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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 <stdio.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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//TODO: why is this in both this file and sensor_matrix.c? If it is needed in both places,
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// put it in sensor_matrix.h. This file already includes sensor_matrix.h
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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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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if
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// it reduces code size or not should be done to be sure.
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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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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if
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// it reduces code size or not should be done to be sure.
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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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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if
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// it reduces code size or not should be done to be sure.
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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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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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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if
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// it reduces code size or not should be done to be sure.
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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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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if
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// it reduces code size or not should be done to be sure.
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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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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if
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// it reduces code size or not should be done to be sure.
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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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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if
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// it reduces code size or not should be done to be sure.
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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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|
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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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/**
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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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**/
|
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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if
|
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// it reduces code size or not should be done to be sure.
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int wl_token_get_num_robots(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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/**
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* Returns the number of robots in the sensor matrix.
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*
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* @return the number of robots in the sensor matrix
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**/
|
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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if
|
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// it reduces code size or not should be done to be sure.
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int wl_token_get_matrix_size(void) |
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{ |
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return sensor_matrix_get_size();
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} |
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|
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/**
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* This method is called when we receive a token pass packet.
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*
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* @param source the robot who passed the token to us.
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**/
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static void wl_token_pass_receive(int source) |
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{ |
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WL_DEBUG_PRINT("Received token from ");
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WL_DEBUG_PRINT_INT(source); |
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WL_DEBUG_PRINT(", expected ");
|
505 |
WL_DEBUG_PRINT_INT(wl_token_next_robot); |
506 |
WL_DEBUG_PRINT(".\n");
|
507 |
// this prevents two tokens from being passed around at a time (second clause is in case we are joining)
