Christian Burri / Mbed 2 deprecated autonomousRobotAndroid

This program is for an autonomous robot for the competition at the Hochschule Luzern. We are one of the 32 teams. <a href="http://cruisingcrepe.wordpress.com/">http://cruisingcrepe.wordpress.com/</a> The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>

Dependencies:   mbed

Fork of autonomousRobotAndroid by Christian Burri

MicroBridge/PacketBuffer/PacketBuffer.cpp@18:306d362d692b, 2013-05-03 (annotated)

Committer:
chrigelburri
Date:
Fri May 03 08:35:29 2013 +0000
Revision:
18:306d362d692b
androidADB successfully linking

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 18:306d362d692b 1
chrigelburri 18:306d362d692b 2 /** @file PacketBuffer.cpp
chrigelburri 18:306d362d692b 3 * @brief Ring Buffer
chrigelburri 18:306d362d692b 4 */
chrigelburri 18:306d362d692b 5
chrigelburri 18:306d362d692b 6 #include "PacketBuffer.h"
chrigelburri 18:306d362d692b 7
chrigelburri 18:306d362d692b 8
chrigelburri 18:306d362d692b 9 PacketBuffer::PacketBuffer(int num,int packet_size)
chrigelburri 18:306d362d692b 10 {
chrigelburri 18:306d362d692b 11 max_num = num;
chrigelburri 18:306d362d692b 12 max_size = packet_size;
chrigelburri 18:306d362d692b 13
chrigelburri 18:306d362d692b 14 p_buf = new PacketBufInf[num];
chrigelburri 18:306d362d692b 15
chrigelburri 18:306d362d692b 16 for(int i = 0 ; i < num ; i++)
chrigelburri 18:306d362d692b 17 {
chrigelburri 18:306d362d692b 18 p_buf[i].buf = new char[packet_size];
chrigelburri 18:306d362d692b 19 p_buf[i].size = 0;
chrigelburri 18:306d362d692b 20 }
chrigelburri 18:306d362d692b 21 addr_w = 0;
chrigelburri 18:306d362d692b 22 addr_r = 0;
chrigelburri 18:306d362d692b 23 }
chrigelburri 18:306d362d692b 24
chrigelburri 18:306d362d692b 25 PacketBuffer::~PacketBuffer()
chrigelburri 18:306d362d692b 26 {
chrigelburri 18:306d362d692b 27
chrigelburri 18:306d362d692b 28 for(int i = 0 ; i < max_num ; i++)
chrigelburri 18:306d362d692b 29 {
chrigelburri 18:306d362d692b 30 delete [] p_buf[i].buf;
chrigelburri 18:306d362d692b 31 }
chrigelburri 18:306d362d692b 32 delete [] p_buf;
chrigelburri 18:306d362d692b 33 }
chrigelburri 18:306d362d692b 34
chrigelburri 18:306d362d692b 35 int PacketBuffer::PutPacket(char *packet, int len)
chrigelburri 18:306d362d692b 36 {
chrigelburri 18:306d362d692b 37 int next;
chrigelburri 18:306d362d692b 38
chrigelburri 18:306d362d692b 39 if(max_size < len) return(-1);
chrigelburri 18:306d362d692b 40
chrigelburri 18:306d362d692b 41 next = (addr_w + 1) % max_num;
chrigelburri 18:306d362d692b 42
chrigelburri 18:306d362d692b 43 if( next == addr_r ) return(0);
chrigelburri 18:306d362d692b 44
chrigelburri 18:306d362d692b 45 memcpy( p_buf[addr_w].buf , packet , len );
chrigelburri 18:306d362d692b 46
chrigelburri 18:306d362d692b 47 p_buf[addr_w].size = len;
chrigelburri 18:306d362d692b 48
chrigelburri 18:306d362d692b 49 addr_w = next;
chrigelburri 18:306d362d692b 50
chrigelburri 18:306d362d692b 51 return(len);
chrigelburri 18:306d362d692b 52 }
chrigelburri 18:306d362d692b 53
chrigelburri 18:306d362d692b 54 int PacketBuffer::GetPacket(char *packet)
chrigelburri 18:306d362d692b 55 {
chrigelburri 18:306d362d692b 56 int len;
chrigelburri 18:306d362d692b 57
chrigelburri 18:306d362d692b 58 if( addr_w == addr_r ) return(0);
chrigelburri 18:306d362d692b 59
chrigelburri 18:306d362d692b 60 len = p_buf[addr_r].size;
chrigelburri 18:306d362d692b 61
chrigelburri 18:306d362d692b 62 memcpy( packet , p_buf[addr_r].buf , len );
chrigelburri 18:306d362d692b 63
chrigelburri 18:306d362d692b 64 addr_r = (addr_r + 1) % max_num;
chrigelburri 18:306d362d692b 65
chrigelburri 18:306d362d692b 66 return len;
chrigelburri 18:306d362d692b 67 }
chrigelburri 18:306d362d692b 68
chrigelburri 18:306d362d692b 69 int PacketBuffer::available () {
chrigelburri 18:306d362d692b 70 if (addr_w < addr_r) {
chrigelburri 18:306d362d692b 71 return addr_r - addr_w - 1;
chrigelburri 18:306d362d692b 72 } else {
chrigelburri 18:306d362d692b 73 return (max_num - addr_w) + addr_r - 1;
chrigelburri 18:306d362d692b 74 }
chrigelburri 18:306d362d692b 75 }
chrigelburri 18:306d362d692b 76
chrigelburri 18:306d362d692b 77 int PacketBuffer::use () {
chrigelburri 18:306d362d692b 78 return max_num - available() - 1;
chrigelburri 18:306d362d692b 79 }
chrigelburri 18:306d362d692b 80
chrigelburri 18:306d362d692b 81 void PacketBuffer::clear () {
chrigelburri 18:306d362d692b 82 addr_w = 0;
chrigelburri 18:306d362d692b 83 addr_r = 0;
chrigelburri 18:306d362d692b 84 }