Revision 591
BFS worked in 2 out of many trials with 2 robots. However, it dropped wireless a lot and changes states more than it should.
branches/orbit/code/behaviors/bfs_fsm/bfs_fsm.c | ||
---|---|---|
1 | 1 |
#include <dragonfly_lib.h> |
2 | 2 |
#include <wireless.h> |
3 | 3 |
#include <wl_token_ring.h> |
4 |
#include <queue.h>
|
|
4 |
#include "queue.h"
|
|
5 | 5 |
#include <string.h> |
6 | 6 |
#include "bfs_fsm.h" |
7 | 7 |
#include "smart_run_around_fsm.h" |
... | ... | |
17 | 17 |
|
18 | 18 |
|
19 | 19 |
/* private function prototypes */ |
20 |
void evaluate_state(void); |
|
20 |
void bfs_evaluate_state(void);
|
|
21 | 21 |
int bfs_follow(void); |
22 | 22 |
|
23 | 23 |
|
... | ... | |
40 | 40 |
|
41 | 41 |
bfs_pControl=0; |
42 | 42 |
bfs_bom = 0; |
43 |
bfs_bom_count = 0; |
|
43 | 44 |
|
44 | 45 |
|
45 | 46 |
/*Initialize distances to zero.*/ |
... | ... | |
57 | 58 |
wl_do(); // update wireless |
58 | 59 |
|
59 | 60 |
|
60 |
if (bfs_state == BFS_SEEK || bfs_state == BFS_FOLLOW) {
|
|
61 |
if (bfs_state == BFS_SEEK) { |
|
61 | 62 |
bfs_follow_id = bfs_follow(); |
62 |
if (bfs_follow_id == BFS_NO_VAL) |
|
63 |
bfs_state = BFS_SEEK; // move to seek state |
|
63 |
if (bfs_follow_id != BFS_NO_VAL && bfs_follow_id < BFS_MAX_ROBOTS) |
|
64 |
bfs_state = BFS_FOLLOW; // move to follow state |
|
65 |
} |
|
66 |
if (bfs_state == BFS_FOLLOW) { |
|
67 |
// get bom reading |
|
68 |
temp = wl_token_get_my_sensor_reading(bfs_follow_id); |
|
69 |
if (temp == -1) { |
|
70 |
bfs_bom_count++; |
|
71 |
if (bfs_bom_count > BFS_MAX_BOM_COUNT) { |
|
72 |
bfs_state = BFS_SEEK; |
|
73 |
bfs_bom = 255; |
|
74 |
bfs_bom_count = 0; |
|
75 |
} |
|
76 |
} |
|
64 | 77 |
else { |
65 |
// found robot to follow to goal |
|
66 |
bfs_state = BFS_FOLLOW; |
|
67 |
|
|
68 |
// get bom reading |
|
69 |
temp = wl_token_get_my_sensor_reading(bfs_follow_id); |
|
70 |
bfs_bom = (temp == -1) ? bfs_bom : temp; |
|
71 |
|
|
78 |
bfs_bom = temp; |
|
79 |
|
|
72 | 80 |
// modify bom reading so right is negative, left is positive |
73 | 81 |
if (bfs_bom <= 12) |
74 | 82 |
bfs_bom -= 4; |
... | ... | |
99 | 107 |
} |
100 | 108 |
|
101 | 109 |
// evaluate state |
102 |
evaluate_state(); |
|
110 |
bfs_evaluate_state();
|
|
103 | 111 |
} |
104 | 112 |
|
105 | 113 |
|
106 | 114 |
//Acts on state change. |
107 |
void evaluate_state(){ |
|
115 |
void bfs_evaluate_state(){
|
|
108 | 116 |
switch(bfs_state){ |
109 | 117 |
case(BFS_SEEK): orb_set_color(RED); |
110 | 118 |
// move around |
... | ... | |
187 | 195 |
memset(node_distances, large_number, BFS_MAX_ROBOTS); |
188 | 196 |
|
189 | 197 |
//set the path to all LARGE_NUMBER as well |
190 |
memset(path, large_number, BFS_MAX_ROBOTS);
|
|
198 |
memset(path, BFS_NO_VAL, BFS_MAX_ROBOTS);
|
|
191 | 199 |
|
192 | 200 |
//queue_remove_all(q); |
193 | 201 |
|
branches/orbit/code/behaviors/bfs_fsm/bfs_fsm.h | ||
---|---|---|
13 | 13 |
|
14 | 14 |
#define BFS_STRAIGHT_SPEED 160 |
15 | 15 |
|
16 |
#define BFS_ORBIT_DISTANCE 150 /* distance to start orbit around robot */
|
|
16 |
#define BFS_ORBIT_DISTANCE 120 /* distance to start orbit around robot */
|
|
17 | 17 |
|
18 | 18 |
#define BFS_MAX_ROBOTS 20 /* max id of robot in project */ |
19 | 19 |
|
... | ... | |
31 | 31 |
int bfs_pControl; /*Proportional control variable, determines turn direction.*/ |
32 | 32 |
int bfs_d1,bfs_d2,bfs_d3,bfs_d4,bfs_d5; /*The five distances taken in by IR.*/ |
33 | 33 |
int bfs_bom; /* bom data */ |
34 |
int bfs_bom_count; |
|
34 | 35 |
|
36 |
#define BFS_MAX_BOM_COUNT 5 /* number of missing bom packets before reverting to seek state */ |
|
37 |
|
|
35 | 38 |