|
508 |
if ((source != wl_token_next_robot && wl_get_xbee_id() != wl_token_next_robot) && bom_on_count <= DEATH_DELAY / 2 && |
509 |
ringState != ACCEPTED) |
510 |
{ |
511 |
WL_DEBUG_PRINT("Received token pass when a robot should not have died yet.\n");
|
512 |
WL_DEBUG_PRINT("There are probably two tokens going around, packet ignored.\n");
|
513 |
return;
|
514 |
} |
515 |
bom_on_count = -1;
|
516 |
deathDelay = -1;
|
517 |
sensor_matrix_set_in_ring(source, 1);
|
518 |
wl_token_get_token(); |
519 |
} |
520 |
|
521 |
/**
|
522 |
* This method is called when we receive a token pass packet.
|
523 |
* @param source is the robot it came from
|
524 |
* @param nextRobot is the robot the token was passed to
|
525 |
* @param sensorData a char with an id followed by a char with the sensor
|
526 |
* reading for that robot, repeated for sensorDataLength bytes
|
527 |
* @param sensorDataLength the length in bytes of sensorData
|
528 |
*/
|
529 |
static void wl_token_sensor_matrix_receive(int source, unsigned char* sensorData, int sensorDataLength) |
530 |
{ |
531 |
int i, j;
|
532 |
char nextRobot;
|
533 |
|
534 |
bom_on_count = -1;
|
535 |
deathDelay = -1;
|
536 |
sensor_matrix_set_in_ring(source, 1);
|
537 |
|
538 |
//with this packet, we are passed the id of the next robot in the ring
|
539 |
//and the sensor matrix, a list of id and sensor reading pairs (two bytes for both)
|
540 |
j = 0;
|
541 |
//TODO: the compiler may or may not optimize this such that my comment is useless:
|
542 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
|
543 |
// the overhead of a function call each iteration, call it only once before the loop and store
|
544 |
// the value in a variable and check against that variable in the loop condition
|
545 |
for (i = 0; i < sensor_matrix_get_size(); i++) |
546 |
{ |
547 |
if (i == source) {
|
548 |
continue;
|
549 |
} |
550 |
|
551 |
//set the sensor information we receive
|
552 |
if (j < sensorDataLength / 2 && sensorData[2 * j] == i) |
553 |
{ |
554 |
//the robot we were going to accept has already been accepted
|
555 |
if (accepted == i)
|
556 |
{ |
557 |
accepted = -1;
|
558 |
WL_DEBUG_PRINT("Someone accepted the robot we did.\r\n");
|
559 |
} |
560 |
sensor_matrix_set_reading(source, i, |
561 |
sensorData[2 * j + 1]); |
562 |
if (!sensor_matrix_get_in_ring(i))
|
563 |
{ |
564 |
WL_DEBUG_PRINT("Robot ");
|
565 |
WL_DEBUG_PRINT_INT(i); |
566 |
WL_DEBUG_PRINT(" has been added to the sensor matrix of robot ");
|
567 |
WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
568 |
WL_DEBUG_PRINT(" due to a packet from robot ");
|
569 |
WL_DEBUG_PRINT_INT(source); |
570 |
WL_DEBUG_PRINT(".\r\n");
|
571 |
} |
572 |
sensor_matrix_set_in_ring(i, 1);
|
573 |
j++; |
574 |
} |
575 |
else
|
576 |
{ |
577 |
if (sensor_matrix_get_in_ring(i))
|
578 |
{ |
579 |
WL_DEBUG_PRINT("Robot ");
|
580 |
WL_DEBUG_PRINT_INT(i); |
581 |
WL_DEBUG_PRINT(" has been removed from the sensor matrix of robot ");
|
582 |
WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
583 |
WL_DEBUG_PRINT(" due to a packet from robot ");
|
584 |
WL_DEBUG_PRINT_INT(source); |
585 |
WL_DEBUG_PRINT(".\r\n");
|
586 |
sensor_matrix_set_in_ring(i, 0);
|
587 |
} |
588 |
|
589 |
if (i == wl_get_xbee_id() && ringState == MEMBER)
|
590 |
{ |
591 |
ringState = NONMEMBER; |
592 |
wl_token_ring_join(); |
593 |
|
594 |
WL_DEBUG_PRINT("We have been removed from the ring ");
|
595 |
WL_DEBUG_PRINT("and are rejoining.\r\n");
|
596 |
} |
597 |
|
598 |
//the person who accepted us is dead... let's ask again
|
599 |
if (i == acceptor)
|
600 |
{ |
601 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 0);
|
602 |
ringState = NONMEMBER; |
603 |
acceptor = -1;
|
604 |
wl_token_ring_join(); |
605 |
} |
606 |
} |
607 |
} |
608 |
|
609 |
// get the next robot in the token ring
|
610 |
i = source + 1;
|
611 |
while (1) |
612 |
{ |
613 |
if (i == sensor_matrix_get_size()) {
|
614 |
i = 0;
|
615 |
} |
616 |
|
617 |
if (sensor_matrix_get_in_ring(i) || i == source)
|
618 |
{ |
619 |
nextRobot = (char)i;
|
620 |
break;
|
621 |
} |
622 |
|
623 |
i++; |
624 |
} |
625 |
|
626 |
if (nextRobot != wl_get_xbee_id())
|
627 |
wl_token_next_robot = nextRobot; |
628 |
|
629 |
deathDelay = get_token_distance(wl_get_xbee_id(), nextRobot) * DEATH_DELAY; |
630 |
|
631 |
if (sensor_matrix_get_joined() == 0 && ringState == JOINING) |
632 |
wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME); |
633 |
} |
634 |
|
635 |
/**
|
636 |
* Gets the distance in the token ring between two robots.
|
637 |
*
|
638 |
* @param robot1 the first robot
|
639 |
* @param robot2 the second robot
|
640 |
*
|
641 |
* @return the number of passes before the token is expected
|
642 |
* to reach robot2 from robot1
|
643 |
**/
|
644 |
static int get_token_distance(int robot1, int robot2) |
645 |
{ |
646 |
int curr = robot1 + 1; |
647 |
int count = 1; |
648 |
while (1) |
649 |
{ |
650 |
//TODO: the compiler may or may not optimize this such that my comment is useless:
|
651 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
|
652 |
// the overhead of a function call each iteration, call it only once before the loop and store
|
653 |
// the value in a variable and check against that variable in the loop condition
|
654 |
if (curr == sensor_matrix_get_size())
|
655 |
curr = 0;
|
656 |
if (curr == robot2)
|
657 |
break;
|
658 |
if (sensor_matrix_get_in_ring(curr))
|
659 |
count++; |
660 |
curr++; |
661 |
} |
662 |
return count;
|
663 |
} |
664 |
|
665 |
/**
|
666 |
* Passes the token to the next robot in the token ring.
