root / trunk / code / projects / mapping / matlab / receive.c @ 1361
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/* This version of receive initializes
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* the token ring and then waits for
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* the robots to send data.
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*/
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <mex.h> |
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#include <pthread.h> |
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#include <unistd.h> |
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#include <time.h> |
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#include "../../libwireless/lib/wireless.h" |
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#define WL_COM_PORT "/dev/ttyUSB0" |
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#define WL_CHANNEL 0xE |
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#define MAP_REQUEST_GROUP 23 |
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#define DATA_POINT 2 /* packet type for map data points w/ odometry data*/ |
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#define DATA_REQUEST 3 |
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#define DATA_SERVER_REPLY 4 /*Just to give the robot a target.*/ |
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#define DATA_SERVER_IDENTIFY 5 |
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#define BUFFER_SIZE 1000 |
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pthread_rwlock_t buffer_lock; |
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pthread_t receive_thread; |
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void packet_receive(char type, int source, unsigned char* packet, int length); |
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PacketGroupHandler requestHandler = {MAP_REQUEST_GROUP, NULL, NULL, &packet_receive, NULL}; |
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struct robot_datapoint{
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time_t time; //TODO write time too.
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short number;
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short range[5]; |
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short x;
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short y;
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float orientation;
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} robot_data[BUFFER_SIZE]; |
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int tail_index; /*Points to the newest data in the buffers.*/ |
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int head_index; /*Points to the oldest data in the buffers.*/ |
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void* run_wireless(void* arg); |
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void init_wireless(void); |
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void mexFunction(int nlhs, mxArray* ret[], int nrhs, const mxArray* args[]){ |
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if(nrhs == 1){ |
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/*Initialization*/
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head_index = -1;
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tail_index = -1;
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pthread_rwlock_init(&buffer_lock, NULL);
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pthread_create(&receive_thread, NULL, run_wireless, NULL); |
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return;
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} |
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/*Return stuff to matlab*/
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/*deliberately ignore nrhs. */
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if(nlhs != 4){ |
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mexErrMsgTxt("Error: Expect output arguments [P IR T R]\n \
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where P = [X Y], IR = [IR1, IR2 ...],\n \
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T = angle, and R = Robot number.");
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} |
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int target, index,i,j;
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if(tail_index == -1 || head_index == -1){ |
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double* point, *ranges, *theta, *robot;
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/*Appropriately return with nothing. (til I figure that out, return 0's)*/
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ret[0] = mxCreateDoubleMatrix(1, 2, mxREAL); |
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ret[1] = mxCreateDoubleMatrix(1, 5, mxREAL); |
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ret[2] = mxCreateDoubleMatrix(1, 1, mxREAL); |
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ret[3] = mxCreateDoubleMatrix(1, 1, mxREAL); |
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point = mxGetPr(ret[0]);
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ranges = mxGetPr(ret[1]);
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theta = mxGetPr(ret[2]);
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robot = mxGetPr(ret[3]);
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point[0] = point[1] = 0.0; |
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ranges[0] = ranges[1] = ranges[2] = 0.0; |
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ranges[3] = ranges[4] = 0.0; |
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theta[0] = 0.0; |
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robot[0] = 0.0; |
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} |
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else{ /*Copy the buffer data and set the buffer to empty.*/ |
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pthread_rwlock_rdlock(&buffer_lock); |
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{ |
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double** point, **ranges, *theta, *robot;
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int num_buffer_elements = tail_index >= head_index ?
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tail_index - head_index : tail_index - head_index + BUFFER_SIZE; |
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ret[0] = mxCreateDoubleMatrix(num_buffer_elements, 2, mxREAL); |
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ret[1] = mxCreateDoubleMatrix(num_buffer_elements, 5, mxREAL); |
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ret[2] = mxCreateDoubleMatrix(num_buffer_elements, 1, mxREAL); |
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ret[3] = mxCreateDoubleMatrix(num_buffer_elements, 1, mxREAL); |
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point = (double**)mxGetPr(ret[0]); |
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ranges = (double**)mxGetPr(ret[1]); |
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theta = mxGetPr(ret[2]);
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robot = mxGetPr(ret[3]);
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for(index = 0; index < num_buffer_elements; index++){ |
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int target = (head_index + index) % BUFFER_SIZE;
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point[i][0] = (double)robot_data[target].x; |
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point[i][1] = (double)robot_data[target].y; |
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for(j=0;j<5;j++) |
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ranges[i][j] = (double)robot_data[target].range[j];
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theta[i] = (double)(robot_data[target].orientation);
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robot[i] = (double)(robot_data[target].number);
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} |
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/*Relabel the indices 'empty' (-1)*/
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head_index = -1;
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tail_index = -1;
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} |
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pthread_rwlock_unlock(&buffer_lock); |
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} |
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} |
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void init_wireless(void){ |
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/*General communication initialization. */
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wl_set_com_port(WL_COM_PORT); |
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wl_init(); |
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wl_set_channel(WL_CHANNEL); |
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wl_register_packet_group(&requestHandler); |
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} |
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/*Call wl_do and occasionally send a broadcast packet declaring the
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* number of the server.
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*/
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void* run_wireless(void* arg){ |
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pthread_detach(pthread_self()); |
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init_wireless(); |
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printf("Wireless initialized!\n");
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int a = 0; |
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/*Passively wait for packets to arrive.*/
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while(1) wl_do(); |
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} |
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void packet_receive (char type, int source, unsigned char* packet, int length) { |
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printf("A packet came in!\n");
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if(type==DATA_POINT){
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if(length!=18) |
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printf("Packet came without the standard length!\n");
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/* expected input: x y theta(double) IR1 IR2 IR3 IR4 IR5*/
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/* Pull in data:*/
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short x,y,i;
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short ranges[5]; |
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struct robot_datapoint data;
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/*Bytes 0-3*/
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data.x = ((short)packet[1] << 8) | (short)packet[0]; |
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data.y = ((short)packet[3] << 8) | (short)packet[2]; |
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/*Bytes 4-7*/
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data.orientation = *((float*)(packet + 4)); |
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/*Bytes 8-17*/
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for(i=0; i<5; i++){ |
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data.range[i] |
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= ((short)packet[8+2*i+1] << 8) | (short)packet[8 + 2*i]; |
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} |
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/*Write new data to buffers. (Lock down!)*/
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pthread_rwlock_wrlock(&buffer_lock); |
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{ |
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/*Note that you write no matter what.
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* Also, if the buffer is empty, tail_index becomes 0*/
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tail_index = (tail_index + 1) % BUFFER_SIZE;
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/*Write the robots number.*/
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robot_data[tail_index].number = source; |
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/*Write in range data.*/
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for(i=0; i<5; i++) robot_data[tail_index].range[i] = ranges[i]; |
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robot_data[tail_index].x = x; |
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robot_data[tail_index].y = y; |
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robot_data[tail_index].orientation = theta; |
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/*If the oldest member didn't exist, buffer was empty.*/
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if(head_index == -1) head_index = 0; |
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/*Otherwise check for overwritten data.*/
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else if(tail_index == head_index) |
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head_index = (head_index + 1) % BUFFER_SIZE;
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} |
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pthread_rwlock_unlock(&buffer_lock); |
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} |
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else if(type == DATA_SERVER_IDENTIFY){ |
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/*Sleep before sending an identity packet.*/
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printf("Announcing self as server\n");
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wl_send_global_packet(MAP_REQUEST_GROUP, DATA_SERVER_REPLY, NULL, 0, 0); |
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} |
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} |
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