Revision 346
Undid Jason's style changes. I like tabs.
wl_token_ring.c | ||
---|---|---|
67 | 67 |
void wl_token_ring_timeout_handler(void); |
68 | 68 |
void wl_token_ring_response_handler(int frame, int received); |
69 | 69 |
void wl_token_ring_receive_handler(char type, int source, unsigned char* packet, |
70 |
int length);
|
|
70 |
int length);
|
|
71 | 71 |
void wl_token_ring_cleanup(void); |
72 | 72 |
|
73 | 73 |
/*Helper Functions*/ |
... | ... | |
127 | 127 |
#endif |
128 | 128 |
|
129 | 129 |
PacketGroupHandler wl_token_ring_handler = |
130 |
{WL_TOKEN_RING_GROUP, wl_token_ring_timeout_handler,
|
|
131 |
wl_token_ring_response_handler, wl_token_ring_receive_handler,
|
|
132 |
wl_token_ring_cleanup};
|
|
130 |
{WL_TOKEN_RING_GROUP, wl_token_ring_timeout_handler,
|
|
131 |
wl_token_ring_response_handler, wl_token_ring_receive_handler,
|
|
132 |
wl_token_ring_cleanup};
|
|
133 | 133 |
|
134 | 134 |
/** |
135 | 135 |
* Initialize the token ring packet group and register it with the |
136 | 136 |
* wireless library. The robot will not join a token ring. |
137 | 137 |
**/ |
138 |
void wl_token_ring_register() { |
|
139 |
if (wl_get_xbee_id() > 0xFF) { |
|
140 |
//Note: if this becomes an issue (unlikely), we could limit sensor information |
|
141 |
//to half a byte and use 12 bits for the id |
|
142 |
WL_DEBUG_PRINT("XBee ID must be single byte for token ring, is "); |
|
143 |
WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
|
144 |
WL_DEBUG_PRINT(".\r\n"); |
|
145 |
return; |
|
146 |
} |
|
138 |
void wl_token_ring_register() |
|
139 |
{ |
|
140 |
if (wl_get_xbee_id() > 0xFF) |
|
141 |
{ |
|
142 |
//Note: if this becomes an issue (unlikely), we could limit sensor information |
|
143 |
//to half a byte and use 12 bits for the id |
|
144 |
WL_DEBUG_PRINT("XBee ID must be single byte for token ring, is "); |
|
145 |
WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
|
146 |
WL_DEBUG_PRINT(".\r\n"); |
|
147 |
return; |
|
148 |
} |
|
147 | 149 |
|
148 |
sensorMatrix = sensor_matrix_create();
|
|
149 |
//add ourselves to the sensor matrix
|
|
150 |
sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 0);
|
|
150 |
sensorMatrix = sensor_matrix_create();
|
|
151 |
//add ourselves to the sensor matrix
|
|
152 |
sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 0);
|
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151 | 153 |
|
152 |
wl_register_packet_group(&wl_token_ring_handler);
|
|
154 |
wl_register_packet_group(&wl_token_ring_handler);
|
|
153 | 155 |
} |
154 | 156 |
|
155 | 157 |
/** |
156 | 158 |
* Removes the packet group from the wireless library. |
157 | 159 |
**/ |
158 |
void wl_token_ring_unregister() { |
|
159 |
wl_unregister_packet_group(&wl_token_ring_handler); |
|
160 |
void wl_token_ring_unregister() |
|
161 |
{ |
|
162 |
wl_unregister_packet_group(&wl_token_ring_handler); |
|
160 | 163 |
} |
161 | 164 |
|
162 | 165 |
/** |
... | ... | |
172 | 175 |
* measurement of the maximum BOM reading is needed. |
173 | 176 |
**/ |
174 | 177 |
void wl_token_ring_set_bom_functions(void (*on_function) (void), |
175 |
void (*off_function) (void), int (*max_bom_function) (void)) { |
|
176 |
bom_on_function = on_function; |
|
177 |
bom_off_function = off_function; |
|
178 |
get_max_bom_function = max_bom_function; |
|
178 |
void (*off_function) (void), int (*max_bom_function) (void)) |
|
179 |
{ |
|
180 |
bom_on_function = on_function; |
|
181 |
bom_off_function = off_function; |
|
182 |
get_max_bom_function = max_bom_function; |
|
179 | 183 |
} |
180 | 184 |
|
181 | 185 |
/** |
182 | 186 |
* Called to cleanup the token ring packet group. |
183 | 187 |
**/ |
184 |
void wl_token_ring_cleanup() { |
|
185 |
sensor_matrix_destroy(sensorMatrix); |
|
188 |
void wl_token_ring_cleanup() |
|
189 |
{ |
|
190 |
sensor_matrix_destroy(sensorMatrix); |
|
186 | 191 |
} |
187 | 192 |
|
188 | 193 |
/** |
189 | 194 |
* Called approximately every quarter second by the wireless library. |
190 | 195 |
**/ |
191 |
void wl_token_ring_timeout_handler() { |
|
192 |
//someone is not responding, assume they are dead |
|
193 |
if (deathDelay == 0) { |
|
194 |
//pass the token to the next robot if we think someone has died |
|
195 |
//also, declare that person dead, as long as it isn't us |
|
196 |
if (wl_token_next_robot != wl_get_xbee_id()) { |
|
197 |
sensor_matrix_set_in_ring(sensorMatrix, wl_token_next_robot, 0); |
