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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 wl_token_ring.c
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* @brief Token Ring Implementation
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*
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* Implementation of the token ring packet group.
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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 <wl_token_ring.h> |
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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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#include <wireless.h> |
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#include <sensor_matrix.h> |
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#ifdef ROBOT
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#ifndef FIREFLY
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#include <bom.h> |
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#endif
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#include <time.h> |
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#endif
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//TODO: why is this in both this file and sensor_matrix.c? If it is needed in both places,
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// put it in sensor_matrix.h. This file already includes sensor_matrix.h
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#define DEFAULT_SENSOR_MATRIX_SIZE 20 |
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/*Ring States*/
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#define NONMEMBER 0 |
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#define MEMBER 1 |
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#define JOINING 2 |
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#define ACCEPTED 3 |
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#define LEAVING 4 |
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/*Frame Types*/
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#define TOKEN_JOIN_ACCEPT_FRAME 1 |
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#define WL_TOKEN_PASS_FRAME 2 |
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/*Function Prototypes*/
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/*Wireless Library Prototypes*/
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static void wl_token_ring_timeout_handler(void); |
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static void wl_token_ring_response_handler(int frame, int received); |
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static void wl_token_ring_receive_handler(char type, int source, unsigned char* packet, int length); |
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static void wl_token_ring_cleanup(void); |
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/*Helper Functions*/
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static int wl_token_pass_token(void); |
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static int get_token_distance(int robot1, int robot2); |
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static void wl_token_get_token(void); |
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/*Packet Handling Routines*/
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static void wl_token_pass_receive(int source); |
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static void wl_token_sensor_matrix_receive(int source, unsigned char* sensorData, int sensorDataLength); |
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static void wl_token_bom_on_receive(int source); |
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static void wl_token_join_receive(int source); |
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static void wl_token_join_accept_receive(int source); |
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/*Global Variables*/
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//the robot we are waiting to say it has received the token. -1 if unspecified
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static int wl_token_next_robot = -1; |
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//true if the robot should be in the token ring, 0 otherwise
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static int ringState = NONMEMBER; |
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//the id of the robot who accepted us into the token ring, only used in ACCEPTED state
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static int acceptor = -1; |
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//id of the robot we are accepting
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static int accepted = -1; |
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//the counter for when we assume a robot is dead
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static int deathDelay = -1; |
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//the counter for joining, before we form our own token ring
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static int joinDelay = -1; |
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//current robot to check in the iterator
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static int iteratorCount = 0; |
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// the amount of time a robot has had its BOM on for
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static int bom_on_count = 0; |
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#ifndef ROBOT
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static void do_nothing(void) {} |
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static int get_nothing(void) {return -1;} |
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#endif
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#ifdef ROBOT
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#ifndef FIREFLY
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static void (*bom_on_function) (void) = bom_on; |
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static void (*bom_off_function) (void) = bom_off; |
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static int (*get_max_bom_function) (void) = get_max_bom; |
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#else
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static void (*bom_on_function) (void) = do_nothing; |
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static void (*bom_off_function) (void) = do_nothing; |
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static int (*get_max_bom_function) (void) = get_nothing; |
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#endif
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#else
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static void (*bom_on_function) (void) = do_nothing; |
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static void (*bom_off_function) (void) = do_nothing; |
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static int (*get_max_bom_function) (void) = get_nothing; |
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#endif
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static PacketGroupHandler wl_token_ring_handler =
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{WL_TOKEN_RING_GROUP, wl_token_ring_timeout_handler, |
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wl_token_ring_response_handler, wl_token_ring_receive_handler, |
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wl_token_ring_cleanup}; |
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/**
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* Causes the robot to join an existing token ring, or create one
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* if no token ring exists. The token ring uses global and robot to robot
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* packets, and does not rely on any PAN.
