Multi-hop broadcast message communications library. More...

#include "roneos.h"

Data Structures
struct	BroadcastMessage
	Message that is broadcast. More...

Typedefs
typedef struct BroadcastMessage	BroadcastMessage
	Message that is broadcast.

Functions
void	broadcastMsgCreate (BroadcastMessage *msgPtr, uint8 maxHops)
	Creates a broadcast message. More...

void	broadcastMsgClear (BroadcastMessage *msgPtr)
	Clears the broadcast message state. More...

void	broadcastMsgSetSource (BroadcastMessage *msgPtr, boolean val)
	Sets the isSource property of the input message to val. More...

void	broadcastMsgUpdate (BroadcastMessage msgPtr, NbrList nbrListPtr)
	Updates the broadcast messages of this robot. Does not elect a leader, will tessellate the network if there are multiple sources. More...

void	broadcastMsgUpdateLeaderElection (BroadcastMessage msgPtr, NbrList nbrListPtr)
	Updates the broadcast messages of this robot. Does not elect a leader, will not tessellate the network if there are multiple sources. More...

void	broadcastMsgUpdateNbrData (BroadcastMessage msgPtr, NbrData nbrDataPtr)
	Updates the neighbor data with the neighbor data from the sender of the broadcast message if the message is not the source. More...

uint8	broadcastMsgGetHops (BroadcastMessage *msgPtr)
	Gets the number of message hops for the given broadcast message. More...

uint8	broadcastMsgGetHopsNbr (BroadcastMessage msgPtr, Nbr nbrPtr)
	Gets the number of message hops for the given neighbor. More...

uint8	broadcastMsgGetSourceID (BroadcastMessage *msgPtr)
	Gets the source ID of the input broadcast message. More...

uint8	broadcastMsgGetSourceIDNbr (BroadcastMessage msgPtr, Nbr nbrPtr)
	Gets the source ID of a neighbor. More...

uint8	broadcastMsgGetSenderID (BroadcastMessage *msgPtr)
	Gets the sender ID for the input message. More...

uint8	broadcastMsgGetSenderIDNbr (BroadcastMessage msgPtr, Nbr nbrPtr)

uint8	broadcastMsgGetTimestampNbr (BroadcastMessage msgPtr, Nbr nbrPtr)
	Gets the current timestamp of the neighbor. More...

uint8	broadcastMsgGetTimestamp (BroadcastMessage *msgPtr)
	Gets the timestamp of the input message. More...

void	nbrListPrintHops (NbrList nbrListPtr, BroadcastMessage broadcastMessagePtr, char *name)
	Prints NbrID and the number of hops taken. More...

NbrList *	nbrListGetParents (NbrList nbrListParents, NbrList nbrListIn, BroadcastMessage *msgPtr)
	Puts the parents in nbrListIn into nbrListParents. More...

NbrList *	nbrListGetSiblings (NbrList nbrListSiblings, NbrList nbrListIn, BroadcastMessage *msgPtr)
	Gets sibling. More...

NbrList *	nbrListGetChildren (NbrList nbrListChildren, NbrList nbrListIn, BroadcastMessage *msgPtr)

Nbr *	nbrListFindSource (NbrList nbrListPtr, BroadcastMessage msgPtr)
	Finds source of Message. More...

Detailed Description

Multi-hop broadcast message communications library.

Multi-hop broadcast messages are used to communicate over long distances in the system. After creation, the message is INACTIVE, and no data is transmitted. Once at least one robot becomes the source of a message by using the broadcastMsgSetSource() function. This robot will have a message hops of 0, and will source the data that will be transmitted throughout the network.

Call broadcastMsgUpdate() or broadcastMsgUpdateLeaderElection() each neighbor round to update the status of the broadcast message. In a normal broadcast message,broadcastMsgUpdate() will select the message from the neighbor in nbrList with the fewest number of hops, with a secondary sorting based on the [check this] robotID of the sending robot.

broadcastMsgUpdateLeaderElection() selects messages from neighbors first from the robot with the lowest source ID, then secondarily based on the hops from the source. This means that a message from a source with a lower ID will override a message from a source with a higher ID, ultimately reaching the entire network. In at most O(diam(G)) time, each robot will learn the ID of the source robot.

Since: April 6, 2011

Author: Golnaz Habibi

Function Documentation

void broadcastMsgClear ( BroadcastMessage * msgPtr)

Clears the broadcast message state.

Parameters

msgPtr pointer for broadcast message to clear

Returns: void

void broadcastMsgCreate	(	BroadcastMessage *	msgPtr,
		uint8	maxHops
	)

Creates a broadcast message.

Parameters

msgPtr	pointer for broadcast message
maxHops	the maximum number of hops that this message can propagate

Returns: void

uint8 broadcastMsgGetHops ( BroadcastMessage * msgPtr)

Gets the number of message hops for the given broadcast message.

