Colony

/**

 * 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

/*Function Prototypes*/

/*Wireless Library Prototypes*/

/*Helper Functions*/

/*Packet Handling Routines*/

/*Global Variables*/

//the sensor matrix

//the robot we are waiting to say it has received the token. -1 if unspecified

//true if the robot should be in the token ring, 0 otherwise

//the id of the robot who accepted us into the token ring, only used in ACCEPTED state

//id of the robot we are accepting

//the counter for when we assume a robot is dead

//the counter for joining, before we form our own token ring

//current robot to check in the iterator

// the amount of time a robot has had its BOM on for

#ifdef ROBOT

#ifndef FIREFLY

#else

#endif

#else

#endif

		wl_token_ring_response_handler, wl_token_ring_receive_handler,

		wl_token_ring_cleanup};

/**

 * Initialize the token ring packet group and register it with the

 * wireless library. The robot will not join a token ring.

 **/

{

	if (wl_get_xbee_id() > 0xFF)

	{

		WL_DEBUG_PRINT("XBee ID must be single byte for token ring, is ");

		WL_DEBUG_PRINT_INT(wl_get_xbee_id());

		WL_DEBUG_PRINT(".\r\n");

	}

	sensorMatrix = sensor_matrix_create();

	//add ourselves to the sensor matrix

	sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 0);

	wl_register_packet_group(&wl_token_ring_handler);

}

/**

/**

 * Sets the functions that are called when the BOM ought to be

 * charging stations, which have multiple BOMs.

 *

 * @param on_function the function to be called when the BOM

/**

 * Called to cleanup the token ring packet group.

 **/

{

	sensor_matrix_destroy(sensorMatrix);

}

/**

 * Called approximately every quarter second by the wireless library.

 **/

{

	//someone is not responding, assume they are dead

	if (deathDelay == 0)

			wl_token_next_robot = -1;

			deathDelay = DEATH_DELAY;

		}

		// we may have been dropped from the ring when this is received

			wl_token_pass_token();

	}

	//we must start our own token ring, no one is responding to us

		}

	}

		deathDelay--;

		joinDelay--;

		bom_on_count++;

}

/**

 * Called when the XBee tells us if a packet we sent has been received.

 * @param frame the frame number assigned when the packet was sent

 * @param received 1 if the packet was received, 0 otherwise

 **/

{

	if (!received)

	{

 * @param packet the data in the packet

 * @param length the length of the packet in bytes

 **/

{

	switch (type)

	{

}

/**

 * Returns the BOM reading robot source has for robot dest.

 *

 * @param source the robot that made the BOM reading

int wl_token_get_sensor_reading(int source, int dest)

{

	if (wl_token_is_robot_in_ring(dest) &&

		return sensor_matrix_get_reading(sensorMatrix, source, dest);

	return -1;

}

/**

 * Returns the BOM reading we have for robot dest.

 * @param dest the robot whose relative location is returned

 *

 * @return a BOM reading from us to robot dest, in the range

	return wl_token_get_sensor_reading(wl_get_xbee_id(), dest);

}

/**

 * 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

 *		reading for that robot, repeated for sensorDataLength bytes

 * @param sensorDataLength the length in bytes of sensorData

 */

{

	int i, j;

	j = 0;

	for (i = 0; i < sensor_matrix_get_size(sensorMatrix); i++)

	{

			continue;

		//set the sensor information we receive

		if (j < sensorDataLength / 2 && sensorData[2 * j] == i)

		{

			{

				ringState = NONMEMBER;

				wl_token_ring_join();

				WL_DEBUG_PRINT("We have been removed from the ring ");

				WL_DEBUG_PRINT("and are rejoining.\r\n");

			}

			//the person who accepted us is dead... let's ask again

			if (i == acceptor)

			{

	}

	wl_token_next_robot = nextRobot;

	deathDelay = get_token_distance(wl_get_xbee_id(), nextRobot) * DEATH_DELAY;

	//we have the token

		wl_token_get_token();

}

/**

 * @return the number of passes before the token is expected

 * to reach robot2 from robot1

 **/

{

	int curr = robot1 + 1;

	int count = 1;

/**

 * Passes the token to the next robot in the token ring.

 **/

{

	char nextRobot;

	int i = wl_get_xbee_id() + 1;

	{

		while (1)

		{

				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");

	}

	buf[0] = nextRobot;

	int j = 0;

		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_token_next_robot = nextRobot;

	deathDelay = DEATH_DELAY;

	free(buf);

}

/**

 *

 * @param source the robot whose BOM is on

 **/

{

	WL_DEBUG_PRINT("Robot ");

	WL_DEBUG_PRINT_INT(source);

	WL_DEBUG_PRINT(" has flashed its bom.\r\n");

	bom_on_count = 0;

		source, get_max_bom_function());

}

 * This method is called when we receive the token. Upon receiving

 * the token, we must send a BOM_ON packet, flash the BOM, and send

 * the token to the next robot.

 * If there is a pending request for the token, this is processed first.

 **/

{

	WL_DEBUG_PRINT("We have the token.\r\n");

	if (ringState == ACCEPTED)

	{

		WL_DEBUG_PRINT("Now a member of the token ring.\r\n");

		ringState = MEMBER;

		joinDelay = -1;

		}

		return;

	}

	WL_DEBUG_PRINT("Our BOM has been flashed.\r\n");

	bom_on_function();

	#ifdef ROBOT

	delay_ms(BOM_DELAY);

	#endif

	bom_off_function();

	if (!sensor_matrix_get_in_ring(sensorMatrix, wl_get_xbee_id()))

	{

		WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n");

		return;

	}

	wl_token_pass_token();

}

 *

 * @param source the robot who requested to join

 **/

{

	WL_DEBUG_PRINT("Received joining request from robot ");

	WL_DEBUG_PRINT_INT(source);

	//we can only accept one request at a time

	if (accepted != -1)

		return;

	//check if we are the preceding robot in the token ring

	int i = source - 1;

	while (1)

	accepted = source;

	wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN_ACCEPT,

		NULL, 0, source, TOKEN_JOIN_ACCEPT_FRAME);

	WL_DEBUG_PRINT("Accepting robot ");

	WL_DEBUG_PRINT_INT(source);

	WL_DEBUG_PRINT(" into the token ring.\r\n");

 *

 * @param source the robot who accepted us

 **/

{

	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);

}