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**/
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int wl_token_ring_join()
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{ |
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WL_DEBUG_PRINT("Joining the token ring.\r\n");
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ringState = JOINING; |
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joinDelay = DEATH_DELAY * 2;
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if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN, NULL, 0, 0) != 0) { |
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return -1; |
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} |
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return 0; |
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} |
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/**
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* Causes the robot to leave the token ring. The robot stops
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* alerting others of its location, but continues storing the
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* locations of other robots.
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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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void wl_token_ring_leave()
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{ |
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ringState = LEAVING; |
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} |
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/**
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* Initialize the token ring packet group and register it with the
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* wireless library. The robot will not join a token ring.
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**/
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int wl_token_ring_register()
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{ |
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if (wl_get_xbee_id() > 0xFF) |
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{ |
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//Note: if this becomes an issue (unlikely), we could limit sensor information
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//to half a byte and use 12 bits for the id
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WL_DEBUG_PRINT("XBee ID must be single byte for token ring, is ");
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WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
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WL_DEBUG_PRINT(".\r\n");
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return -1; |
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} |
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sensor_matrix_create(); |
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//add ourselves to the sensor matrix
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sensor_matrix_set_in_ring(wl_get_xbee_id(), 0);
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wl_register_packet_group(&wl_token_ring_handler); |
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return 0; |
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} |
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/**
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* Removes the packet group from the wireless library.
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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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void wl_token_ring_unregister()
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{ |
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wl_unregister_packet_group(&wl_token_ring_handler); |
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} |
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/**
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* Sets the functions that are called when the BOM ought to be
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* turned on or off. This could be used for things such as
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* charging stations, which have multiple BOMs.
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*
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* @param on_function the function to be called when the BOM
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* should be turned on
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* @param off_function the function to be called when the BOM
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* should be turned off
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* @param max_bom_function the function to be called when a
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* measurement of the maximum BOM reading is needed.
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**/
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void wl_token_ring_set_bom_functions(void (*on_function) (void), |
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void (*off_function) (void), int (*max_bom_function) (void)) |
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{ |
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bom_on_function = on_function; |
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bom_off_function = off_function; |
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get_max_bom_function = max_bom_function; |
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} |
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/**
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* Called to cleanup the token ring packet group.
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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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static void wl_token_ring_cleanup() |
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{ |
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} |
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/**
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* Called approximately every quarter second by the wireless library.
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**/
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static void wl_token_ring_timeout_handler() |
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{ |
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usb_putc('t');
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//someone is not responding, assume they are dead
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if (deathDelay == 0) |
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{ |
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//pass the token to the next robot if we think someone has died
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//also, declare that person dead, as long as it isn't us
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if (wl_token_next_robot != wl_get_xbee_id())
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{ |
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usb_puts("Death.\n\r");
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usb_puti(wl_token_next_robot); |
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usb_puts("\n\r");
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sensor_matrix_set_in_ring(wl_token_next_robot, 0);
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WL_DEBUG_PRINT("Robot ");
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WL_DEBUG_PRINT_INT(wl_token_next_robot); |
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WL_DEBUG_PRINT(" has died.\r\n");
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wl_token_next_robot = -1;
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deathDelay = DEATH_DELAY; |
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} |
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// we may have been dropped from the ring when this is received
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if (ringState == MEMBER) {
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wl_token_pass_token(); |
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} |
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} |
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//we must start our own token ring, no one is responding to us
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if (joinDelay == 0) |
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{ |
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if (sensor_matrix_get_joined() == 0) |
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{ |
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usb_puts("Gave up.\n\r");
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WL_DEBUG_PRINT("Creating our own token ring, no robots seem to exist.\r\n");
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sensor_matrix_set_in_ring(wl_get_xbee_id(), 1);
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ringState = MEMBER; |
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//this will make us pass the token to ourself
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//repeatedly, and other robots when they join
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deathDelay = DEATH_DELAY; |
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wl_token_next_robot = wl_get_xbee_id(); |
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} |
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else
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{ |
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WL_DEBUG_PRINT("Attempting to join the token ring again.\r\n");
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//attempt to rejoin with a random delay
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wl_token_ring_join(); |
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joinDelay = rand() / (RAND_MAX / JOIN_DELAY) + 1;
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} |
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} |
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if (deathDelay >= 0) { |
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deathDelay--; |
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} |
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if (joinDelay >= 0) { |
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joinDelay--; |
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} |
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if (bom_on_count >= 0) { |
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bom_on_count++; |
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} |
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} |
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/**
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* Called when the XBee tells us if a packet we sent has been received.
