Revision 346
Undid Jason's style changes. I like tabs.
| sensor_matrix.c | ||
|---|---|---|
| 48 | 48 |
* |
| 49 | 49 |
* @return the newly created sensor matrix |
| 50 | 50 |
**/ |
| 51 |
SensorMatrix* sensor_matrix_create() {
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| 52 |
SensorMatrix* m; |
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| 53 |
int i; |
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| 51 |
SensorMatrix* sensor_matrix_create() |
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| 52 |
{
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SensorMatrix* m; |
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| 54 |
int i; |
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| 54 | 55 |
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m = (SensorMatrix*)malloc(sizeof(SensorMatrix)); |
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if (!m) {
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| 57 |
WL_DEBUG_PRINT("Out of memory - create sensor matrix.\r\n");
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return NULL; |
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} |
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m->size = DEFAULT_SENSOR_MATRIX_SIZE; |
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m->matrix = (int**)malloc(m->size * sizeof(int*)); |
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| 62 |
if (!(m->matrix)) {
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| 63 |
WL_DEBUG_PRINT("Out of memory - allocating memory for matrix.\r\n");
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free(m); |
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return NULL; |
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} |
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m->joined = (int*)malloc(m->size * sizeof(int)); |
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if (!(m->joined)) {
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WL_DEBUG_PRINT("Out of memory - allocating memory for joined.\r\n");
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free(m->matrix); |
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free(m); |
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return NULL; |
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} |
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m->numJoined = 0; |
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if (!(m->matrix) || !(m->joined)) {
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WL_DEBUG_PRINT("Out of memory - create sensor matrix 2.\r\n");
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return NULL; |
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} |
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m = (SensorMatrix*)malloc(sizeof(SensorMatrix)); |
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if (!m) |
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{
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WL_DEBUG_PRINT("Out of memory - create sensor matrix.\r\n");
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return NULL; |
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} |
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m->size = DEFAULT_SENSOR_MATRIX_SIZE; |
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m->matrix = (int**)malloc(m->size * sizeof(int*)); |
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if (!(m->matrix)) {
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WL_DEBUG_PRINT("Out of memory - allocating memory for matrix.\r\n");
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free(m); |
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return NULL; |
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} |
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| 69 |
m->joined = (int*)malloc(m->size * sizeof(int)); |
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if (!(m->joined)) {
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| 71 |
WL_DEBUG_PRINT("Out of memory - allocating memory for joined.\r\n");
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free(m->matrix); |
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free(m); |
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return NULL; |
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} |
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m->numJoined = 0; |
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if (!(m->matrix) || !(m->joined)) |
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{
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WL_DEBUG_PRINT("Out of memory - create sensor matrix 2.\r\n");
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return NULL; |
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} |
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| 79 | 82 |
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for (i = 0; i < m->size; i++) {
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m->matrix[i] = NULL; |
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m->joined[i] = 0; |
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} |
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return m; |
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for (i = 0; i < m->size; i++) |
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{
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m->matrix[i] = NULL; |
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m->joined[i] = 0; |
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} |
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return m; |
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| 85 | 89 |
} |
| 86 | 90 |
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| 87 | 91 |
/** |
| ... | ... | |
| 89 | 93 |
* |
| 90 | 94 |
* @param m the sensor matrix to delete |
| 91 | 95 |
**/ |
| 92 |
void sensor_matrix_destroy(SensorMatrix* m) {
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int i; |
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for (i = 0; i < m->size; i++) |
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if (m->matrix[i] != NULL) |
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free(m->matrix[i]); |
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free(m->matrix); |
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free(m->joined); |
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free(m); |
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void sensor_matrix_destroy(SensorMatrix* m) |
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{
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int i; |
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for (i = 0; i < m->size; i++) |
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if (m->matrix[i] != NULL) |
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free(m->matrix[i]); |
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free(m->matrix); |
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free(m->joined); |
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free(m); |
|
| 100 | 105 |
} |
| 101 | 106 |
|
| 102 | 107 |
/** |
| ... | ... | |
| 105 | 110 |
* @param m the sensor matrix |
| 106 | 111 |
* @param id the XBee ID of the robot to add |
| 107 | 112 |
**/ |
| 108 |
void sensor_matrix_add_robot(SensorMatrix* m, int id) {
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int i; |
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| 110 |
if (id >= m->size) |
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sensor_matrix_expand(m, id + 1); |
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if (m->matrix[id] != NULL) |
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return; |
