root / trunk / code / projects / libwireless / lib / sensor_matrix.c @ 887
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1 | 242 | bcoltin | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | 418 | emarinel | *
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4 | 242 | bcoltin | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | 418 | emarinel | *
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13 | 242 | bcoltin | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | 418 | emarinel | *
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16 | 242 | bcoltin | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | /**
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27 | * @file sensor_matrix.c
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28 | * @brief Sensor Matrix implementation
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29 | *
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30 | * Implementation of a sensor matrix for storing localization implementation.
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31 | *
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32 | * @author Brian Coltin, Colony Project, CMU Robotics Club
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33 | **/
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34 | |||
35 | 17 | bcoltin | #include <stdlib.h> |
36 | #include <stdio.h> |
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37 | #include <wl_defs.h> |
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38 | |||
39 | #include "sensor_matrix.h" |
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40 | |||
41 | 736 | bcoltin | // the global sensor matrix
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42 | SensorMatrix m; |
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43 | 17 | bcoltin | |
44 | /**
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45 | * Initializes the sensor matrix.
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46 | *
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47 | * @return the newly created sensor matrix
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48 | **/
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49 | 736 | bcoltin | void sensor_matrix_create()
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50 | 346 | bcoltin | { |
51 | int i, j;
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52 | 418 | emarinel | |
53 | 736 | bcoltin | m.numJoined = 0;
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54 | 418 | emarinel | |
55 | 736 | bcoltin | for (i = 0; i < MAXIMUM_XBEE_ID; i++) |
56 | 346 | bcoltin | { |
57 | 736 | bcoltin | m.joined[i] = 0;
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58 | 887 | bcoltin | #ifndef BAYBOARD
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59 | 736 | bcoltin | for (j = 0; j < MAXIMUM_XBEE_ID; j++) |
60 | m.matrix[i][j] = READING_UNKNOWN; |
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61 | 887 | bcoltin | #endif
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62 | 346 | bcoltin | } |
63 | 17 | bcoltin | } |
64 | |||
65 | /**
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66 | * Sets the sensor reading for robot robot to reading.
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67 | 418 | emarinel | *
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68 | 17 | bcoltin | * @param observer the id of the robot who made the reading
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69 | * @param robot the id of the robot who the reading is for
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70 | * @param reading the BOM reading from observer to robot
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71 | */
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72 | 736 | bcoltin | void sensor_matrix_set_reading(int observer, int robot, int reading) |
73 | 346 | bcoltin | { |
74 | 887 | bcoltin | #ifndef BAYBOARD
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75 | 736 | bcoltin | if (robot >= MAXIMUM_XBEE_ID || observer >= MAXIMUM_XBEE_ID)
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76 | { |
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77 | WL_DEBUG_PRINT("ID too large.");
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78 | return;
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79 | 418 | emarinel | } |
80 | |||
81 | 736 | bcoltin | m.matrix[observer][robot] = (unsigned char)reading; |
82 | 887 | bcoltin | #endif
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83 | 17 | bcoltin | } |
84 | |||
85 | /**
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86 | * Gets the sensor reading for a robot to another robot.
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87 | *
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88 | * @param observer the robot whose reading we check
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89 | * @param robot the robot who we are checking the reading to
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90 | *
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91 | * @return the observer's BOM reading for robot
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92 | **/
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93 | 736 | bcoltin | int sensor_matrix_get_reading(int observer, int robot) |
94 | 346 | bcoltin | { |
95 | 887 | bcoltin | #ifndef BAYBOARD
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96 | 736 | bcoltin | if (observer >= MAXIMUM_XBEE_ID || robot >= MAXIMUM_XBEE_ID)
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97 | 346 | bcoltin | return -1; |
98 | 418 | emarinel | |
99 | 736 | bcoltin | return (int)m.matrix[observer][robot]; |
100 | 887 | bcoltin | #else
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101 | return -1; |
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102 | #endif
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103 | 17 | bcoltin | } |
104 | |||
105 | /**
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106 | * Sets whether or not the given robot is part of the token ring.
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107 | *
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108 | * @param robot the robot to set as a member / nonmember of the token ring
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109 | * @param in 1 if the robot is in the token ring, 0 otherwise
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110 | **/
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111 | 736 | bcoltin | void sensor_matrix_set_in_ring(int robot, int in) |
112 | 346 | bcoltin | { |
113 | 736 | bcoltin | if (robot >= MAXIMUM_XBEE_ID)
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114 | { |
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115 | WL_DEBUG_PRINT("ID too large.");
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116 | return;
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117 | 418 | emarinel | } |
118 | |||
119 | 736 | bcoltin | if (in == 1 && m.joined[robot] == 0) |
120 | m.numJoined++; |
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121 | 418 | emarinel | |
122 | 736 | bcoltin | if (in == 0 && m.joined[robot]) |
123 | m.numJoined--; |
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124 | m.joined[robot] = in; |
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125 | 17 | bcoltin | } |
126 | |||
127 | /**
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128 | * Checks if the given robot is in the token ring.
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129 | 418 | emarinel | *
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130 | 17 | bcoltin | * @param robot the ID of the robot to check
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131 | *
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132 | * @return 1 if the robot is in the token ring, 0 otherwise
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133 | **/
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134 | 736 | bcoltin | int sensor_matrix_get_in_ring(int robot) |
135 | 346 | bcoltin | { |
136 | 736 | bcoltin | if (robot >= MAXIMUM_XBEE_ID)
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137 | 346 | bcoltin | return -1; |
138 | 418 | emarinel | |
139 | 736 | bcoltin | return m.joined[robot];
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140 | 17 | bcoltin | } |
141 | |||
142 | /**
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143 | 736 | bcoltin | * Returns the number of robots which have joined the
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144 | * token ring.
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145 | 17 | bcoltin | *
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146 | 736 | bcoltin | * @return the number of robots in the token ring
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147 | 17 | bcoltin | **/
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148 | 736 | bcoltin | int sensor_matrix_get_joined(void) |
149 | 346 | bcoltin | { |
150 | 736 | bcoltin | return m.numJoined;
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151 | 17 | bcoltin | } |
152 | |||
153 | /**
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154 | 736 | bcoltin | * Returns the maximum XBee id of a robot which can be stored
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155 | * in the sensor matrix.
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156 | 17 | bcoltin | *
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157 | 736 | bcoltin | * @return the maximum number of robots which can be stored
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158 | 17 | bcoltin | **/
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159 | 756 | gtress | int sensor_matrix_get_size(void) |
160 | 346 | bcoltin | { |
161 | 736 | bcoltin | return MAXIMUM_XBEE_ID;
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162 | 17 | bcoltin | } |