Sensor Matrix

the robot sensor matrix More...

Data Structures
struct	SensorMatrix
Defines
#define	MAXIMUM_XBEE_ID   0x10
#define	READING_UNKNOWN   0xFF
Functions
void	sensor_matrix_create (void)
	Create a sensor matrix.
void	sensor_matrix_set_reading (int observer, int robot, int reading)
	Set a reading in a sensor matrix.
int	sensor_matrix_get_reading (int observer, int robot)
	Get a reading in a sensor matrix.
void	sensor_matrix_set_in_ring (int robot, int in)
	Set whether the robot is in the token ring.
int	sensor_matrix_get_in_ring (int robot)
	Get whether the robot is in the sensor ring.
int	sensor_matrix_get_joined (void)
	Get the number of robots which have joined the token ring.
int	sensor_matrix_get_size (void)
	Get the maximum size of the sensor matrix.

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Detailed Description

the robot sensor matrix

These functions and structures are used for localization to determine the relative directions of robots.

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Function Documentation

void sensor_matrix_create

(

void

)

Create a sensor matrix.

Initializes the sensor matrix.

Returns:

the newly created sensor matrix

References SensorMatrix::joined, SensorMatrix::matrix, and SensorMatrix::numJoined.

Referenced by wl_token_ring_register().

int sensor_matrix_get_in_ring

(

int

robot

)

Get whether the robot is in the sensor ring.

Checks if the given robot is in the token ring.

Parameters:

robot

the ID of the robot to check

Returns:

1 if the robot is in the token ring, 0 otherwise

References SensorMatrix::joined.

Referenced by wl_token_is_robot_in_ring(), wl_token_iterator_begin(), and wl_token_iterator_next().

int sensor_matrix_get_joined

(

void

)

Get the number of robots which have joined the token ring.

Returns the number of robots which have joined the token ring.

Returns:

the number of robots in the token ring

References SensorMatrix::numJoined.

Referenced by wl_token_get_num_robots(), and wl_token_get_robots_in_ring().

int sensor_matrix_get_reading	(	int	observer,
		int	robot
	)

Get a reading in a sensor matrix.

Gets the sensor reading for a robot to another robot.

Parameters:

	observer	the robot whose reading we check
	robot	the robot who we are checking the reading to

Returns:

the observer's BOM reading for robot

References SensorMatrix::matrix.

Referenced by wl_token_get_sensor_reading().

int sensor_matrix_get_size

(

void

)

Get the maximum size of the sensor matrix.

Returns the maximum XBee id of a robot which can be stored in the sensor matrix.

Returns:

the maximum number of robots which can be stored

Referenced by wl_token_get_matrix_size(), wl_token_iterator_begin(), and wl_token_iterator_next().

void sensor_matrix_set_in_ring	(	int	robot,
		int	in
	)

Set whether the robot is in the token ring.

Sets whether or not the given robot is part of the token ring.

Parameters:

	robot	the robot to set as a member / nonmember of the token ring
	in	1 if the robot is in the token ring, 0 otherwise

References SensorMatrix::joined, and SensorMatrix::numJoined.

Referenced by wl_token_ring_register().

void sensor_matrix_set_reading	(	int	observer,
		int	robot,
		int	reading
	)

Set a reading in a sensor matrix.

Sets the sensor reading for robot robot to reading.

Parameters:

	observer	the id of the robot who made the reading
	robot	the id of the robot who the reading is for
	reading	the BOM reading from observer to robot

References SensorMatrix::matrix.