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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 <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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#if (!(defined ROBOT)) || (defined FIREFLY)
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static void do_nothing(void) {} |
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static SensorReading get_nothing(void) { SensorReading ret = { READING_UNKNOWN, READING_UNKNOWN }; return ret;} |
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#else
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static SensorReading default_get_bom(void) { int dist, dir; bom_refresh(BOM_ALL); dir = bom_get_max10(&dist); SensorReading ret = { dir, dist}; return ret; } |
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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 SensorReading (*get_max_bom_function) (void) = default_get_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 SensorReading (*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 SensorReading (*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), SensorReading (*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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SensorReading * 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 NULL; |
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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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SensorReading * 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.
|
500 |
**/
|
501 |
static void wl_token_pass_receive(int source) |
502 |
{ |
503 |
WL_DEBUG_PRINT("Received token from ");
|
504 |
WL_DEBUG_PRINT_INT(source); |
505 |
WL_DEBUG_PRINT(", expected ");
|
506 |
WL_DEBUG_PRINT_INT(wl_token_next_robot); |
507 |
WL_DEBUG_PRINT(".\n");
|
508 |
// this prevents two tokens from being passed around at a time (second clause is in case we are joining)
|
509 |
if ((source != wl_token_next_robot && wl_get_xbee_id() != wl_token_next_robot) && bom_on_count <= DEATH_DELAY / 2 && |
510 |
ringState != ACCEPTED) |
511 |
{ |
512 |
WL_DEBUG_PRINT("Received token pass when a robot should not have died yet.\n");
|
513 |
WL_DEBUG_PRINT("There are probably two tokens going around, packet ignored.\n");
|
514 |
return;
|
515 |
} |
516 |
bom_on_count = -1;
|
517 |
deathDelay = -1;
|
518 |
sensor_matrix_set_in_ring(source, 1);
|
519 |
wl_token_get_token(); |
520 |
} |
521 |
|
522 |
/**
|
523 |
* This method is called when we receive a token pass packet.
|
524 |
* @param source is the robot it came from
|
525 |
* @param nextRobot is the robot the token was passed to
|
526 |
* @param sensorData a char with an id followed by a char with the sensor
|
527 |
* reading for that robot, repeated for sensorDataLength bytes
|
528 |
* @param sensorDataLength the length in bytes of sensorData
|
529 |
*/
|
530 |
static void wl_token_sensor_matrix_receive(int source, unsigned char* sensorData, int sensorDataLength) |
531 |
{ |
532 |
int i, j;
|
533 |
char nextRobot;
|
534 |
SensorReading r; |
535 |
|
536 |
bom_on_count = -1;
|
537 |
deathDelay = -1;
|
538 |
sensor_matrix_set_in_ring(source, 1);
|
539 |
|
540 |
//with this packet, we are passed the id of the next robot in the ring
|
541 |
//and the sensor matrix, a list of id and sensor reading pairs (two bytes for both)
|
542 |
j = 0;
|
543 |
//TODO: the compiler may or may not optimize this such that my comment is useless:
|
544 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
|
545 |
// the overhead of a function call each iteration, call it only once before the loop and store
|
546 |
// the value in a variable and check against that variable in the loop condition
|
547 |
for (i = 0; i < sensor_matrix_get_size(); i++) |
