Revision 343
changed the brace style and reformatted the files
| sensor_matrix.c | ||
|---|---|---|
| 48 | 48 |
* |
| 49 | 49 |
* @return the newly created sensor matrix |
| 50 | 50 |
**/ |
| 51 |
SensorMatrix* sensor_matrix_create() |
|
| 52 |
{
|
|
| 53 |
SensorMatrix* m; |
|
| 54 |
int i; |
|
| 51 |
SensorMatrix* sensor_matrix_create() {
|
|
| 52 |
SensorMatrix* m; |
|
| 53 |
int i; |
|
| 55 | 54 |
|
| 56 |
m = (SensorMatrix*)malloc(sizeof(SensorMatrix)); |
|
| 57 |
if (!m) |
|
| 58 |
{
|
|
| 59 |
WL_DEBUG_PRINT("Out of memory - create sensor matrix.\r\n");
|
|
| 60 |
return NULL; |
|
| 61 |
} |
|
| 62 |
m->size = DEFAULT_SENSOR_MATRIX_SIZE; |
|
| 63 |
m->matrix = (int**)malloc(m->size * sizeof(int*)); |
|
| 64 |
if (!(m->matrix)) {
|
|
| 65 |
WL_DEBUG_PRINT("Out of memory - allocating memory for matrix.\r\n");
|
|
| 66 |
free(m); |
|
| 67 |
return NULL; |
|
| 68 |
} |
|
| 69 |
m->joined = (int*)malloc(m->size * sizeof(int)); |
|
| 70 |
if (!(m->joined)) {
|
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| 71 |
WL_DEBUG_PRINT("Out of memory - allocating memory for joined.\r\n");
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| 72 |
free(m->matrix); |
|
| 73 |
free(m); |
|
| 74 |
return NULL; |
|
| 75 |
} |
|
| 76 |
m->numJoined = 0; |
|
| 77 |
if (!(m->matrix) || !(m->joined)) |
|
| 78 |
{
|
|
| 79 |
WL_DEBUG_PRINT("Out of memory - create sensor matrix 2.\r\n");
|
|
| 80 |
return NULL; |
|
| 81 |
} |
|
| 55 |
m = (SensorMatrix*)malloc(sizeof(SensorMatrix)); |
|
| 56 |
if (!m) {
|
|
| 57 |
WL_DEBUG_PRINT("Out of memory - create sensor matrix.\r\n");
|
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| 58 |
return NULL; |
|
| 59 |
} |
|
| 60 |
m->size = DEFAULT_SENSOR_MATRIX_SIZE; |
|
| 61 |
m->matrix = (int**)malloc(m->size * sizeof(int*)); |
|
| 62 |
if (!(m->matrix)) {
|
|
| 63 |
WL_DEBUG_PRINT("Out of memory - allocating memory for matrix.\r\n");
|
|
| 64 |
free(m); |
|
| 65 |
return NULL; |
|
| 66 |
} |
|
| 67 |
m->joined = (int*)malloc(m->size * sizeof(int)); |
|
| 68 |
if (!(m->joined)) {
|
|
| 69 |
WL_DEBUG_PRINT("Out of memory - allocating memory for joined.\r\n");
|
|
| 70 |
free(m->matrix); |
|
| 71 |
free(m); |
|
| 72 |
return NULL; |
|
| 73 |
} |
|
| 74 |
m->numJoined = 0; |
|
| 75 |
if (!(m->matrix) || !(m->joined)) {
|
|
| 76 |
WL_DEBUG_PRINT("Out of memory - create sensor matrix 2.\r\n");
|
|
| 77 |
return NULL; |
|
| 78 |
} |
|
| 82 | 79 |
|
| 83 |
for (i = 0; i < m->size; i++) |
|
| 84 |
{
|
|
| 85 |
m->matrix[i] = NULL; |
|
| 86 |
m->joined[i] = 0; |
|
| 87 |
} |
|
| 88 |
return m; |
|
| 80 |
for (i = 0; i < m->size; i++) {
|
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| 81 |
m->matrix[i] = NULL; |
|
| 82 |
m->joined[i] = 0; |
|
| 83 |
} |
|
| 84 |
return m; |
|
| 89 | 85 |
} |
| 90 | 86 |
|
| 91 | 87 |
/** |
| ... | ... | |
| 93 | 89 |
* |
| 94 | 90 |
* @param m the sensor matrix to delete |
| 95 | 91 |
**/ |
| 96 |
void sensor_matrix_destroy(SensorMatrix* m) |