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*
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* @param frame the frame number assigned when the packet was sent
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* @param received 1 if the packet was received, 0 otherwise
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**/
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static void wl_token_ring_response_handler(int frame, int received) |
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{ |
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if (!received)
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{ |
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WL_DEBUG_PRINT("FAILED.\r\n");
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} |
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} |
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/**
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* Called when we recieve a token ring packet.
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* @param type the type of the packet
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* @param source the id of the robot who sent the packet
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* @param packet the data in the packet
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* @param length the length of the packet in bytes
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**/
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static void wl_token_ring_receive_handler(char type, int source, unsigned char* packet, int length) |
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{ |
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switch (type)
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{ |
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case WL_TOKEN_PASS:
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usb_puts("Got token.\n\r");
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wl_token_pass_receive(source); |
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break;
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case WL_TOKEN_SENSOR_MATRIX:
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usb_puts("Got sensor matrix.\n\r");
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wl_token_sensor_matrix_receive(source, packet, length); |
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break;
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case WL_TOKEN_BOM_ON:
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usb_puts("Got BOM on.\n\r");
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//add the robot to the sensor matrix if it is not already there
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wl_token_bom_on_receive(source); |
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break;
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case WL_TOKEN_JOIN:
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usb_puts("Got join request.\n\r");
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wl_token_join_receive(source); |
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break;
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case WL_TOKEN_JOIN_ACCEPT:
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usb_puts("Got join accept.\n\r");
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wl_token_join_accept_receive(source); |
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break;
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default:
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WL_DEBUG_PRINT("Unimplemented token ring packet received.\r\n");
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break;
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} |
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} |
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/**
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* Returns the BOM reading robot source has for robot dest.
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*
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* @param source the robot that made the BOM reading
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* @param dest the robot whose relative location is returned
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*
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* @return a BOM reading from robot source to robot dest,
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* in the range 0-15, or -1 if it is unknown
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**/
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int wl_token_get_sensor_reading(int source, int dest) |
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{ |
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if (wl_token_is_robot_in_ring(dest) &&
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(source == wl_get_xbee_id() || wl_token_is_robot_in_ring(source))) { |
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return sensor_matrix_get_reading(source, dest);
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} |
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return -1; |
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} |
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/**
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* Returns the BOM reading we have for robot dest.
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*
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* @param dest the robot whose relative location is returned
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*
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* @return a BOM reading from us to robot dest, in the range
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* 0-15, or -1 if it is unkown
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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 wl_token_get_my_sensor_reading(int dest) |
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{ |
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return wl_token_get_sensor_reading(wl_get_xbee_id(), dest);
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} |
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/**
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* Returns the number of robots in the token ring.
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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 wl_token_get_robots_in_ring(void) |
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{ |
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return sensor_matrix_get_joined();
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} |
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/**
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* Returns true if the specified robot is in the token ring, false
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* otherwise.
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*
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* @param robot the robot to check for whether it is in the token ring
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* @return nonzero if the robot is in the token ring, zero otherwise
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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 wl_token_is_robot_in_ring(int robot) |
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{ |
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return sensor_matrix_get_in_ring(robot);
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} |
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/**
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* Begins iterating through the robots in the token ring.