/* bfs_init |
36 | 39 |
argument: robot_id that you want to find |
37 | 40 |
notes: must call before bfs_fsm |
branches/orbit/code/behaviors/bfs_fsm/queue.c | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file queue.c |
|
28 |
* @brief Queue Implementation |
|
29 |
* |
|
30 |
* An implementation of a queue for the colony robots. |
|
31 |
* |
|
32 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
|
33 |
**/ |
|
34 |
|
|
35 |
#include "queue.h" |
|
36 |
#include <wl_defs.h> |
|
37 |
|
|
38 |
#include <stdlib.h> |
|
39 |
#include <stdio.h> |
|
40 |
#ifndef ROBOT |
|
41 |
#include <pthread.h> |
|
42 |
#endif |
|
43 |
|
|
44 |
/** |
|
45 |
* @struct node_def |
|
46 |
* A node in the queue. |
|
47 |
**/ |
|
48 |
typedef struct node_def |
|
49 |
{ |
|
50 |
/** The item at this point in the queue. **/ |
|
51 |
void* val; |
|
52 |
/** The next node in the queue. **/ |
|
53 |
struct node_def* next; |
|
54 |
} Node; |
|
55 |
|
|
56 |
/** |
|
57 |
* Create a queue. |
|
58 |
* |
|
59 |
* @return the newly created queue. |
|
60 |
**/ |
|
61 |
Queue* queue_create() |
|
62 |
{ |
|
63 |
Queue* q = (Queue*)malloc(sizeof(Queue)); |
|
64 |
|
|
65 |
if (q == NULL) |
|
66 |
{ |
|
67 |
WL_DEBUG_PRINT("Out of memory.\r\n"); |
|
68 |
return NULL; |
|
69 |
} |
|
70 |
|
|
71 |
q->head = NULL; |
|
72 |
q->size = 0; |
|
73 |
|
|
74 |
#ifndef ROBOT |
|
75 |
pthread_mutex_init(&(q->lock), NULL); |
|
76 |
#endif |
|
77 |
|
|
78 |
return q; |
|
79 |
} |
|
80 |
|
|
81 |
/** |
|
82 |
* Destroys a queue, freeing memory. |
|
83 |
* |
|
84 |
* @param q the queue to destroy |
|
85 |
**/ |
|
86 |
void queue_destroy(Queue* q) |
|
87 |
{ |
|
88 |
Node* t = q->head; |
|
89 |
while (t != NULL) |
|
90 |
{ |
|
91 |
Node* t2 = t->next; |
|
92 |
free(t); |
|
93 |
t = t2; |
|
94 |
} |
|
95 |
|
|
96 |
#ifndef ROBOT |
|
97 |
pthread_mutex_destroy(&(q->lock)); |
|
98 |
#endif |
|
99 |
|
|
100 |
free(q); |
|
101 |
} |
|
102 |
|
|
103 |
/** |
|
104 |
* Add an element to a queue. |
|
105 |
* |
|
106 |
* @param q the queue to add an element to |
|
107 |
* @param item the item to add to the queue |
|
108 |
**/ |
|
109 |
int queue_add(Queue* q, void* item) |
|
110 |
{ |
|
111 |
#ifndef ROBOT |
|
112 |
pthread_mutex_lock(&(q->lock)); |
|
113 |
#endif |
|
114 |
|
|
115 |
Node* n = (Node*)malloc(sizeof(Node)); |
|
116 |
if (n == NULL) |
|
117 |
{ |
|
118 |
#ifndef ROBOT |
|
119 |
pthread_mutex_unlock(&(q->lock)); |
|
120 |
#endif |
|
121 |
return -1; |
|
122 |
} |
|
123 |
|
|
124 |
n->val = item; |
|
125 |
n->next = NULL; |
|
126 |
|
|
127 |
if (q->head == NULL) |
|
128 |
{ |
|
129 |
q->head = n; |
|
130 |
q->tail = n; |
|
131 |
} |
|
132 |
else |
|
133 |
{ |
|
134 |
|
|
135 |
q->tail->next = n; |
|
136 |
q->tail = n; |
|
137 |
} |
|
138 |
|
|
139 |
q->size++; |
|
140 |
|
|
141 |
#ifndef ROBOT |
|
142 |
pthread_mutex_unlock(&(q->lock)); |
|
143 |
#endif |
|
144 |
|
|
145 |
return 0; |
|
146 |
} |
|
147 |
|
|
148 |
/** |
|
149 |
* Remove an element from the front of a queue. |
|
150 |
* |
|
151 |
* @param q the queue to remove the element from |
|
152 |
* |
|
153 |
* @return the element which was removed |
|
154 |
**/ |
|
155 |
void* queue_remove(Queue* q) |
|
156 |
{ |
|
157 |
#ifndef ROBOT |
|
158 |
pthread_mutex_lock(&(q->lock)); |
|
159 |
#endif |
|
160 |
|
|
161 |
Node* first = q->head; |
|
162 |
if (first == NULL) |
|
163 |
{ |
|
164 |
WL_DEBUG_PRINT("Attempting to remove item \ |
|
165 |
from empty queue.\r\n"); |
|
166 |
WL_DEBUG_PRINT_INT(queue_size(q)); |
|
167 |
#ifndef ROBOT |
|
168 |
pthread_mutex_unlock(&(q->lock)); |
|
169 |
#endif |
|
170 |
return NULL; |
|
171 |
} |
|
172 |