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void sensor_matrix_add_robot(SensorMatrix* m, int id) |
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{
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int i; |
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if (id >= m->size) |
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sensor_matrix_expand(m, id + 1); |
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if (m->matrix[id] != NULL) |
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return; |
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| 114 | 120 |
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m->matrix[id] = (int*)malloc(m->size * sizeof(int)); |
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if (!(m->matrix[id])) {
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| 117 |
WL_DEBUG_PRINT("Out of memory - add robot.\r\n");
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return; |
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} |
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m->matrix[id] = (int*)malloc(m->size * sizeof(int)); |
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| 122 |
if (!(m->matrix[id])) |
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{
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| 124 |
WL_DEBUG_PRINT("Out of memory - add robot.\r\n");
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return; |
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} |
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| 120 | 127 |
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for (i = 0; i < m->size; i++)
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if (m->matrix[i] != NULL)
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m->matrix[i][id] = -1;
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for (i = 0; i < m->size; i++)
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if (m->matrix[i] != NULL)
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m->matrix[i][id] = -1;
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| 124 | 131 |
} |
| 125 | 132 |
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| 126 | 133 |
/** |
| ... | ... | |
| 130 | 137 |
* @param m the sensor matrix |
| 131 | 138 |
* @param id the XBee ID of the robot to remove |
| 132 | 139 |
**/ |
| 133 |
void sensor_matrix_remove_robot(SensorMatrix* m, int id) {
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int i; |
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void sensor_matrix_remove_robot(SensorMatrix* m, int id) |
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{
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int i; |
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| 135 | 143 |
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if (id >= m->size || m->matrix[id] == NULL) {
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WL_DEBUG_PRINT("Removing robot not added to matrix.\r\n");
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return; |
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} |
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if (id >= m->size || m->matrix[id] == NULL) |
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{
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WL_DEBUG_PRINT("Removing robot not added to matrix.\r\n");
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return; |
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} |
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| 140 | 149 |
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free(m->matrix[id]);
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m->matrix[id] = NULL;
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free(m->matrix[id]);
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| 151 |
m->matrix[id] = NULL;
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| 143 | 152 |
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| 144 |
for (i = 0 ; i < m->size; i++)
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if (m->matrix[i] != NULL)
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m->matrix[i][id] = -1;
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for (i = 0 ; i < m->size; i++)
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if (m->matrix[i] != NULL)
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m->matrix[i][id] = -1;
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| 147 | 156 |
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m->joined[id] = 0;
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m->joined[id] = 0;
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| 149 | 158 |
} |
| 150 | 159 |
|
| 151 | 160 |
/** |
| ... | ... | |
| 156 | 165 |
* @param size the new size of the sensor matrix |
| 157 | 166 |
**/ |
| 158 | 167 |
//Note: this has probably not been tested, hopefully it works |
| 159 |
void sensor_matrix_expand(SensorMatrix* m, int nextSize) {
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| 160 |
int i, j; |
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WL_DEBUG_PRINT("Expanding sensor matrix.\r\n");
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| 168 |
void sensor_matrix_expand(SensorMatrix* m, int nextSize) |
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{
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| 170 |
int i, j; |
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WL_DEBUG_PRINT("Expanding sensor matrix.\r\n");
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| 162 | 172 |
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int** tempMatrix = (int**)malloc(nextSize * sizeof(int*)); |
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if (!tempMatrix) {
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WL_DEBUG_PRINT("Out of memory - expand matrix.\r\n");
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| 166 |
return; |
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} |
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int** tempMatrix = (int**)malloc(nextSize * sizeof(int*)); |
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| 174 |
if (!tempMatrix) |
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{
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| 176 |
WL_DEBUG_PRINT("Out of memory - expand matrix.\r\n");
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| 177 |
return; |
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| 178 |
} |
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| 168 | 179 |
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| 169 |
for (i = 0; i < nextSize; i++)
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tempMatrix[i] = NULL;
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| 180 |
for (i = 0; i < nextSize; i++)
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tempMatrix[i] = NULL;
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| 171 | 182 |
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//copy over old sensor data |
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for (i = 0; i < m->size; i++) |
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if (m->matrix[i] != NULL) {
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tempMatrix[i] = (int *)malloc(nextSize * sizeof(int)); |
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| 176 |
if (!tempMatrix[i]) {
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| 177 |
WL_DEBUG_PRINT("Out of memory - expand matrix 2.\r\n");
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return; |
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} |
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for (j = 0; j < m->size; j++) |
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tempMatrix[i][j] = m->matrix[i][j]; |
