/ - Diff - Colony - Robotics Club

     /**
      * 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
-...
      * 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
-...
     /**
      * @file dragonfly_lib.h
      * @brief Contains other include files
+     *
+     *
      * Include this file for all the functionality of libdragonfly.
+     *
      * @author Colony Project, CMU Robotics Club
-...
+     *
      * 	@param config The subsystems that you wish to turn on. Check dragonfly_lib.h for
      * 			valid values.
+     *
+     *
      * @see analog_init, usb_init, xbee_init, buzzer_init,
      * bom_init, orb_init, motors_init, lcd_init
      **/
     void dragonfly_init(int config);
     /**
      * @brief runs the simulator loop, if runninf in the simulator
+     *
      * When compiled for the simulator, this call updates the simulator by
      * suspending the robot process, which allows the simulator core to
      * update the world state.
+     *
      * This function should be called at the end of the main program loop.
+     *
      * When compiled on the robot, this call does nothing
      **/
     void simulator_do();
     /** @} **/ //end addtogroup
     #include <analog.h>

     #include <sys/ipc.h>
     #include <robot_shared.h>
     #include <string.h>
     #include <dragonfly_lib.h>
     #define TICK_USEC 100
     RobotShared* shared_state;
     void tick(int sig)
+    {
       if(raise(SIGTSTP)<0)
         printf("could not kill self!\n");
+    }
     void dragonfly_init(int config)
+    {
       struct itimerval iv;
-...
         return;
+      }
       //printf("hello. I am a robot w/ memory_id %s\n", getenv("memory_id"));
       iv.it_interval.tv_sec = 0;
       iv.it_interval.tv_usec = TICK_USEC;
       iv.it_value.tv_sec = 0;
       iv.it_value.tv_usec = TICK_USEC;
       signal(SIGVTALRM, tick);
       ret = setitimer(ITIMER_VIRTUAL, &iv, NULL);
       //printf("setitimer returned %d.\n waiting...\n", ret);
       fflush(stdout);
-...
+    }
     void simulator_do()
+    {
          if(raise(SIGTSTP)<0)
               fprintf(stderr, "ERROR: could not kill self\n");
+    }

     int robots_size = 0;
     int num_robots = 0;
     int iterator_pos = 0;
     int iterator_pos = 0;
     int timeStep = 0;
-...
     	memset(robots, 0, sizeof(Robot) * robots_size);
     	for (i = 0; i < robots_size; i++)
     		robots[i].id = -1;
     	finished = 0;
     	pthread_mutex_init(&all_finished_mutex, NULL);
     	pthread_cond_init(&all_finished_cond, NULL);
-...
     	key_t key = IPC_PRIVATE;
     	//Memory accessible only to children with r/w privileges
     	r->sharedMemID = shmget(key, sizeof(RobotShared), IPC_CREAT | 0666);
     	//hack!! TODO: remove!!
     	r->pose.x=first_available_id*100;
     	r->pose.y=first_available_id*50;
-...
+    	}
     	r->shared = (RobotShared*)shmat(r->sharedMemID, NULL, 0);
     	if(!(r->shared))
+    	{
+    	{
     		//Free shared memory region
     		if (!shmctl(r->sharedMemID, IPC_RMID, NULL))
     			fprintf(stderr, "Failed to free shared memory.\n");
     		fprintf(stderr, "Error attaching memory to parent.\n");
     		return -1;
+    	}
     	// Initialize robot structure here
     	r->shared->motor1 = 0;
     	r->shared->motor2 = 0;
-...
     			//Free Shared Memory Region
     			if (!shmdt(r->shared))
     				fprintf(stderr, "Failed to free shared memory.\n");
     			if (!shmctl(r->sharedMemID, IPC_RMID, NULL))
     				fprintf(stderr, "Failed to free shared memory.\n");
-...
     			return -1;
+    		}
+    	}
     	if(!pid && execname)
+    	{
     	  char var[21];
-...
     			  robots[i].id = -1;
+    		}
+    	}
+    	}
     	//Log creation
     	if(execname != NULL)
-...
     	if (id < first_available_id)
     		first_available_id = 0;
     	return 0;
+    }
     void robot_destroy_all()
+    {
     	int i;
-...
     	if (iterator_pos >= robots_size)
     		return NULL;
     	do iterator_pos++;
     	while (iterator_pos < robots_size &&
     	while (iterator_pos < robots_size &&
     			robots[iterator_pos].id == -1);
     	if (iterator_pos >= robots_size)
     		return NULL;
     	return &(robots[iterator_pos]);
+    }
-...
+    		}
     		finished = 0;
         //sleep to avoid 100% CPU usage
         usleep(10000);
     		ret = pthread_mutex_unlock(&all_finished_mutex);
     		if(ret)
     		  fprintf(stderr, "hmmm, error unlocking. errno: %d", errno);
-...
     				robot_update(i);
     				printf("commit %d\n", i);
     				commit(&robots[i],i,timeStep);
     				commit(&robots[i],i,timeStep);
+    			}
     		for (i = 0; i < robots_size; i++)
+    		{
-...
     	int index;
     	int prevStep = -1;
     	if(fread(&timeStep, sizeof(int), 1, file) < 1)
+    	{
+    	{
     		robot_destroy_all();
     		fprintf(stderr, "problem reading timestep\n");
     	    return (void*)-1;
+    	}
     	 while(1){
     	 while(1){
     		prevStep = timeStep;
     		do
+    	   	{
-...
     				robot_destroy_all();
     			 	return (void*) -1;
+    			}
                 //Update the robot
     			if(timeStep == CREATE_STEP)
+    			{
     			    robot_create(NULL);
     			    robot_create(NULL);
+    			}
     			if(getLog(&robots[index]) < 0)
+    			{
     				robot_destroy_all();
-...
     				robot_destroy_all();
     				return (void*)-1;
+    			}
                	if (prevStep < 0)
     			   	prevStep = timeStep;
     	   	}while(timeStep == prevStep || timeStep == CREATE_STEP);
     		gui_refresh();
     		usleep(100);
+    	}
+    }
     void robot_update(int i)

     	bom_leds_on(BOM_ALL);
     	motor1_set(1, 200);
     	motor2_set(1, 150);
     	while(1){}
     	while(1){
            simulator_do();
+      }
     	return 0;
+    }

     /**
      * 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
-...
      * 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
-...
      * init_dragonfly (ALL_ON); - Turns on all basic subsystems. More complex ones that require
      * 		their own configuration parameters must still be called on their own.
+     *
      * init_dragonfly (ANALOG | SERIAL | BUZZER);
      * init_dragonfly (ANALOG | SERIAL | BUZZER);
      * Initialize ADC, USB, XBee, and Buzzer
+     *
+     *
      * init_dragonfly (MOTORS | ORB);
      * Initialize the motors and ORB.
      * Initialize the motors and ORB.
      **/
-...
     	//Pin G1 is button 2
     	DDRG &= ~(_BV(PING0)|_BV(PING1));
       PORTG |= _BV(PING0)|_BV(PING1);
       if(config & ANALOG)
         analog_init(ADC_START);
       if(config & COMM) {
         //Both default to 115200. Check serial.h for more information.
         usb_init();
         xbee_init();
+      }
       if(config & BUZZER) {
         buzzer_init();
+      }
       if(config & ORB) {
         orb_init();
+      }
       if(config & MOTORS)
         motors_init();
       if(config & LCD)
         lcd_init();
       // delay a bit for stability
       _delay_ms(1);
+    }
     void simulator_do() {
       return;
+    }

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