void* ret = first->val; |
|
173 |
q->head = first->next; |
|
174 |
if (q->tail == first) |
|
175 |
q->tail = NULL; |
|
176 |
free(first); |
|
177 |
q->size--; |
|
178 |
|
|
179 |
#ifndef ROBOT |
|
180 |
pthread_mutex_unlock(&(q->lock)); |
|
181 |
#endif |
|
182 |
|
|
183 |
return ret; |
|
184 |
} |
|
185 |
|
|
186 |
/** |
|
187 |
* Remove all instances of a given element from a queue. |
|
188 |
* |
|
189 |
* @param q the queue to remove the elements from |
|
190 |
* @param item the element to remove all instances of |
|
191 |
**/ |
|
192 |
void queue_remove_all(Queue* q, void* item) |
|
193 |
{ |
|
194 |
#ifndef ROBOT |
|
195 |
pthread_mutex_lock(&(q->lock)); |
|
196 |
#endif |
|
197 |
|
|
198 |
Node* curr = q->head; |
|
199 |
Node* prev = NULL; |
|
200 |
|
|
201 |
while (curr != NULL) |
|
202 |
{ |
|
203 |
Node* next = curr->next; |
|
204 |
if (curr->val == item) |
|
205 |
{ |
|
206 |
if (q->head == curr) |
|
207 |
q->head = next; |
|
208 |
if (q->tail == curr) |
|
209 |
q->tail = prev; |
|
210 |
if (prev != NULL) |
|
211 |
prev->next = next; |
|
212 |
free(curr); |
|
213 |
q->size--; |
|
214 |
} |
|
215 |
else |
|
216 |
prev = curr; |
|
217 |
curr = next; |
|
218 |
} |
|
219 |
|
|
220 |
#ifndef ROBOT |
|
221 |
pthread_mutex_unlock(&(q->lock)); |
|
222 |
#endif |
|
223 |
} |
|
224 |
|
|
225 |
/** |
|
226 |
* Get the number of elements in the queue. |
|
227 |
* |
|
228 |
* @param q the queue to get the size of |
|
229 |
* @return the size of the queue |
|
230 |
**/ |
|
231 |
int queue_size(Queue* q) |
|
232 |
{ |
|
233 |
int size; |
|
234 |
|
|
235 |
#ifndef ROBOT |
|
236 |
pthread_mutex_lock(&(q->lock)); |
|
237 |
#endif |
|
238 |
|
|
239 |
size = q->size; |
|
240 |
|
|
241 |
#ifndef ROBOT |
|
242 |
pthread_mutex_unlock(&(q->lock)); |
|
243 |
#endif |
|
244 |
|
|
245 |
return size; |
|
246 |
} |
|
247 |
|
|
248 |
/** |
|
249 |
* Check if the queue is empty. |
|
250 |
* |
|
251 |
* @param q the queue to check |
|
252 |
* @return nonzero if the queue is empty, 0 otherwise |
|
253 |
**/ |
|
254 |
int queue_is_empty(Queue* q) |
|
255 |
{ |
|
256 |
int result; |
|
257 |
|
|
258 |
#ifndef ROBOT |
|
259 |
pthread_mutex_lock(&(q->lock)); |
|
260 |
#endif |
|
261 |
|
|
262 |
result = q->size == 0; |
|
263 |
|
|
264 |
#ifndef ROBOT |
|
265 |
pthread_mutex_unlock(&(q->lock)); |
|
266 |
#endif |
|
267 |
|
|
268 |
return result; |
|
269 |
} |
|
270 |
|
branches/orbit/code/behaviors/bfs_fsm/smart_run_around_fsm.c | ||
---|---|---|
7 | 7 |
Latest revision only has two accessible states: move and reverse. |
8 | 8 |
*/ |
9 | 9 |
|
10 |
/* private function */ |
|
11 |
void run_around_evaluate_state(void); |
|
10 | 12 |
|
11 | 13 |
void run_around_init(void) |
12 | 14 |
{ |
13 |
range_init(); |
|
14 |
analog_init(1); |
|
15 |
motors_init(); |
|
16 |
orb_init(); |
|
17 |
orb_enable(); |
|
15 |
//range_init();
|
|
16 |
//analog_init(1);
|
|
17 |
//motors_init();
|
|
18 |
//orb_init();
|
|
19 |
//orb_enable();
|
|
18 | 20 |
usb_init(); |
19 | 21 |
|
20 | 22 |
/*Start in the default state, MOVING*/ |
... | ... | |
27 | 29 |
/*Initialize distances to zero.*/ |
28 | 30 |
d1=0; d2=0; d3=0; d4=0; d5=0; |
29 | 31 |
|
30 |
orb_set_color(GREEN); |
|
32 |
//orb_set_color(GREEN);
|
|
31 | 33 |
|
32 | 34 |
} |
33 | 35 |
|
... | ... | |
63 | 65 |
|
64 | 66 |
if(crazy_count<0) crazy_count=CRAZY_MAX; |
65 | 67 |
|
66 |
evaluate_state(); |
|
68 |
run_around_evaluate_state();
|
|
67 | 69 |
return; |
68 | 70 |
} |
69 | 71 |
|
... | ... | |
71 | 73 |
if((d2!=-1)&&(d2 < 150)){ |
72 | 74 |
backup_count=BACKUP_MAX; |
73 | 75 |
avoid_state=BACKWARDS; |
74 |
evaluate_state(); |
