/trunk/code/projects/libwireless/lib/wl_token_ring.c - Diff - Colony - Robotics Club

Revision 418

Added by Eugene Marinelli about 16 years ago

added return values to a bunch of libwireless functions. Makefile for colonetserver now compiles libwireless when necessary. added static to a bunch of libwireless vars. commented out colonet timeout

     /*Function Prototypes*/
     /*Wireless Library Prototypes*/
     void wl_token_ring_timeout_handler(void);
     void wl_token_ring_response_handler(int frame, int received);
     void wl_token_ring_receive_handler(char type, int source, unsigned char* packet,
     							int length);
     void wl_token_ring_cleanup(void);
     static void wl_token_ring_timeout_handler(void);
     static void wl_token_ring_response_handler(int frame, int received);
     static void wl_token_ring_receive_handler(char type, int source, unsigned char* packet, int length);
     static void wl_token_ring_cleanup(void);
     /*Helper Functions*/
     void wl_token_pass_token(void);
     int get_token_distance(int robot1, int robot2);
     void wl_token_get_token(void);
     static void wl_token_pass_token(void);
     static int get_token_distance(int robot1, int robot2);
     static void wl_token_get_token(void);
     /*Packet Handling Routines*/
     void wl_token_pass_receive(int source, char nextRobot, unsigned char* sensorData, int sensorDataLength);
     void wl_token_bom_on_receive(int source);
     void wl_token_join_receive(int source);
     void wl_token_join_accept_receive(int source);
     static void wl_token_pass_receive(int source, char nextRobot, unsigned char* sensorData, int sensorDataLength);
     static void wl_token_bom_on_receive(int source);
     static void wl_token_join_receive(int source);
     static void wl_token_join_accept_receive(int source);
     /*Global Variables*/
     //the sensor matrix
     SensorMatrix* sensorMatrix;
     static SensorMatrix* sensorMatrix;
     //the robot we are waiting to say it has received the token. -1 if unspecified
     int wl_token_next_robot = -1;
     static int wl_token_next_robot = -1;
     //true if the robot should be in the token ring, 0 otherwise
     int ringState = NONMEMBER;
     static int ringState = NONMEMBER;
     //the id of the robot who accepted us into the token ring, only used in ACCEPTED state
     int acceptor = -1;
     static int acceptor = -1;
     //id of the robot we are accepting
     int accepted = -1;
     static int accepted = -1;
     //the counter for when we assume a robot is dead
     int deathDelay = -1;
     static int deathDelay = -1;
     //the counter for joining, before we form our own token ring
     int joinDelay = -1;
     static int joinDelay = -1;
     //current robot to check in the iterator
     int iteratorCount = 0;
     static int iteratorCount = 0;
     // the amount of time a robot has had its BOM on for
     int bom_on_count = 0;
     static int bom_on_count = 0;
     void do_nothing(void) {}
     int get_nothing(void) {return -1;}
     static void do_nothing(void) {}
     static int get_nothing(void) {return -1;}
     #ifdef ROBOT
     #ifndef FIREFLY
     void (*bom_on_function) (void) = bom_on;
     void (*bom_off_function) (void) = bom_off;
     int (*get_max_bom_function) (void) = get_max_bom;
     static void (*bom_on_function) (void) = bom_on;
     static void (*bom_off_function) (void) = bom_off;
     static int (*get_max_bom_function) (void) = get_max_bom;
     #else
     void (*bom_on_function) (void) = do_nothing;
     void (*bom_off_function) (void) = do_nothing;
     int (*get_max_bom_function) (void) = get_nothing;
     static void (*bom_on_function) (void) = do_nothing;
     static void (*bom_off_function) (void) = do_nothing;
     static int (*get_max_bom_function) (void) = get_nothing;
     #endif
     #else
     void (*bom_on_function) (void) = do_nothing;
     void (*bom_off_function) (void) = do_nothing;
     int (*get_max_bom_function) (void) = get_nothing;
     static void (*bom_on_function) (void) = do_nothing;
