Revision 717
added a bunch of TODO comments that will improve the style, efficiency, and possibly memory usage of the wireless library
| sensor_matrix.c | ||
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#define DEFAULT_SENSOR_MATRIX_SIZE 20 |
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//TODO: can a robot ever have more than one sensor matrix? |
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// Can there ever be more than one sensor matrix object in existance at one time? |
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// If not, then why not make a global sensor matrix variable. Then you don't have |
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// to pass the sensor matrix into each of these functions. |
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// Not passing in the sensor matrix object into all these functions will save a |
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// couple ops before each call to one of these functions because it will no longer have |
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// to set up passing this as a parameter. However, with a global variable, the |
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// function must, at some point, load the address of the global variable into a register |
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// so this may or may not actually save code space. |
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/*Sensor Matrix Functions*/ |
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static void sensor_matrix_expand(SensorMatrix* m, int nextSize); |
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SensorMatrix* m; |
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int i; |
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//TODO: shouldn't use malloc on embedded systems if avoidable |
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// Using malloc may save us SRAM usage because you don't need to allocate the second |
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// dimension unless needed, but it increases the code size because of the malloc |
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// code and introduces possibilities of memory leaks. Making a static 2 dimensional array |
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// will increase sram usage but simplify code. The size of this matrix can be set low to |
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// reduce memory consumption and increased (and code recompiled) as more robots are constructed |
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// and need to be used |
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m = (SensorMatrix*)malloc(sizeof(SensorMatrix)); |
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if (!m) |
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{
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| ... | ... | |
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void sensor_matrix_add_robot(SensorMatrix* m, int id) |
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{
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int i; |
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//TODO: instead of expanding the sensor matrix, since this is a memory constrained system |
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// devise a new way such that the size of the matrix is independent of the id values |
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if (id >= m->size) {
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sensor_matrix_expand(m, id + 1); |
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} |
| ... | ... | |
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* @param m the sensor matrix to expand |
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* @param size the new size of the sensor matrix |
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**/ |
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//TODO: remove this method when the SensorMatrix is made a static array and doesn't use malloc anymore |
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// and after it has been changed so the size of the matrix does not depend on the values of the ids of |
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// the robots. |
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//Note: this has probably not been tested, hopefully it works |
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static void sensor_matrix_expand(SensorMatrix* m, int nextSize) |
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{
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| ... | ... | |
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return; |
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} |
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//TODO: using memset here instead of this loop, *might* be less instructions and *might* reduce code size but not sure |
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for (i = 0; i < nextSize; i++) |
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tempMatrix[i] = NULL; |
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|
| ... | ... | |
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* @param robot the robot to set as a member / nonmember of the token ring |
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* @param in 1 if the robot is in the token ring, 0 otherwise |
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**/ |
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//TODO: add comments inside this function |
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void sensor_matrix_set_in_ring(SensorMatrix* m, int robot, int in) |
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{
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if (robot >= m->size) {
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| ... | ... | |
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sensor_matrix_add_robot(m, robot); |
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} |
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//TODO: does this mean you are adding the robot? |
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if (in == 1 && m->joined[robot] == 0) {
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m->numJoined++; |
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} |
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//TODO: does this mean you are removing the robot? |
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if (in == 0 && m->joined[robot] == 1) {
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m->numJoined--; |
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} |
| ... | ... | |
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* |
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* @return the size of the sensor matrix |
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**/ |
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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
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// it reduces code size or not should be done to be sure. |
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int sensor_matrix_get_size(SensorMatrix* m) |
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{
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return m->size; |
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* |
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* @return the number of robots in the token ring |
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**/ |
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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
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// it reduces code size or not should be done to be sure. |
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int sensor_matrix_get_joined(SensorMatrix* m) |
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{
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return m->numJoined; |
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