|
76 |
run_around_evaluate_state();
|
|
75 | 77 |
return; |
76 | 78 |
} |
77 | 79 |
/* |
78 | 80 |
if(d1 < 120 || d3 < 120) { |
79 | 81 |
avoid_state = BACKWARDS; |
80 | 82 |
backup_count = BACKUP_MAX; |
81 |
evaluate_state(); |
|
83 |
run_around_evaluate_state();
|
|
82 | 84 |
return; |
83 | 85 |
} |
84 | 86 |
*/ |
... | ... | |
86 | 88 |
avoid_state=BACKWARDS; |
87 | 89 |
if(backup_count<0) |
88 | 90 |
backup_count=BACKUP_MAX; |
89 |
evaluate_state(); |
|
91 |
run_around_evaluate_state();
|
|
90 | 92 |
return; |
91 | 93 |
} |
92 | 94 |
|
... | ... | |
112 | 114 |
usb_puti(d5); |
113 | 115 |
usb_puts("\n\r");*/ |
114 | 116 |
|
115 |
evaluate_state(); |
|
117 |
run_around_evaluate_state();
|
|
116 | 118 |
} |
117 | 119 |
|
118 | 120 |
|
119 | 121 |
//Acts on state change. |
120 |
void evaluate_state(){ |
|
122 |
void run_around_evaluate_state(){
|
|
121 | 123 |
switch(avoid_state){ |
122 |
case(MOVING): orb_set_color(GREEN); |
|
124 |
case(MOVING): //orb_set_color(GREEN);
|
|
123 | 125 |
move(STRAIT_SPEED,-pControl); |
124 | 126 |
break; |
125 | 127 |
|
126 |
case(BACKWARDS): orb_set_color(ORANGE); |
|
128 |
case(BACKWARDS): //orb_set_color(ORANGE);
|
|
127 | 129 |
move(-STRAIT_SPEED,0); |
128 | 130 |
break; |
129 | 131 |
|
130 |
case(CRAZY): orb_set_color(RED); |
|
132 |
case(CRAZY): //orb_set_color(RED);
|
|
131 | 133 |
/*TODO: Implement a crazy state.*/ |
132 | 134 |
move(STRAIT_SPEED,-pControl); |
133 | 135 |
break; |
134 | 136 |
|
135 | 137 |
default: |
136 | 138 |
/*Should never get here, go strait.*/ |
137 |
move(100,0); orb_set_color(BLUE); |
|
139 |
move(100,0); //orb_set_color(BLUE);
|
|
138 | 140 |
break; |
139 | 141 |
} |
140 | 142 |
} |
branches/orbit/code/behaviors/bfs_fsm/queue.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* @file queue.h |
|
28 |
* @brief A queue implementation |
|
29 |
* |
|
30 |
* Implements a queue, a first in, first out data structure. |
|
31 |
* |
|
32 |
* @author Brian Coltin, Colony Project, CMU Robotics Club |
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33 |
**/ |
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34 |
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#ifndef WIRELESS_QUEUE_H |
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#define WIRELESS_QUEUE_H |
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37 |
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38 |
#ifndef ROBOT |
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#include <pthread.h> |
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#endif |
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41 |
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struct node_def; |
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43 |
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/** |
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* @defgroup queue Queue |
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46 |
* @brief A queue implementation |
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47 |
* |
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48 |
* A queue implementation. |
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49 |
* |
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50 |
* @{ |
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**/ |
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52 |
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/** |
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* @struct Queue |
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* Represents a queue, a first in, first out data structure. |
