root / trunk / code / projects / libwireless / lib / sensor_matrix.c @ 1427
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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.c
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* @brief Sensor Matrix implementation
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*
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* Implementation of a sensor matrix for storing localization implementation.
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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 <stdlib.h> |
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#include <stdio.h> |
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#include <wl_defs.h> |
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#include "sensor_matrix.h" |
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// the global sensor matrix
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SensorMatrix m; |
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/**
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* Initializes the sensor matrix.
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*
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* @return the newly created sensor matrix
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**/
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void sensor_matrix_create()
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{ |
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int i, j;
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m.numJoined = 0;
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for (i = 0; i < MAXIMUM_XBEE_ID; i++) |
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{ |
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m.joined[i] = 0;
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#ifndef BAYBOARD
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for (j = 0; j < MAXIMUM_XBEE_ID; j++) |
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m.matrix[i][j] = READING_UNKNOWN; |
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#endif
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} |
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} |
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/**
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* Sets the sensor reading for robot robot to reading.
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*
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* @param observer the id of the robot who made the reading
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* @param robot the id of the robot who the reading is for
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* @param reading the BOM reading from observer to robot
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*/
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void sensor_matrix_set_reading(int observer, int robot, int reading) |
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{ |
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#ifndef BAYBOARD
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if (robot >= MAXIMUM_XBEE_ID || observer >= MAXIMUM_XBEE_ID)
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{ |
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WL_DEBUG_PRINT("ID too large.");
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return;
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} |
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m.matrix[observer][robot] = (unsigned char)reading; |
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#endif
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} |
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/**
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* Gets the sensor reading for a robot to another robot.
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*
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* @param observer the robot whose reading we check
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* @param robot the robot who we are checking the reading to
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*
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* @return the observer's BOM reading for robot
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**/
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int sensor_matrix_get_reading(int observer, int robot) |
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{ |
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#ifndef BAYBOARD
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if (observer >= MAXIMUM_XBEE_ID || robot >= MAXIMUM_XBEE_ID)
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return -1; |
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return (int)m.matrix[observer][robot]; |
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#else
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return -1; |
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#endif
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} |
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/**
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* Sets whether or not the given robot is part of the token ring.
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*
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* @param robot the robot to set as a member / nonmember of the token ring
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* @param in 1 if the robot is in the token ring, 0 otherwise
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**/
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void sensor_matrix_set_in_ring(int robot, int in) |
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{ |
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if (robot >= MAXIMUM_XBEE_ID)
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{ |
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WL_DEBUG_PRINT("ID too large.");
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return;
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} |
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if (in == 1 && m.joined[robot] == 0) |
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m.numJoined++; |
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if (in == 0 && m.joined[robot]) |
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m.numJoined--; |
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m.joined[robot] = in; |
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} |
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/**
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* Checks if the given robot is in the token ring.
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*
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* @param robot the ID of the robot to check
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*
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* @return 1 if the robot is in the token ring, 0 otherwise
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**/
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int sensor_matrix_get_in_ring(int robot) |
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{ |
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if (robot >= MAXIMUM_XBEE_ID)
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return -1; |
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return m.joined[robot];
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} |
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/**
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* Returns the number of robots which have joined the
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* 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 sensor_matrix_get_joined(void) |
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{ |
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return m.numJoined;
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} |
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/**
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* Returns the maximum XBee id of a robot which can be stored
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* in the sensor matrix.
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*
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* @return the maximum number of robots which can be stored
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**/
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int sensor_matrix_get_size(void) |
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{ |
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return MAXIMUM_XBEE_ID;
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} |
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