |
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|
238 |
# If the EXTRACT_STATIC tag is set to YES all static members of a file |
|
239 |
# will be included in the documentation. |
|
240 |
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|
241 |
EXTRACT_STATIC = NO |
|
242 |
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|
243 |
# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) |
|
244 |
# defined locally in source files will be included in the documentation. |
|
245 |
# If set to NO only classes defined in header files are included. |
|
246 |
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|
247 |
EXTRACT_LOCAL_CLASSES = YES |
|
248 |
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|
249 |
# This flag is only useful for Objective-C code. When set to YES local |
|
250 |
# methods, which are defined in the implementation section but not in |
|
251 |
# the interface are included in the documentation. |
|
252 |
# If set to NO (the default) only methods in the interface are included. |
|
253 |
|
|
254 |
EXTRACT_LOCAL_METHODS = NO |
|
255 |
|
|
256 |
# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all |
|
257 |
# undocumented members of documented classes, files or namespaces. |
|
258 |
# If set to NO (the default) these members will be included in the |
|
259 |
# various overviews, but no documentation section is generated. |
|
260 |
# This option has no effect if EXTRACT_ALL is enabled. |
|
261 |
|
|
262 |
HIDE_UNDOC_MEMBERS = NO |
|
263 |
|
|
264 |
# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all |
|
265 |
# undocumented classes that are normally visible in the class hierarchy. |
|
266 |
# If set to NO (the default) these classes will be included in the various |
|
267 |
# overviews. This option has no effect if EXTRACT_ALL is enabled. |
|
268 |
|
|
269 |
HIDE_UNDOC_CLASSES = NO |
|
270 |
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|
271 |
# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all |
|
272 |
# friend (class|struct|union) declarations. |
|
273 |
# If set to NO (the default) these declarations will be included in the |
|
274 |
# documentation. |
|
275 |
|
|
276 |
HIDE_FRIEND_COMPOUNDS = NO |
|
277 |
|
|
278 |
# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any |
|
279 |
# documentation blocks found inside the body of a function. |
|
280 |
# If set to NO (the default) these blocks will be appended to the |
|
281 |
# function's detailed documentation block. |
|
282 |
|
|
283 |
HIDE_IN_BODY_DOCS = NO |
|
284 |
|
|
285 |
# The INTERNAL_DOCS tag determines if documentation |
|
286 |
# that is typed after a \internal command is included. If the tag is set |
|
287 |
# to NO (the default) then the documentation will be excluded. |
|
288 |
# Set it to YES to include the internal documentation. |
|
289 |
|
|
290 |
INTERNAL_DOCS = NO |
|
291 |
|
|
292 |
# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate |
|
293 |
# file names in lower-case letters. If set to YES upper-case letters are also |
|
294 |
# allowed. This is useful if you have classes or files whose names only differ |
|
295 |
# in case and if your file system supports case sensitive file names. Windows |
|
296 |
# and Mac users are advised to set this option to NO. |
|
297 |
|
|
298 |
CASE_SENSE_NAMES = YES |
|
299 |
|
|
300 |
# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen |
|
301 |
# will show members with their full class and namespace scopes in the |
|
302 |
# documentation. If set to YES the scope will be hidden. |
|
303 |
|
|
304 |
HIDE_SCOPE_NAMES = NO |
|
305 |
|
|
306 |
# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen |
|
307 |
# will put a list of the files that are included by a file in the documentation |
|
308 |
# of that file. |
|
309 |
|
|
310 |
SHOW_INCLUDE_FILES = YES |
|
311 |
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|
312 |
# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] |
|
313 |
# is inserted in the documentation for inline members. |
|
314 |
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|
315 |
INLINE_INFO = YES |
|
316 |
|
|
317 |
# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen |
|
318 |
# will sort the (detailed) documentation of file and class members |
|
319 |
# alphabetically by member name. If set to NO the members will appear in |
|
320 |
# declaration order. |
|
321 |
|
|
322 |
SORT_MEMBER_DOCS = YES |
|
323 |
|
|
324 |
# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the |
|
325 |
# brief documentation of file, namespace and class members alphabetically |
|
326 |
# by member name. If set to NO (the default) the members will appear in |
|
327 |
# declaration order. |
|
328 |
|
|
329 |
SORT_BRIEF_DOCS = NO |
|
330 |
|
|
331 |
# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be |
|
332 |
# sorted by fully-qualified names, including namespaces. If set to |
|
333 |
# NO (the default), the class list will be sorted only by class name, |
|
334 |
# not including the namespace part. |
|
335 |
# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. |
|
336 |
# Note: This option applies only to the class list, not to the |
|
337 |
# alphabetical list. |
|
338 |
|
|
339 |
SORT_BY_SCOPE_NAME = NO |
|
340 |
|
|
341 |
# The GENERATE_TODOLIST tag can be used to enable (YES) or |
|
342 |
# disable (NO) the todo list. This list is created by putting \todo |
|
343 |
# commands in the documentation. |
|
344 |
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|