Parameters

msgPtr pointer for broadcast message

Returns: the number of message hops

uint8 broadcastMsgGetHopsNbr	(	BroadcastMessage *	msgPtr,
		Nbr *	nbrPtr
	)

Gets the number of message hops for the given neighbor.

Parameters

msgPtr	pointer for broadcast message
nbrPtr	neighbor

Returns: the number of message hops for the given neighbor

uint8 broadcastMsgGetSenderID ( BroadcastMessage * msgPtr)

Gets the sender ID for the input message.

Parameters

msgPtr pointer for the message

Returns: sender ID for the input message

uint8 broadcastMsgGetSenderIDNbr	(	BroadcastMessage *	msgPtr,
		Nbr *	nbrPtr
	)

Parameters

msgPtr
nbrPtr

Returns

uint8 broadcastMsgGetSourceID ( BroadcastMessage * msgPtr)

Gets the source ID of the input broadcast message.

Parameters

msgPtr pointer for the broadcast message

Returns: source ID

uint8 broadcastMsgGetSourceIDNbr	(	BroadcastMessage *	msgPtr,
		Nbr *	nbrPtr
	)

Gets the source ID of a neighbor.

Parameters

msgPtr	pointer for the message
nbrPtr	pointer for the neighbor

Returns: The source ID of a neighbor

uint8 broadcastMsgGetTimestamp ( BroadcastMessage * msgPtr)

Gets the timestamp of the input message.

Parameters

msgPtr message

Returns: the timestamp of the message

uint8 broadcastMsgGetTimestampNbr	(	BroadcastMessage *	msgPtr,
		Nbr *	nbrPtr
	)

Gets the current timestamp of the neighbor.

Parameters

msgPtr	pointer for the message
nbrPtr	pointer for the neighbor

Returns: the timestamp of the neighbor

void broadcastMsgSetSource	(	BroadcastMessage *	msgPtr,
		boolean	val
	)

Sets the isSource property of the input message to val.

Parameters

msgPtr	pointer to broadcast message
val	source value

Returns: void

void broadcastMsgUpdate	(	BroadcastMessage *	msgPtr,
		NbrList *	nbrListPtr
	)

Updates the broadcast messages of this robot. Does not elect a leader, will tessellate the network if there are multiple sources.

Parameters

msgPtr	broadcast message data structure
nbrListPtr	the list of neighbors whose messages to consider

Returns: void

void broadcastMsgUpdateLeaderElection	(	BroadcastMessage *	msgPtr,
		NbrList *	nbrListPtr
	)

Updates the broadcast messages of this robot. Does not elect a leader, will not tessellate the network if there are multiple sources.

Parameters

msgPtr	broadcast message data structure
nbrListPtr	the list of neighbors whose messages to consider

Returns: void

void broadcastMsgUpdateNbrData	(	BroadcastMessage *	msgPtr,
		NbrData *	nbrDataPtr
	)

Updates the neighbor data with the neighbor data from the sender of the broadcast message if the message is not the source.

Parameters

msgPtr	pointer for the broadcast message
nbrDataPtr	pointer for the neighbor data to be updated

Returns: void

Nbr* nbrListFindSource	(	NbrList *	nbrListPtr,
		BroadcastMessage *	msgPtr
	)

Finds source of Message.

Parameters

nbrListPtr	the list of neighbors
msgPtr	message to be sent

Returns: void

NbrList* nbrListGetChildren	(	NbrList *	nbrListChildren,
		NbrList *	nbrListIn,
		BroadcastMessage *	msgPtr
	)

Parameters

nbrListChildren
nbrListIn
msgPtr

Returns: void

NbrList* nbrListGetParents	(	NbrList *	nbrListParents,
		NbrList *	nbrListIn,
		BroadcastMessage *	msgPtr
	)

Puts the parents in nbrListIn into nbrListParents.

Parameters

nbrListParents	the existing parents list
nbrListIn	the list of neighbors
msgPtr	the broadcast message

Returns: void

NbrList* nbrListGetSiblings	(	NbrList *	nbrListSiblings,
		NbrList *	nbrListIn,
		BroadcastMessage *	msgPtr
	)

Gets sibling.

Parameters

nbrListSiblings
nbrListIn
msgPtr

Returns: void

void nbrListPrintHops	(	NbrList *	nbrListPtr,
		BroadcastMessage *	broadcastMessagePtr,
		char *	name
	)

Prints NbrID and the number of hops taken.

Parameters

nbrListPtr	- list of neighbors to updatet
broadcastMessagePtr
name	of node

Returns: void

Data Structures

Typedefs

Functions

Detailed Description

Function Documentation