Used to maintain information about network neighbors, sets up data storage, and sets up callbacks. More...

Data Structures
struct	NbrData
	Linked list of data on messages. More...

struct	NbrMsgRadioNbrData
	The IR message a neighbor has. More...

struct	NbrMsgRadio
	Linked list of a neighbor's messages. More...

struct	Nbr
	Information stored on a network neighbor. More...

struct	NbrDatabase
	Array containing data on all the network neighbors. More...

struct	NbrList
	Array containing pointers to all the network neighbors' data. More...

struct	IRRangeData
	Data from IR signal. More...

Typedefs
typedef struct NbrData	NbrData
	Linked list of data on messages.

typedef struct NbrMsgRadioNbrData	NbrMsgRadioNbrData
	The IR message a neighbor has.

typedef struct NbrMsgRadio	NbrMsgRadio
	Linked list of a neighbor's messages.

typedef struct Nbr	Nbr
	Information stored on a network neighbor.

typedef struct NbrDatabase	NbrDatabase
	Array containing data on all the network neighbors.

typedef struct NbrList	NbrList
	Array containing pointers to all the network neighbors' data.

typedef struct IRRangeData	IRRangeData
	Data from IR signal.

Functions
void	neighborsInit (uint32 neighbor_period)
	Initialize neighbors and start neighbors task. More...

void	neighborsDisable (void)
	Disable neighbor xmit/recv. More...

void	neighborsXmitEnable (boolean neighbor_xmit_enable_arg)
	Enable neighbor to transmit messages. More...

void	neighborsSetPeriod (uint32 neighbor_period_arg)
	Set neighbor period, neighbor timeout, and obstacle timeout proportional to argument. More...

void	neighborsSetTimeoutRounds (uint8 timeoutRounds, uint8 minActive, uint8 maxInactive)
	Set neighbor period, neighbor timeout, and obstacle timeout proportional to argument. More...

uint32	neighborsGetPeriod (void)
	Get neighbor period. More...

void	neighborsGetMutex (void)
	Get neighbors mutex. More...

void	neighborsPutMutex (void)
	Put neighbors mutex. More...

uint32	neighborsGetRound (void)
	Get neighbor round from neighbor data. More...

boolean	neighborsNewRoundCheck (uint32 *roundOldPtr)
	Check to see if there is a new neighbor round. Updates the variable at the pointer. More...

void	neighborsIgnore (uint8 neighborID)
	Tries add neighborID to list of neighbors to ignore. More...

uint8	irObstaclesGetBits (void)
	Get IR obstacle bits. More...

uint8 *	irObstaclesGetRangeBits (void)
	Get IR obstacle range bits. More...

uint8 *	irObstaclesGetBitMatrix (void)
	Get IR obstacle bit matrix. More...

int16	irObstaclesGetBearing (void)
	Get IR obstacle bearing. More...

void	obstaclePrint (void)
	Print the obstacle data from the IR sensors. More...

uint8	nbrGetID (Nbr *nbrPtr)
	Get neighbor ID. More...

int32	nbrGetBearing (Nbr *nbrPtr)
	Get neighbor bearing. More...

int32	nbrGetOrientation (Nbr *nbrPtr)
	Get neighbor orientation. More...

int32	nbrGetRange (Nbr *nbrPtr)
	Get neighbor range. More...

boolean	nbrGetOrientationValid (Nbr *nbrPtr)
	Get neighbor orientation valid. More...

uint8	nbrGetRangeBits (Nbr *nbrPtr)
	Get neighbor range bits. More...

uint8	nbrGetReceiverBits (Nbr *nbrPtr)
	Get neighbor receiver bits. More...

uint8	nbrGetTransmitterBits (Nbr *nbrPtr)
	Get neighbor transmitter bits. More...

uint32	nbrGetUpdateTime (Nbr *nbrPtr)
	Get neighbor update time. More...

uint32	nbrGetUpdateRound (Nbr *nbrPtr)
	Get neighbor update round. More...

void	nbrPrint (Nbr *nbr)
	Print information on neighbor (and information of neighbor's neighbors). More...

void	nbrPrintData (Nbr *nbr, uint32 round)
	Print header and neighbor data. More...

boolean	nbrIsRobot (Nbr *nbrPtr)
	Returns true if this neighbor is a beacon. More...

boolean	nbrIsBeacon (Nbr *nbrPtr)
	Returns true if this neighbor is a beacon. More...

void	nbrMsgRadioCreate (NbrMsgRadio nbrMsgRadioPtr, const char name)
	Create a radio neighbor message. More...

void	nbrMsgRadioSet (NbrMsgRadio nbrMsgRadioPtr, char dataPtr, uint8 length)
	Gets a radio neighbor message. More...