|
667 |
**/
|
668 |
static int wl_token_pass_token() |
669 |
{ |
670 |
char nextRobot = 0xFF; |
671 |
int i = wl_get_xbee_id() + 1; |
672 |
char buf[2 * sensor_matrix_get_size()]; |
673 |
if (accepted == -1) |
674 |
{ |
675 |
while (1) |
676 |
{ |
677 |
//TODO: the compiler may or may not optimize this such that my comment is useless:
|
678 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
|
679 |
// the overhead of a function call each iteration, call it only once before the loop and store
|
680 |
// the value in a variable and check against that variable in the loop condition
|
681 |
if (i == sensor_matrix_get_size()) {
|
682 |
i = 0;
|
683 |
} |
684 |
|
685 |
if (sensor_matrix_get_in_ring(i))
|
686 |
{ |
687 |
nextRobot = (char)i;
|
688 |
break;
|
689 |
} |
690 |
|
691 |
i++; |
692 |
} |
693 |
} |
694 |
else
|
695 |
{ |
696 |
WL_DEBUG_PRINT("Accepting new robot, sending it the token.\r\n");
|
697 |
//add a new robot to the token ring
|
698 |
sensor_matrix_set_in_ring(accepted, 1);
|
699 |
nextRobot = accepted; |
700 |
accepted = -1;
|
701 |
} |
702 |
|
703 |
int j = 0; |
704 |
//TODO: the compiler may or may not optimize this such that my comment is useless:
|
705 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
|
706 |
// the overhead of a function call each iteration, call it only once before the loop and store
|
707 |
// the value in a variable and check against that variable in the loop condition
|
708 |
for (i = 0; i < sensor_matrix_get_size(); i++) { |
709 |
if (sensor_matrix_get_in_ring(i) && i != wl_get_xbee_id())
|
710 |
{ |
711 |
buf[2*j] = i;
|
712 |
buf[2*j + 1] = sensor_matrix_get_reading(wl_get_xbee_id(), i); |
713 |
j++; |
714 |
} |
715 |
} |
716 |
|
717 |
int packetSize = 2 * j * sizeof(char); |
718 |
WL_DEBUG_PRINT("Passing the token to robot ");
|
719 |
WL_DEBUG_PRINT_INT(nextRobot); |
720 |
WL_DEBUG_PRINT(".\r\n");
|
721 |
if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_SENSOR_MATRIX, buf, packetSize, 0) != 0) |
722 |
return -1; |
723 |
if (wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME)) |
724 |
return -1; |
725 |
|
726 |
wl_token_next_robot = nextRobot; |
727 |
deathDelay = DEATH_DELAY; |
728 |
|
729 |
return 0; |
730 |
} |
731 |
|
732 |
/**
|
733 |
* Called when a packet is received stating that another robot has turned
|
734 |
* its BOM on. Our BOM is then read, and the data is added to the sensor
|
735 |
* matrix.
|
736 |
*
|
737 |
* @param source the robot whose BOM is on
|
738 |
**/
|
739 |
static void wl_token_bom_on_receive(int source) |
740 |
{ |
741 |
WL_DEBUG_PRINT("Robot ");
|
742 |
WL_DEBUG_PRINT_INT(source); |
743 |
WL_DEBUG_PRINT(" has flashed its bom.\r\n");
|
744 |
|
745 |
bom_on_count = 0;
|
746 |
|
747 |
sensor_matrix_set_reading(wl_get_xbee_id(), |
748 |
source, get_max_bom_function()); |
749 |
} |
750 |
|
751 |
/**
|
752 |
* This method is called when we receive the token. Upon receiving
|
753 |
* the token, we must send a BOM_ON packet, flash the BOM, and send
|
754 |
* the token to the next robot.
|
755 |
*
|
756 |
* If there is a pending request for the token, this is processed first.
