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//============================================================= //--- Subroutine GotoPoint //--- Inputs : x,y //--- Outputs : none //--- Calls To: CheckObstacles //--//--- this routine turns the robot towards the location x,y //--- and then moves the robot there. If there is an object //--- it waits in a loop until the object goes away. Also the //--- routine keeps trying to turn and move the robot until it //--- definitely reaches the goal point. //------------------------------------------------------------GotoPoint: while true dx = x-rGpsX() dy = y-rGpsY() if dx=0 AND dy = 0 then return Theta = PolarA(dx,dy)*180/pi()+90-rCompass() if Theta > 180 then Theta = Theta-360 if Theta < -180 Then Theta = Theta+360 rTurn Theta gosub CheckObstacles if not Obstructed then rForward 1 wend Return //============================================================= //============================================================= //--- Subroutine CheckObstacles //--- Inputs : none //--- Outputs : Obstructed //--- Calls To: none //--//--- checks for obstacles, also allows for simulated transient //--- obstacles indicated by the left mouse button kept pushed //--- down in front of the robot. //--- sets Obstructed to true or false. //------------------------------------------------------------CheckObstacles: Obstructed = true CO_B = rBumper()&4 readmouse xx,yy,bb if bb=1 or CO_B rGPS Rx,Ry if PolarR(xx-Rx,yy-Ry) <= RobotSize+2 or CO_B //flash a beacon on the robot circle Rx-3,Ry-3,Rx+3,Ry+3,BcnClr,BcnClr //on delay 60 circle Rx-3,Ry-3,Rx+3,Ry+3,white,white //off delay 40 return endif endif Obstructed = false Return //============================================================= //============================================================= //--- Subroutine DockWithCharger //--- Inputs : NodesCount,ChargeDelay

Fig. 26-6

The protocol for ATM was created by a number of standards organizations: The International Telecommunication Union Telecommunications Standardization Sector (ITU-T) The American National Standards Institute (ANSI) European Telecommunications Standards Institute (ETSI) The ATM Forum The layers for ATM are shown in Figure 15.2.

//--- Outputs : none //--- Calls To: MoveToRoom //--//--- makes the robot move to the charge room. Once there it //--- turns around and docks with the charging station with //--- its back. It keeps turning until the robot s heading is //--- definitely north. //------------------------------------------------------------DockWithCharger: GoalNode = NodesCount-1 gosub MoveToRoom while true dA = -rCompass() if dA = 0 then break if dA > 180 then dA = 360-dA if dA < -180 then dA = 360+dA rTurn dA wend while not (rBumper()&1) rForward -1 wend delay ChargeDelay rCharge 100 Return //=============================================================

Physical layer. The lowest layer is the physical layer (corresponding to layer 1 in Figure 15.1). The physical layer has two sublayers, the physical medium sublayer, which deals with such matters as line codes to be used and bit timing. Although the cells are transmitted asynchronously, bit timing is required for correct reception of the bit stream. This is provided at the physical medium sublayer. The other, (upper) sublayer is the transmission convergence sublayer. Certain transmission systems require the bit stream to be framed, (an example of framing is the T1 system shown in Figure 10.7). Packing cells into a frame, and unpacking them on receive, is carried out in the transmission convergence sublayer. The transmission conversion sublayer also provides the mechanism for delineating cells, that is identifying the boundaries of the cell. Also, for certain types of bursty data

For a proof, see Problem 26.3. Note that the Pythagorean theorem is obtained as the special case = /2.

Convergence Segmentation and reassembly Higher layers ATM adaptation layer (AAL) ATM layer Physical layer Generic flow control Cell Header Cell path and channel identifiers (VPI/VCI) Cell multiplex and demultiplex (Transmission convergence sublayer) Cell rate decoupling Header error control Cell delineation Framing Bit timing Physical medium

(Continued )

such as computer output where there may be relatively long idle periods Idle cells are inserted to maintain timing on transmit, and removed on reception at the transmission convergence sublayer (cell decoupling) Cell header error control is implemented at this transmission sublayer The cell header is described in detail shortly ATM layer Cells from various sources (voice, data, video, images) are multiplexed, that is, arranged in sequence for transmit, and are separated, (de-multiplexed) into their respective channels on receive Also at this layer a cell header is added which provides path and channel identification The function of the header is key to ATM operation and this will be discussed in detail shortly ATM Adaptation Layer (AAL) The adaptation layer is divided into two sub-layers.