/ - Diff - Colony - Robotics Club

Revision 423

Added by Eugene Marinelli about 16 years ago

fixed robot slave and cleaned up some wireless stuff

     #include <dragonfly_lib.h>
     #include <colonet_dragonfly.h>
     #include <wireless.h>
     #include <wl_token_ring.h>
     #include <serial.h>
     #include <stdio.h>
-...
       wl_init();
       colonet_init();
       //orb_set_color(YELLOW);
       orb_set_color(GREEN);
       usb_puts("test!\n");
       wl_token_ring_register();
       while(1) {
         wl_do();
       if (wl_token_ring_join() == 0) {
         orb_set_color(GREEN);
         //usb_puts("test!\n");
         while(1) {
           wl_do();
+        }
       } else {
         orb_set_color(RED);
+      }
       while(1);
       return 0;
+    }

     USE_WIRELESS = 1
     # com1 = serial port. Use lpt1 to connect to parallel port.
     #AVRDUDE_PORT = /dev/ttyUSB1
     AVRDUDE_PORT = /dev/ttyUSB0
     AVRDUDE_PORT = /dev/ttyUSB1
     #AVRDUDE_PORT = /dev/ttyUSB0
+    #
+    #
-...
     CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly
     CINCS += -L$(COLONYROOT)/code/lib/bin
     ifdef USE_WIRELESS
     	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless -I$(COLONYROOT)/code/projects/colonet/lib -I$(COLONYROOT)/code/projects/colonet/lib/colonet_dragonfly
     	CINCS += -I$(COLONYROOT)/code/projects/libwireless/lib -I$(COLONYROOT)/code/projects/colonet/lib -I$(COLONYROOT)/code/projects/colonet/lib/colonet_dragonfly
     endif
     #---------------- Compiler Options ----------------