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| 182 |
for (j = m->size; j < nextSize; j++) |
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tempMatrix[i][j] = -1; |
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| 183 |
//copy over old sensor data |
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| 184 |
for (i = 0; i < m->size; i++) |
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| 185 |
if (m->matrix[i] != NULL) |
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{
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| 187 |
tempMatrix[i] = (int *)malloc(nextSize * sizeof(int)); |
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| 188 |
if (!tempMatrix[i]) |
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| 189 |
{
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| 190 |
WL_DEBUG_PRINT("Out of memory - expand matrix 2.\r\n");
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| 191 |
return; |
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} |
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| 193 |
for (j = 0; j < m->size; j++) |
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tempMatrix[i][j] = m->matrix[i][j]; |
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for (j = m->size; j < nextSize; j++) |
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tempMatrix[i][j] = -1; |
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| 184 | 197 |
|
| 185 |
free(m->matrix[i]);
|
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| 186 |
}
|
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| 198 |
free(m->matrix[i]);
|
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| 199 |
}
|
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| 187 | 200 |
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| 188 |
free(m->matrix);
|
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| 189 |
m->matrix = tempMatrix;
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| 190 |
m->size = nextSize;
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| 201 |
free(m->matrix);
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| 202 |
m->matrix = tempMatrix;
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| 203 |
m->size = nextSize;
|
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| 191 | 204 |
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| 192 |
//expand the size of joined |
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int* tempJoined = (int *)malloc(nextSize * sizeof(int)); |
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| 194 |
if (!tempJoined) {
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| 195 |
WL_DEBUG_PRINT("Out of memory - expand matrix 3.\r\n");
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| 196 |
return; |
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| 197 |
} |
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| 205 |
//expand the size of joined |
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| 206 |
int* tempJoined = (int *)malloc(nextSize * sizeof(int)); |
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| 207 |
if (!tempJoined) |
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| 208 |
{
|
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| 209 |
WL_DEBUG_PRINT("Out of memory - expand matrix 3.\r\n");
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| 210 |
return; |
|
| 211 |
} |
|
| 198 | 212 |
|
| 199 |
for (i = 0; i < m->size; i++)
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| 200 |
tempJoined[i] = m->joined[i];
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| 201 |
for (i = m->size; i < nextSize; i++)
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| 202 |
tempJoined[i] = 0;
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| 213 |
for (i = 0; i < m->size; i++)
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| 214 |
tempJoined[i] = m->joined[i];
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| 215 |
for (i = m->size; i < nextSize; i++)
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| 216 |
tempJoined[i] = 0;
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| 203 | 217 |
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| 204 |
free(m->joined);
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| 205 |
m->joined = tempJoined;
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| 218 |
free(m->joined);
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| 219 |
m->joined = tempJoined;
|
|
| 206 | 220 |
} |
| 207 | 221 |
|
| 208 | 222 |
/** |
| ... | ... | |
| 213 | 227 |
* @param robot the id of the robot who the reading is for |
| 214 | 228 |
* @param reading the BOM reading from observer to robot |
| 215 | 229 |
*/ |
| 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; |
|
| 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; |
|
| 220 | 235 |
} |
| 221 | 236 |
|
| 222 | 237 |
/** |
| ... | ... | |
| 228 | 243 |
* |
| 229 | 244 |
* @return the observer's BOM reading for robot |
| 230 | 245 |
**/ |
| 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]; |
|
| 246 |
int sensor_matrix_get_reading(SensorMatrix* m, int observer, int robot) |
|
| 247 |
{
|
|
| 248 |
if (observer >= m->size || robot >= m->size) |
|
| 249 |
return -1; |
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| 250 |
return m->matrix[observer][robot]; |
|
| 235 | 251 |
} |
| 236 | 252 |
|
| 237 | 253 |
/** |
| ... | ... | |
| 241 | 257 |
* @param robot the robot to set as a member / nonmember of the token ring |
| 242 | 258 |
* @param in 1 if the robot is in the token ring, 0 otherwise |
| 243 | 259 |
**/ |
| 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) |
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| 248 |
sensor_matrix_add_robot(m, robot); |
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| 249 |
if (in == 1 && m->joined[robot] == 0) |
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| 250 |
m->numJoined++; |
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| 251 |
if (in == 0 && m->joined[robot] == 1) |
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| 252 |
m->numJoined--; |
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| 253 |
m->joined[robot] = in; |
|
| 260 |
void sensor_matrix_set_in_ring(SensorMatrix* m, int robot, int in) |
|
| 261 |
{
|
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| 262 |
if (robot >= m->size) |
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| 263 |
sensor_matrix_expand(m, robot + 1); |
|
| 264 |
if (in == 1) |
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| 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; |
|
| 254 | 271 |
} |
| 255 | 272 |
|
| 256 | 273 |
/** |
| ... | ... | |
| 261 | 278 |
* |
| 262 | 279 |
* @return 1 if the robot is in the token ring, 0 otherwise |
| 263 | 280 |
**/ |
| 264 |
int sensor_matrix_get_in_ring(SensorMatrix* m, int robot) {
|
|
| 265 |
if (robot >= m->size) |
|
| 266 |
return -1; |
|
| 267 |
return m->joined[robot]; |
|
| 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]; |
|
| 268 | 286 |
} |
| 269 | 287 |
|
| 270 | 288 |
/** |
| ... | ... | |
| 274 | 292 |
* |
| 275 | 293 |
* @return the size of the sensor matrix |
| 276 | 294 |
**/ |
| 277 |
int sensor_matrix_get_size(SensorMatrix* m) {
|
|
| 278 |
return m->size; |
|
| 295 |
int sensor_matrix_get_size(SensorMatrix* m) |
|
| 296 |
{
|
|
| 297 |
return m->size; |
|
| 279 | 298 |
} |
| 280 | 299 |
|
| 281 | 300 |
/** |
| ... | ... | |
| 286 | 305 |
* |
| 287 | 306 |
* @return the number of robots in the token ring |
| 288 | 307 |
**/ |
| 289 |
int sensor_matrix_get_joined(SensorMatrix* m) {
|
|
| 290 |
return m->numJoined; |
|
| 308 |
int sensor_matrix_get_joined(SensorMatrix* m) |
|
| 309 |
{
|
|
| 310 |
return m->numJoined; |
|
| 291 | 311 |
} |
| 292 | 312 |
|
Also available in: Unified diff