|
198 |
WL_DEBUG_PRINT("Robot "); |
|
199 |
WL_DEBUG_PRINT_INT(wl_token_next_robot); |
|
200 |
WL_DEBUG_PRINT(" has died.\r\n"); |
|
201 |
wl_token_next_robot = -1; |
|
202 |
deathDelay = DEATH_DELAY; |
|
203 |
} |
|
196 |
void wl_token_ring_timeout_handler() |
|
197 |
{ |
|
198 |
//someone is not responding, assume they are dead |
|
199 |
if (deathDelay == 0) |
|
200 |
{ |
|
201 |
//pass the token to the next robot if we think someone has died |
|
202 |
//also, declare that person dead, as long as it isn't us |
|
203 |
if (wl_token_next_robot != wl_get_xbee_id()) |
|
204 |
{ |
|
205 |
sensor_matrix_set_in_ring(sensorMatrix, wl_token_next_robot, 0); |
|
206 |
WL_DEBUG_PRINT("Robot "); |
|
207 |
WL_DEBUG_PRINT_INT(wl_token_next_robot); |
|
208 |
WL_DEBUG_PRINT(" has died.\r\n"); |
|
209 |
wl_token_next_robot = -1; |
|
210 |
deathDelay = DEATH_DELAY; |
|
211 |
} |
|
204 | 212 |
|
205 |
// we may have been dropped from the ring when this is received
|
|
206 |
if (ringState == MEMBER)
|
|
207 |
wl_token_pass_token();
|
|
208 |
}
|
|
213 |
// we may have been dropped from the ring when this is received
|
|
214 |
if (ringState == MEMBER)
|
|
215 |
wl_token_pass_token();
|
|
216 |
}
|
|
209 | 217 |
|
210 |
//we must start our own token ring, no one is responding to us |
|
211 |
if (joinDelay == 0) { |
|
212 |
if (sensor_matrix_get_joined(sensorMatrix) == 0) { |
|
213 |
WL_DEBUG_PRINT("Creating our own token ring, no robots seem to exist.\r\n"); |
|
214 |
sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 1); |
|
215 |
ringState = MEMBER; |
|
216 |
//this will make us pass the token to ourself |
|
217 |
//repeatedly, and other robots when they join |
|
218 |
deathDelay = DEATH_DELAY; |
|
219 |
wl_token_next_robot = wl_get_xbee_id(); |
|
220 |
} else { |
|
221 |
WL_DEBUG_PRINT("Attempting to join the token ring again.\r\n"); |
|
222 |
//attempt to rejoin with a random delay |
|
223 |
wl_token_ring_join(); |
|
224 |
joinDelay = rand() / (RAND_MAX / JOIN_DELAY) + 1; |
|
225 |
} |
|
226 |
} |
|
218 |
//we must start our own token ring, no one is responding to us |
|
219 |
if (joinDelay == 0) |
|
220 |
{ |
|
221 |
if (sensor_matrix_get_joined(sensorMatrix) == 0) |
|
222 |
{ |
|
223 |
WL_DEBUG_PRINT("Creating our own token ring, no robots seem to exist.\r\n"); |
|
224 |
sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 1); |
|
225 |
ringState = MEMBER; |
|
226 |
//this will make us pass the token to ourself |
|
227 |
//repeatedly, and other robots when they join |
|
228 |
deathDelay = DEATH_DELAY; |
|
229 |
wl_token_next_robot = wl_get_xbee_id(); |
|
230 |
} |
|
231 |
else |
|
232 |
{ |
|
233 |
WL_DEBUG_PRINT("Attempting to join the token ring again.\r\n"); |
|
234 |
//attempt to rejoin with a random delay |
|
235 |
wl_token_ring_join(); |
|
236 |
joinDelay = rand() / (RAND_MAX / JOIN_DELAY) + 1; |
|
237 |
} |
|
238 |
} |
|
227 | 239 |
|
228 |
if (deathDelay >= 0)
|
|
229 |
deathDelay--;
|
|
230 |
if (joinDelay >= 0)
|
|
231 |
joinDelay--;
|
|
232 |
if (bom_on_count >= 0)
|
|
233 |
bom_on_count++;
|
|
240 |
if (deathDelay >= 0)
|
|
241 |
deathDelay--;
|
|
242 |
if (joinDelay >= 0)
|
|
243 |
joinDelay--;
|
|
244 |
if (bom_on_count >= 0)
|
|
245 |
bom_on_count++;
|
|
234 | 246 |
} |
235 | 247 |
|
236 | 248 |
/** |
... | ... | |
239 | 251 |
* @param frame the frame number assigned when the packet was sent |
240 | 252 |
* @param received 1 if the packet was received, 0 otherwise |
241 | 253 |
**/ |
242 |
void wl_token_ring_response_handler(int frame, int received) { |
|
243 |
if (!received) { |
|
244 |
WL_DEBUG_PRINT("FAILED.\r\n"); |
|
245 |
} |
|
254 |
void wl_token_ring_response_handler(int frame, int received) |
|
255 |
{ |
|
256 |
if (!received) |
|
257 |
{ |
|
258 |
WL_DEBUG_PRINT("FAILED.\r\n"); |
|
259 |
} |
|
246 | 260 |
} |
247 | 261 |
|
248 | 262 |
/** |
... | ... | |
253 | 267 |
* @param length the length of the packet in bytes |
254 | 268 |
**/ |
255 | 269 |
void wl_token_ring_receive_handler(char type, int source, unsigned char* packet, |
256 |
int length) { |
|
257 |
switch (type) { |
|
258 |
case WL_TOKEN_PASS: |
|
259 |
if (length < 1) { |
|
260 |
WL_DEBUG_PRINT("Malformed Token Pass packet received.\r\n"); |
|
261 |
return; |
|
262 |
} |
|
263 |
wl_token_pass_receive(source, packet[0], packet + 1, length - 1); |
|
264 |
break; |
|
265 |
case WL_TOKEN_BOM_ON: |
