enviroment.c

Go to the documentation of this file.

 /* -- Includes -- */
/* system libraries */
#include <stdio.h>   /* Standard input/output definitions */
#include <string.h>  /* String function definitions */
#include <stdlib.h>
/* project libraries */
#include "enviroment.h"
#include "file.h"
#include "config.h"

/* -- Defines -- */

/* -- Functions -- */

enviroment_t *enviroment_load(char *room_def_path, char *tags_def_path)
{
    // Init Enviroment
    enviroment_t *env = (enviroment_t *) malloc(sizeof(enviroment_t));
    // Load room points
    env->room_num = enviroment_room_load(&env->room, room_def_path);
    // Load tags
    env->tags_num = enviroment_tags_load(&env->tags, tags_def_path);
    // Calculate dimensions
    enviroment_calc_room_dimensions(env);

    return env;
}

void enviroment_destroy(enviroment_t *env)
{
    // Room definition
    free(env->room);
    // Tag definition
    free(env->tags);
    // Enviroment definition
    free(env);
}

int enviroment_room_load(enviroment_room_point_t **room, const char *filename)
{
    char line[128];
    char *end_ptr, *pch;
    int chars_read = 0, i = 0, num = 0;
    file_t *fs;

    // One file
    fs = file_open(filename, s_FILE_MODE_READ);

    // Read till End Of File
    while(chars_read != EOF)
    {
        // Read line
        chars_read = file_readln(fs, line, sizeof(line));
        // If line is empty or commented (first char is hash ('#') sign) then continue to next line
        if(chars_read == 0 || chars_read == EOF || line[0] == '#')
        {
            continue;
        }
        else
        {
            // First number in file specifies number of points
            if(num == 0)
            {
                // Save number of points as a integer
                num = strtol(line, &end_ptr, 10);

                // Allocate memory
                (*room) = malloc(num * sizeof(enviroment_room_point_t));
            }
            else
            {
                // Save each point in struct
                pch = strtok(line, " ,");
                (*room)[i].x = strtol(pch, &end_ptr, 10);
                pch = strtok(NULL, " ,");
                (*room)[i].y = strtol(pch, &end_ptr, 10);

                i++;
            }
        }
    }

    // Close file
    file_close(fs);

    // Return number of points
    return num;
}

int enviroment_tags_load(enviroment_tag_t **tags, const char *filename)
{

    char line[128];
    char *end_ptr, *pch;
    int chars_read = 0, i = 0, num = 0;
    file_t *fs;

    // One file
    fs = file_open(filename, s_FILE_MODE_READ);

    // Read till End Of File
    while(chars_read != EOF)
    {
        // Read line
        chars_read = file_readln(fs, line, sizeof(line));
        // If line is empty or commented (first char is hash ('#') sign) then continue to next line
        if(chars_read == 0 || chars_read == EOF || line[0] == '#')
        {
            continue;
        }
        else
        {
            // First number in file specifies number of points
            if(num == 0)
            {
                // Save number of points as a integer
                num = strtol(line, &end_ptr, 10);

                // Allocate memory
                (*tags) = malloc(num * sizeof(enviroment_tag_t));
            }
            else
            {
                // Save each point in struct
                // X
                pch = strtok(line, " ,");
                (*tags)[i].x = strtol(pch, &end_ptr, 10);
                // Y
                pch = strtok(NULL, " ,");
                (*tags)[i].y = strtol(pch, &end_ptr, 10);
                // ID
                pch = strtok(NULL, " ,");
                memcpy((*tags)[i].id, pch, 10);
                (*tags)[i].id[10] = '\0';
                // Enable
                pch = strtok(line, " ,");
                (*tags)[i].enable = strtol(pch, &end_ptr, 10);

                // Increase counter
                i++;
            }
        }
    }

    // Close file
    file_close(fs);

    // Return number of points
    return num;
}

void enviroment_calc_room_dimensions(enviroment_t *env)
{
    unsigned int i, max_width = 0, max_height = 0;

    // Find room size
    for(i = 0; i < env->room_num; i++)
    {
        // Width
        if(max_width < env->room[i].x)
        {
            max_width = env->room[i].x;
        }
        // Height
        if(max_height < env->room[i].y)
        {
            max_height = env->room[i].y;
        }
    }

    // Set room dimensions
    env->room_max_width = max_width;
    env->room_max_height = max_height;
}

int enviroment_tag_check(enviroment_t *env, char tag_id[11])
{
    int i;

    // No Tag is read (just heart beat)
    if(strcmp(tag_id, s_CONFIG_RFID_EMPTY_TAG) == 0)
    {
        return s_ENVIROMENT_TAG_ZEROS;
    }

    // Search for read tag
    for(i = 0; i < env->tags_num; i++)
    {
        if(strcmp(env->tags[i].id, tag_id) == 0)
        {
            // Check if tag is enabled
            if(env->tags[i].enable > 0)
            {
                return i;
            }
            else
            {
                return s_ENVIROMENT_TAG_DISABLED;
            }
        }
    }

    return s_ENVIROMENT_TAG_UNKNOWN;
}