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*
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* @see wl_token_iterator_has_next, wl_token_iterator_next
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**/
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void wl_token_iterator_begin(void) |
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{ |
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int i = 0; |
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//TODO: the compiler may or may not optimize this such that my comment is useless:
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// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
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// the overhead of a function call each iteration, call it only once before the loop and store
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// the value in a variable and check against that variable in the loop condition
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while (!sensor_matrix_get_in_ring(i) && i < sensor_matrix_get_size()) {
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i++; |
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} |
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//TODO: if you do the above comment, then you can compare this to the variable also
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if (i == sensor_matrix_get_size()) {
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i = -1;
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} |
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iteratorCount = i; |
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} |
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/**
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* Returns true if there are more robots in the token ring
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* to iterate through, and false otherwise.
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*
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* @return nonzero if there are more robots to iterate through,
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* zero otherwise
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*
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* @see wl_token_iterator_begin, wl_token_iterator_next
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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 wl_token_iterator_has_next(void) |
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{ |
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return iteratorCount != -1; |
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} |
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/**
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* Returns the next robot ID in the token ring.
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*
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* @return the next robot ID in the token ring, or -1 if none exists
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*
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* @see wl_token_iterator_begin, wl_token_iterator_has_next
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**/
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int wl_token_iterator_next(void) |
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{ |
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int result = iteratorCount;
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if (result < 0) { |
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return result;
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} |
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//TODO: the compiler may or may not optimize this such that my comment is useless:
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// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
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// the overhead of a function call each iteration, call it only once before the loop and store
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// the value in a variable and check against that variable in the loop condition
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iteratorCount++; |
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while (!sensor_matrix_get_in_ring(iteratorCount)
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&& iteratorCount < sensor_matrix_get_size()) { |
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iteratorCount++; |
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} |
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//TODO: if you do the above comment, then you can compare this to the variable also
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if (iteratorCount == sensor_matrix_get_size()) {
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iteratorCount = -1;
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} |
477 |
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return result;
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} |
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|
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/**
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* Returns the number of robots currently in the token ring.
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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 wl_token_get_num_robots(void) |
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{ |
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return sensor_matrix_get_joined();
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} |
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|
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/**
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* Returns the number of robots in the sensor matrix.
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*
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* @return the number of robots in 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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500 |
int wl_token_get_matrix_size(void) |
501 |
{ |
502 |
return sensor_matrix_get_size();
|
503 |
} |
504 |
|
505 |
/**
|
506 |
* This method is called when we receive a token pass packet.
|
507 |
*
|
508 |
* @param source the robot who passed the token to us.
|
509 |
**/
|
510 |
static void wl_token_pass_receive(int source) |
511 |
{ |
512 |
WL_DEBUG_PRINT("Received token from ");
|
513 |
WL_DEBUG_PRINT_INT(source); |
514 |
WL_DEBUG_PRINT(", expected ");
|
515 |
WL_DEBUG_PRINT_INT(wl_token_next_robot); |
516 |
WL_DEBUG_PRINT(".\n");
|
517 |
// this prevents two tokens from being passed around at a time (second clause is in case we are joining)
|
518 |
usb_puti(source); usb_putc(' '); usb_puti(wl_token_next_robot); usb_putc(' '); usb_puti(wl_get_xbee_id()); |
519 |
usb_putc(' '); usb_puti(bom_on_count); usb_putc(' '); usb_puti(ringState); usb_putc(' '); usb_puts("\n\r"); |
520 |
if ((source != wl_token_next_robot && wl_get_xbee_id() != wl_token_next_robot) && bom_on_count <= DEATH_DELAY / 2 && |
521 |
ringState != ACCEPTED) |
522 |
{ |
523 |
WL_DEBUG_PRINT("Received token pass when a robot should not have died yet.\n");
|
524 |
WL_DEBUG_PRINT("There are probably two tokens going around, packet ignored.\n");
|
525 |
return;
|
526 |
} |
527 |
bom_on_count = -1;
|
528 |
deathDelay = -1;
|
529 |
sensor_matrix_set_in_ring(source, 1);
|
530 |
wl_token_get_token(); |
531 |
} |
532 |
|
533 |
/**
|
534 |
* This method is called when we receive a token pass packet.