|
| 97 |
{
|
|
| 98 |
int i; |
|
| 99 |
for (i = 0; i < m->size; i++) |
|
| 100 |
if (m->matrix[i] != NULL) |
|
| 101 |
free(m->matrix[i]); |
|
| 102 |
free(m->matrix); |
|
| 103 |
free(m->joined); |
|
| 104 |
free(m); |
|
| 92 |
void sensor_matrix_destroy(SensorMatrix* m) {
|
|
| 93 |
int i; |
|
| 94 |
for (i = 0; i < m->size; i++) |
|
| 95 |
if (m->matrix[i] != NULL) |
|
| 96 |
free(m->matrix[i]); |
|
| 97 |
free(m->matrix); |
|
| 98 |
free(m->joined); |
|
| 99 |
free(m); |
|
| 105 | 100 |
} |
| 106 | 101 |
|
| 107 | 102 |
/** |
| ... | ... | |
| 110 | 105 |
* @param m the sensor matrix |
| 111 | 106 |
* @param id the XBee ID of the robot to add |
| 112 | 107 |
**/ |
| 113 |
void sensor_matrix_add_robot(SensorMatrix* m, int id) |
|
| 114 |
{
|
|
| 115 |
int i; |
|
| 116 |
if (id >= m->size) |
|
| 117 |
sensor_matrix_expand(m, id + 1); |
|
| 118 |
if (m->matrix[id] != NULL) |
|
| 119 |
return; |
|
| 108 |
void sensor_matrix_add_robot(SensorMatrix* m, int id) {
|
|
| 109 |
int i; |
|
| 110 |
if (id >= m->size) |
|
| 111 |
sensor_matrix_expand(m, id + 1); |
|
| 112 |
if (m->matrix[id] != NULL) |
|
| 113 |
return; |
|
| 120 | 114 |
|
| 121 |
m->matrix[id] = (int*)malloc(m->size * sizeof(int)); |
|
| 122 |
if (!(m->matrix[id])) |
|
| 123 |
{
|
|
| 124 |
WL_DEBUG_PRINT("Out of memory - add robot.\r\n");
|
|
| 125 |
return; |
|
| 126 |
} |
|
| 115 |
m->matrix[id] = (int*)malloc(m->size * sizeof(int)); |
|
| 116 |
if (!(m->matrix[id])) {
|
|
| 117 |
WL_DEBUG_PRINT("Out of memory - add robot.\r\n");
|
|
| 118 |
return; |
|
| 119 |
} |
|
| 127 | 120 |
|
| 128 |
for (i = 0; i < m->size; i++)
|
|
| 129 |
if (m->matrix[i] != NULL)
|
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| 130 |
m->matrix[i][id] = -1;
|
|
| 121 |
for (i = 0; i < m->size; i++)
|
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| 122 |
if (m->matrix[i] != NULL)
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| 123 |
m->matrix[i][id] = -1;
|
|
| 131 | 124 |
} |
| 132 | 125 |
|
| 133 | 126 |
/** |
| ... | ... | |
| 137 | 130 |
* @param m the sensor matrix |
| 138 | 131 |
* @param id the XBee ID of the robot to remove |
| 139 | 132 |
**/ |
| 140 |
void sensor_matrix_remove_robot(SensorMatrix* m, int id) |
|
| 141 |
{
|
|
| 142 |
int i; |
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| 133 |
void sensor_matrix_remove_robot(SensorMatrix* m, int id) {
|
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| 134 |
int i; |
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| 143 | 135 |
|
| 144 |
if (id >= m->size || m->matrix[id] == NULL) |
|
| 145 |
{
|
|
| 146 |
WL_DEBUG_PRINT("Removing robot not added to matrix.\r\n");
|
|
| 147 |
return; |
|
| 148 |
} |
|
| 136 |
if (id >= m->size || m->matrix[id] == NULL) {
|
|
| 137 |
WL_DEBUG_PRINT("Removing robot not added to matrix.\r\n");
|
|
| 138 |
return; |
|
| 139 |
} |
|
| 149 | 140 |
|
| 150 |
free(m->matrix[id]);
|
|
| 151 |
m->matrix[id] = NULL;
|
|
| 141 |