NbrMsgRadioNbrData *	nbrMsgRadioGetNbr (NbrMsgRadio nbrMsgRadioPtr, Nbr nbrPtr)
	Gets a radio neighbor message. More...

void	nbrMsgRadioPrint (NbrMsgRadio nbrMsgRadioPtr, Nbr nbrPtr)
	Prints the message data for the input neighbor. More...

Detailed Description

Used to maintain information about network neighbors, sets up data storage, and sets up callbacks.

Initializing neighbors initializes the neighbor period, neighbor timeout, obstacle timeout. Also initializes neighborData, sets the message length, and puts the 7-bit roneID in message. In addition, semaphore implementing neighborsMutex is created.

Since: March 2, 2011

Author: James McLurkin

Function Documentation

int16 irObstaclesGetBearing ( void )

Get IR obstacle bearing.

This function returns the bearing of an IR obstacle. It looks for contiguous obstacle bits, to select the largest (nearest) obstacle. This could cause dithering for 1-bit sized obstacles.

Returns: the bump sensor bearing. Returns 0 if there is no obstacle.

uint8* irObstaclesGetBitMatrix ( void )

Get IR obstacle bit matrix.

Returns: IR obstacle bit matrix

uint8 irObstaclesGetBits ( void )

Get IR obstacle bits.

Returns: IR obstacle bits

uint8* irObstaclesGetRangeBits ( void )

Get IR obstacle range bits.

Returns: IR obstacle range bits

int32 nbrGetBearing ( Nbr * nbrPtr)

Get neighbor bearing.

Parameters

nbrPtr neighbor pointer

Returns: returns bearing. Ranges within [-pi, pi).

uint8 nbrGetID ( Nbr * nbrPtr)

Get neighbor ID.

Parameters

nbrPtr neighbor pointer

Returns: ID

int32 nbrGetOrientation ( Nbr * nbrPtr)

Get neighbor orientation.

Parameters

nbrPtr neighbor pointer

Returns: orientation. Ranges within [-pi, pi).

boolean nbrGetOrientationValid ( Nbr * nbrPtr)

Get neighbor orientation valid.

Parameters

nbrPtr neighbor pointer

Returns: whether orientation is valid

int32 nbrGetRange ( Nbr * nbrPtr)

Get neighbor range.

Parameters

nbrPtr neighbor pointer

Returns: orientation. Ranges within [-pi, pi).

uint8 nbrGetRangeBits ( Nbr * nbrPtr)

Get neighbor range bits.

Range bits are recieverBitCount + orientationBitCount

Parameters

nbrPtr neighbor pointer

Returns: range bits

uint8 nbrGetReceiverBits ( Nbr * nbrPtr)

Get neighbor receiver bits.

Receiver bits are the actual receivers the message was received on.

Parameters

nbrPtr neighbor pointer

Returns: receiver bits

uint8 nbrGetTransmitterBits ( Nbr * nbrPtr)

Get neighbor transmitter bits.

Receiver bits are the actual transmitter the message was received from.

Parameters

nbrPtr neighbor pointer

Returns: transmitter bits

uint32 nbrGetUpdateRound ( Nbr * nbrPtr)

Get neighbor update round.

Parameters

nbrPtr neighbor pointer

Returns: the last round this neighbor was heard from

uint32 nbrGetUpdateTime ( Nbr * nbrPtr)

Get neighbor update time.

Parameters

nbrPtr neighbor pointer

Returns: update time

boolean nbrIsBeacon ( Nbr * nbrPtr)

Returns true if this neighbor is a beacon.

Parameters

nbrPtr neighbor pointer

Returns: true if the neighbor is a IR beacon

boolean nbrIsRobot ( Nbr * nbrPtr)

Returns true if this neighbor is a beacon.