548 |
{ |
549 |
if (i == source) {
|
550 |
continue;
|
551 |
} |
552 |
|
553 |
//set the sensor information we receive
|
554 |
if (j < sensorDataLength / 2 && sensorData[3 * j] == i) |
555 |
{ |
556 |
//the robot we were going to accept has already been accepted
|
557 |
if (accepted == i)
|
558 |
{ |
559 |
accepted = -1;
|
560 |
WL_DEBUG_PRINT("Someone accepted the robot we did.\r\n");
|
561 |
} |
562 |
r.dir = sensorData[3 * j + 1]; |
563 |
r.dist = sensorData[3 * j + 2]; |
564 |
sensor_matrix_set_reading(source, i, r); |
565 |
if (!sensor_matrix_get_in_ring(i))
|
566 |
{ |
567 |
WL_DEBUG_PRINT("Robot ");
|
568 |
WL_DEBUG_PRINT_INT(i); |
569 |
WL_DEBUG_PRINT(" has been added to the sensor matrix of robot ");
|
570 |
WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
571 |
WL_DEBUG_PRINT(" due to a packet from robot ");
|
572 |
WL_DEBUG_PRINT_INT(source); |
573 |
WL_DEBUG_PRINT(".\r\n");
|
574 |
} |
575 |
sensor_matrix_set_in_ring(i, 1);
|
576 |
j++; |
577 |
} |
578 |
else
|
579 |
{ |
580 |
if (sensor_matrix_get_in_ring(i))
|
581 |
{ |
582 |
WL_DEBUG_PRINT("Robot ");
|
583 |
WL_DEBUG_PRINT_INT(i); |
584 |
WL_DEBUG_PRINT(" has been removed from the sensor matrix of robot ");
|
585 |
WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
586 |
WL_DEBUG_PRINT(" due to a packet from robot ");
|
587 |
WL_DEBUG_PRINT_INT(source); |
588 |
WL_DEBUG_PRINT(".\r\n");
|
589 |
sensor_matrix_set_in_ring(i, 0);
|
590 |
} |
591 |
|
592 |
if (i == wl_get_xbee_id() && ringState == MEMBER)
|
593 |
{ |
594 |
ringState = NONMEMBER; |
595 |
wl_token_ring_join(); |
596 |
|
597 |
WL_DEBUG_PRINT("We have been removed from the ring ");
|
598 |
WL_DEBUG_PRINT("and are rejoining.\r\n");
|
599 |
} |
600 |
|
601 |
//the person who accepted us is dead... let's ask again
|
602 |
if (i == acceptor)
|
603 |
{ |
604 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 0);
|
605 |
ringState = NONMEMBER; |
606 |
acceptor = -1;
|
607 |
wl_token_ring_join(); |
608 |
} |
609 |
} |
610 |
} |
611 |
|
612 |
// get the next robot in the token ring
|
613 |
i = source + 1;
|
614 |
while (1) |
615 |
{ |
616 |
if (i == sensor_matrix_get_size()) {
|
617 |
i = 0;
|
618 |
} |
619 |
|
620 |
if (sensor_matrix_get_in_ring(i) || i == source)
|
621 |
{ |
622 |
nextRobot = (char)i;
|
623 |
break;
|
624 |
} |
625 |
|
626 |
i++; |
627 |
} |
628 |
|
629 |
if (nextRobot != wl_get_xbee_id())
|
630 |
wl_token_next_robot = nextRobot; |
631 |
|
632 |
deathDelay = get_token_distance(wl_get_xbee_id(), nextRobot) * DEATH_DELAY; |
633 |
|
634 |
if (sensor_matrix_get_joined() == 0 && ringState == JOINING) |
635 |
wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME); |
636 |
} |
637 |
|
638 |
/**
|
639 |
* Gets the distance in the token ring between two robots.
|
640 |
*
|
641 |
* @param robot1 the first robot
|
642 |
* @param robot2 the second robot
|
643 |
*
|
644 |
* @return the number of passes before the token is expected
|
645 |
* to reach robot2 from robot1
|
646 |
**/
|
647 |
static int get_token_distance(int robot1, int robot2) |
648 |
{ |
649 |
int curr = robot1 + 1; |
650 |
int count = 1; |
651 |
while (1) |
652 |
{ |
653 |
//TODO: the compiler may or may not optimize this such that my comment is useless:
|
654 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
|
655 |
// the overhead of a function call each iteration, call it only once before the loop and store
|
656 |
// the value in a variable and check against that variable in the loop condition
|
657 |
if (curr == sensor_matrix_get_size())
|
658 |
curr = 0;
|
659 |
if (curr == robot2)
|
660 |
break;
|
661 |
if (sensor_matrix_get_in_ring(curr))
|
662 |
count++; |
663 |
curr++; |
664 |
} |
665 |
return count;
|
666 |
} |
667 |
|
668 |
/**
|
669 |
* Passes the token to the next robot in the token ring.