|
757 |
**/
|
758 |
static void wl_token_get_token() |
759 |
{ |
760 |
WL_DEBUG_PRINT("We have the token.\r\n");
|
761 |
if (ringState == ACCEPTED)
|
762 |
{ |
763 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 1);
|
764 |
WL_DEBUG_PRINT("Now a member of the token ring.\r\n");
|
765 |
ringState = MEMBER; |
766 |
joinDelay = -1;
|
767 |
} |
768 |
|
769 |
if (ringState == LEAVING || ringState == NONMEMBER)
|
770 |
{ |
771 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 0);
|
772 |
if (ringState == NONMEMBER)
|
773 |
{ |
774 |
WL_DEBUG_PRINT("We should have left the token ring, but didn't.\r\n");
|
775 |
} |
776 |
return;
|
777 |
} |
778 |
|
779 |
WL_DEBUG_PRINT("Our BOM has been flashed.\r\n");
|
780 |
wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON, NULL, 0, 0); |
781 |
|
782 |
bom_on_function(); |
783 |
#ifdef ROBOT
|
784 |
delay_ms(BOM_DELAY); |
785 |
#endif
|
786 |
bom_off_function(); |
787 |
|
788 |
if (!sensor_matrix_get_in_ring(wl_get_xbee_id()))
|
789 |
{ |
790 |
WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n");
|
791 |
return;
|
792 |
} |
793 |
|
794 |
wl_token_pass_token(); |
795 |
} |
796 |
|
797 |
/**
|
798 |
* Called when a request to join the token ring is received.
|
799 |
* If we are the robot preceding the requester in the ring,
|
800 |
* we respond with a JOIN_ACCEPT packet and pass the token to
|
801 |
* this robot when we receive the token.
|
802 |
*
|
803 |
* @param source the robot who requested to join
|
804 |
**/
|
805 |
static void wl_token_join_receive(int source) |
806 |
{ |
807 |
WL_DEBUG_PRINT("Received joining request from robot ");
|
808 |
WL_DEBUG_PRINT_INT(source); |
809 |
WL_DEBUG_PRINT(".\r\n");
|
810 |
|
811 |
//we cannot accept the request if we are not a member
|
812 |
if (ringState != MEMBER)
|
813 |
return;
|
814 |
//if they didn't get our response, see if we should respond again
|
815 |
if (accepted == source)
|
816 |
accepted = -1;
|
817 |
//we can only accept one request at a time
|
818 |
if (accepted != -1) |
819 |
return;
|
820 |
|
821 |
//check if we are the preceding robot in the token ring
|
822 |
int i = source - 1; |
823 |
while (1) |
824 |
{ |
825 |
if (i < 0) |
826 |
i = sensor_matrix_get_size() - 1;
|
827 |
|
828 |
//we must send a join acceptance
|
829 |
if (i == wl_get_xbee_id())
|
830 |
break;
|
831 |
|
832 |
//another robot will handle it
|
833 |
if (sensor_matrix_get_in_ring(i))
|
834 |
return;
|
835 |
|
836 |
i--; |
837 |
} |
838 |
|
839 |
accepted = source; |
840 |
wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN_ACCEPT, |
841 |
NULL, 0, source, TOKEN_JOIN_ACCEPT_FRAME); |
842 |
|
843 |
WL_DEBUG_PRINT("Accepting robot ");
|
844 |
WL_DEBUG_PRINT_INT(source); |
845 |
WL_DEBUG_PRINT(" into the token ring.\r\n");
|
846 |
|
847 |
// the token ring has not started yet
|
848 |
if (sensor_matrix_get_joined() == 1) |
849 |
wl_token_pass_token(); |
850 |
} |
851 |
|
852 |
/**
|
853 |
* Called when we receive a JOIN_ACCEPT packet in attempting to join
|
854 |
* the token ring.
|
855 |
* Our attempt to join the ring is stopped, and we wait for the token.
|
856 |
*
|
857 |
* @param source the robot who accepted us
|
858 |
**/
|
859 |
static void wl_token_join_accept_receive(int source) |
860 |
{ |
861 |
WL_DEBUG_PRINT("Accepted into the token ring by robot ");
|
862 |
WL_DEBUG_PRINT_INT(source); |
863 |
WL_DEBUG_PRINT(".\r\n");
|
864 |
joinDelay = JOIN_DELAY; |
865 |
ringState = ACCEPTED; |
866 |
acceptor = source; |
867 |
|
868 |
//add ourselves to the token ring
|
869 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 1);
|
870 |
} |