Revision 196
Updated token ring.
| wl_token_ring.c | ||
|---|---|---|
| 70 | 70 |
//current robot to check in the iterator |
| 71 | 71 |
int iteratorCount = 0; |
| 72 | 72 |
|
| 73 |
// the amount of time a robot has had its BOM on for |
|
| 74 |
int bom_on_count = 0; |
|
| 75 |
|
|
| 73 | 76 |
void do_nothing(void) {}
|
| 74 | 77 |
int get_nothing(void) {return -1;}
|
| 75 | 78 |
|
| ... | ... | |
| 204 | 207 |
deathDelay--; |
| 205 | 208 |
if (joinDelay >= 0) |
| 206 | 209 |
joinDelay--; |
| 210 |
if (bom_on_count >= 0) |
|
| 211 |
bom_on_count++; |
|
| 207 | 212 |
} |
| 208 | 213 |
|
| 209 | 214 |
/** |
| ... | ... | |
| 318 | 323 |
void wl_token_pass_receive(int source, char nextRobot, unsigned char* sensorData, int sensorDataLength) |
| 319 | 324 |
{
|
| 320 | 325 |
int i, j; |
| 326 |
|
|
| 327 |
// this prevents two tokens from being passed around at a time |
|
| 328 |
if (source != wl_token_next_robot && bom_on_count <= DEATH_DELAY / 2) |
|
| 329 |
{
|
|
| 330 |
WL_DEBUG_PRINT("Received token pass when a robot should not have died yet.\n");
|
|
| 331 |
WL_DEBUG_PRINT("There are probably two tokens going around, packet ignored.\n");
|
|
| 332 |
return; |
|
| 333 |
} |
|
| 334 |
|
|
| 335 |
bom_on_count = -1; |
|
| 321 | 336 |
deathDelay = -1; |
| 322 |
|
|
| 323 | 337 |
WL_DEBUG_PRINT("Received the token from robot");
|
| 324 | 338 |
WL_DEBUG_PRINT_INT(source); |
| 325 | 339 |
WL_DEBUG_PRINT(", next robot is ");
|
| ... | ... | |
| 492 | 506 |
WL_DEBUG_PRINT("Robot ");
|
| 493 | 507 |
WL_DEBUG_PRINT_INT(source); |
| 494 | 508 |
WL_DEBUG_PRINT(" has flashed its bom.\r\n");
|
| 509 |
|
|
| 510 |
bom_on_count = 0; |
|
| 495 | 511 |
|
| 496 | 512 |
sensor_matrix_set_reading(sensorMatrix, wl_get_xbee_id(), |
| 497 | 513 |
source, get_max_bom_function()); |
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