     static void (*bom_off_function) (void) = do_nothing;
     static int (*get_max_bom_function) (void) = get_nothing;
     #endif
     PacketGroupHandler wl_token_ring_handler =
     		{WL_TOKEN_RING_GROUP, wl_token_ring_timeout_handler,
     static PacketGroupHandler wl_token_ring_handler =
     	{WL_TOKEN_RING_GROUP, wl_token_ring_timeout_handler,
     		wl_token_ring_response_handler, wl_token_ring_receive_handler,
     		wl_token_ring_cleanup};
-...
      * Initialize the token ring packet group and register it with the
      * wireless library. The robot will not join a token ring.
      **/
     void wl_token_ring_register()
     int wl_token_ring_register()
+    {
     	if (wl_get_xbee_id() > 0xFF)
+    	{
-...
     		WL_DEBUG_PRINT("XBee ID must be single byte for token ring, is ");
     		WL_DEBUG_PRINT_INT(wl_get_xbee_id());
     		WL_DEBUG_PRINT(".\r\n");
     		return;
     		return -1;
+    	}
     	sensorMatrix = sensor_matrix_create();
-...
     	sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 0);
     	wl_register_packet_group(&wl_token_ring_handler);
     	return 0;
+    }
     /**
-...
     /**
      * Called approximately every quarter second by the wireless library.
      **/
     void wl_token_ring_timeout_handler()
     static void wl_token_ring_timeout_handler()
+    {
     	//someone is not responding, assume they are dead
     	if (deathDelay == 0)
-...
      * @param frame the frame number assigned when the packet was sent
      * @param received 1 if the packet was received, 0 otherwise
      **/
     void wl_token_ring_response_handler(int frame, int received)
     static void wl_token_ring_response_handler(int frame, int received)
+    {
     	if (!received)
+    	{
-...
      * @param packet the data in the packet
      * @param length the length of the packet in bytes
      **/
     void wl_token_ring_receive_handler(char type, int source, unsigned char* packet,
     							int length)
     static void wl_token_ring_receive_handler(char type, int source, unsigned char* packet, int length)
+    {
     	switch (type)
+    	{
-...
     int wl_token_get_sensor_reading(int source, int dest)
+    {
     	if (wl_token_is_robot_in_ring(dest) &&
     			(source == wl_get_xbee_id() || wl_token_is_robot_in_ring(source)))
     			(source == wl_get_xbee_id() || wl_token_is_robot_in_ring(source))) {
     		return sensor_matrix_get_reading(sensorMatrix, source, dest);
+    	}
     	return -1;
+    }
-...
      *		reading for that robot, repeated for sensorDataLength bytes
      * @param sensorDataLength the length in bytes of sensorData
      */
     void wl_token_pass_receive(int source, char nextRobot, unsigned char* sensorData, int sensorDataLength)
     static void wl_token_pass_receive(int source, char nextRobot, unsigned char* sensorData, int sensorDataLength)
+    {
     	int i, j;
-...
     void wl_token_iterator_begin(void)
+    {
     	int i = 0;
     	iteratorCount = 0;
     	while (!sensor_matrix_get_in_ring(sensorMatrix, i) &&
     			i < sensor_matrix_get_size(sensorMatrix))
     	while (!sensor_matrix_get_in_ring(sensorMatrix, i) && i < sensor_matrix_get_size(sensorMatrix)) {
     		i++;
     	if (i == sensor_matrix_get_size(sensorMatrix))
+    	}
     	if (i == sensor_matrix_get_size(sensorMatrix)) {
     		i = -1;
+    	}
     	iteratorCount = i;
+    }
-...
     int wl_token_iterator_next(void)
+    {
     	int result = iteratorCount;
     	if (result < 0)
     	if (result < 0) {
     		return result;
+    	}
     	iteratorCount++;
     	while (!sensor_matrix_get_in_ring(sensorMatrix, iteratorCount) &&
     		iteratorCount < sensor_matrix_get_size(sensorMatrix))
     	while (!sensor_matrix_get_in_ring(sensorMatrix, iteratorCount)
     		&& iteratorCount < sensor_matrix_get_size(sensorMatrix)) {
     		iteratorCount++;
     	if (iteratorCount == sensor_matrix_get_size(sensorMatrix))
+    	}
     	if (iteratorCount == sensor_matrix_get_size(sensorMatrix)) {
     		iteratorCount = -1;
+    	}
     	return result;
+    }

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Revision 418