Revision 732
New stuff works, fixed bugs, removed malloc.
| sensor_matrix.c | ||
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#include "sensor_matrix.h" |
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#define DEFAULT_SENSOR_MATRIX_SIZE 20 |
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// the global sensor matrix |
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SensorMatrix m; |
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/*Sensor Matrix Functions*/ |
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static void sensor_matrix_expand(SensorMatrix* m, int nextSize); |
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/** |
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* Initializes the sensor matrix. |
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* |
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* @return the newly created sensor matrix |
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**/ |
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SensorMatrix* sensor_matrix_create()
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void sensor_matrix_create()
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{
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SensorMatrix* m; |
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int i; |
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m = (SensorMatrix*)malloc(sizeof(SensorMatrix)); |
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if (!m) |
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{
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WL_DEBUG_PRINT("Out of memory - create sensor matrix.\r\n");
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return NULL; |
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} |
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m->size = DEFAULT_SENSOR_MATRIX_SIZE; |
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m->matrix = (int**)malloc(m->size * sizeof(int*)); |
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if (!(m->matrix)) {
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WL_DEBUG_PRINT("Out of memory - allocating memory for matrix.\r\n");
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free(m); |
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return NULL; |
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} |
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m->joined = (int*)malloc(m->size * sizeof(int)); |
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if (!(m->joined)) {
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WL_DEBUG_PRINT("Out of memory - allocating memory for joined.\r\n");
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free(m->matrix); |
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free(m); |
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return NULL; |
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} |
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m->numJoined = 0; |
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if (!(m->matrix) || !(m->joined)) |
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{
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WL_DEBUG_PRINT("Out of memory - create sensor matrix 2.\r\n");
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return NULL; |
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} |
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for (i = 0; i < m->size; i++) |
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{
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m->matrix[i] = NULL; |
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m->joined[i] = 0; |
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} |
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return m; |
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} |
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/** |
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* Deletes and frees memory from the sensor matrix. |
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* |
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* @param m the sensor matrix to delete |
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**/ |
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void sensor_matrix_destroy(SensorMatrix* m) |
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{
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int i; |
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for (i = 0; i < m->size; i++) |
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if (m->matrix[i] != NULL) |
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free(m->matrix[i]); |
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free(m->matrix); |
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free(m->joined); |
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free(m); |
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} |
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/** |
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* Adds robot with XBee id id to the sensor matrix. |
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* |
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* @param m the sensor matrix |
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* @param id the XBee ID of the robot to add |
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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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if (id >= m->size) {
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sensor_matrix_expand(m, id + 1); |
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} |
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if (m->matrix[id] != NULL) {
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return; |
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} |
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m->matrix[id] = (int*)malloc(m->size * sizeof(int)); |
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if (!(m->matrix[id])) |
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{
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WL_DEBUG_PRINT("Out of memory - add robot.\r\n");
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return; |
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} |
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for (i = 0; i < m->size; i++) {
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if (m->matrix[i] != NULL) {
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m->matrix[i][id] = -1; |
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} |
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} |
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} |
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/** |
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* Removes robot with id from the sensor matrix, and removes |
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* all sensor information regarding the robot. |
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* |
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* @param m the sensor matrix |
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* @param id the XBee ID of the robot to remove |
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**/ |
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void sensor_matrix_remove_robot(SensorMatrix* m, int id) |
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{
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int i; |
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if (id >= m->size || m->matrix[id] == NULL) |
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{
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WL_DEBUG_PRINT("Removing robot not added to matrix.\r\n");
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return; |
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} |
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free(m->matrix[id]); |
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m->matrix[id] = NULL; |
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for (i = 0 ; i < m->size; i++) |
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if (m->matrix[i] != NULL) |
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m->matrix[i][id] = -1; |
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m->joined[id] = 0; |
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} |
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/** |
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* Expands the size of the sensor matrix if an id number we attempt |
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* to add is too large. |
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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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//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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int i, j; |
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WL_DEBUG_PRINT("Expanding sensor matrix.\r\n");
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int** tempMatrix = (int**)malloc(nextSize * sizeof(int*)); |
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if (!tempMatrix) |
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{
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WL_DEBUG_PRINT("Out of memory - expand matrix.\r\n");
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return; |
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} |
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m.numJoined = 0; |
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for (i = 0; i < nextSize; i++) |
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tempMatrix[i] = NULL; |
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//copy over old sensor data |
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for (i = 0; i < m->size; i++) |
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if (m->matrix[i] != NULL) |
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{
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tempMatrix[i] = (int *)malloc(nextSize * sizeof(int)); |
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if (!tempMatrix[i]) |
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{
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WL_DEBUG_PRINT("Out of memory - expand matrix 2.\r\n");
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return; |
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} |
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for (j = 0; j < m->size; j++) {
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tempMatrix[i][j] = m->matrix[i][j]; |
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} |
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for (j = m->size; j < nextSize; j++) {
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tempMatrix[i][j] = -1; |
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} |
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free(m->matrix[i]); |
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} |
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free(m->matrix); |
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m->matrix = tempMatrix; |