|
535 |
* @param source is the robot it came from
|
536 |
* @param nextRobot is the robot the token was passed to
|
537 |
* @param sensorData a char with an id followed by a char with the sensor
|
538 |
* reading for that robot, repeated for sensorDataLength bytes
|
539 |
* @param sensorDataLength the length in bytes of sensorData
|
540 |
*/
|
541 |
static void wl_token_sensor_matrix_receive(int source, unsigned char* sensorData, int sensorDataLength) |
542 |
{ |
543 |
int i, j;
|
544 |
char nextRobot;
|
545 |
|
546 |
bom_on_count = -1;
|
547 |
deathDelay = -1;
|
548 |
sensor_matrix_set_in_ring(source, 1);
|
549 |
|
550 |
//with this packet, we are passed the id of the next robot in the ring
|
551 |
//and the sensor matrix, a list of id and sensor reading pairs (two bytes for both)
|
552 |
j = 0;
|
553 |
//TODO: the compiler may or may not optimize this such that my comment is useless:
|
554 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
|
555 |
// the overhead of a function call each iteration, call it only once before the loop and store
|
556 |
// the value in a variable and check against that variable in the loop condition
|
557 |
for (i = 0; i < sensor_matrix_get_size(); i++) |
558 |
{ |
559 |
if (i == source) {
|
560 |
continue;
|
561 |
} |
562 |
|
563 |
//set the sensor information we receive
|
564 |
if (j < sensorDataLength / 2 && sensorData[2 * j] == i) |
565 |
{ |
566 |
//the robot we were going to accept has already been accepted
|
567 |
if (accepted == i)
|
568 |
{ |
569 |
accepted = -1;
|
570 |
WL_DEBUG_PRINT("Someone accepted the robot we did.\r\n");
|
571 |
} |
572 |
sensor_matrix_set_reading(source, i, |
573 |
sensorData[2 * j + 1]); |
574 |
if (!sensor_matrix_get_in_ring(i))
|
575 |
{ |
576 |
WL_DEBUG_PRINT("Robot ");
|
577 |
WL_DEBUG_PRINT_INT(i); |
578 |
WL_DEBUG_PRINT(" has been added to the sensor matrix of robot ");
|
579 |
WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
580 |
WL_DEBUG_PRINT(" due to a packet from robot ");
|
581 |
WL_DEBUG_PRINT_INT(source); |
582 |
WL_DEBUG_PRINT(".\r\n");
|
583 |
} |
584 |
sensor_matrix_set_in_ring(i, 1);
|
585 |
j++; |
586 |
} |
587 |
else
|
588 |
{ |
589 |
if (sensor_matrix_get_in_ring(i))
|
590 |
{ |
591 |
WL_DEBUG_PRINT("Robot ");
|
592 |
WL_DEBUG_PRINT_INT(i); |
593 |
WL_DEBUG_PRINT(" has been removed from the sensor matrix of robot ");
|
594 |
WL_DEBUG_PRINT_INT(wl_get_xbee_id()); |
595 |
WL_DEBUG_PRINT(" due to a packet from robot ");
|
596 |
WL_DEBUG_PRINT_INT(source); |
597 |
WL_DEBUG_PRINT(".\r\n");
|
598 |
sensor_matrix_set_in_ring(i, 0);
|
599 |
} |
600 |
|
601 |
if (i == wl_get_xbee_id() && ringState == MEMBER)
|
602 |
{ |
603 |
ringState = NONMEMBER; |
604 |
wl_token_ring_join(); |
605 |
|
606 |
WL_DEBUG_PRINT("We have been removed from the ring ");
