root / trunk / code / projects / traffic_navigation / main.c @ 1863
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/*
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* main.c for Traffic Navigation
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* Runs the highest level behavior for the Dynamic Traffic Navigation (DTM) SURG
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*
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* Author: Benjamin Wasserman, Colony Project, CMU Robotics Club
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*/
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#include <dragonfly_lib.h> |
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#include <wl_basic.h> |
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#include "../linefollowing/lineDrive.h" |
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/*States*/
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#define SROAD 0 |
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#define SINTERSECTION 10 |
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#define SHIGHWAY 20 |
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/*Sign Codes
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* bitwise OR labels to create a barcode or read one
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* There should be macros to extract these probably
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* The bits will be stored in some variable (char or short)
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* Bits if road: ? ? ? NAME NAME NAME TYPE CROAD
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* Bits if intersection: ? ? ? ? DIR DIR #WAYS CINTERSECTION
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*/
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#define CROAD 0x0 //0b |
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#define CINTERSECTION 0x1 //1b |
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#define CNORMALROAD 0x0 //00b |
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#define CHIGHWAYROAD 0x2 //10b |
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#define C4WAY 0x0 //00b |
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#define C3WAY 0x2 //10b |
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#define CNORTH 0x0 //0000b |
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#define CEAST 0x4 //0100b |
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#define CSOUTH 0x8 //1000b |
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#define CWEST 0x12 //1100b |
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/*Wireless Packet Types
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* The first byte of any wireless packet should be one of these types.
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* Each type will have its own structure
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* The second byte should be the id of the bot sending the packet
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* The third byte should be the number of the intersection or road that
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* the packet pertains to
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*/
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#define PACKET_LENGTH 5 |
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#define WROADENTRY 0 //[type, bot, road] |
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#define WROADREPLY 1 //[type, fromBot, road, toBot] |
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#define WROADEXIT 2 //[type, bot, road] |
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#define WROADSTOP 3 //[type, bot, road] |
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#define WINTERSECTIONENTRY 10 //[type, bot, intersection, fromDir, toDir] |
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#define WINTERSECTIONREPLY 11 //[type, fromBot, intersection, toBot] |
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#define WINTERSECTIONEXIT 12 //[type, bot, intersection] |
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#define WINTERSECTIONGO 13 //[type, bot, intersection] |
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#define WINTERSECTIONPOLICEENTRY 14 |
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#define WHIGHWAYENTRY 20 //[type, bot, highway] |
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#define WHIGHWAYREPLY 21 //[type, fromBot, highway, toBot] |
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#define WHIGHWAYEXIT 22 //[type, bot, highway] |
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#define WPINGGLOBAL 30 //[type, bot] |
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#define WPINGBOT 31 //[type, fromBot, toBot] |
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#define WPINGQUEUE 32 //[type, fromBot, toBot] |
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#define WPINGREPLY 33 //[type, fromBot, toBot] |
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/*Macros
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*/
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#define ISPING(p) ((p)[0]==WPINGGLOBAL || (p)[0]==WPINGBOT || (p)[0]==WPINGQUEUE) |
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void pingReply(char ping[PACKET_LENGTH], char sendBuffer[PACKET_LENGTH], char nextBot){ |
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sendBuffer[0] = WPINGREPLY;
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switch(ping[0]){ |
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case WPINGBOT:
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sendBuffer[2] = ping[1]; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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break;
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case WPINGQUEUE:
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sendBuffer[2] = ping[1]; |
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if(ping[3] == get_robotid()){ |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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} |
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if(ping[3] == nextBot){ |
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//If next bot is missing from queue, take its place
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} |
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break;
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default:
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break;
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} |
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} |
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int main (void) { |
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int state, sign, dataLength, pingWaitTime;
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char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, *packet, nextDir, nextPath, intersectionNum;
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/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
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dragonfly_init(ALL_ON); |
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xbee_init(); |
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encoders_init(); |
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lineDrive_init(); |
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rtc_init(SIXTEENTH_SECOND, NULL);
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wl_basic_init_default(); |
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wl_set_channel(13);
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id = get_robotid(); |
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sign = 0;
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//Test code
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state = SROAD; |
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sendBuffer[1] = id;
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while (1) { |
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/*DTM Finite State Machine*/
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switch(state){
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case SROAD:/*Following a normal road*/ |
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// sign = lineFollow();
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//other road behaviors
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//tailgating?