Parameters

nbrPtr neighbor pointer

Returns: true if the neighbor is a IR beacon

void nbrMsgRadioCreate	(	NbrMsgRadio *	nbrMsgRadioPtr,
		const char *	name
	)

Create a radio neighbor message.

This function is called only once per program execution for each thing.

Parameters

nbrMsgRadioPtr	the pointer to the radio message
name	the name for the radio message

Returns: void

NbrMsgRadioNbrData* nbrMsgRadioGetNbr	(	NbrMsgRadio *	nbrMsgRadioPtr,
		Nbr *	nbrPtr
	)

Gets a radio neighbor message.

This function returns a pointer to the NbrMsgRadioNbrData struct for this neighbor.

Parameters

nbrMsgRadioPtr	the pointer to the radio message
nbrPtr	pointer to the neighbor

Returns: pointer to data or NULL

void nbrMsgRadioPrint	(	NbrMsgRadio *	nbrMsgRadioPtr,
		Nbr *	nbrPtr
	)

Prints the message data for the input neighbor.

Parameters

nbrMsgRadioPtr	pointer for the linked list of a neighbor's messages
nbrPtr	pointer for the desired neighbor

Returns: void

void nbrMsgRadioSet	(	NbrMsgRadio *	nbrMsgRadioPtr,
		char *	dataPtr,
		uint8	length
	)

Gets a radio neighbor message.

This function returns a pointer to the NbrMsgRadioNbrData struct for this neighbor.

Parameters

nbrMsgRadioPtr	the pointer to the radio message
dataPtr	pointer to a char array of max length RADIO_COMMAND_MESSAGE_DATA_LENGTH
length

Returns: pointer to data or NULL

void nbrPrint ( Nbr * nbr)

Print information on neighbor (and information of neighbor's neighbors).

Print roneID and neighbor's ID, bear, orientation, orientation valid Print name and value of each neighbor message.

Parameters

nbr	neighbor pointer

Returns: void

void nbrPrintData	(	Nbr *	nbr,
		uint32	round
	)

Print header and neighbor data.

Print header once. Print id, time, round; neighbor's ID, bearing, update time; neighbor's neighbor's ID, bearing, update time.

Parameters

nbr	neighbor pointer
round	the round number

Returns: void

void neighborsDisable ( void )

Disable neighbor xmit/recv.

Returns: void

void neighborsGetMutex ( void )

Get neighbors mutex.

Returns: void

uint32 neighborsGetPeriod ( void )

Get neighbor period.

Returns: void

uint32 neighborsGetRound ( void )

Get neighbor round from neighbor data.

Returns: neighbor round

void neighborsIgnore ( uint8 neighborID)

Tries add neighborID to list of neighbors to ignore.

Parameters

neighborID the neighbor we want to ignore (no longer monitor)

Returns: void

void neighborsInit ( uint32 neighbor_period)

Initialize neighbors and start neighbors task.

Parameters

neighbor_period the neighbor period in rounds

Returns: void

boolean neighborsNewRoundCheck ( uint32 * roundOldPtr)

Check to see if there is a new neighbor round. Updates the variable at the pointer.

Parameters

roundOldPtr pointer for previous round

Returns: TRUE if the neighbor round has changed

void neighborsPutMutex ( void )

Put neighbors mutex.

Returns: void

void neighborsSetPeriod ( uint32 neighbor_period_arg)

Set neighbor period, neighbor timeout, and obstacle timeout proportional to argument.

Parameters

neighbor_period_arg the neighbor period length in rounds

Returns: void

void neighborsSetTimeoutRounds	(	uint8	timeoutRounds,
		uint8	minActive,
		uint8	maxInactive
	)

Set neighbor period, neighbor timeout, and obstacle timeout proportional to argument.

Parameters

timeoutRounds
minActive
maxInactive

Returns: void

void neighborsXmitEnable ( boolean neighbor_xmit_enable_arg)

Enable neighbor to transmit messages.

Parameters

neighbor_xmit_enable_arg a boolean that allows enable or not

Returns: void

void obstaclePrint ( void )

Print the obstacle data from the IR sensors.

Returns: void

Data Structures

Typedefs

Functions

Detailed Description

Function Documentation