Revision 1345
Final spline code for master/slave
updated outdated libdragonfly and libwireless
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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 sensor_matrix.h |
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* @brief Definitions for sensor matrices |
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* |
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* @author Brian Coltin, Colony Project, CMU Robotics Club |
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**/ |
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#ifndef SENSOR_MATRIX_H |
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#define SENSOR_MATRIX_H |
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/** |
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* @defgroup sensormatrix Sensor Matrix |
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* @brief the robot sensor matrix |
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* @{
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**/ |
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#define MAXIMUM_XBEE_ID 0x10 |
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#define READING_UNKNOWN 0xFF |
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/** |
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* @struct SensorMatrix |
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* |
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* A sensor matrix. |
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**/ |
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//TODO: the order of member variables in this struct should be changed in case the compile packs the struct |
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// In order to achieve the best packing, the variables should be listed in order of decreasing memory size. |
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// Thus, pointers should be first, followed by int, followed by char. |
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typedef struct |
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{
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/** |
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* The size of the sensor matrix. |
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**/ |
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unsigned int size; |
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/** |
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* The matrix. Each row represents the readings of one |
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* robot. |
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* The number of robots in the token ring. |
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**/ |
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int** matrix;
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int numJoined;
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/** |
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* The element representing a robot is true if that robot |
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* is in the token ring and false otherwise. |
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**/ |
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int* joined; |
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unsigned char joined[MAXIMUM_XBEE_ID]; |
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// on the bayboard, we don't include the matrix to save memory. |
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#ifndef BAYBOARD |
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/** |
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* The number of robots in the token ring. |
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* The matrix. Each row represents the readings of one |
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* robot. |
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**/ |
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int numJoined; |
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unsigned char matrix[MAXIMUM_XBEE_ID][MAXIMUM_XBEE_ID]; |
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#endif |
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} SensorMatrix; |
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/**@brief Create a sensor matrix **/ |
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SensorMatrix* sensor_matrix_create(void); |
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/**@brief Destroy a sensor matrix **/ |
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void sensor_matrix_destroy(SensorMatrix* m); |
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/**@brief Add a robot to a sensor matrix **/ |
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void sensor_matrix_add_robot(SensorMatrix* m, unsigned int id); |
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/**@brief Remove a robot from a sensor matrix **/ |
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void sensor_matrix_remove_robot(SensorMatrix* m, unsigned int id); |
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void sensor_matrix_create(void); |
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/**@brief Set a reading in a sensor matrix **/ |
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void sensor_matrix_set_reading(SensorMatrix* m, int observer, int robot, int reading);
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void sensor_matrix_set_reading(int observer, int robot, int reading); |
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/**@brief Get a reading in a sensor matrix **/ |
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int sensor_matrix_get_reading(SensorMatrix* m, int observer, int robot);
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int sensor_matrix_get_reading(int observer, int robot); |
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/**@brief Set whether the robot is in the token ring **/ |
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void sensor_matrix_set_in_ring(SensorMatrix* m, int robot, int in);
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void sensor_matrix_set_in_ring(int robot, int in); |
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/**@brief Get whether the robot is in the sensor ring **/ |
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int sensor_matrix_get_in_ring(SensorMatrix* m, int robot); |
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/**@brief Get the size of the sensor matrix **/ |
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int sensor_matrix_get_size(SensorMatrix* m); |
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int sensor_matrix_get_in_ring(int robot); |
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/**@brief Get the number of robots which have joined the token ring **/ |
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int sensor_matrix_get_joined(SensorMatrix* m); |
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int sensor_matrix_get_joined(void); |
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/**@brief Get the maximum size of the sensor matrix **/ |
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int sensor_matrix_get_size(void); |
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/** @} **/ //end defgroup |
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#endif |
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