|
266 |
//add the robot to the sensor matrix if it is not already there |
|
267 |
wl_token_bom_on_receive(source); |
|
268 |
break; |
|
269 |
case WL_TOKEN_JOIN: |
|
270 |
wl_token_join_receive(source); |
|
271 |
break; |
|
272 |
case WL_TOKEN_JOIN_ACCEPT: |
|
273 |
wl_token_join_accept_receive(source); |
|
274 |
break; |
|
275 |
default: |
|
276 |
WL_DEBUG_PRINT("Unimplemented token ring packet received.\r\n"); |
|
277 |
break; |
|
278 |
} |
|
270 |
int length) |
|
271 |
{ |
|
272 |
switch (type) |
|
273 |
{ |
|
274 |
case WL_TOKEN_PASS: |
|
275 |
if (length < 1) |
|
276 |
{ |
|
277 |
WL_DEBUG_PRINT("Malformed Token Pass packet received.\r\n"); |
|
278 |
return; |
|
279 |
} |
|
280 |
wl_token_pass_receive(source, packet[0], packet + 1, length - 1); |
|
281 |
break; |
|
282 |
case WL_TOKEN_BOM_ON: |
|
283 |
//add the robot to the sensor matrix if it is not already there |
|
284 |
wl_token_bom_on_receive(source); |
|
285 |
break; |
|
286 |
case WL_TOKEN_JOIN: |
|
287 |
wl_token_join_receive(source); |
|
288 |
break; |
|
289 |
case WL_TOKEN_JOIN_ACCEPT: |
|
290 |
wl_token_join_accept_receive(source); |
|
291 |
break; |
|
292 |
default: |
|
293 |
WL_DEBUG_PRINT("Unimplemented token ring packet received.\r\n"); |
|
294 |
break; |
|
295 |
} |
|
279 | 296 |
} |
280 | 297 |
|
281 | 298 |
/** |
... | ... | |
283 | 300 |
* if no token ring exists. The token ring uses global and robot to robot |
284 | 301 |
* packets, and does not rely on any PAN. |
285 | 302 |
**/ |
286 |
void wl_token_ring_join() { |
|
287 |
WL_DEBUG_PRINT("Joining the token ring.\r\n"); |
|
288 |
ringState = JOINING; |
|
289 |
joinDelay = DEATH_DELAY * 2; |
|
290 |
wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN, |
|
291 |
NULL, 0, 0); |
|
303 |
void wl_token_ring_join() |
|
304 |
{ |
|
305 |
WL_DEBUG_PRINT("Joining the token ring.\r\n"); |
|
306 |
ringState = JOINING; |
|
307 |
joinDelay = DEATH_DELAY * 2; |
|
308 |
wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN, |
|
309 |
NULL, 0, 0); |
|
292 | 310 |
} |
293 | 311 |
|
294 | 312 |
/** |
... | ... | |
296 | 314 |
* alerting others of its location, but continues storing the |
297 | 315 |
* locations of other robots. |
298 | 316 |
**/ |
299 |
void wl_token_ring_leave() { |
|
300 |
ringState = LEAVING; |
|
317 |
void wl_token_ring_leave() |
|
318 |
{ |
|
319 |
ringState = LEAVING; |
|
301 | 320 |
} |
302 | 321 |
|
303 | 322 |
/** |
... | ... | |
309 | 328 |
* @return a BOM reading from robot source to robot dest, |
310 | 329 |
* in the range 0-15, or -1 if it is unknown |
311 | 330 |
**/ |
312 |
int wl_token_get_sensor_reading(int source, int dest) { |
|
313 |
if (wl_token_is_robot_in_ring(dest) && |
|
314 |
(source == wl_get_xbee_id() || wl_token_is_robot_in_ring(source))) |
|
315 |
return sensor_matrix_get_reading(sensorMatrix, source, dest); |
|
316 |
return -1; |
|
331 |
int wl_token_get_sensor_reading(int source, int dest) |
|
332 |
{ |
|
333 |
if (wl_token_is_robot_in_ring(dest) && |
|
334 |
(source == wl_get_xbee_id() || wl_token_is_robot_in_ring(source))) |
|
335 |
return sensor_matrix_get_reading(sensorMatrix, source, dest); |
|
336 |
return -1; |
|
317 | 337 |
} |
318 | 338 |
|
319 | 339 |
/** |
... | ... | |
324 | 344 |
* @return a BOM reading from us to robot dest, in the range |
325 | 345 |
* 0-15, or -1 if it is unkown |
326 | 346 |
**/ |
327 |
int wl_token_get_my_sensor_reading(int dest) { |
|
328 |
return wl_token_get_sensor_reading(wl_get_xbee_id(), dest); |
|
347 |
int wl_token_get_my_sensor_reading(int dest) |
|
348 |
{ |
|
349 |
return wl_token_get_sensor_reading(wl_get_xbee_id(), dest); |
|
329 | 350 |
} |
330 | 351 |
|
331 | 352 |
/** |
... | ... | |
336 | 357 |
* reading for that robot, repeated for sensorDataLength bytes |
337 | 358 |
* @param sensorDataLength the length in bytes of sensorData |
338 | 359 |
*/ |
339 |
void wl_token_pass_receive(int source, char nextRobot, unsigned char* sensorData, int sensorDataLength) { |
|
340 |
int i, j; |
|
360 |
void wl_token_pass_receive(int source, char nextRobot, unsigned char* sensorData, int sensorDataLength) |
|
361 |
{ |
|
362 |
int i, j; |
|
341 | 363 |
|
342 |
// this prevents two tokens from being passed around at a time (second clause is in case we are joining) |
|
343 |
if (source != wl_token_next_robot && bom_on_count <= DEATH_DELAY / 2 && |
|
344 |
ringState != ACCEPTED) { |