345 |
GENERATE_TODOLIST = YES |
|
346 |
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|
347 |
# The GENERATE_TESTLIST tag can be used to enable (YES) or |
|
348 |
# disable (NO) the test list. This list is created by putting \test |
|
349 |
# commands in the documentation. |
|
350 |
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|
351 |
GENERATE_TESTLIST = YES |
|
352 |
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|
353 |
# The GENERATE_BUGLIST tag can be used to enable (YES) or |
|
354 |
# disable (NO) the bug list. This list is created by putting \bug |
|
355 |
# commands in the documentation. |
|
356 |
|
|
357 |
GENERATE_BUGLIST = YES |
|
358 |
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|
359 |
# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or |
|
360 |
# disable (NO) the deprecated list. This list is created by putting |
|
361 |
# \deprecated commands in the documentation. |
|
362 |
|
|
363 |
GENERATE_DEPRECATEDLIST= YES |
|
364 |
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|
365 |
# The ENABLED_SECTIONS tag can be used to enable conditional |
|
366 |
# documentation sections, marked by \if sectionname ... \endif. |
|
367 |
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|
368 |
ENABLED_SECTIONS = |
|
369 |
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|
370 |
# The MAX_INITIALIZER_LINES tag determines the maximum number of lines |
|
371 |
# the initial value of a variable or define consists of for it to appear in |
|
372 |
# the documentation. If the initializer consists of more lines than specified |
|
373 |
# here it will be hidden. Use a value of 0 to hide initializers completely. |
|
374 |
# The appearance of the initializer of individual variables and defines in the |
|
375 |
# documentation can be controlled using \showinitializer or \hideinitializer |
|
376 |
# command in the documentation regardless of this setting. |
|
377 |
|
|
378 |
MAX_INITIALIZER_LINES = 30 |
|
379 |
|
|
380 |
# Set the SHOW_USED_FILES tag to NO to disable the list of files generated |
|
381 |
# at the bottom of the documentation of classes and structs. If set to YES the |
|
382 |
# list will mention the files that were used to generate the documentation. |
|
383 |
|
|
384 |
SHOW_USED_FILES = YES |
|
385 |
|
|
386 |
# If the sources in your project are distributed over multiple directories |
|
387 |
# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy |
|
388 |
# in the documentation. The default is NO. |
|
389 |
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|
390 |
SHOW_DIRECTORIES = NO |
|
391 |
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|
392 |
# The FILE_VERSION_FILTER tag can be used to specify a program or script that |
|
393 |
# doxygen should invoke to get the current version for each file (typically from the |
|
394 |
# version control system). Doxygen will invoke the program by executing (via |
|
395 |
# popen()) the command <command> <input-file>, where <command> is the value of |
|
396 |
# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file |
|
397 |
# provided by doxygen. Whatever the program writes to standard output |
|
398 |
# is used as the file version. See the manual for examples. |
|
399 |
|
|
400 |
FILE_VERSION_FILTER = |
|
401 |
|
|
402 |
#--------------------------------------------------------------------------- |
|
403 |
# configuration options related to warning and progress messages |
|
404 |
#--------------------------------------------------------------------------- |
|
405 |
|
|
406 |
# The QUIET tag can be used to turn on/off the messages that are generated |
|
407 |
# by doxygen. Possible values are YES and NO. If left blank NO is used. |
|
408 |
|
|
409 |
QUIET = NO |
|
410 |
|
|
411 |
# The WARNINGS tag can be used to turn on/off the warning messages that are |
|
412 |
# generated by doxygen. Possible values are YES and NO. If left blank |
|
413 |
# NO is used. |
|
414 |
|
|
415 |
WARNINGS = YES |
|
416 |
|
|
417 |
# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings |
|
418 |
# for undocumented members. If EXTRACT_ALL is set to YES then this flag will |
|
419 |
# automatically be disabled. |
|
420 |
|
|
421 |
WARN_IF_UNDOCUMENTED = YES |
|
422 |
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|
423 |
# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for |
|
424 |
# potential errors in the documentation, such as not documenting some |
|
425 |
# parameters in a documented function, or documenting parameters that |
|
426 |
# don't exist or using markup commands wrongly. |
|
427 |
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|
428 |
WARN_IF_DOC_ERROR = YES |
|
429 |
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|
430 |
# This WARN_NO_PARAMDOC option can be abled to get warnings for |
|
431 |
# functions that are documented, but have no documentation for their parameters |
|
432 |
# or return value. If set to NO (the default) doxygen will only warn about |
|
433 |
# wrong or incomplete parameter documentation, but not about the absence of |
|
434 |
# documentation. |
|
435 |
|
|
436 |
WARN_NO_PARAMDOC = NO |
|
437 |
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|
438 |
# The WARN_FORMAT tag determines the format of the warning messages that |
|
439 |
# doxygen can produce. The string should contain the $file, $line, and $text |
|
440 |
# tags, which will be replaced by the file and line number from which the |
|
441 |
