Revision 44
Updated wireless library in lib directory.
| wl_token_ring.c | ||
|---|---|---|
| 15 | 15 |
|
| 16 | 16 |
#define DEFAULT_SENSOR_MATRIX_SIZE 20 |
| 17 | 17 |
|
| 18 |
//TODO: idea: if the xbee can handle many packets at once, we could have everyone |
|
| 19 |
//send their BOM reading for a particular robot right after getting it. |
|
| 20 |
|
|
| 21 | 18 |
/*Ring States*/ |
| 22 | 19 |
|
| 23 | 20 |
#define NONMEMBER 0 |
| ... | ... | |
| 168 | 165 |
WL_DEBUG_PRINT_INT(wl_token_next_robot); |
| 169 | 166 |
WL_DEBUG_PRINT(" has died.\r\n");
|
| 170 | 167 |
} |
| 171 |
wl_token_pass_token(); |
|
| 168 |
|
|
| 169 |
// we may have been dropped from the ring when this is received |
|
| 170 |
if (ringState == MEMBER) |
|
| 171 |
wl_token_pass_token(); |
|
| 172 | 172 |
} |
| 173 | 173 |
|
| 174 | 174 |
//we must start our own token ring, no one is responding to us |
| ... | ... | |
| 377 | 377 |
|
| 378 | 378 |
if (i == wl_get_xbee_id() && ringState == MEMBER) |
| 379 | 379 |
{
|
| 380 |
sensor_matrix_set_in_ring(sensorMatrix, |
|
| 381 |
wl_get_xbee_id(), 1); |
|
| 382 | 380 |
ringState = NONMEMBER; |
| 383 | 381 |
wl_token_ring_join(); |
| 384 | 382 |
|
| ... | ... | |
| 535 | 533 |
{
|
| 536 | 534 |
WL_DEBUG_PRINT("We should have left the token ring, but didn't.\r\n");
|
| 537 | 535 |
} |
| 536 |
return; |
|
| 538 | 537 |
} |
| 539 | 538 |
|
| 540 | 539 |
//check for interruption requests |
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