free(m->matrix[id]);
|
|
| 142 |
m->matrix[id] = NULL;
|
|
| 152 | 143 |
|
| 153 |
for (i = 0 ; i < m->size; i++)
|
|
| 154 |
if (m->matrix[i] != NULL)
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| 155 |
m->matrix[i][id] = -1;
|
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| 144 |
for (i = 0 ; i < m->size; i++)
|
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| 145 |
if (m->matrix[i] != NULL)
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| 146 |
m->matrix[i][id] = -1;
|
|
| 156 | 147 |
|
| 157 |
m->joined[id] = 0;
|
|
| 148 |
m->joined[id] = 0;
|
|
| 158 | 149 |
} |
| 159 | 150 |
|
| 160 | 151 |
/** |
| ... | ... | |
| 165 | 156 |
* @param size the new size of the sensor matrix |
| 166 | 157 |
**/ |
| 167 | 158 |
//Note: this has probably not been tested, hopefully it works |
| 168 |
void sensor_matrix_expand(SensorMatrix* m, int nextSize) |
|
| 169 |
{
|
|
| 170 |
int i, j; |
|
| 171 |
WL_DEBUG_PRINT("Expanding sensor matrix.\r\n");
|
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| 159 |
void sensor_matrix_expand(SensorMatrix* m, int nextSize) {
|
|
| 160 |
int i, j; |
|
| 161 |
WL_DEBUG_PRINT("Expanding sensor matrix.\r\n");
|
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| 172 | 162 |
|
| 173 |
int** tempMatrix = (int**)malloc(nextSize * sizeof(int*)); |
|
| 174 |
if (!tempMatrix) |
|
| 175 |
{
|
|
| 176 |
WL_DEBUG_PRINT("Out of memory - expand matrix.\r\n");
|
|
| 177 |
return; |
|
| 178 |
} |
|
| 163 |
int** tempMatrix = (int**)malloc(nextSize * sizeof(int*)); |
|
| 164 |
if (!tempMatrix) {
|
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| 165 |
WL_DEBUG_PRINT("Out of memory - expand matrix.\r\n");
|
|
| 166 |
return; |
|
| 167 |
} |
|
| 179 | 168 |
|
| 180 |
for (i = 0; i < nextSize; i++)
|
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| 181 |
tempMatrix[i] = NULL;
|
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| 169 |
for (i = 0; i < nextSize; i++)
|
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| 170 |
tempMatrix[i] = NULL;
|
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| 182 | 171 |
|
| 183 |
//copy over old sensor data |
|
| 184 |
for (i = 0; i < m->size; i++) |
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| 185 |
if (m->matrix[i] != NULL) |
|
| 186 |
{
|
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| 187 |
tempMatrix[i] = (int *)malloc(nextSize * sizeof(int)); |
|
| 188 |
if (!tempMatrix[i]) |
|
| 189 |
{
|
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| 190 |
WL_DEBUG_PRINT("Out of memory - expand matrix 2.\r\n");
|
|
| 191 |
return; |
|
| 192 |
} |
|
| 193 |
for (j = 0; j < m->size; j++) |
|
| 194 |
tempMatrix[i][j] = m->matrix[i][j]; |
|
| 195 |
for (j = m->size; j < nextSize; j++) |
|
| 196 |
tempMatrix[i][j] = -1; |
|
| 172 |
//copy over old sensor data |
|
| 173 |
for (i = 0; i < m->size; i++) |
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| 174 |
if (m->matrix[i] != NULL) {