|
670 |
**/
|
671 |
static int wl_token_pass_token() |
672 |
{ |
673 |
char nextRobot = 0xFF; |
674 |
int i = wl_get_xbee_id() + 1; |
675 |
char buf[3 * sensor_matrix_get_size()]; |
676 |
if (accepted == -1) |
677 |
{ |
678 |
while (1) |
679 |
{ |
680 |
//TODO: the compiler may or may not optimize this such that my comment is useless:
|
681 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
|
682 |
// the overhead of a function call each iteration, call it only once before the loop and store
|
683 |
// the value in a variable and check against that variable in the loop condition
|
684 |
if (i == sensor_matrix_get_size()) {
|
685 |
i = 0;
|
686 |
} |
687 |
|
688 |
if (sensor_matrix_get_in_ring(i))
|
689 |
{ |
690 |
nextRobot = (char)i;
|
691 |
break;
|
692 |
} |
693 |
|
694 |
i++; |
695 |
} |
696 |
} |
697 |
else
|
698 |
{ |
699 |
WL_DEBUG_PRINT("Accepting new robot, sending it the token.\r\n");
|
700 |
//add a new robot to the token ring
|
701 |
sensor_matrix_set_in_ring(accepted, 1);
|
702 |
nextRobot = accepted; |
703 |
accepted = -1;
|
704 |
} |
705 |
|
706 |
int j = 0; |
707 |
//TODO: the compiler may or may not optimize this such that my comment is useless:
|
708 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
|
709 |
// the overhead of a function call each iteration, call it only once before the loop and store
|
710 |
// the value in a variable and check against that variable in the loop condition
|
711 |
for (i = 0; i < sensor_matrix_get_size(); i++) { |
712 |
if (sensor_matrix_get_in_ring(i) && i != wl_get_xbee_id())
|
713 |
{ |
714 |
SensorReading *r = sensor_matrix_get_reading(wl_get_xbee_id(), i); |
715 |
buf[3*j] = i;
|
716 |
buf[3*j + 1] = r->dir; |
717 |
buf[3*j + 2] = r->dist; |
718 |
j++; |
719 |
} |
720 |
} |
721 |
|
722 |
int packetSize = 3 * j * sizeof(char); |
723 |
WL_DEBUG_PRINT("Passing the token to robot ");
|
724 |
WL_DEBUG_PRINT_INT(nextRobot); |
725 |
WL_DEBUG_PRINT(".\r\n");
|
726 |
if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_SENSOR_MATRIX, buf, packetSize, 0) != 0) |
727 |
return -1; |
728 |
if (wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME)) |
729 |
return -1; |
730 |
|
731 |
wl_token_next_robot = nextRobot; |
732 |
deathDelay = DEATH_DELAY; |
733 |
|
734 |
return 0; |
735 |
} |
736 |
|
737 |
/**
|
738 |
* Called when a packet is received stating that another robot has turned
|
739 |
* its BOM on. Our BOM is then read, and the data is added to the sensor
|
740 |
* matrix.
|
741 |
*
|
742 |
* @param source the robot whose BOM is on
|
743 |
**/
|
744 |
static void wl_token_bom_on_receive(int source) |
745 |
{ |
746 |
SensorReading r; |
747 |
|
748 |
int i, j, max = -1; |
749 |
int vals[16]; |
750 |
|
751 |
WL_DEBUG_PRINT("Robot ");
|
752 |
WL_DEBUG_PRINT_INT(source); |
753 |
WL_DEBUG_PRINT(" has flashed its bom.\r\n");
|
754 |
|
755 |
bom_on_count = 0;
|
756 |
|
757 |
r = get_max_bom_function(); |
758 |
|
759 |
/* Record values into an array */
|
760 |
for (i = 0; i < 16; i++) { |
761 |
vals[i] = bom_get(i); |
762 |
if (max < vals[i])
|
763 |
max = vals[i]; |
764 |
} |
765 |
|
766 |
/* Display results */
|
767 |
for (i = 0; i < 16; i++) { |
768 |
|
769 |
usb_puti(vals[i]); |
770 |
usb_putc('\t');
|
771 |
|
772 |
for (j = 0; j < (int)((max - vals[i]) / 5); j++) { |
773 |
usb_putc('#');
|
774 |
} |
775 |
|
776 |
usb_putc('\n');
|
777 |
|
778 |
} |
779 |
|
780 |
|
781 |
|
782 |
sensor_matrix_set_reading(wl_get_xbee_id(), |
783 |
source, r); |
784 |
|
785 |
WL_DEBUG_PRINT("Max: ");
|
786 |
WL_DEBUG_PRINT_INT(r.dir); |
787 |
WL_DEBUG_PRINT("\tDist: ");
|
788 |
WL_DEBUG_PRINT_INT(r.dist); |
789 |
WL_DEBUG_PRINT("\n\n");
|
790 |
} |
791 |
|
792 |
/**
|
793 |
* This method is called when we receive the token. Upon receiving
|
794 |
* the token, we must send a BOM_ON packet, flash the BOM, and send
|
795 |
* the token to the next robot.
|
796 |
*
|
797 |
* If there is a pending request for the token, this is processed first.