|
607 |
WL_DEBUG_PRINT("and are rejoining.\r\n");
|
608 |
} |
609 |
|
610 |
//the person who accepted us is dead... let's ask again
|
611 |
if (i == acceptor)
|
612 |
{ |
613 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 0);
|
614 |
ringState = NONMEMBER; |
615 |
acceptor = -1;
|
616 |
wl_token_ring_join(); |
617 |
} |
618 |
} |
619 |
} |
620 |
|
621 |
// get the next robot in the token ring
|
622 |
i = source + 1;
|
623 |
while (1) |
624 |
{ |
625 |
if (i == sensor_matrix_get_size()) {
|
626 |
i = 0;
|
627 |
} |
628 |
|
629 |
if (sensor_matrix_get_in_ring(i) || i == source)
|
630 |
{ |
631 |
nextRobot = (char)i;
|
632 |
break;
|
633 |
} |
634 |
|
635 |
i++; |
636 |
} |
637 |
|
638 |
if (nextRobot != wl_get_xbee_id())
|
639 |
wl_token_next_robot = nextRobot; |
640 |
|
641 |
deathDelay = get_token_distance(wl_get_xbee_id(), nextRobot) * DEATH_DELAY; |
642 |
|
643 |
if (sensor_matrix_get_joined() == 0 && ringState == JOINING) |
644 |
wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME); |
645 |
} |
646 |
|
647 |
/**
|
648 |
* Gets the distance in the token ring between two robots.
|
649 |
*
|
650 |
* @param robot1 the first robot
|
651 |
* @param robot2 the second robot
|
652 |
*
|
653 |
* @return the number of passes before the token is expected
|
654 |
* to reach robot2 from robot1
|
655 |
**/
|
656 |
static int get_token_distance(int robot1, int robot2) |
657 |
{ |
658 |
int curr = robot1 + 1; |
659 |
int count = 1; |
660 |
while (1) |
661 |
{ |
662 |
//TODO: the compiler may or may not optimize this such that my comment is useless:
|
663 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
|
664 |
// the overhead of a function call each iteration, call it only once before the loop and store
|
665 |
// the value in a variable and check against that variable in the loop condition
|
666 |
if (curr == sensor_matrix_get_size())
|
667 |
curr = 0;
|
668 |
if (curr == robot2)
|
669 |
break;
|
670 |
if (sensor_matrix_get_in_ring(curr))
|
671 |
count++; |
672 |
curr++; |
673 |
} |
674 |
return count;
|
675 |
} |
676 |
|
677 |
/**
|
678 |
* Passes the token to the next robot in the token ring.
|
679 |
**/
|
680 |
static int wl_token_pass_token() |
681 |
{ |
682 |
char nextRobot = 0xFF; |
683 |
int i = wl_get_xbee_id() + 1; |
684 |
char buf[2 * sensor_matrix_get_size()]; |
685 |
if (accepted == -1) |
686 |
{ |
687 |
while (1) |
688 |
{ |
689 |
//TODO: the compiler may or may not optimize this such that my comment is useless:
|
690 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
|
691 |
// the overhead of a function call each iteration, call it only once before the loop and store
|
692 |
// the value in a variable and check against that variable in the loop condition
|
693 |