|
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| 175 |
tempMatrix[i] = (int *)malloc(nextSize * sizeof(int)); |
|
| 176 |
if (!tempMatrix[i]) {
|
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| 177 |
WL_DEBUG_PRINT("Out of memory - expand matrix 2.\r\n");
|
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| 178 |
return; |
|
| 179 |
} |
|
| 180 |
for (j = 0; j < m->size; j++) |
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| 181 |
tempMatrix[i][j] = m->matrix[i][j]; |
|
| 182 |
for (j = m->size; j < nextSize; j++) |
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| 183 |
tempMatrix[i][j] = -1; |
|
| 197 | 184 |
|
| 198 |
free(m->matrix[i]);
|
|
| 199 |
}
|
|
| 185 |
free(m->matrix[i]);
|
|
| 186 |
}
|
|
| 200 | 187 |
|
| 201 |
free(m->matrix);
|
|
| 202 |
m->matrix = tempMatrix;
|
|
| 203 |
m->size = nextSize;
|
|
| 188 |
free(m->matrix);
|
|
| 189 |
m->matrix = tempMatrix;
|
|
| 190 |
m->size = nextSize;
|
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| 204 | 191 |
|
| 205 |
//expand the size of joined |
|
| 206 |
int* tempJoined = (int *)malloc(nextSize * sizeof(int)); |
|
| 207 |
if (!tempJoined) |
|
| 208 |
{
|
|
| 209 |
WL_DEBUG_PRINT("Out of memory - expand matrix 3.\r\n");
|
|
| 210 |
return; |
|
| 211 |
} |
|
| 192 |
//expand the size of joined |
|
| 193 |
int* tempJoined = (int *)malloc(nextSize * sizeof(int)); |
|
| 194 |
if (!tempJoined) {
|
|
| 195 |
WL_DEBUG_PRINT("Out of memory - expand matrix 3.\r\n");
|
|
| 196 |
return; |
|
| 197 |
} |
|
| 212 | 198 |
|
| 213 |
for (i = 0; i < m->size; i++)
|
|
| 214 |
tempJoined[i] = m->joined[i];
|
|
| 215 |
for (i = m->size; i < nextSize; i++)
|
|
| 216 |
tempJoined[i] = 0;
|
|
| 199 |
for (i = 0; i < m->size; i++)
|
|
| 200 |
tempJoined[i] = m->joined[i];
|
|
| 201 |
for (i = m->size; i < nextSize; i++)
|
|
| 202 |
tempJoined[i] = 0;
|
|
| 217 | 203 |
|
| 218 |
free(m->joined);
|
|
| 219 |
m->joined = tempJoined;
|
|
| 204 |
free(m->joined);
|
|
| 205 |
m->joined = tempJoined;
|
|
| 220 | 206 |
} |
| 221 | 207 |
|
| 222 | 208 |
/** |
| ... | ... | |
| 227 | 213 |
* @param robot the id of the robot who the reading is for |
| 228 | 214 |
* @param reading the BOM reading from observer to robot |
| 229 | 215 |
*/ |
| 230 |
void sensor_matrix_set_reading(SensorMatrix* m, int observer, int robot, int reading) |
|
| 231 |
{
|
|
| 232 |
if (robot >= m->size || observer >= m->size || m->matrix[observer] == NULL) |
|
| 233 |
sensor_matrix_add_robot(m, observer); |
|
| 234 |
m->matrix[observer][robot] = reading; |
|
| 216 |
void sensor_matrix_set_reading(SensorMatrix* m, int observer, int robot, int reading) {
|
|
| 217 |
if (robot >= m->size || observer >= m->size || m->matrix[observer] == NULL) |
|
| 218 |
sensor_matrix_add_robot(m, observer); |
|
| 219 |
m->matrix[observer][robot] = reading; |
|
| 235 | 220 |
} |
| 236 | 221 |
|
| 237 | 222 |
/** |
| ... | ... | |
| 243 | 228 |
* |
| 244 | 229 |
