root / demos / hunter_prey / lib / src / libwireless / sensor_matrix.h @ 1828
History | View | Annotate | Download (3.14 KB)
1 | 1828 | emullini | /**
|
---|---|---|---|
2 | * Copyright (c) 2007 Colony Project
|
||
3 | *
|
||
4 | * Permission is hereby granted, free of charge, to any person
|
||
5 | * obtaining a copy of this software and associated documentation
|
||
6 | * files (the "Software"), to deal in the Software without
|
||
7 | * restriction, including without limitation the rights to use,
|
||
8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
9 | * copies of the Software, and to permit persons to whom the
|
||
10 | * Software is furnished to do so, subject to the following
|
||
11 | * conditions:
|
||
12 | *
|
||
13 | * The above copyright notice and this permission notice shall be
|
||
14 | * included in all copies or substantial portions of the Software.
|
||
15 | *
|
||
16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
24 | **/
|
||
25 | |||
26 | /**
|
||
27 | * @file sensor_matrix.h
|
||
28 | * @brief Definitions for sensor matrices
|
||
29 | *
|
||
30 | * Contains functions and declarations for using sensor matrices.
|
||
31 | *
|
||
32 | * @author Brian Coltin, Colony Project, CMU Robotics Club
|
||
33 | **/
|
||
34 | |||
35 | #ifndef SENSOR_MATRIX_H
|
||
36 | #define SENSOR_MATRIX_H
|
||
37 | |||
38 | |||
39 | /**
|
||
40 | * @defgroup sensormatrix Sensor Matrix
|
||
41 | * @brief the robot sensor matrix
|
||
42 | *
|
||
43 | * These functions and structures are used for localization
|
||
44 | * to determine the relative directions of robots.
|
||
45 | *
|
||
46 | * @{
|
||
47 | **/
|
||
48 | |||
49 | #define MAXIMUM_XBEE_ID 0x10 |
||
50 | #define READING_UNKNOWN 0xFF |
||
51 | |||
52 | /**
|
||
53 | * @struct SensorMatrix
|
||
54 | *
|
||
55 | * A sensor matrix.
|
||
56 | **/
|
||
57 | //TODO: the order of member variables in this struct should be changed in case the compile packs the struct
|
||
58 | // In order to achieve the best packing, the variables should be listed in order of decreasing memory size.
|
||
59 | // Thus, pointers should be first, followed by int, followed by char.
|
||
60 | typedef struct |
||
61 | { |
||
62 | /**
|
||
63 | * The number of robots in the token ring.
|
||
64 | **/
|
||
65 | int numJoined;
|
||
66 | /**
|
||
67 | * The element representing a robot is true if that robot
|
||
68 | * is in the token ring and false otherwise.
|
||
69 | **/
|
||
70 | unsigned char joined[MAXIMUM_XBEE_ID]; |
||
71 | |||
72 | // on the bayboard, we don't include the matrix to save memory.
|
||
73 | #ifndef BAYBOARD
|
||
74 | /**
|
||
75 | * The matrix. Each row represents the readings of one
|
||
76 | * robot.
|
||
77 | **/
|
||
78 | unsigned char matrix[MAXIMUM_XBEE_ID][MAXIMUM_XBEE_ID]; |
||
79 | #endif
|
||
80 | } SensorMatrix; |
||
81 | |||
82 | /**@brief Create a sensor matrix **/
|
||
83 | void sensor_matrix_create(void); |
||
84 | /**@brief Set a reading in a sensor matrix **/
|
||
85 | void sensor_matrix_set_reading(int observer, int robot, int reading); |
||
86 | /**@brief Get a reading in a sensor matrix **/
|
||
87 | int sensor_matrix_get_reading(int observer, int robot); |
||
88 | /**@brief Set whether the robot is in the token ring **/
|
||
89 | void sensor_matrix_set_in_ring(int robot, int in); |
||
90 | /**@brief Get whether the robot is in the sensor ring **/
|
||
91 | int sensor_matrix_get_in_ring(int robot); |
||
92 | /**@brief Get the number of robots which have joined the token ring **/
|
||
93 | int sensor_matrix_get_joined(void); |
||
94 | /**@brief Get the maximum size of the sensor matrix **/
|
||
95 | int sensor_matrix_get_size(void); |
||
96 | |||
97 | /** @} **/ //end defgroup |
||
98 | |||
99 | |||
100 | #endif
|