|
345 |
WL_DEBUG_PRINT("Received token pass when a robot should not have died yet.\n"); |
|
346 |
WL_DEBUG_PRINT("There are probably two tokens going around, packet ignored.\n"); |
|
347 |
return; |
|
348 |
} |
|
364 |
// this prevents two tokens from being passed around at a time (second clause is in case we are joining) |
|
365 |
if (source != wl_token_next_robot && bom_on_count <= DEATH_DELAY / 2 && |
|
366 |
ringState != ACCEPTED) |
|
367 |
{ |
|
368 |
WL_DEBUG_PRINT("Received token pass when a robot should not have died yet.\n"); |
|
369 |
WL_DEBUG_PRINT("There are probably two tokens going around, packet ignored.\n"); |
|
370 |
return; |
|
371 |
} |
|
349 | 372 |
|
350 |
bom_on_count = -1;
|
|
351 |
deathDelay = -1;
|
|
352 |
WL_DEBUG_PRINT("Received the token from robot");
|
|
353 |
WL_DEBUG_PRINT_INT(source);
|
|
354 |
WL_DEBUG_PRINT(", next robot is ");
|
|
355 |
WL_DEBUG_PRINT_INT((int)nextRobot);
|
|
356 |
WL_DEBUG_PRINT(" \r\n");
|
|
357 |
sensor_matrix_set_in_ring(sensorMatrix, source, 1);
|
|
373 |
bom_on_count = -1;
|
|
374 |
deathDelay = -1;
|
|
375 |
WL_DEBUG_PRINT("Received the token from robot");
|
|
376 |
WL_DEBUG_PRINT_INT(source);
|
|
377 |
WL_DEBUG_PRINT(", next robot is ");
|
|
378 |
WL_DEBUG_PRINT_INT((int)nextRobot);
|
|
379 |
WL_DEBUG_PRINT(" \r\n");
|
|
380 |
sensor_matrix_set_in_ring(sensorMatrix, source, 1);
|
|
358 | 381 |
|
359 |
//with this packet, we are passed the id of the next robot in the ring |
|
360 |
//and the sensor matrix, a list of id and sensor reading pairs (two bytes for both) |
|
361 |
j = 0; |
|
362 |
for (i = 0; i < sensor_matrix_get_size(sensorMatrix); i++) { |
|
363 |
if (i == source) |
|
364 |
continue; |
|
382 |
//with this packet, we are passed the id of the next robot in the ring |
|
383 |
//and the sensor matrix, a list of id and sensor reading pairs (two bytes for both) |
|
384 |
j = 0; |
|
385 |
for (i = 0; i < sensor_matrix_get_size(sensorMatrix); i++) |
|
386 |
{ |
|
387 |
if (i == source) |
|
388 |
continue; |
|
365 | 389 |
|
366 |
//set the sensor information we receive |
|
367 |
if (j < sensorDataLength / 2 && sensorData[2 * j] == i) { |
|
368 |
//the robot we were going to accept has already been accepted |
|
369 |
if (accepted == i) { |
|
370 |
accepted = -1; |
|
371 |
WL_DEBUG_PRINT("Someone accepted the robot we did.\r\n"); |
|
372 |
} |
|
373 |
sensor_matrix_set_reading(sensorMatrix, source, i, |
|
374 |
sensorData[2 * j + 1]); |
|
375 |
sensor_matrix_set_in_ring(sensorMatrix, i, 1); |
|
376 |
j++; |
|
377 |
} else { |
|
378 |
if (sensor_matrix_get_in_ring(sensorMatrix, i)) { |
|
379 |
WL_DEBUG_PRINT("Robot "); |
|
380 |
WL_DEBUG_PRINT_INT(i); |
|
381 |
WL_DEBUG_PRINT(" has been removed from the sensor matrix of robot "); |
|
382 |
WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
|
383 |
WL_DEBUG_PRINT(" due to a packet from robot "); |
|
384 |
WL_DEBUG_PRINT_INT(source); |
|
385 |
WL_DEBUG_PRINT(".\r\n"); |
|
386 |
sensor_matrix_set_in_ring(sensorMatrix, i, 0); |
|
387 |
} |
|
390 |
//set the sensor information we receive |
|
391 |
if (j < sensorDataLength / 2 && sensorData[2 * j] == i) |
|
392 |
{ |
|
393 |
//the robot we were going to accept has already been accepted |
|
394 |
if (accepted == i) |
|
395 |
{ |
|
396 |
accepted = -1; |
|
397 |
WL_DEBUG_PRINT("Someone accepted the robot we did.\r\n"); |
|
398 |
} |
|
399 |
sensor_matrix_set_reading(sensorMatrix, source, i, |
|
400 |
sensorData[2 * j + 1]); |
|
401 |
sensor_matrix_set_in_ring(sensorMatrix, i, 1); |
|
402 |
j++; |
|
403 |
} |
|
404 |
else |
|
405 |
{ |
|
406 |
if (sensor_matrix_get_in_ring(sensorMatrix, i)) |
|
407 |
{ |
|
408 |
WL_DEBUG_PRINT("Robot "); |
|
409 |
WL_DEBUG_PRINT_INT(i); |
|
410 |
WL_DEBUG_PRINT(" has been removed from the sensor matrix of robot "); |
|
411 |
WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
|
412 |
WL_DEBUG_PRINT(" due to a packet from robot "); |
|
413 |
WL_DEBUG_PRINT_INT(source); |
|
414 |
WL_DEBUG_PRINT(".\r\n"); |
|
415 |
sensor_matrix_set_in_ring(sensorMatrix, i, 0); |
|
416 |
} |
|
388 | 417 |
|
389 |
if (i == wl_get_xbee_id() && ringState == MEMBER) { |
|
390 |
ringState = NONMEMBER; |
|
391 |
wl_token_ring_join(); |
|
418 |
if (i == wl_get_xbee_id() && ringState == MEMBER) |
|
419 |
{ |
|
420 |
ringState = NONMEMBER; |
|
421 |
wl_token_ring_join(); |
|
392 | 422 |
|
393 |