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m->size = nextSize; |
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//expand the size of joined |
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int* tempJoined = (int *)malloc(nextSize * sizeof(int)); |
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if (!tempJoined) |
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for (i = 0; i < MAXIMUM_XBEE_ID; i++) |
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{
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WL_DEBUG_PRINT("Out of memory - expand matrix 3.\r\n");
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return; |
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m.joined[i] = 0; |
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for (j = 0; j < MAXIMUM_XBEE_ID; j++) |
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m.matrix[i][j] = READING_UNKNOWN; |
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} |
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for (i = 0; i < m->size; i++) {
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tempJoined[i] = m->joined[i]; |
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} |
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for (i = m->size; i < nextSize; i++) {
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tempJoined[i] = 0; |
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} |
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free(m->joined); |
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m->joined = tempJoined; |
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} |
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/** |
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* Sets the sensor reading for robot robot to reading. |
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* |
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* @param m the sensor matrix to set the reading for |
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* @param observer the id of the robot who made the reading |
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* @param robot the id of the robot who the reading is for |
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* @param reading the BOM reading from observer to robot |
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*/ |
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void sensor_matrix_set_reading(SensorMatrix* m, int observer, int robot, int reading)
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void sensor_matrix_set_reading(int observer, int robot, int reading) |
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{
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if (robot >= m->size || observer >= m->size || m->matrix[observer] == NULL) {
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sensor_matrix_add_robot(m, observer); |
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if (robot >= MAXIMUM_XBEE_ID || observer >= MAXIMUM_XBEE_ID) |
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{
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WL_DEBUG_PRINT("ID too large.");
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return; |
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} |
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m->matrix[observer][robot] = reading;
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m.matrix[observer][robot] = (unsigned char)reading;
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} |
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/** |
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* Gets the sensor reading for a robot to another robot. |
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* |
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* @param m the sensor matrix |
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* @param observer the robot whose reading we check |
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* @param robot the robot who we are checking the reading to |
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* |
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* @return the observer's BOM reading for robot |
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**/ |
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int sensor_matrix_get_reading(SensorMatrix* m, int observer, int robot)
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int sensor_matrix_get_reading(int observer, int robot) |
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{
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if (observer >= m->size || robot >= m->size) {
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if (observer >= MAXIMUM_XBEE_ID || robot >= MAXIMUM_XBEE_ID)
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return -1; |
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} |
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return m->matrix[observer][robot];
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return (int)m.matrix[observer][robot];
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} |
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/** |
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* Sets whether or not the given robot is part of the token ring. |
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* |
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* @param m the sensor matrix |
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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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void sensor_matrix_set_in_ring(SensorMatrix* m, int robot, int in)
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void sensor_matrix_set_in_ring(int robot, int in) |
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{
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if (robot >= m->size) {
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sensor_matrix_expand(m, robot + 1); |
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if (robot >= MAXIMUM_XBEE_ID) |
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{
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WL_DEBUG_PRINT("ID too large.");
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return; |
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} |
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if (in == 1) {
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sensor_matrix_add_robot(m, robot); |
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} |
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if (in == 1 && m.joined[robot] == 0) |
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m.numJoined++; |
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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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if (in == 0 && m.joined[robot]) |
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m.numJoined--; |
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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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m->joined[robot] = in; |
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m.joined[robot] = in; |
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} |
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/** |
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* Checks if the given robot is in the token ring. |
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* |
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* @param m the sensor matrix |
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* @param robot the ID of the robot to check |
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* |
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* @return 1 if the robot is in the token ring, 0 otherwise |
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**/ |
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int sensor_matrix_get_in_ring(SensorMatrix* m, int robot)
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int sensor_matrix_get_in_ring(int robot) |
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{
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if (robot >= m->size) {
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if (robot >= MAXIMUM_XBEE_ID)
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return -1; |
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} |
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return m->joined[robot];
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return m.joined[robot];
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} |
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/** |
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* Returns the size of the sensor matrix. |
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* Returns the number of robots which have joined the |
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* token ring. |
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* |
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* @param m the sensor matrix |
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* |
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* @return the size of the sensor matrix |
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* @return the number of robots in the token ring |
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**/ |
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int sensor_matrix_get_size(SensorMatrix* m)
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int sensor_matrix_get_joined(void)
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{
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return m->size;
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return m.numJoined;
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} |
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/** |
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* Returns the number of robots which have joined the
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* token ring.
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* Returns the maximum XBee id of a robot which can be stored
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* in the sensor matrix.
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* |
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* @param m the sensor matrix |
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* |
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* @return the number of robots in the token ring |
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* @return the maximum number of robots which can be stored |
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**/ |
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int sensor_matrix_get_joined(SensorMatrix* m)
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inline int sensor_matrix_get_size(void)
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{
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return m->numJoined;
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return MAXIMUM_XBEE_ID;
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} |
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