# warning originated and the warning text. Optionally the format may contain |
|
442 |
# $version, which will be replaced by the version of the file (if it could |
|
443 |
# be obtained via FILE_VERSION_FILTER) |
|
444 |
|
|
445 |
WARN_FORMAT = "$file:$line: $text" |
|
446 |
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|
447 |
# The WARN_LOGFILE tag can be used to specify a file to which warning |
|
448 |
# and error messages should be written. If left blank the output is written |
|
449 |
# to stderr. |
|
450 |
|
|
451 |
WARN_LOGFILE = |
|
452 |
|
|
453 |
#--------------------------------------------------------------------------- |
|
454 |
# configuration options related to the input files |
|
455 |
#--------------------------------------------------------------------------- |
|
456 |
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457 |
# The INPUT tag can be used to specify the files and/or directories that contain |
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# documented source files. You may enter file names like "myfile.cpp" or |
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459 |
# directories like "/usr/src/myproject". Separate the files or directories |
|
460 |
# with spaces. |
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461 |
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INPUT = |
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463 |
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# If the value of the INPUT tag contains directories, you can use the |
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465 |
# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp |
|
466 |
# and *.h) to filter out the source-files in the directories. If left |
|
467 |
# blank the following patterns are tested: |
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468 |
# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx |
|
469 |
# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py |
|
470 |
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|
471 |
FILE_PATTERNS = |
|
472 |
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|
473 |
# The RECURSIVE tag can be used to turn specify whether or not subdirectories |
|
474 |
# should be searched for input files as well. Possible values are YES and NO. |
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475 |
# If left blank NO is used. |
|
476 |
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|
477 |
RECURSIVE = NO |
|
478 |
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479 |
# The EXCLUDE tag can be used to specify files and/or directories that should |
|
480 |
# excluded from the INPUT source files. This way you can easily exclude a |
|
481 |
# subdirectory from a directory tree whose root is specified with the INPUT tag. |
|
482 |
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483 |
EXCLUDE = |
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# The EXCLUDE_SYMLINKS tag can be used select whether or not files or |
|
486 |
# directories that are symbolic links (a Unix filesystem feature) are excluded |
|
487 |
# from the input. |
|
488 |
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|
489 |
EXCLUDE_SYMLINKS = NO |
|
490 |
|
|
491 |
# If the value of the INPUT tag contains directories, you can use the |
|
492 |
# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude |
|
493 |
# certain files from those directories. Note that the wildcards are matched |
|
494 |
# against the file with absolute path, so to exclude all test directories |
|
495 |
# for example use the pattern */test/* |
|
496 |
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|
497 |
EXCLUDE_PATTERNS = |
|
498 |
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|
499 |
# The EXAMPLE_PATH tag can be used to specify one or more files or |
|
500 |
# directories that contain example code fragments that are included (see |
|
501 |
# the \include command). |
|
502 |
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|
503 |
EXAMPLE_PATH = |
|
504 |
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|
505 |
# If the value of the EXAMPLE_PATH tag contains directories, you can use the |
|
506 |
# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp |
|
507 |
# and *.h) to filter out the source-files in the directories. If left |
|
508 |
# blank all files are included. |
|
509 |
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|
510 |
EXAMPLE_PATTERNS = |
|
511 |
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|
512 |
# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be |
|
513 |
# searched for input files to be used with the \include or \dontinclude |
|
514 |
# commands irrespective of the value of the RECURSIVE tag. |
|
515 |
# Possible values are YES and NO. If left blank NO is used. |
|
516 |
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|
517 |
EXAMPLE_RECURSIVE = NO |
|
518 |
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|
519 |
# The IMAGE_PATH tag can be used to specify one or more files or |
|
520 |
# directories that contain image that are included in the documentation (see |
|
521 |
# the \image command). |
|
522 |
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|
523 |
IMAGE_PATH = |
|
524 |
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|
525 |
# The INPUT_FILTER tag can be used to specify a program that doxygen should |
|
526 |
# invoke to filter for each input file. Doxygen will invoke the filter program |
|
527 |
