Christian Burri
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>
Fork of
autonomousRobotAndroid
by 
Christian Burri
Diff: MicroBridge/PacketBuffer/PacketBuffer.cpp
- Revision:
- 17:f0a973f17917
diff -r b5d949136a21 -r f0a973f17917 MicroBridge/PacketBuffer/PacketBuffer.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MicroBridge/PacketBuffer/PacketBuffer.cpp Fri May 03 06:30:46 2013 +0000
@@ -0,0 +1,84 @@
+
+/** @file PacketBuffer.cpp
+ * @brief Ring Buffer
+ */
+
+#include "PacketBuffer.h"
+
+
+PacketBuffer::PacketBuffer(int num,int packet_size)
+{
+ max_num = num;
+ max_size = packet_size;
+
+ p_buf = new PacketBufInf[num];
+
+ for(int i = 0 ; i < num ; i++)
+ {
+ p_buf[i].buf = new char[packet_size];
+ p_buf[i].size = 0;
+ }
+ addr_w = 0;
+ addr_r = 0;
+}
+
+PacketBuffer::~PacketBuffer()
+{
+
+ for(int i = 0 ; i < max_num ; i++)
+ {
+ delete [] p_buf[i].buf;
+ }
+ delete [] p_buf;
+}
+
+int PacketBuffer::PutPacket(char *packet, int len)
+{
+ int next;
+
+ if(max_size < len) return(-1);
+
+ next = (addr_w + 1) % max_num;
+
+ if( next == addr_r ) return(0);
+
+ memcpy( p_buf[addr_w].buf , packet , len );
+
+ p_buf[addr_w].size = len;
+
+ addr_w = next;
+
+ return(len);
+}
+
+int PacketBuffer::GetPacket(char *packet)
+{
+ int len;
+
+ if( addr_w == addr_r ) return(0);
+
+ len = p_buf[addr_r].size;
+
+ memcpy( packet , p_buf[addr_r].buf , len );
+
+ addr_r = (addr_r + 1) % max_num;
+
+ return len;
+}
+
+int PacketBuffer::available () {
+ if (addr_w < addr_r) {
+ return addr_r - addr_w - 1;
+ } else {
+ return (max_num - addr_w) + addr_r - 1;
+ }
+}
+
+int PacketBuffer::use () {
+ return max_num - available() - 1;
+}
+
+void PacketBuffer::clear () {
+ addr_w = 0;
+ addr_r = 0;
+}