     static void wl_token_ring_cleanup(void);
     /*Helper Functions*/
     static void wl_token_pass_token(void);
     static int wl_token_pass_token(void);
     static int get_token_distance(int robot1, int robot2);
     static void wl_token_get_token(void);
-...
     		wl_token_ring_cleanup};
     /**
      * Causes the robot to join an existing token ring, or create one
      * if no token ring exists. The token ring uses global and robot to robot
      * packets, and does not rely on any PAN.
      **/
     int wl_token_ring_join()
+    {
     	WL_DEBUG_PRINT("Joining the token ring.\r\n");
     	ringState = JOINING;
     	joinDelay = DEATH_DELAY * 2;
     	if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN, NULL, 0, 0) != 0) {
     		return -1;
+    	}
     	return 0;
+    }
     /**
      * Causes the robot to leave the token ring. The robot stops
      * alerting others of its location, but continues storing the
      * locations of other robots.
      **/
     void wl_token_ring_leave()
+    {
     	ringState = LEAVING;
+    }
     /**
      * Initialize the token ring packet group and register it with the
      * wireless library. The robot will not join a token ring.
      **/
-...
     /**
      * Called to cleanup the token ring packet group.
      **/
     void wl_token_ring_cleanup()
     static void wl_token_ring_cleanup()
+    {
     	sensor_matrix_destroy(sensorMatrix);
+    }
-...
+    		}
     		// we may have been dropped from the ring when this is received
     		if (ringState == MEMBER)
     		if (ringState == MEMBER) {
     			wl_token_pass_token();
+    		}
+    	}
     	//we must start our own token ring, no one is responding to us
-...
+    		}
+    	}
     	if (deathDelay >= 0)
     	if (deathDelay >= 0) {
     		deathDelay--;
     	if (joinDelay >= 0)
+    	}
     	if (joinDelay >= 0) {
     		joinDelay--;
     	if (bom_on_count >= 0)
+    	}
     	if (bom_on_count >= 0) {
     		bom_on_count++;
+    	}
+    }
     /**
-...
+    }
     /**
      * Causes the robot to join an existing token ring, or create one
      * if no token ring exists. The token ring uses global and robot to robot
      * packets, and does not rely on any PAN.
      **/
     int wl_token_ring_join()
+    {
     	WL_DEBUG_PRINT("Joining the token ring.\r\n");
     	ringState = JOINING;
     	joinDelay = DEATH_DELAY * 2;
     	if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN, NULL, 0, 0) != 0) {
     		return -1;
+    	}
     	return 0;
+    }
     /**
      * Causes the robot to leave the token ring. The robot stops
      * alerting others of its location, but continues storing the
      * locations of other robots.
      **/
     void wl_token_ring_leave()
+    {
     	ringState = LEAVING;
+    }
     /**
      * Returns the BOM reading robot source has for robot dest.
+     *
      * @param source the robot that made the BOM reading
-...
     	return wl_token_get_sensor_reading(wl_get_xbee_id(), dest);
+    }
     /**
      * Returns the number of robots in the token ring.
+     *
      * @return the number of robots in the token ring
      **/
     int wl_token_get_robots_in_ring(void)
+    {
     	return sensor_matrix_get_joined(sensorMatrix);
+    }
     /**
      * Returns true if the specified robot is in the token ring, false
      * otherwise.
+     *
      * @param robot the robot to check for whether it is in the token ring
      * @return nonzero if the robot is in the token ring, zero otherwise
      **/
     int wl_token_is_robot_in_ring(int robot)
+    {
     	return sensor_matrix_get_in_ring(sensorMatrix, robot);
+    }
     /**
      * Begins iterating through the robots in the token ring.
+     *
      * @see wl_token_iterator_has_next, wl_token_iterator_next
      **/
     void wl_token_iterator_begin(void)
+    {
     	int i = 0;
     	while (!sensor_matrix_get_in_ring(sensorMatrix, i) && i < sensor_matrix_get_size(sensorMatrix)) {
     		i++;
+    	}
     	if (i == sensor_matrix_get_size(sensorMatrix)) {
     		i = -1;
+    	}
     	iteratorCount = i;
+    }
     /**
      * Returns true if there are more robots in the token ring
      * to iterate through, and false otherwise.
+     *
      * @return nonzero if there are more robots to iterate through,
      * zero otherwise
+     *
      * @see wl_token_iterator_begin, wl_token_iterator_next
      **/
     int wl_token_iterator_has_next(void)
+    {
     	return iteratorCount != -1;
+    }
     /**
      * Returns the next robot ID in the token ring.
+     *
      * @return the next robot ID in the token ring, or -1 if none exists
+     *
      * @see wl_token_iterator_begin, wl_token_iterator_has_next
      **/
     int wl_token_iterator_next(void)
+    {
     	int result = iteratorCount;
     	if (result < 0) {
     		return result;
+    	}
     	iteratorCount++;
     	while (!sensor_matrix_get_in_ring(sensorMatrix, iteratorCount)
     		&& iteratorCount < sensor_matrix_get_size(sensorMatrix)) {
     		iteratorCount++;
+    	}
     	if (iteratorCount == sensor_matrix_get_size(sensorMatrix)) {
     		iteratorCount = -1;
+    	}
     	return result;
+    }
     /**
      * Returns the number of robots currently in the token ring.
+     *
      * @return the number of robots in the token ring
      **/
     int wl_token_get_num_robots(void)
+    {
     	return sensor_matrix_get_joined(sensorMatrix);
+    }
     /**
      * Returns the number of robots in the sensor matrix.
+     *
      * @return the number of robots in the sensor matrix
      **/
     int wl_token_get_matrix_size(void)
+    {
     	return sensor_matrix_get_size(sensorMatrix);
+    }
     /**
      * This method is called when we receive a token pass packet.
      * @param source is the robot it came from
      * @param nextRobot is the robot the token was passed to
-...
     	j = 0;
     	for (i = 0; i < sensor_matrix_get_size(sensorMatrix); i++)
+    	{
     		if (i == source)
     		if (i == source) {
     			continue;
+    		}
     		//set the sensor information we receive
     		if (j < sensorDataLength / 2 && sensorData[2 * j] == i)
-...
     	deathDelay = get_token_distance(wl_get_xbee_id(), nextRobot) * DEATH_DELAY;
     	//we have the token
     	if (wl_token_next_robot == wl_get_xbee_id())
     	if (wl_token_next_robot == wl_get_xbee_id()) {
     		wl_token_get_token();
+    	}
+    }
     /**
-...
      * @return the number of passes before the token is expected
      * to reach robot2 from robot1
      **/