# by executing (via popen()) the command <filter> <input-file>, where <filter> |
|
528 |
# is the value of the INPUT_FILTER tag, and <input-file> is the name of an |
|
529 |
# input file. Doxygen will then use the output that the filter program writes |
|
530 |
# to standard output. If FILTER_PATTERNS is specified, this tag will be |
|
531 |
# ignored. |
|
532 |
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|
533 |
INPUT_FILTER = |
|
534 |
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|
535 |
# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern |
|
536 |
# basis. Doxygen will compare the file name with each pattern and apply the |
|
537 |
# filter if there is a match. The filters are a list of the form: |
|
538 |
# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further |
|
539 |
# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER |
|
540 |
# is applied to all files. |
|
541 |
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|
542 |
FILTER_PATTERNS = |
|
543 |
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|
544 |
# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using |
|
545 |
# INPUT_FILTER) will be used to filter the input files when producing source |
|
546 |
# files to browse (i.e. when SOURCE_BROWSER is set to YES). |
|
547 |
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|
548 |
FILTER_SOURCE_FILES = NO |
|
549 |
|
|
550 |
#--------------------------------------------------------------------------- |
|
551 |
# configuration options related to source browsing |
|
552 |
#--------------------------------------------------------------------------- |
|
553 |
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|
554 |
# If the SOURCE_BROWSER tag is set to YES then a list of source files will |
|
555 |
# be generated. Documented entities will be cross-referenced with these sources. |
|
556 |
# Note: To get rid of all source code in the generated output, make sure also |
|
557 |
# VERBATIM_HEADERS is set to NO. |
|
558 |
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|
559 |
SOURCE_BROWSER = NO |
|
560 |
|
|
561 |
# Setting the INLINE_SOURCES tag to YES will include the body |
|
562 |
# of functions and classes directly in the documentation. |
|
563 |
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|
564 |
INLINE_SOURCES = NO |
|
565 |
|
|
566 |
# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct |
|
567 |
# doxygen to hide any special comment blocks from generated source code |
|
568 |
# fragments. Normal C and C++ comments will always remain visible. |
|
569 |
|
|
570 |
STRIP_CODE_COMMENTS = YES |
|
571 |
|
|
572 |
# If the REFERENCED_BY_RELATION tag is set to YES (the default) |
|
573 |
# then for each documented function all documented |
|
574 |
# functions referencing it will be listed. |
|
575 |
|
|
576 |
REFERENCED_BY_RELATION = YES |
|
577 |
|
|
578 |
# If the REFERENCES_RELATION tag is set to YES (the default) |
|
579 |
# then for each documented function all documented entities |
|
580 |
# called/used by that function will be listed. |
|
581 |
|
|
582 |
REFERENCES_RELATION = YES |
|
583 |
|
|
584 |
# If the USE_HTAGS tag is set to YES then the references to source code |
|
585 |
# will point to the HTML generated by the htags(1) tool instead of doxygen |
|
586 |
# built-in source browser. The htags tool is part of GNU's global source |
|
587 |
# tagging system (see http://www.gnu.org/software/global/global.html). You |
|
588 |
# will need version 4.8.6 or higher. |
|
589 |
|
|
590 |
USE_HTAGS = NO |
|
591 |
|
|
592 |
# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen |
|
593 |
# will generate a verbatim copy of the header file for each class for |
|
594 |
# which an include is specified. Set to NO to disable this. |
|
595 |
|
|
596 |
VERBATIM_HEADERS = YES |
|
597 |
|
|
598 |
#--------------------------------------------------------------------------- |
|
599 |
# configuration options related to the alphabetical class index |
|
600 |
#--------------------------------------------------------------------------- |
|
601 |
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|
602 |
# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index |
|
603 |
# of all compounds will be generated. Enable this if the project |
|
604 |
# contains a lot of classes, structs, unions or interfaces. |
|
605 |
|
|
606 |
ALPHABETICAL_INDEX = NO |
|
607 |
|
|
608 |
# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then |
|
609 |
# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns |
|
610 |
# in which this list will be split (can be a number in the range [1..20]) |
|
611 |
|
|
612 |
COLS_IN_ALPHA_INDEX = 5 |
|
613 |
|
|
614 |
# In case all classes in a project start with a common prefix, all |
|
615 |
# classes will be put under the same header in the alphabetical index. |
|
616 |
# The IGNORE_PREFIX tag can be used to specify one or more prefixes that |
|
617 |
# should be ignored while generating the index headers. |
|
618 |
|
|
619 |
IGNORE_PREFIX = |
|
620 |
|
|
621 |
#--------------------------------------------------------------------------- |
|
622 |
# configuration options related to the HTML output |
|
623 |
#--------------------------------------------------------------------------- |
|
624 |
|
|
625 |
# If the GENERATE_HTML tag is set to YES (the default) Doxygen will |
|
626 |
# generate HTML output. |
|
627 |
|
|
628 |
GENERATE_HTML = YES |
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