|
798 |
**/
|
799 |
static void wl_token_get_token() |
800 |
{ |
801 |
WL_DEBUG_PRINT("We have the token.\r\n");
|
802 |
if (ringState == ACCEPTED)
|
803 |
{ |
804 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 1);
|
805 |
WL_DEBUG_PRINT("Now a member of the token ring.\r\n");
|
806 |
ringState = MEMBER; |
807 |
joinDelay = -1;
|
808 |
} |
809 |
|
810 |
if (ringState == LEAVING || ringState == NONMEMBER)
|
811 |
{ |
812 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 0);
|
813 |
if (ringState == NONMEMBER)
|
814 |
{ |
815 |
WL_DEBUG_PRINT("We should have left the token ring, but didn't.\r\n");
|
816 |
} |
817 |
return;
|
818 |
} |
819 |
|
820 |
WL_DEBUG_PRINT("Our BOM has been flashed.\r\n");
|
821 |
wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON, NULL, 0, 0); |
822 |
|
823 |
bom_on_function(); |
824 |
#ifdef ROBOT
|
825 |
delay_ms(BOM_DELAY); |
826 |
#endif
|
827 |
bom_off_function(); |
828 |
|
829 |
if (!sensor_matrix_get_in_ring(wl_get_xbee_id()))
|
830 |
{ |
831 |
WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n");
|
832 |
return;
|
833 |
} |
834 |
|
835 |
wl_token_pass_token(); |
836 |
} |
837 |
|
838 |
/**
|
839 |
* Called when a request to join the token ring is received.
|
840 |
* If we are the robot preceding the requester in the ring,
|
841 |
* we respond with a JOIN_ACCEPT packet and pass the token to
|
842 |
* this robot when we receive the token.
|
843 |
*
|
844 |
* @param source the robot who requested to join
|
845 |
**/
|
846 |
static void wl_token_join_receive(int source) |
847 |
{ |
848 |
WL_DEBUG_PRINT("Received joining request from robot ");
|
849 |
WL_DEBUG_PRINT_INT(source); |
850 |
WL_DEBUG_PRINT(".\r\n");
|
851 |
|
852 |
//we cannot accept the request if we are not a member
|
853 |
if (ringState != MEMBER)
|
854 |
return;
|
855 |
//if they didn't get our response, see if we should respond again
|
856 |
if (accepted == source)
|
857 |
accepted = -1;
|
858 |
//we can only accept one request at a time
|
859 |
if (accepted != -1) |
860 |
return;
|
861 |
|
862 |
//check if we are the preceding robot in the token ring
|
863 |
int i = source - 1; |
864 |
while (1) |
865 |
{ |
866 |
if (i < 0) |
867 |
i = sensor_matrix_get_size() - 1;
|
868 |
|
869 |
//we must send a join acceptance
|
870 |
if (i == wl_get_xbee_id())
|
871 |
break;
|
872 |
|
873 |
//another robot will handle it
|
874 |
if (sensor_matrix_get_in_ring(i))
|
875 |
return;
|
876 |
|
877 |
i--; |
878 |
} |
879 |
|
880 |
accepted = source; |
881 |
wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN_ACCEPT, |
882 |
NULL, 0, source, TOKEN_JOIN_ACCEPT_FRAME); |
883 |
|
884 |
WL_DEBUG_PRINT("Accepting robot ");
|
885 |
WL_DEBUG_PRINT_INT(source); |
886 |
WL_DEBUG_PRINT(" into the token ring.\r\n");
|
887 |
|
888 |
// the token ring has not started yet
|
889 |
if (sensor_matrix_get_joined() == 1) |
890 |
wl_token_pass_token(); |
891 |
} |
892 |
|
893 |
/**
|
894 |
* Called when we receive a JOIN_ACCEPT packet in attempting to join
|
895 |
* the token ring.
|
896 |
* Our attempt to join the ring is stopped, and we wait for the token.
|
897 |
*
|
898 |
* @param source the robot who accepted us
|
899 |
**/
|
900 |
static void wl_token_join_accept_receive(int source) |
901 |
{ |
902 |
WL_DEBUG_PRINT("Accepted into the token ring by robot ");
|
903 |
WL_DEBUG_PRINT_INT(source); |
904 |
WL_DEBUG_PRINT(".\r\n");
|
905 |
joinDelay = JOIN_DELAY; |
906 |
ringState = ACCEPTED; |
907 |
acceptor = source; |
908 |
|
909 |
//add ourselves to the token ring
|
910 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 1);
|
911 |
} |