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

Revision 538

Added by Brian Coltin about 16 years ago

Non-working update to wireless, sending separate packet for passing the token.

     #define LEAVING 4
     /*Frame Types*/
     #define TOKEN_JOIN_ACCEPT_FRAME 1
     #define TOKEN_JOIN_ACCEPT_FRAME	1
     #define WL_TOKEN_PASS_FRAME	2
     /*Function Prototypes*/
-...
     static void wl_token_get_token(void);
     /*Packet Handling Routines*/
     static void wl_token_pass_receive(int source, char nextRobot, unsigned char* sensorData, int sensorDataLength);
     static void wl_token_pass_receive(int source);
     static void wl_token_sensor_matrix_receive(int source, 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);
-...
     // the amount of time a robot has had its BOM on for
     static int bom_on_count = 0;
     #ifndef ROBOT
     static void do_nothing(void) {}
     static int get_nothing(void) {return -1;}
     #endif
     #ifdef ROBOT
     #ifndef FIREFLY
-...
     	switch (type)
+    	{
     		case WL_TOKEN_PASS:
     			wl_token_pass_receive(source);
     			break;
     		case WL_TOKEN_SENSOR_MATRIX:
     			if (length < 1)
+    			{
     				WL_DEBUG_PRINT("Malformed Token Pass packet received.\r\n");
     				return;
+    			}
     			wl_token_pass_receive(source, packet[0], packet + 1, length - 1);
     			break;
     			wl_token_sensor_matrix_receive(source, packet, length);
     		case WL_TOKEN_BOM_ON:
     			//add the robot to the sensor matrix if it is not already there
     			wl_token_bom_on_receive(source);
-...
     /**
      * This method is called when we receive a token pass packet.
+     *
      * @param source the robot who passed the token to us.
      **/
     static void wl_token_pass_receive(int source)
+    {
     	// this prevents two tokens from being passed around at a time (second clause is in case we are joining)
     	if (source != wl_token_next_robot && bom_on_count <= DEATH_DELAY / 2 &&
     		ringState != ACCEPTED)
+    	{
     		WL_DEBUG_PRINT("Received token pass when a robot should not have died yet.\n");
     		WL_DEBUG_PRINT("There are probably two tokens going around, packet ignored.\n");
     		return;
+    	}
     	bom_on_count = -1;
     	deathDelay = -1;
     	sensor_matrix_set_in_ring(sensorMatrix, source, 1);
     	wl_token_get_token();
+    }
     /**
      * 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
      * @param sensorData a char with an id followed by a char with the sensor
      *		reading for that robot, repeated for sensorDataLength bytes
      * @param sensorDataLength the length in bytes of sensorData
      */
     static void wl_token_pass_receive(int source, char nextRobot, unsigned char* sensorData, int sensorDataLength)
     static void wl_token_sensor_matrix_receive(int source, unsigned char* sensorData, int sensorDataLength)
+    {
     	int i, j;
     	// get the next robot in the token ring
     	char nextRobot;
     	i = source + 1;
     	while (1)
+    	{
     		if (i == sensor_matrix_get_size(sensorMatrix)) {
     			i = 0;
+    		}
     	// this prevents two tokens from being passed around at a time (second clause is in case we are joining)
     	if (source != wl_token_next_robot && bom_on_count <= DEATH_DELAY / 2 &&
     		ringState != ACCEPTED)
+    	{
     		WL_DEBUG_PRINT("Received token pass when a robot should not have died yet.\n");
     		WL_DEBUG_PRINT("There are probably two tokens going around, packet ignored.\n");
     		return;
     		if (sensor_matrix_get_in_ring(sensorMatrix, i))
+    		{
     			nextRobot = (char)i;
     			break;
+    		}
     		i++;
+    	}
     	bom_on_count = -1;
     	deathDelay = -1;
     	WL_DEBUG_PRINT("Received the token from robot");
     	WL_DEBUG_PRINT_INT(source);
     	WL_DEBUG_PRINT(", next robot is ");
     	WL_DEBUG_PRINT_INT((int)nextRobot);
     	WL_DEBUG_PRINT(" \r\n");
     	sensor_matrix_set_in_ring(sensorMatrix, source, 1);
     	//with this packet, we are passed the id of the next robot in the ring
-...
     	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();
+    	}
     	if (sensor_matrix_get_size(sensorMatrix) == 0 && ringState == JOINING)
     		wl_send_robot_to_robot_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME);
+    }
     /**
-...
      **/
     static int wl_token_pass_token()
+    {
     	char nextRobot;
     	char nextRobot = 0xFF;
     	int i = wl_get_xbee_id() + 1;
     	if (accepted == -1)
+    	{
-...
+    	}
     	//we don't include ourself
     	int packetSize = 1 + 2 * (sensor_matrix_get_joined(sensorMatrix) - 1);
     	int packetSize = 2 * (sensor_matrix_get_joined(sensorMatrix) - 1);
     	char* buf = (char*)malloc(packetSize * sizeof(char));
     	if (!buf)
+    	{
-...
     		free(buf);
     		return -1;
+    	}
     	buf[0] = nextRobot;
     	int j = 0;
     	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);
     			buf[2*j] = i;
     			buf[2*j + 1] = 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_INT(nextRobot);
     	WL_DEBUG_PRINT(".\r\n");
     	if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, buf, packetSize, 3) != 0) {
     	if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_SENSOR_MATRIX, buf, packetSize, 0) != 0) {
     		free(buf);
     		return -1;
+    	}
     	if (wl_send_robot_to_robot_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME))
+    	{
     		free(buf);
     		return -1;
+    	}
     	wl_token_next_robot = nextRobot;
     	deathDelay = DEATH_DELAY;

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Revision 538