/branches/autonomous_recharging/code/projects/libwireless/lib/sensor_matrix.c - Diff - Colony - Robotics Club

Revision 668

Added by Brian Coltin about 16 years ago

Updated port of wireless library to bay boards.

     /**
      * Copyright (c) 2007 Colony Project
+     *
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
-...
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-...
     #define DEFAULT_SENSOR_MATRIX_SIZE 20
     /*Sensor Matrix Functions*/
     void sensor_matrix_expand(SensorMatrix* m, int nextSize);
     static void sensor_matrix_expand(SensorMatrix* m, int nextSize);
     /**
      * Initializes the sensor matrix.
-...
+    {
     	SensorMatrix* m;
     	int i;
     	m = (SensorMatrix*)malloc(sizeof(SensorMatrix));
     	if (!m)
+    	{
-...
+    	}
     	m->size = DEFAULT_SENSOR_MATRIX_SIZE;
     	m->matrix = (int**)malloc(m->size * sizeof(int*));
     	if (!(m->matrix)) {
     	  WL_DEBUG_PRINT("Out of memory - allocating memory for matrix.\r\n");
     	  free(m);
     	  return NULL;
+    	}
     	m->joined = (int*)malloc(m->size * sizeof(int));
     	if (!(m->joined)) {
     	  WL_DEBUG_PRINT("Out of memory - allocating memory for joined.\r\n");
     	  free(m->matrix);
     	  free(m);
     	  return NULL;
+    	}
     	m->numJoined = 0;
     	if (!(m->matrix) || !(m->joined))
+    	{
     		WL_DEBUG_PRINT("Out of memory - create sensor matrix 2.\r\n");
     		return NULL;
+    	}
     	for (i = 0; i < m->size; i++)
+    	{
     		m->matrix[i] = NULL;
-...
     /**
      * Adds robot with XBee id id to the sensor matrix.
+     *
+     *
      * @param m the sensor matrix
      * @param id the XBee ID of the robot to add
      **/
     void sensor_matrix_add_robot(SensorMatrix* m, int id)
+    {
     	int i;
     	if (id >= m->size)
     	if (id >= m->size) {
     		sensor_matrix_expand(m, id + 1);
     	if (m->matrix[id] != NULL)
+    	}
     	if (m->matrix[id] != NULL) {
     		return;
+    	}
     	m->matrix[id] = (int*)malloc(m->size * sizeof(int));
     	if (!(m->matrix[id]))
+    	{
-...
     		return;
+    	}
     	for (i = 0; i < m->size; i++)
     		if (m->matrix[i] != NULL)
     	for (i = 0; i < m->size; i++) {
     		if (m->matrix[i] != NULL) {
     			m->matrix[i][id] = -1;
+    		}
+    	}
+    }
     /**
-...
     		WL_DEBUG_PRINT("Removing robot not added to matrix.\r\n");
     		return;
+    	}
     	free(m->matrix[id]);
     	m->matrix[id] = NULL;
     	for (i = 0 ; i < m->size; i++)
     		if (m->matrix[i] != NULL)
     			m->matrix[i][id] = -1;
     	m->joined[id] = 0;
+    }
-...
      * @param size the new size of the sensor matrix
      **/
     //Note: this has probably not been tested, hopefully it works
     void sensor_matrix_expand(SensorMatrix* m, int nextSize)
     static void sensor_matrix_expand(SensorMatrix* m, int nextSize)
+    {
     	int i, j;
     	WL_DEBUG_PRINT("Expanding sensor matrix.\r\n");
     	int** tempMatrix = (int**)malloc(nextSize * sizeof(int*));
     	if (!tempMatrix)
+    	{
     		WL_DEBUG_PRINT("Out of memory - expand matrix.\r\n");
     		return;
+    	}
     	for (i = 0; i < nextSize; i++)
     		tempMatrix[i] = NULL;
     	//copy over old sensor data
     	for (i = 0; i < m->size; i++)
     		if (m->matrix[i] != NULL)
-...
     				WL_DEBUG_PRINT("Out of memory - expand matrix 2.\r\n");
     				return;
+    			}
     			for (j = 0; j < m->size; j++)
     			for (j = 0; j < m->size; j++) {
     				tempMatrix[i][j] = m->matrix[i][j];
     			for (j = m->size; j < nextSize; j++)
+    			}
     			for (j = m->size; j < nextSize; j++) {
     				tempMatrix[i][j] = -1;
+    			}
     			free(m->matrix[i]);
+    		}
     	free(m->matrix);
     	m->matrix = tempMatrix;
     	m->size = nextSize;
-...
     		WL_DEBUG_PRINT("Out of memory - expand matrix 3.\r\n");
     		return;
+    	}
     	for (i = 0; i < m->size; i++)
     	for (i = 0; i < m->size; i++) {
     		tempJoined[i] = m->joined[i];
     	for (i = m->size; i < nextSize; i++)
+    	}
     	for (i = m->size; i < nextSize; i++) {
     		tempJoined[i] = 0;
+    	}
     	free(m->joined);
     	m->joined = tempJoined;
+    }
     /**
      * Sets the sensor reading for robot robot to reading.
+     *
+     *
      * @param m the sensor matrix to set the reading for
      * @param observer the id of the robot who made the reading
      * @param robot the id of the robot who the reading is for
-...
      */
     void sensor_matrix_set_reading(SensorMatrix* m, int observer, int robot, int reading)
+    {
     	if (robot >= m->size || observer >= m->size || m->matrix[observer] == NULL)
     	if (robot >= m->size || observer >= m->size || m->matrix[observer] == NULL) {
     		sensor_matrix_add_robot(m, observer);
+    	}
     	m->matrix[observer][robot] = reading;
+    }
-...
      **/
     int sensor_matrix_get_reading(SensorMatrix* m, int observer, int robot)
+    {
     	if (observer >= m->size || robot >= m->size)
     	if (observer >= m->size || robot >= m->size) {
     		return -1;
+    	}
     	return m->matrix[observer][robot];
+    }
-...
      **/
     void sensor_matrix_set_in_ring(SensorMatrix* m, int robot, int in)
+    {
     	if (robot >= m->size)
     	if (robot >= m->size) {
     		sensor_matrix_expand(m, robot + 1);
     	if (in == 1)
+    	}
     	if (in == 1) {
     		sensor_matrix_add_robot(m, robot);
     	if (in == 1 && m->joined[robot] == 0)
+    	}
     	if (in == 1 && m->joined[robot] == 0) {
     		m->numJoined++;
     	if (in == 0 && m->joined[robot] == 1)
+    	}
     	if (in == 0 && m->joined[robot] == 1) {
     		m->numJoined--;
+    	}
     	m->joined[robot] = in;
+    }
     /**
      * Checks if the given robot is in the token ring.
+     *
+     *
      * @param m the sensor matrix
      * @param robot the ID of the robot to check
+     *
-...
      **/
     int sensor_matrix_get_in_ring(SensorMatrix* m, int robot)
+    {
     	if (robot >= m->size)
     	if (robot >= m->size) {
     		return -1;
+    	}
     	return m->joined[robot];
+    }
-...
      * Returns the size of the sensor matrix.
+     *
      * @param m the sensor matrix
+     *
+     *
      * @return the size of the sensor matrix
      **/
     int sensor_matrix_get_size(SensorMatrix* m)
-...
+    {
     	return m->numJoined;
+    }

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Revision 668