void do_step(){
uint8_t i;
for( i = 1; i < MAX_NB_CNT; i++ ){
nb_table[i].d = ((double)(rand() % 100)/ 100.0) +
ptod(
nb_table[0].x, nb_table[0].y,
nb_table[i].x, nb_table[i].y
);
}
anchor[0].x = nb_table[1].x;
anchor[0].y = nb_table[1].y;
anchor[0].d = nb_table[1].d;
anchor[1].x = nb_table[2].x;
anchor[1].y = nb_table[2].y;
anchor[1].d = nb_table[2].d;
anchor[2].x = nb_table[3].x;
anchor[2].y = nb_table[3].y;
anchor[2].d = nb_table[3].d;
self_pos();
}
/* ARGSUSED */
int
nfs_dump(vnode_t *dumpvp, caddr_t addr, offset_t bn, offset_t count,
caller_context_t *ct)
{
static TIUSER *tiptr;
XDR xdrs;
int reply;
int badmsg;
uint32_t call_xid;
int retry = 0;
int error;
int i;
nd_log("nfs_dump: addr=%p bn=%lld count=%lld\n",
(void *)addr, bn, count);
if (error = nd_init(dumpvp, &tiptr))
return (error);
for (i = 0; i < count; i += ptod(1), addr += ptob(1)) {
do {
error = nd_send_data(tiptr, addr, (int)dbtob(bn + i),
&xdrs, &call_xid);
if (error)
return (error);
do {
if (error = nd_poll(tiptr, retry, &reply))
return (error);
if (!reply) {
retry++;
break;
}
retry = 0;
error = nd_get_reply(tiptr, &xdrs, call_xid,
&badmsg);
if (error)
return (error);
} while (badmsg);
} while (retry);
}
return (0);
}
void *th_recv( void *arg ){
my_info_t *buf;
rf_pkt recv_buf;
uint8_t i;
while(1){
if( radio_recv(RADIO_PORT, (rf_pkt*)&recv_buf ) > 0 ){
buf = (my_info_t*)&recv_buf;
uint8_t idx = buf->id;
pthread_mutex_lock( &mutex_lock );
nb_table[idx].x = buf->x;
nb_table[idx].y = buf->y;
nb_table[idx].d =
ptod(
nb_table[LOCAL_ADDR].x, nb_table[LOCAL_ADDR].y,
nb_table[idx].x, nb_table[idx].y
);
if( nb_table[idx].life < 5 ) nb_table[idx].life++;
pthread_mutex_unlock( &mutex_lock );
led2_toggle();
}
else
continue;
uint8_t cnt = 0;
for( i = 0; i < MAX_NB_CNT; i++ ){
if( nb_table[i].life > 0 ) cnt++;
}
if( cnt >= 3 ){
my_info.level = MTSL_LEVEL3;
}
}
}