root / branches / autonomous_recharging / code / projects / libwireless / lib / sensor_matrix.c @ 793
History | View | Annotate | Download (3.76 KB)
1 | 340 | bcoltin | /**
|
---|---|---|---|
2 | * Copyright (c) 2007 Colony Project
|
||
3 | 668 | bcoltin | *
|
4 | 340 | bcoltin | * Permission is hereby granted, free of charge, to any person
|
5 | * obtaining a copy of this software and associated documentation
|
||
6 | * files (the "Software"), to deal in the Software without
|
||
7 | * restriction, including without limitation the rights to use,
|
||
8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
9 | * copies of the Software, and to permit persons to whom the
|
||
10 | * Software is furnished to do so, subject to the following
|
||
11 | * conditions:
|
||
12 | 668 | bcoltin | *
|
13 | 340 | bcoltin | * The above copyright notice and this permission notice shall be
|
14 | * included in all copies or substantial portions of the Software.
|
||
15 | 668 | bcoltin | *
|
16 | 340 | bcoltin | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
24 | **/
|
||
25 | |||
26 | /**
|
||
27 | * @file sensor_matrix.c
|
||
28 | * @brief Sensor Matrix implementation
|
||
29 | *
|
||
30 | * Implementation of a sensor matrix for storing localization implementation.
|
||
31 | *
|
||
32 | * @author Brian Coltin, Colony Project, CMU Robotics Club
|
||
33 | **/
|
||
34 | |||
35 | 17 | bcoltin | #include <stdlib.h> |
36 | #include <stdio.h> |
||
37 | #include <wl_defs.h> |
||
38 | |||
39 | #include "sensor_matrix.h" |
||
40 | |||
41 | 793 | bcoltin | // the global sensor matrix
|
42 | SensorMatrix m; |
||
43 | 17 | bcoltin | |
44 | /**
|
||
45 | * Initializes the sensor matrix.
|
||
46 | *
|
||
47 | * @return the newly created sensor matrix
|
||
48 | **/
|
||
49 | 793 | bcoltin | void sensor_matrix_create()
|
50 | 17 | bcoltin | { |
51 | int i, j;
|
||
52 | 668 | bcoltin | |
53 | 793 | bcoltin | m.numJoined = 0;
|
54 | 668 | bcoltin | |
55 | 793 | bcoltin | for (i = 0; i < MAXIMUM_XBEE_ID; i++) |
56 | 17 | bcoltin | { |
57 | 793 | bcoltin | m.joined[i] = 0;
|
58 | for (j = 0; j < MAXIMUM_XBEE_ID; j++) |
||
59 | m.matrix[i][j] = READING_UNKNOWN; |
||
60 | 17 | bcoltin | } |
61 | } |
||
62 | |||
63 | /**
|
||
64 | * Sets the sensor reading for robot robot to reading.
|
||
65 | 668 | bcoltin | *
|
66 | 17 | bcoltin | * @param observer the id of the robot who made the reading
|
67 | * @param robot the id of the robot who the reading is for
|
||
68 | * @param reading the BOM reading from observer to robot
|
||
69 | */
|
||
70 | 793 | bcoltin | void sensor_matrix_set_reading(int observer, int robot, int reading) |
71 | 17 | bcoltin | { |
72 | 793 | bcoltin | if (robot >= MAXIMUM_XBEE_ID || observer >= MAXIMUM_XBEE_ID)
|
73 | { |
||
74 | WL_DEBUG_PRINT("ID too large.");
|
||
75 | return;
|
||
76 | 668 | bcoltin | } |
77 | |||
78 | 793 | bcoltin | m.matrix[observer][robot] = (unsigned char)reading; |
79 | 17 | bcoltin | } |
80 | |||
81 | /**
|
||
82 | * Gets the sensor reading for a robot to another robot.
|
||
83 | *
|
||
84 | * @param observer the robot whose reading we check
|
||
85 | * @param robot the robot who we are checking the reading to
|
||
86 | *
|
||
87 | * @return the observer's BOM reading for robot
|
||
88 | **/
|
||
89 | 793 | bcoltin | int sensor_matrix_get_reading(int observer, int robot) |
90 | 17 | bcoltin | { |
91 | 793 | bcoltin | if (observer >= MAXIMUM_XBEE_ID || robot >= MAXIMUM_XBEE_ID)
|
92 | 17 | bcoltin | return -1; |
93 | 668 | bcoltin | |
94 | 793 | bcoltin | return (int)m.matrix[observer][robot]; |
95 | 17 | bcoltin | } |
96 | |||
97 | /**
|
||
98 | * Sets whether or not the given robot is part of the token ring.
|
||
99 | *
|
||
100 | * @param robot the robot to set as a member / nonmember of the token ring
|
||
101 | * @param in 1 if the robot is in the token ring, 0 otherwise
|
||
102 | **/
|
||
103 | 793 | bcoltin | void sensor_matrix_set_in_ring(int robot, int in) |
104 | 17 | bcoltin | { |
105 | 793 | bcoltin | if (robot >= MAXIMUM_XBEE_ID)
|
106 | { |
||
107 | WL_DEBUG_PRINT("ID too large.");
|
||
108 | return;
|
||
109 | 668 | bcoltin | } |
110 | |||
111 | 793 | bcoltin | if (in == 1 && m.joined[robot] == 0) |
112 | m.numJoined++; |
||
113 | 668 | bcoltin | |
114 | 793 | bcoltin | if (in == 0 && m.joined[robot]) |
115 | m.numJoined--; |
||
116 | m.joined[robot] = in; |
||
117 | 17 | bcoltin | } |
118 | |||
119 | /**
|
||
120 | * Checks if the given robot is in the token ring.
|
||
121 | 668 | bcoltin | *
|
122 | 17 | bcoltin | * @param robot the ID of the robot to check
|
123 | *
|
||
124 | * @return 1 if the robot is in the token ring, 0 otherwise
|
||
125 | **/
|
||
126 | 793 | bcoltin | int sensor_matrix_get_in_ring(int robot) |
127 | 17 | bcoltin | { |
128 | 793 | bcoltin | if (robot >= MAXIMUM_XBEE_ID)
|
129 | 17 | bcoltin | return -1; |
130 | 668 | bcoltin | |
131 | 793 | bcoltin | return m.joined[robot];
|
132 | 17 | bcoltin | } |
133 | |||
134 | /**
|
||
135 | 793 | bcoltin | * Returns the number of robots which have joined the
|
136 | * token ring.
|
||
137 | 17 | bcoltin | *
|
138 | 793 | bcoltin | * @return the number of robots in the token ring
|
139 | 17 | bcoltin | **/
|
140 | 793 | bcoltin | int sensor_matrix_get_joined(void) |
141 | 17 | bcoltin | { |
142 | 793 | bcoltin | return m.numJoined;
|
143 | 17 | bcoltin | } |
144 | |||
145 | /**
|
||
146 | 793 | bcoltin | * Returns the maximum XBee id of a robot which can be stored
|
147 | * in the sensor matrix.
|
||
148 | 17 | bcoltin | *
|
149 | 793 | bcoltin | * @return the maximum number of robots which can be stored
|
150 | 17 | bcoltin | **/
|
151 | 793 | bcoltin | int sensor_matrix_get_size(void) |
152 | 17 | bcoltin | { |
153 | 793 | bcoltin | return MAXIMUM_XBEE_ID;
|
154 | 17 | bcoltin | } |