WL_DEBUG_PRINT("We have been removed from the ring "); |
|
394 |
WL_DEBUG_PRINT("and are rejoining.\r\n"); |
|
395 |
}
|
|
423 |
WL_DEBUG_PRINT("We have been removed from the ring ");
|
|
424 |
WL_DEBUG_PRINT("and are rejoining.\r\n");
|
|
425 |
}
|
|
396 | 426 |
|
397 |
//the person who accepted us is dead... let's ask again |
|
398 |
if (i == acceptor) { |
|
399 |
sensor_matrix_set_in_ring(sensorMatrix, |
|
400 |
wl_get_xbee_id(), 1); |
|
401 |
ringState = NONMEMBER; |
|
402 |
acceptor = -1; |
|
403 |
wl_token_ring_join(); |
|
404 |
} |
|
405 |
} |
|
406 |
} |
|
427 |
//the person who accepted us is dead... let's ask again |
|
428 |
if (i == acceptor) |
|
429 |
{ |
|
430 |
sensor_matrix_set_in_ring(sensorMatrix, |
|
431 |
wl_get_xbee_id(), 1); |
|
432 |
ringState = NONMEMBER; |
|
433 |
acceptor = -1; |
|
434 |
wl_token_ring_join(); |
|
435 |
} |
|
436 |
} |
|
437 |
} |
|
407 | 438 |
|
408 |
wl_token_next_robot = nextRobot;
|
|
439 |
wl_token_next_robot = nextRobot;
|
|
409 | 440 |
|
410 |
deathDelay = get_token_distance(wl_get_xbee_id(), nextRobot) * DEATH_DELAY;
|
|
441 |
deathDelay = get_token_distance(wl_get_xbee_id(), nextRobot) * DEATH_DELAY;
|
|
411 | 442 |
|
412 |
//we have the token
|
|
413 |
if (wl_token_next_robot == wl_get_xbee_id())
|
|
414 |
wl_token_get_token();
|
|
443 |
//we have the token
|
|
444 |
if (wl_token_next_robot == wl_get_xbee_id())
|
|
445 |
wl_token_get_token();
|
|
415 | 446 |
} |
416 | 447 |
|
417 | 448 |
/** |
... | ... | |
423 | 454 |
* @return the number of passes before the token is expected |
424 | 455 |
* to reach robot2 from robot1 |
425 | 456 |
**/ |
426 |
int get_token_distance(int robot1, int robot2) { |
|
427 |
int curr = robot1 + 1; |
|
428 |
int count = 1; |
|
429 |
while (1) { |
|
430 |
if (curr == sensor_matrix_get_size(sensorMatrix)) |
|
431 |
curr = 0; |
|
432 |
if (curr == robot2) |
|
433 |
break; |
|
434 |
if (sensor_matrix_get_in_ring(sensorMatrix, curr)) |
|
435 |
count++; |
|
436 |
curr++; |
|
437 |
} |
|
438 |
return count; |
|
457 |
int get_token_distance(int robot1, int robot2) |
|
458 |
{ |
|
459 |
int curr = robot1 + 1; |
|
460 |
int count = 1; |
|
461 |
while (1) |
|
462 |
{ |
|
463 |
if (curr == sensor_matrix_get_size(sensorMatrix)) |
|
464 |
curr = 0; |
|
465 |
if (curr == robot2) |
|
466 |
break; |
|
467 |
if (sensor_matrix_get_in_ring(sensorMatrix, curr)) |
|
468 |
count++; |
|
469 |
curr++; |
|
470 |
} |
|
471 |
return count; |
|
439 | 472 |
} |
440 | 473 |
|
441 | 474 |
/** |
442 | 475 |
* Passes the token to the next robot in the token ring. |
443 | 476 |
**/ |
444 |
void wl_token_pass_token() { |
|
445 |
char nextRobot; |
|
446 |
int i = wl_get_xbee_id() + 1; |
|
447 |
if (accepted == -1) { |
|
448 |
while (1) { |
|
449 |
if (i == sensor_matrix_get_size(sensorMatrix)) |
|
450 |
i = 0; |
|
451 |
if (sensor_matrix_get_in_ring(sensorMatrix, i)) { |
|
452 |
nextRobot = (char)i; |
|
453 |
break; |
|
454 |
} |
|
455 |
i++; |
|
456 |
} |
|
457 |
} else { |
|
458 |
WL_DEBUG_PRINT("Accepting new robot, sending it the token.\r\n"); |
|
459 |
//add a new robot to the token ring |
|
460 |
sensor_matrix_set_in_ring(sensorMatrix, accepted, 1); |
|
461 |
nextRobot = accepted; |
|
462 |
accepted = -1; |
|
463 |
} |
|
477 |
void wl_token_pass_token() |
|
478 |
{ |
|
479 |
char nextRobot; |
|
480 |
int i = wl_get_xbee_id() + 1; |
|
481 |
if (accepted == -1) |
|
482 |
{ |
|
483 |
while (1) |
|
484 |
{ |
|
485 |
if (i == sensor_matrix_get_size(sensorMatrix)) |
|
486 |
i = 0; |
|
487 |
if (sensor_matrix_get_in_ring(sensorMatrix, i)) |
|
488 |
{ |
|
489 |
nextRobot = (char)i; |
|
490 |
break; |
|
491 |
} |
|
492 |
i++; |
|
493 |
} |
|
494 |
} |
|
495 |
else |
|
496 |
{ |
|
497 |
WL_DEBUG_PRINT("Accepting new robot, sending it the token.\r\n"); |
|
498 |
//add a new robot to the token ring |
|
499 |
sensor_matrix_set_in_ring(sensorMatrix, accepted, 1); |
|
500 |
nextRobot = accepted; |
|
501 |
accepted = -1; |
|
502 |
} |
|
464 | 503 |
|
465 |
//we don't include ourself |
|
466 |
int packetSize = 1 + 2 * (sensor_matrix_get_joined(sensorMatrix) - 1); |
|
467 |
char* buf = (char*)malloc(packetSize * sizeof(char)); |
|
468 |
if (!buf) { |
|
469 |
WL_DEBUG_PRINT_INT(packetSize); |
|
470 |
WL_DEBUG_PRINT("Out of memory - pass token.\r\n"); |
|
471 |
return; |
|
472 |
} |
|
473 |
buf[0] = nextRobot; |
|
504 |
//we don't include ourself |
|
505 |