* @return the observer's BOM reading for robot |
| 245 | 230 |
**/ |
| 246 |
int sensor_matrix_get_reading(SensorMatrix* m, int observer, int robot) |
|
| 247 |
{
|
|
| 248 |
if (observer >= m->size || robot >= m->size) |
|
| 249 |
return -1; |
|
| 250 |
return m->matrix[observer][robot]; |
|
| 231 |
int sensor_matrix_get_reading(SensorMatrix* m, int observer, int robot) {
|
|
| 232 |
if (observer >= m->size || robot >= m->size) |
|
| 233 |
return -1; |
|
| 234 |
return m->matrix[observer][robot]; |
|
| 251 | 235 |
} |
| 252 | 236 |
|
| 253 | 237 |
/** |
| ... | ... | |
| 257 | 241 |
* @param robot the robot to set as a member / nonmember of the token ring |
| 258 | 242 |
* @param in 1 if the robot is in the token ring, 0 otherwise |
| 259 | 243 |
**/ |
| 260 |
void sensor_matrix_set_in_ring(SensorMatrix* m, int robot, int in) |
|
| 261 |
{
|
|
| 262 |
if (robot >= m->size) |
|
| 263 |
sensor_matrix_expand(m, robot + 1); |
|
| 264 |
if (in == 1) |
|
| 265 |
sensor_matrix_add_robot(m, robot); |
|
| 266 |
if (in == 1 && m->joined[robot] == 0) |
|
| 267 |
m->numJoined++; |
|
| 268 |
if (in == 0 && m->joined[robot] == 1) |
|
| 269 |
m->numJoined--; |
|
| 270 |
m->joined[robot] = in; |
|
| 244 |
void sensor_matrix_set_in_ring(SensorMatrix* m, int robot, int in) {
|
|
| 245 |
if (robot >= m->size) |
|
| 246 |
sensor_matrix_expand(m, robot + 1); |
|
| 247 |
if (in == 1) |
|
| 248 |
sensor_matrix_add_robot(m, robot); |
|
| 249 |
if (in == 1 && m->joined[robot] == 0) |
|
| 250 |
m->numJoined++; |
|
| 251 |
if (in == 0 && m->joined[robot] == 1) |
|
| 252 |
m->numJoined--; |
|
| 253 |
m->joined[robot] = in; |
|
| 271 | 254 |
} |
| 272 | 255 |
|
| 273 | 256 |
/** |
| ... | ... | |
| 278 | 261 |
* |
| 279 | 262 |
* @return 1 if the robot is in the token ring, 0 otherwise |
| 280 | 263 |
**/ |
| 281 |
int sensor_matrix_get_in_ring(SensorMatrix* m, int robot) |
|
| 282 |
{
|
|
| 283 |
if (robot >= m->size) |
|
| 284 |
return -1; |
|
| 285 |
return m->joined[robot]; |
|
| 264 |
int sensor_matrix_get_in_ring(SensorMatrix* m, int robot) {
|
|
| 265 |
if (robot >= m->size) |
|
| 266 |
return -1; |
|
| 267 |
return m->joined[robot]; |
|
| 286 | 268 |
} |
| 287 | 269 |
|
| 288 | 270 |
/** |
| ... | ... | |
| 292 | 274 |
* |
| 293 | 275 |
* @return the size of the sensor matrix |
| 294 | 276 |
**/ |
| 295 |
int sensor_matrix_get_size(SensorMatrix* m) |
|
| 296 |
{
|
|
| 297 |
return m->size; |
|
| 277 |
int sensor_matrix_get_size(SensorMatrix* m) {
|
|
| 278 |
return m->size; |
|
| 298 | 279 |
} |
| 299 | 280 |
|
| 300 | 281 |
/** |
| ... | ... | |
| 305 | 286 |
* |
| 306 | 287 |
* @return the number of robots in the token ring |
| 307 | 288 |
**/ |
| 308 |
int sensor_matrix_get_joined(SensorMatrix* m) |
|
| 309 |
{
|
|
| 310 |
return m->numJoined; |
|
| 289 |
int sensor_matrix_get_joined(SensorMatrix* m) {
|
|
| 290 |
return m->numJoined; |
|
| 311 | 291 |
} |
| 312 | 292 |
|
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