Revision 1861
Added function to reply to pings, and come calls to ping robots in the queue. Won't yet do anything to check if a bot disappeared, but it will compile.
| trunk/code/projects/traffic_navigation/main.c | ||
|---|---|---|
| 55 | 55 |
#define WHIGHWAYEXIT 22 //[type, bot, highway] |
| 56 | 56 |
#define WPINGGLOBAL 30 //[type, bot] |
| 57 | 57 |
#define WPINGBOT 31 //[type, fromBot, toBot] |
| 58 |
#define WPINGQUEUE 32 //[type, bot, queue]
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|
| 58 |
#define WPINGQUEUE 32 //[type, fromBot, queue, toBot]
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|
| 59 | 59 |
#define WPINGREPLY 33 //[type, fromBot, toBot] |
| 60 | 60 |
|
| 61 |
void pingReply(char ping[PACKET_LENGTH], char sendBuffer[PACKET_LENGTH], char nextBot){
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| 62 |
sendBuffer[0] = WPINGREPLY; |
|
| 63 |
switch(ping[0]){
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| 64 |
case WPINGBOT: |
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| 65 |
sendBuffer[2] = ping[1]; |
|
| 66 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 67 |
break; |
|
| 68 |
case WPINGQUEUE: |
|
| 69 |
sendBuffer[2] = ping[1]; |
|
| 70 |
if(ping[3] == get_robotid()){
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| 71 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 72 |
} |
|
| 73 |
if(ping[3] == nextBot){
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| 74 |
//If next bot is missing from queue, take its place |
|
| 75 |
} |
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break; |
|
| 77 |
default: |
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break; |
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| 79 |
} |
|
| 80 |
} |
|
| 81 |
|
|
| 61 | 82 |
int main (void) {
|
| 62 | 83 |
|
| 63 | 84 |
int state, sign, dataLength; |
| ... | ... | |
| 146 | 167 |
orb2_set_color(BLUE); |
| 147 | 168 |
} |
| 148 | 169 |
} |
| 170 |
if(dataLength==PACKET_LENGTH && (packet[0]==WPINGBOT || packet[0]==WPINGQUEUE)){
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| 171 |
pingReply(packet, sendBuffer, nextBot); |
|
| 172 |
} |
|
| 173 |
if(rtc_get()<<12 == 0){
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|
| 174 |
sendBuffer[0] = WPINGQUEUE; |
|
| 175 |
sendBuffer[2] = intersectionNum; |
|
| 176 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 177 |
} |
|
| 149 | 178 |
} |
| 150 | 179 |
orb1_set_color(RED); |
| 151 | 180 |
//Drives through intersection |
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