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**/ |
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typedef struct |
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{ |
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/** |
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60 |
* The head of the queue, the next item to be removed. |
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**/ |
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struct node_def* head; |
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63 |
/** |
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64 |
* The tail of the queue, the last item added. |
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65 |
**/ |
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66 |
struct node_def* tail; |
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67 |
/** |
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68 |
* The number of elements in the queue. |
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**/ |
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int size; |
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71 |
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#ifndef ROBOT |
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pthread_mutex_t lock; |
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74 |
#endif |
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75 |
} Queue; |
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76 |
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/** @brief Create a new queue **/ |
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Queue* queue_create(void); |
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79 |
/** @brief Destroy a queue **/ |
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void queue_destroy(Queue* q); |
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81 |
/** @brief Add an element to a queue **/ |
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82 |
int queue_add(Queue* q, void* item); |
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83 |
/** @brief Remove an element from a queue **/ |
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84 |
void* queue_remove(Queue* q); |
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85 |
/** @brief Remove all instances of a given element from a queue **/ |
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86 |
void queue_remove_all(Queue* q, void* item); |
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87 |
/** @brief Get the size of a queue **/ |
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88 |
int queue_size(Queue* q); |
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89 |
/** @brief Check if the queue is empty **/ |
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int queue_is_empty(Queue* q); |
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91 |
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92 |
/** @} **/ |
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93 |
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|
94 |
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|
95 |
#endif |
branches/orbit/code/behaviors/bfs_fsm/smart_run_around_fsm.h | ||
---|---|---|
28 | 28 |
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29 | 29 |
void run_around_init(void); |
30 | 30 |
void run_around_FSM(void); |
31 |
void evaluate_state(void); |
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32 | 31 |
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33 | 32 |
#endif |
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