     int get_token_distance(int robot1, int robot2)
     static int get_token_distance(int robot1, int robot2)
+    {
     	int curr = robot1 + 1;
     	int count = 1;
-...
     /**
      * Passes the token to the next robot in the token ring.
      **/
     void wl_token_pass_token()
     static int wl_token_pass_token()
+    {
     	char nextRobot;
     	int i = wl_get_xbee_id() + 1;
-...
+    	{
     		while (1)
+    		{
     			if (i == sensor_matrix_get_size(sensorMatrix))
     			if (i == sensor_matrix_get_size(sensorMatrix)) {
     				i = 0;
+    			}
     			if (sensor_matrix_get_in_ring(sensorMatrix, i))
+    			{
     				nextRobot = (char)i;
     				break;
+    			}
     			i++;
+    		}
+    	}
-...
+    	{
     		WL_DEBUG_PRINT_INT(packetSize);
     		WL_DEBUG_PRINT("Out of memory - pass token.\r\n");
     		return;
     		free(buf);
     		return -1;
+    	}
     	buf[0] = nextRobot;
     	int j = 0;
     	for (i = 0; i < sensor_matrix_get_size(sensorMatrix); i++)
     	for (i = 0; i < sensor_matrix_get_size(sensorMatrix); i++) {
     		if (sensor_matrix_get_in_ring(sensorMatrix, i) && i != wl_get_xbee_id())
+    		{
     			buf[2*j + 1] = i;
     			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_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS,
     		buf, packetSize, 3);
     	if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, buf, packetSize, 3) != 0) {
     		free(buf);
     		return -1;
+    	}
     	wl_token_next_robot = nextRobot;
     	deathDelay = DEATH_DELAY;
     	free(buf);
     	return 0;
+    }
     /**
-...
+     *
      * @param source the robot whose BOM is on
      **/
     void wl_token_bom_on_receive(int source)
     static void wl_token_bom_on_receive(int source)
+    {
     	WL_DEBUG_PRINT("Robot ");
     	WL_DEBUG_PRINT_INT(source);
-...
+     *
      * If there is a pending request for the token, this is processed first.
      **/
     void wl_token_get_token()
     static void wl_token_get_token()
+    {
     	WL_DEBUG_PRINT("We have the token.\r\n");
     	if (ringState == ACCEPTED)
+    	{
     		sensor_matrix_set_in_ring(sensorMatrix,
     			wl_get_xbee_id(), 1);
     		sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 1);
     		WL_DEBUG_PRINT("Now a member of the token ring.\r\n");
     		ringState = MEMBER;
     		joinDelay = -1;
-...
+    	}
     	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);
     	wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON, NULL, 0, 0);
     	bom_on_function();
     	#ifdef ROBOT
-...
+     *
      * @param source the robot who requested to join
      **/
     void wl_token_join_receive(int source)
     static void wl_token_join_receive(int source)
+    {
     	WL_DEBUG_PRINT("Received joining request from robot ");
     	WL_DEBUG_PRINT_INT(source);
-...
+     *
      * @param source the robot who accepted us
      **/
     void wl_token_join_accept_receive(int source)
     static void wl_token_join_accept_receive(int source)
+    {
     	WL_DEBUG_PRINT("Accepted into the token ring by robot ");
     	WL_DEBUG_PRINT_INT(source);
-...
     	//add ourselves to the token ring
     	sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 1);
+    }
     /**
      * Returns the number of robots in the token ring.
+     *
      * @return the number of robots in the token ring
      **/
     int wl_token_get_robots_in_ring(void)
+    {
     	return sensor_matrix_get_joined(sensorMatrix);
+    }
     /**
      * Returns true if the specified robot is in the token ring, false
      * otherwise.
+     *
      * @param robot the robot to check for whether it is in the token ring
      * @return nonzero if the robot is in the token ring, zero otherwise
      **/
     int wl_token_is_robot_in_ring(int robot)
+    {
     	return sensor_matrix_get_in_ring(sensorMatrix, robot);
+    }
     /**
      * Begins iterating through the robots in the token ring.
+     *
      * @see wl_token_iterator_has_next, wl_token_iterator_next
      **/
     void wl_token_iterator_begin(void)
+    {
     	int i = 0;
     	while (!sensor_matrix_get_in_ring(sensorMatrix, i) && i < sensor_matrix_get_size(sensorMatrix)) {
     		i++;
+    	}
     	if (i == sensor_matrix_get_size(sensorMatrix)) {
     		i = -1;
+    	}
     	iteratorCount = i;
+    }
     /**
      * Returns true if there are more robots in the token ring
      * to iterate through, and false otherwise.
+     *
      * @return nonzero if there are more robots to iterate through,
      * zero otherwise
+     *
      * @see wl_token_iterator_begin, wl_token_iterator_next
      **/
     int wl_token_iterator_has_next(void)
+    {
     	return iteratorCount != -1;
+    }
     /**
      * Returns the next robot ID in the token ring.
+     *
      * @return the next robot ID in the token ring, or -1 if none exists
+     *
      * @see wl_token_iterator_begin, wl_token_iterator_has_next
      **/
     int wl_token_iterator_next(void)
+    {
     	int result = iteratorCount;
     	if (result < 0) {
     		return result;
+    	}
     	iteratorCount++;
     	while (!sensor_matrix_get_in_ring(sensorMatrix, iteratorCount)
     		&& iteratorCount < sensor_matrix_get_size(sensorMatrix)) {
     		iteratorCount++;
+    	}
     	if (iteratorCount == sensor_matrix_get_size(sensorMatrix)) {
     		iteratorCount = -1;
+    	}
     	return result;
+    }
     /**
      * Returns the number of robots currently in the token ring.
+     *
      * @return the number of robots in the token ring
      **/
     int wl_token_get_num_robots(void)
+    {
     	return sensor_matrix_get_joined(sensorMatrix);
+    }
     /**
      * Returns the number of robots in the sensor matrix.
+     *
      * @return the number of robots in the sensor matrix
      **/
     int wl_token_get_matrix_size(void)
+    {
     	return sensor_matrix_get_size(sensorMatrix);
+    }

     /**@brief Unregister the token ring group with the wirelss library.**/
     void wl_token_ring_unregister(void);
     /**@brief Set the functions called to turn the bom on and off.**/
     void wl_token_ring_set_bom_functions(void (*on_function) (void),
     		void (*off_function) (void), int (*max_bom_function) (void));
     void wl_token_ring_set_bom_functions(void (*on_function) (void), void (*off_function) (void),
       int (*max_bom_function) (void));
     /**@brief Join the token ring **/
     int wl_token_ring_join(void);

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Revision 423