if (i == sensor_matrix_get_size()) {
|
694 |
i = 0;
|
695 |
} |
696 |
|
697 |
if (sensor_matrix_get_in_ring(i))
|
698 |
{ |
699 |
nextRobot = (char)i;
|
700 |
break;
|
701 |
} |
702 |
|
703 |
i++; |
704 |
} |
705 |
} |
706 |
else
|
707 |
{ |
708 |
usb_puts("Accepting.\n\r");
|
709 |
WL_DEBUG_PRINT("Accepting new robot, sending it the token.\r\n");
|
710 |
//add a new robot to the token ring
|
711 |
sensor_matrix_set_in_ring(accepted, 1);
|
712 |
nextRobot = accepted; |
713 |
accepted = -1;
|
714 |
} |
715 |
|
716 |
int j = 0; |
717 |
//TODO: the compiler may or may not optimize this such that my comment is useless:
|
718 |
// instead of calling sensor_matrix_get_size every iteration of the while loop and incurring
|
719 |
// the overhead of a function call each iteration, call it only once before the loop and store
|
720 |
// the value in a variable and check against that variable in the loop condition
|
721 |
for (i = 0; i < sensor_matrix_get_size(); i++) { |
722 |
if (sensor_matrix_get_in_ring(i) && i != wl_get_xbee_id())
|
723 |
{ |
724 |
buf[2*j] = i;
|
725 |
buf[2*j + 1] = sensor_matrix_get_reading(wl_get_xbee_id(), i); |
726 |
j++; |
727 |
usb_puti(i); |
728 |
usb_puts("\n\r");
|
729 |
} |
730 |
} |
731 |
usb_puts("\n\r");
|
732 |
int packetSize = 2 * j * sizeof(char); |
733 |
WL_DEBUG_PRINT("Passing the token to robot ");
|
734 |
WL_DEBUG_PRINT_INT(nextRobot); |
735 |
WL_DEBUG_PRINT(".\r\n");
|
736 |
usb_puts("Passing token ");
|
737 |
usb_puti(nextRobot); |
738 |
usb_puts("\n\r");
|
739 |
if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_SENSOR_MATRIX, buf, packetSize, 0) != 0) |
740 |
return -1; |
741 |
if (wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME)) |
742 |
return -1; |
743 |
|
744 |
wl_token_next_robot = nextRobot; |
745 |
usb_puti(nextRobot); |
746 |
deathDelay = DEATH_DELAY; |
747 |
|
748 |
return 0; |
749 |
} |
750 |
|
751 |
/**
|
752 |
* Called when a packet is received stating that another robot has turned
|
753 |
* its BOM on. Our BOM is then read, and the data is added to the sensor
|
754 |
* matrix.
|
755 |
*
|
756 |
* @param source the robot whose BOM is on
|
757 |
**/
|
758 |
static void wl_token_bom_on_receive(int source) |
759 |
{ |
760 |
WL_DEBUG_PRINT("Robot ");
|
761 |
WL_DEBUG_PRINT_INT(source); |
762 |
WL_DEBUG_PRINT(" has flashed its bom.\r\n");
|
763 |
|
764 |
bom_on_count = 0;
|
765 |
|
766 |
sensor_matrix_set_reading(wl_get_xbee_id(), |
767 |
source, get_max_bom_function()); |
768 |
} |
769 |
|
770 |
/**
|
771 |
* This method is called when we receive the token. Upon receiving
|
772 |
* the token, we must send a BOM_ON packet, flash the BOM, and send
|
773 |
* the token to the next robot.
|
774 |
*
|
775 |
* If there is a pending request for the token, this is processed first.
