Colony

/**

 * Copyright (c) 2007 Colony Project

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

		WL_DEBUG_PRINT(".\r\n");

		return;

	}

	sensorMatrix = sensor_matrix_create();

	//add ourselves to the sensor matrix

	sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 0);

/**

 * Sets the functions that are called when the BOM ought to be

 * charging stations, which have multiple BOMs.

 *

 * @param on_function the function to be called when the BOM

			wl_token_next_robot = -1;

			deathDelay = DEATH_DELAY;

		}

		// we may have been dropped from the ring when this is received

		if (ringState == MEMBER)

			wl_token_pass_token();

/**

 * Called when the XBee tells us if a packet we sent has been received.

 * @param frame the frame number assigned when the packet was sent

 * @param received 1 if the packet was received, 0 otherwise

 **/

 * if no token ring exists. The token ring uses global and robot to robot

 * packets, and does not rely on any PAN.

 **/

{

	WL_DEBUG_PRINT("Joining the token ring.\r\n");

	ringState = JOINING;

	joinDelay = DEATH_DELAY * 2;

}

/**

/**

 * Returns the BOM reading we have for robot dest.

 * @param dest the robot whose relative location is returned

 *

 * @return a BOM reading from us to robot dest, in the range

	{

		if (i == source)

			continue;

		//set the sensor information we receive

		if (j < sensorDataLength / 2 && sensorData[2 * j] == i)

		{

			{

				ringState = NONMEMBER;

				wl_token_ring_join();

				WL_DEBUG_PRINT("We have been removed from the ring ");

				WL_DEBUG_PRINT("and are rejoining.\r\n");

			}

			//the person who accepted us is dead... let's ask again

			if (i == acceptor)

			{

	}

	wl_token_next_robot = nextRobot;

	deathDelay = get_token_distance(wl_get_xbee_id(), nextRobot) * DEATH_DELAY;

	//we have the token

	if (wl_token_next_robot == wl_get_xbee_id())

		wl_token_get_token();

			buf[2*j + 2] = sensor_matrix_get_reading(sensorMatrix, wl_get_xbee_id(), i);

			j++;

		}

	WL_DEBUG_PRINT("Passing the token to robot ");

	WL_DEBUG_PRINT_INT(buf[0]);

	WL_DEBUG_PRINT(".\r\n");

	WL_DEBUG_PRINT("Robot ");

	WL_DEBUG_PRINT_INT(source);

	WL_DEBUG_PRINT(" has flashed its bom.\r\n");

	bom_on_count = 0;

		source, get_max_bom_function());

}

 * This method is called when we receive the token. Upon receiving

 * the token, we must send a BOM_ON packet, flash the BOM, and send

 * the token to the next robot.

 * If there is a pending request for the token, this is processed first.

 **/

void wl_token_get_token()

		}

		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);

	delay_ms(BOM_DELAY);

	#endif

	bom_off_function();

	if (!sensor_matrix_get_in_ring(sensorMatrix, wl_get_xbee_id()))

	{

		WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n");

		return;

	}

	wl_token_pass_token();

}

	//we can only accept one request at a time

	if (accepted != -1)

		return;

	//check if we are the preceding robot in the token ring

	int i = source - 1;

	while (1)

	accepted = source;

	wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN_ACCEPT,

		NULL, 0, source, TOKEN_JOIN_ACCEPT_FRAME);

	WL_DEBUG_PRINT("Accepting robot ");

	WL_DEBUG_PRINT_INT(source);

	WL_DEBUG_PRINT(" into the token ring.\r\n");