int packetSize = 1 + 2 * (sensor_matrix_get_joined(sensorMatrix) - 1); |
|
506 |
char* buf = (char*)malloc(packetSize * sizeof(char)); |
|
507 |
if (!buf) |
|
508 |
{ |
|
509 |
WL_DEBUG_PRINT_INT(packetSize); |
|
510 |
WL_DEBUG_PRINT("Out of memory - pass token.\r\n"); |
|
511 |
return; |
|
512 |
} |
|
513 |
buf[0] = nextRobot; |
|
474 | 514 |
|
475 |
int j = 0; |
|
476 |
for (i = 0; i < sensor_matrix_get_size(sensorMatrix); i++) |
|
477 |
if (sensor_matrix_get_in_ring(sensorMatrix, i) && i != wl_get_xbee_id()) { |
|
478 |
buf[2*j + 1] = i; |
|
479 |
buf[2*j + 2] = sensor_matrix_get_reading(sensorMatrix, wl_get_xbee_id(), i); |
|
480 |
j++; |
|
481 |
} |
|
515 |
int j = 0; |
|
516 |
for (i = 0; i < sensor_matrix_get_size(sensorMatrix); i++) |
|
517 |
if (sensor_matrix_get_in_ring(sensorMatrix, i) && i != wl_get_xbee_id()) |
|
518 |
{ |
|
519 |
buf[2*j + 1] = i; |
|
520 |
buf[2*j + 2] = sensor_matrix_get_reading(sensorMatrix, wl_get_xbee_id(), i); |
|
521 |
j++; |
|
522 |
} |
|
482 | 523 |
|
483 |
WL_DEBUG_PRINT("Passing the token to robot ");
|
|
484 |
WL_DEBUG_PRINT_INT(buf[0]);
|
|
485 |
WL_DEBUG_PRINT(".\r\n");
|
|
486 |
wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS,
|
|
487 |
buf, packetSize, 3);
|
|
524 |
WL_DEBUG_PRINT("Passing the token to robot ");
|
|
525 |
WL_DEBUG_PRINT_INT(buf[0]);
|
|
526 |
WL_DEBUG_PRINT(".\r\n");
|
|
527 |
wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS,
|
|
528 |
buf, packetSize, 3); |
|
488 | 529 |
|
489 |
wl_token_next_robot = nextRobot;
|
|
490 |
deathDelay = DEATH_DELAY;
|
|
491 |
free(buf);
|
|
530 |
wl_token_next_robot = nextRobot;
|
|
531 |
deathDelay = DEATH_DELAY;
|
|
532 |
free(buf);
|
|
492 | 533 |
} |
493 | 534 |
|
494 | 535 |
/** |
... | ... | |
498 | 539 |
* |
499 | 540 |
* @param source the robot whose BOM is on |
500 | 541 |
**/ |
501 |
void wl_token_bom_on_receive(int source) { |
|
502 |
WL_DEBUG_PRINT("Robot "); |
|
503 |
WL_DEBUG_PRINT_INT(source); |
|
504 |
WL_DEBUG_PRINT(" has flashed its bom.\r\n"); |
|
542 |
void wl_token_bom_on_receive(int source) |
|
543 |
{ |
|
544 |
WL_DEBUG_PRINT("Robot "); |
|
545 |
WL_DEBUG_PRINT_INT(source); |
|
546 |
WL_DEBUG_PRINT(" has flashed its bom.\r\n"); |
|
505 | 547 |
|
506 |
bom_on_count = 0;
|
|
548 |
bom_on_count = 0;
|
|
507 | 549 |
|
508 |
sensor_matrix_set_reading(sensorMatrix, wl_get_xbee_id(),
|
|
509 |
source, get_max_bom_function());
|
|
550 |
sensor_matrix_set_reading(sensorMatrix, wl_get_xbee_id(),
|
|
551 |
source, get_max_bom_function()); |
|
510 | 552 |
} |
511 | 553 |
|
512 | 554 |
/** |
... | ... | |
516 | 558 |
* |
517 | 559 |
* If there is a pending request for the token, this is processed first. |
518 | 560 |
**/ |
519 |
void wl_token_get_token() { |
|
520 |
WL_DEBUG_PRINT("We have the token.\r\n"); |
|
521 |
if (ringState == ACCEPTED) { |
|
522 |
sensor_matrix_set_in_ring(sensorMatrix, |
|
523 |
wl_get_xbee_id(), 1); |
|
524 |
WL_DEBUG_PRINT("Now a member of the token ring.\r\n"); |
|
525 |
ringState = MEMBER; |
|
526 |
joinDelay = -1; |
|
527 |
} |
|
561 |
void wl_token_get_token() |
|
562 |
{ |
|
563 |
WL_DEBUG_PRINT("We have the token.\r\n"); |
|
564 |
if (ringState == ACCEPTED) |
|
565 |
{ |
|
566 |
sensor_matrix_set_in_ring(sensorMatrix, |
|
567 |
wl_get_xbee_id(), 1); |
|
568 |
WL_DEBUG_PRINT("Now a member of the token ring.\r\n"); |
|
569 |
ringState = MEMBER; |
|
570 |
joinDelay = -1; |
|
571 |
} |
|
528 | 572 |
|
529 |
if (ringState == LEAVING || ringState == NONMEMBER) { |
|
530 |
sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 0); |
|
531 |
if (ringState == NONMEMBER) { |
|
532 |
WL_DEBUG_PRINT("We should have left the token ring, but didn't.\r\n"); |
|
533 |
} |
|
534 |
return; |
|
535 |
} |
|
573 |
if (ringState == LEAVING || ringState == NONMEMBER) |
|
574 |
{ |
|
575 |
sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 0); |
|
576 |
if (ringState == NONMEMBER) |
|
577 |
{ |
|
578 |
WL_DEBUG_PRINT("We should have left the token ring, but didn't.\r\n"); |
|
579 |
} |
|
580 |
return; |
|
581 |
} |
|
536 | 582 |
|
537 |
WL_DEBUG_PRINT("Our BOM has been flashed.\r\n");
|
|
538 |
wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON,
|
|
539 |
NULL, 0, 0);
|
|
583 |
WL_DEBUG_PRINT("Our BOM has been flashed.\r\n");
|
|
584 |
wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON,
|
|
585 |
NULL, 0, 0); |
|
540 | 586 |
|
541 |
bom_on_function();
|
|
542 |
