/trunk/code/projects/libwireless/lib/wl_token_ring.c - Diff - Colony - Robotics Club

Revision 188

Removed interrupt packets.

     #include <wl_defs.h>
     #include <wireless.h>
     #include <sensor_matrix.h>
     #include <queue.h>
     #ifdef ROBOT
     #ifndef FIREFLY
-...
     /*Packet Handling Routines*/
     void wl_token_pass_receive(int source, char nextRobot, unsigned char* sensorData, int sensorDataLength);
     void wl_token_interrupt_request_receive(int source, int robot);
     void wl_token_interrupt_pass_receive(int source, int robot);
     void wl_token_bom_on_receive(int source);
     void wl_token_join_receive(int source);
     void wl_token_join_accept_receive(int source);
-...
     int deathDelay = -1;
     //the counter for joining, before we form our own token ring
     int joinDelay = -1;
     //queue containing ids of interruption requests
     Queue* interrupting = NULL;
     //current robot to check in the iterator
     int iteratorCount = 0;
-...
+    	}
     	sensorMatrix = sensor_matrix_create();
     	interrupting = queue_create();
     	//add ourselves to the sensor matrix
     	sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 0);
-...
     void wl_token_ring_cleanup()
+    {
     	sensor_matrix_destroy(sensorMatrix);
     	queue_destroy(interrupting);
+    }
     /**
-...
     			//add the robot to the sensor matrix if it is not already there
     			wl_token_bom_on_receive(source);
     			break;
     		case WL_TOKEN_INTERRUPT_REQUEST:
     			wl_token_interrupt_request_receive(source, packet[0]);
     			break;
     		case WL_TOKEN_INTERRUPT_PASS:
     			wl_token_interrupt_pass_receive(source, packet[0]);
     			break;
     		case WL_TOKEN_JOIN:
     			wl_token_join_receive(source);
     			break;
-...
+    }
     /**
      * Requests that the specified robot be given the token and
      * allowed to flash its BOM. After its BOM is flashed, the
      * token will return to the robot who sent it.
+     *
      * @param robot the ID of the robot which should flash its BOM
      **/
     void wl_token_request(int robot)
+    {
     	char buf[1];
     	buf[0] = robot;
     	wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_INTERRUPT_REQUEST,
     		buf, 1, 0);
+    }
     /**
      * Returns the BOM reading robot source has for robot dest.
+     *
      * @param source the robot that made the BOM reading
-...
     		return;
+    	}
     	//check for interruption requests
     	if (queue_size(interrupting) > 0)
+    	{
     		char buf[1];
     		buf[0] = (char)(int)queue_remove(interrupting);
     		//in case this robot has requested multiple times
     		queue_remove_all(interrupting, (void*)(int)buf[0]);
     		wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_INTERRUPT_PASS,
     			buf, 1, 0);
     		deathDelay = DEATH_DELAY;
     		wl_token_next_robot = buf[0];
     		return;
+    	}
     	WL_DEBUG_PRINT("Our BOM has been flashed.\r\n");
     	wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON,
     		NULL, 0, 0);
-...
+    }
     /**
      * Called when we receive a packet passing the token and interrupting
      * the token ring.
      * If the token has been passed to us, we flash our BOM
      * and pass it back.
+     *
      * @param source the robot who sent the interrupt packet
      * @param robot the robot the token has been passed to
      **/
     void wl_token_interrupt_pass_receive(int source, int robot)
+    {
     	if (wl_get_xbee_id() != robot)
+    	{
     		queue_remove_all(interrupting, (void*)robot);
     		wl_token_next_robot = robot;
     		deathDelay = DEATH_DELAY + rand() / (RAND_MAX / (2 * DEATH_DELAY));
     		return;
+    	}
     	wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON,
     		NULL, 0, 0);
     	bom_on_function();
     	#ifdef ROBOT
     	delay_ms(BOM_DELAY);
     	#endif
     	bom_off_function();
     	//we don't include ourself, only if we are in the ring
     	int packetSize = 1 + 2 * (sensor_matrix_get_joined(sensorMatrix) - 1);
     	if (!sensor_matrix_get_in_ring(sensorMatrix, wl_get_xbee_id()))
     		packetSize += 2;
     	char* buf = (char*)malloc(packetSize * sizeof(char));
     	if (!buf)
+    	{
     		WL_DEBUG_PRINT("Out of memory - pass_receive.\r\n");
     		return;
+    	}
     	//return the token to where we got it from
     	buf[0] = source;
     	int i = 0, j = 0;
     	for (i = 0; i < sensor_matrix_get_size(sensorMatrix); i++)
     		if (sensor_matrix_get_in_ring(sensorMatrix, i) && i != wl_get_xbee_id())
+    		{
     			buf[2*j + 1] = i;
     			buf[2*j + 2] = sensor_matrix_get_reading(sensorMatrix, wl_get_xbee_id(), i);
     			j++;
+    		}
     	wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS,
     		buf, packetSize, 0);
     	wl_token_next_robot = source;
     	deathDelay = DEATH_DELAY;
     	free(buf);
+    }
     /**
      * Returns the number of robots in the token ring.
+     *
      * @return the number of robots in the token ring
-...
+    }
     /**
      * Called when we receive a request to interrupt the token ring.
      * We add the robot to our list of interrupt requests,
      * and will send the token to this robot when we next receive the
      * token, unless someone else does so first.
      * Returns the number of robots currently in the token ring.
+     *
      * @param source the robot requesting interruption
      * @param robt the robot requested to interrupt the token ring
      * @return the number of robots in the token ring
      **/
     void wl_token_interrupt_request_receive(int source, int robot)
     int wl_token_get_num_robots(void)
+    {
     	queue_add(interrupting, (void*)robot);
     	return sensor_matrix_get_joined(sensorMatrix);
+    }
     int wl_token_get_num_robots(void){
       return sensor_matrix_get_joined(sensorMatrix);
     /**
      * Returns the number of robots in the sensor matrix.
+     *
      * @return the number of robots in the sensor matrix
      **/
     int wl_token_get_matrix_size(void)
+    {
     	return sensor_matrix_get_size(sensorMatrix);
+    }
     int wl_token_get_matrix_size(void){
       return sensor_matrix_get_size(sensorMatrix);
+    }

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Revision 188