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Revision 743

Added by Brian Coltin almost 16 years ago

Fixed compilation errors.

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sensor_matrix.c
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/**
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 * Copyright (c) 2007 Colony Project
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 *
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 *
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 *
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**


  		




  
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 * @file sensor_matrix.c


  		




  
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 * @brief Sensor Matrix implementation


  		




  
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 *


  		




  
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 * Implementation of a sensor matrix for storing localization implementation.


  		




  
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 *


  		




  
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 * @author Brian Coltin, Colony Project, CMU Robotics Club


  		




  
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 **/


  		




  
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#include <stdlib.h>


  		




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#include <stdio.h>


  		




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#include <wl_defs.h>


  		




  ......




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	SensorMatrix* m;


  		




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	int i;


  		




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	m = malloc(sizeof(SensorMatrix));


  		




  
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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 = malloc(m->size * sizeof(int*));


  		




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	m->joined = malloc(m->size * sizeof(int));


  		




  
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	m->matrix = (int**)malloc(m->size * sizeof(int*));


  		




  
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	m->joined = (int*)malloc(m->size * sizeof(int));


  		




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	m->numJoined = 0;


  		




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	if (!(m->matrix) || !(m->joined))


  		




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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, unsigned int id)


  		




  
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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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	if (m->matrix[id] != NULL)


  		




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		return;


  		




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	m->matrix[id] = malloc(m->size * sizeof(int));


  		




  
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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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 * @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, unsigned int id)


  		




  
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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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  ......




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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 = malloc(nextSize * sizeof(int*));


  		




  
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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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	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] = malloc(nextSize * sizeof(int));


  		




  
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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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	m->size = nextSize;


  		




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	//expand the size of joined


  		




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	int* tempJoined = malloc(nextSize * sizeof(int));


  		




  
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	int* tempJoined = (int *)malloc(nextSize * sizeof(int));


  		




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	if (!tempJoined)


  		




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	{


  		




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		WL_DEBUG_PRINT("Out of memory - expand matrix 3.\r\n");


  		












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