#ifdef ROBOT |
|
543 |
delay_ms(BOM_DELAY);
|
|
544 |
#endif |
|
545 |
bom_off_function();
|
|
587 |
bom_on_function();
|
|
588 |
#ifdef ROBOT
|
|
589 |
delay_ms(BOM_DELAY);
|
|
590 |
#endif
|
|
591 |
bom_off_function();
|
|
546 | 592 |
|
547 |
if (!sensor_matrix_get_in_ring(sensorMatrix, wl_get_xbee_id())) { |
|
548 |
WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n"); |
|
549 |
return; |
|
550 |
} |
|
593 |
if (!sensor_matrix_get_in_ring(sensorMatrix, wl_get_xbee_id())) |
|
594 |
{ |
|
595 |
WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n"); |
|
596 |
return; |
|
597 |
} |
|
551 | 598 |
|
552 |
wl_token_pass_token();
|
|
599 |
wl_token_pass_token();
|
|
553 | 600 |
} |
554 | 601 |
|
555 | 602 |
/** |
... | ... | |
560 | 607 |
* |
561 | 608 |
* @param source the robot who requested to join |
562 | 609 |
**/ |
563 |
void wl_token_join_receive(int source) { |
|
564 |
WL_DEBUG_PRINT("Received joining request from robot "); |
|
565 |
WL_DEBUG_PRINT_INT(source); |
|
566 |
WL_DEBUG_PRINT(".\r\n"); |
|
610 |
void wl_token_join_receive(int source) |
|
611 |
{ |
|
612 |
WL_DEBUG_PRINT("Received joining request from robot "); |
|
613 |
WL_DEBUG_PRINT_INT(source); |
|
614 |
WL_DEBUG_PRINT(".\r\n"); |
|
567 | 615 |
|
568 |
//we cannot accept the request if we are not a member
|
|
569 |
if (ringState != MEMBER)
|
|
570 |
return;
|
|
571 |
//if they didn't get our response, see if we should respond again
|
|
572 |
if (accepted == source)
|
|
573 |
accepted = -1;
|
|
574 |
//we can only accept one request at a time
|
|
575 |
if (accepted != -1)
|
|
576 |
return;
|
|
616 |
//we cannot accept the request if we are not a member
|
|
617 |
if (ringState != MEMBER)
|
|
618 |
return;
|
|
619 |
//if they didn't get our response, see if we should respond again
|
|
620 |
if (accepted == source)
|
|
621 |
accepted = -1;
|
|
622 |
//we can only accept one request at a time
|
|
623 |
if (accepted != -1)
|
|
624 |
return;
|
|
577 | 625 |
|
578 |
//check if we are the preceding robot in the token ring |
|
579 |
int i = source - 1; |
|
580 |
while (1) { |
|
581 |
if (i < 0) |
|
582 |
i = sensor_matrix_get_size(sensorMatrix) - 1; |
|
583 |
//we must send a join acceptance |
|
584 |
if (i == wl_get_xbee_id()) |
|
585 |
break; |
|
626 |
//check if we are the preceding robot in the token ring |
|
627 |
int i = source - 1; |
|
628 |
while (1) |
|
629 |
{ |
|
630 |
if (i < 0) |
|
631 |
i = sensor_matrix_get_size(sensorMatrix) - 1; |
|
632 |
//we must send a join acceptance |
|
633 |
if (i == wl_get_xbee_id()) |
|
634 |
break; |
|
586 | 635 |
|
587 |
//another robot will handle it
|
|
588 |
if (sensor_matrix_get_in_ring(sensorMatrix, i))
|
|
589 |
return;
|
|
590 |
i--;
|
|
591 |
}
|
|
636 |
//another robot will handle it
|
|
637 |
if (sensor_matrix_get_in_ring(sensorMatrix, i))
|
|
638 |
return;
|
|
639 |
i--;
|
|
640 |
}
|
|
592 | 641 |
|
593 |
accepted = source;
|
|
594 |
wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN_ACCEPT,
|
|
595 |
NULL, 0, source, TOKEN_JOIN_ACCEPT_FRAME);
|
|
642 |
accepted = source;
|
|
643 |
wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN_ACCEPT,
|
|
644 |
NULL, 0, source, TOKEN_JOIN_ACCEPT_FRAME); |
|
596 | 645 |
|
597 |
WL_DEBUG_PRINT("Accepting robot ");
|
|
598 |
WL_DEBUG_PRINT_INT(source);
|
|
599 |
WL_DEBUG_PRINT(" into the token ring.\r\n");
|
|
646 |
WL_DEBUG_PRINT("Accepting robot ");
|
|
647 |
WL_DEBUG_PRINT_INT(source);
|
|
648 |
WL_DEBUG_PRINT(" into the token ring.\r\n");
|
|
600 | 649 |
|
601 |
// the token ring has not started yet
|
|
602 |
if (sensor_matrix_get_joined(sensorMatrix) == 1)
|
|
603 |
wl_token_pass_token();
|
|
650 |
// the token ring has not started yet
|
|
651 |
if (sensor_matrix_get_joined(sensorMatrix) == 1)
|
|
652 |
wl_token_pass_token();
|
|
604 | 653 |
} |
605 | 654 |
|
606 | 655 |
/** |
... | ... | |
610 | 659 |
* |
611 | 660 |
* @param source the robot who accepted us |
612 | 661 |
**/ |
613 |
void wl_token_join_accept_receive(int source) { |
|
614 |
WL_DEBUG_PRINT("Accepted into the token ring by robot "); |
|
615 |
WL_DEBUG_PRINT_INT(source); |
|
616 |
WL_DEBUG_PRINT(".\r\n"); |
|
617 |
joinDelay = JOIN_DELAY; |
|
618 |
ringState = ACCEPTED; |
|
619 |
acceptor = source; |
|
662 |
void wl_token_join_accept_receive(int source) |
|
663 |
{ |
|
664 |
WL_DEBUG_PRINT("Accepted into the token ring by robot "); |
|
665 |