|
776 |
**/
|
777 |
static void wl_token_get_token() |
778 |
{ |
779 |
WL_DEBUG_PRINT("We have the token.\r\n");
|
780 |
if (ringState == ACCEPTED)
|
781 |
{ |
782 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 1);
|
783 |
WL_DEBUG_PRINT("Now a member of the token ring.\r\n");
|
784 |
ringState = MEMBER; |
785 |
joinDelay = -1;
|
786 |
} |
787 |
|
788 |
if (ringState == LEAVING || ringState == NONMEMBER)
|
789 |
{ |
790 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 0);
|
791 |
if (ringState == NONMEMBER)
|
792 |
{ |
793 |
WL_DEBUG_PRINT("We should have left the token ring, but didn't.\r\n");
|
794 |
} |
795 |
return;
|
796 |
} |
797 |
|
798 |
WL_DEBUG_PRINT("Our BOM has been flashed.\r\n");
|
799 |
wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON, NULL, 0, 0); |
800 |
|
801 |
//bom_on_function();
|
802 |
//#ifdef ROBOT
|
803 |
usb_puts("BOM ON!\n\r");
|
804 |
delay_ms(BOM_DELAY); |
805 |
usb_puts("BOM OFF!\n\r");
|
806 |
//#endif
|
807 |
//bom_off_function();
|
808 |
|
809 |
if (!sensor_matrix_get_in_ring(wl_get_xbee_id()))
|
810 |
{ |
811 |
usb_puts("FAIL\n\r");
|
812 |
WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n");
|
813 |
return;
|
814 |
} |
815 |
|
816 |
wl_token_pass_token(); |
817 |
} |
818 |
|
819 |
/**
|
820 |
* Called when a request to join the token ring is received.
|
821 |
* If we are the robot preceding the requester in the ring,
|
822 |
* we respond with a JOIN_ACCEPT packet and pass the token to
|
823 |
* this robot when we receive the token.
|
824 |
*
|
825 |
* @param source the robot who requested to join
|
826 |
**/
|
827 |
static void wl_token_join_receive(int source) |
828 |
{ |
829 |
WL_DEBUG_PRINT("Received joining request from robot ");
|
830 |
WL_DEBUG_PRINT_INT(source); |
831 |
WL_DEBUG_PRINT(".\r\n");
|
832 |
|
833 |
//we cannot accept the request if we are not a member
|
834 |
if (ringState != MEMBER)
|
835 |
return;
|
836 |
//if they didn't get our response, see if we should respond again
|
837 |
if (accepted == source)
|
838 |
accepted = -1;
|
839 |
//we can only accept one request at a time
|
840 |
if (accepted != -1) |
841 |
return;
|
842 |
|
843 |
//check if we are the preceding robot in the token ring
|
844 |
int i = source - 1; |
845 |
while (1) |
846 |
{ |
847 |
if (i < 0) |
848 |
i = sensor_matrix_get_size() - 1;
|
849 |
|
850 |
//we must send a join acceptance
|
851 |
if (i == wl_get_xbee_id())
|
852 |
break;
|
853 |
|
854 |
//another robot will handle it
|
855 |
if (sensor_matrix_get_in_ring(i))
|
856 |
return;
|
857 |
|
858 |
i--; |
859 |
} |
860 |
|
861 |
accepted = source; |
862 |
wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN_ACCEPT, |
863 |
NULL, 0, source, TOKEN_JOIN_ACCEPT_FRAME); |
864 |
|
865 |
WL_DEBUG_PRINT("Accepting robot ");
|
866 |
WL_DEBUG_PRINT_INT(source); |
867 |
WL_DEBUG_PRINT(" into the token ring.\r\n");
|
868 |
|
869 |
// the token ring has not started yet
|
870 |
if (sensor_matrix_get_joined() == 1) |
871 |
wl_token_pass_token(); |
872 |
} |
873 |
|
874 |
/**
|
875 |
* Called when we receive a JOIN_ACCEPT packet in attempting to join
|
876 |
* the token ring.
|
877 |
* Our attempt to join the ring is stopped, and we wait for the token.
|
878 |
*
|
879 |
* @param source the robot who accepted us
|
880 |
**/
|
881 |
static void wl_token_join_accept_receive(int source) |
882 |
{ |
883 |
WL_DEBUG_PRINT("Accepted into the token ring by robot ");
|
884 |
WL_DEBUG_PRINT_INT(source); |
885 |
WL_DEBUG_PRINT(".\r\n");
|
886 |
joinDelay = JOIN_DELAY; |
887 |
ringState = ACCEPTED; |
888 |
acceptor = source; |
889 |
|
890 |
//add ourselves to the token ring
|
891 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 1);
|
892 |
} |