WL_DEBUG_PRINT_INT(source); |
|
666 |
WL_DEBUG_PRINT(".\r\n"); |
|
667 |
joinDelay = JOIN_DELAY; |
|
668 |
ringState = ACCEPTED; |
|
669 |
acceptor = source; |
|
620 | 670 |
|
621 |
//add ourselves to the token ring
|
|
622 |
sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 1);
|
|
671 |
//add ourselves to the token ring
|
|
672 |
sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 1);
|
|
623 | 673 |
} |
624 | 674 |
|
625 | 675 |
/** |
... | ... | |
627 | 677 |
* |
628 | 678 |
* @return the number of robots in the token ring |
629 | 679 |
**/ |
630 |
int wl_token_get_robots_in_ring(void) { |
|
631 |
return sensor_matrix_get_joined(sensorMatrix); |
|
680 |
int wl_token_get_robots_in_ring(void) |
|
681 |
{ |
|
682 |
return sensor_matrix_get_joined(sensorMatrix); |
|
632 | 683 |
} |
633 | 684 |
|
634 | 685 |
/** |
... | ... | |
638 | 689 |
* @param robot the robot to check for whether it is in the token ring |
639 | 690 |
* @return nonzero if the robot is in the token ring, zero otherwise |
640 | 691 |
**/ |
641 |
int wl_token_is_robot_in_ring(int robot) { |
|
642 |
return sensor_matrix_get_in_ring(sensorMatrix, robot); |
|
692 |
int wl_token_is_robot_in_ring(int robot) |
|
693 |
{ |
|
694 |
return sensor_matrix_get_in_ring(sensorMatrix, robot); |
|
643 | 695 |
} |
644 | 696 |
|
645 | 697 |
/** |
... | ... | |
647 | 699 |
* |
648 | 700 |
* @see wl_token_iterator_has_next, wl_token_iterator_next |
649 | 701 |
**/ |
650 |
void wl_token_iterator_begin(void) { |
|
651 |
int i = 0; |
|
652 |
iteratorCount = 0; |
|
653 |
while (!sensor_matrix_get_in_ring(sensorMatrix, i) && |
|
654 |
i < sensor_matrix_get_size(sensorMatrix)) |
|
655 |
i++; |
|
656 |
if (i == sensor_matrix_get_size(sensorMatrix)) |
|
657 |
i = -1; |
|
658 |
iteratorCount = i; |
|
702 |
void wl_token_iterator_begin(void) |
|
703 |
{ |
|
704 |
int i = 0; |
|
705 |
iteratorCount = 0; |
|
706 |
while (!sensor_matrix_get_in_ring(sensorMatrix, i) && |
|
707 |
i < sensor_matrix_get_size(sensorMatrix)) |
|
708 |
i++; |
|
709 |
if (i == sensor_matrix_get_size(sensorMatrix)) |
|
710 |
i = -1; |
|
711 |
iteratorCount = i; |
|
659 | 712 |
} |
660 | 713 |
|
661 | 714 |
/** |
... | ... | |
667 | 720 |
* |
668 | 721 |
* @see wl_token_iterator_begin, wl_token_iterator_next |
669 | 722 |
**/ |
670 |
int wl_token_iterator_has_next(void) { |
|
671 |
return iteratorCount != -1; |
|
723 |
int wl_token_iterator_has_next(void) |
|
724 |
{ |
|
725 |
return iteratorCount != -1; |
|
672 | 726 |
} |
673 | 727 |
|
674 | 728 |
/** |
... | ... | |
678 | 732 |
* |
679 | 733 |
* @see wl_token_iterator_begin, wl_token_iterator_has_next |
680 | 734 |
**/ |
681 |
int wl_token_iterator_next(void) { |
|
682 |
int result = iteratorCount; |
|
683 |
if (result < 0) |
|
684 |
return result; |
|
735 |
int wl_token_iterator_next(void) |
|
736 |
{ |
|
737 |
int result = iteratorCount; |
|
738 |
if (result < 0) |
|
739 |
return result; |
|
685 | 740 |
|
686 |
iteratorCount++;
|
|
687 |
while (!sensor_matrix_get_in_ring(sensorMatrix, iteratorCount) &&
|
|
688 |
iteratorCount < sensor_matrix_get_size(sensorMatrix))
|
|
689 |
iteratorCount++;
|
|
690 |
if (iteratorCount == sensor_matrix_get_size(sensorMatrix))
|
|
691 |
iteratorCount = -1;
|
|
692 |
return result;
|
|
741 |
iteratorCount++;
|
|
742 |
while (!sensor_matrix_get_in_ring(sensorMatrix, iteratorCount) &&
|
|
743 |
iteratorCount < sensor_matrix_get_size(sensorMatrix))
|
|
744 |
iteratorCount++;
|
|
745 |
if (iteratorCount == sensor_matrix_get_size(sensorMatrix))
|
|
746 |
iteratorCount = -1;
|
|
747 |
return result;
|
|
693 | 748 |
} |
694 | 749 |
|
695 | 750 |
/** |
... | ... | |
697 | 752 |
* |
698 | 753 |
* @return the number of robots in the token ring |
699 | 754 |
**/ |
700 |
int wl_token_get_num_robots(void) { |
|
701 |
return sensor_matrix_get_joined(sensorMatrix); |
|
755 |
int wl_token_get_num_robots(void) |
|
756 |
{ |
|
757 |
return sensor_matrix_get_joined(sensorMatrix); |
|
702 | 758 |
} |
703 | 759 |
|
704 | 760 |
/** |
... | ... | |
706 | 762 |
* |
707 | 763 |
* @return the number of robots in the sensor matrix |
708 | 764 |
**/ |
709 |
int wl_token_get_matrix_size(void) { |
|
710 |
return sensor_matrix_get_size(sensorMatrix); |
|
765 |
int wl_token_get_matrix_size(void) |
|
766 |
{ |
|
767 |
return sensor_matrix_get_size(sensorMatrix); |
|
711 | 768 |
} |
769 |
|
Also available in: Unified diff