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//read barcode
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doDrive(255);
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if((sign & CINTERSECTION) || button1_click()){
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state = SINTERSECTION; |
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} |
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break;
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case SINTERSECTION:/*Entering, and in intersection*/ |
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//Intersection behaviors
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//queueing
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//no-stop?
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//check wireless
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intersectionNum = 0;
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/*Intersection queue:
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*Each robot when entering the intersection will check for other robots
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*in the intersection, and insert itself in a queue to go through.
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*/
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prevBot = 0;
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nextBot = 0;
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//Sends packet announcing its entry to the intersection
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sendBuffer[0] = WINTERSECTIONENTRY;
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sendBuffer[2] = intersectionNum;//Intersection # |
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sendBuffer[3] = 0;//From Direction |
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sendBuffer[4] = 2;//To Direction |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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orb1_set_color(BLUE); |
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stop(); |
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rtc_reset(); |
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while(rtc_get() < 8){//waits for a reply, otherwise assumes it is first in queue |
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packet = wl_basic_do_default(&dataLength); |
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if(dataLength==PACKET_LENGTH && packet[0]==WINTERSECTIONREPLY && packet[2]==intersectionNum/*Intersection Num*/){ |
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if(packet[3]==id){//Reply for me |
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prevBot = packet[1];
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orb2_set_color(GREEN); |
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break;
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}else{//Someone else got here first, try again |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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rtc_reset(); |
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} |
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} |
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} |
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orb1_set_color(PURPLE); |
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//waits for its turn
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while(prevBot != 0){ |
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packet = wl_basic_do_default(&dataLength); |
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if(dataLength==PACKET_LENGTH){
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if(packet[2] == intersectionNum){ |
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if(packet[1]==prevBot && (packet[0]==WINTERSECTIONGO || packet[0]==WINTERSECTIONEXIT)){ |
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prevBot = 0;
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orb2_set_color(PURPLE); |
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}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
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sendBuffer[0] = WINTERSECTIONREPLY;
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sendBuffer[2] = intersectionNum;//Intersection # |
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sendBuffer[3] = packet[1]; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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nextBot = packet[1];
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nextDir = packet[3];
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nextPath = packet[4];
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orb2_set_color(BLUE); |
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} |
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} |
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if(ISPING(packet)){
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sendBuffer[0] = WPINGREPLY;
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sendBuffer[2] = packet[1]; |
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if(packet[0]==WPINGQUEUE && packet[3]==nextBot){ |
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nextBot = packet[1];
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} |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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} |
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if(packet[0]==WPINGREPLY && packet[2]==id){ |
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prevBot = packet[1];
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pingWaitTime = rtc_get(); |
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} |
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} |
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if(rtc_get() << 12 == 0){ |
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sendBuffer[0] = WPINGBOT;
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sendBuffer[2] = prevBot;
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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pingWaitTime = rtc_get(); |
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} |
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if(pingWaitTime - rtc_get() > 4){ |
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sendBuffer[0] = WPINGBOT;
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if(pingWaitTime - rtc_get() > 8){ |
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sendBuffer[0] = WPINGQUEUE;
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} |
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sendBuffer[2] = prevBot;
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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} |
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if(pingWaitTime - rtc_get() > 12){ |
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prevBot = 0;
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} |
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} |
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orb1_set_color(RED); |
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//Drives through intersection
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//Code to choose path through intersection goes in this while loop
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//But here's the code to handle wireless while in the intersection...
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start(); |
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turn(DOUBLE, ILEFT);//Change paramers to variables
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while(!button1_click()/*replace with variable to keep track of if in intersection*/){ |
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doDrive(255);
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packet = wl_basic_do_default(&dataLength); |
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if(dataLength==PACKET_LENGTH){
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if(packet[2]==intersectionNum/*Intersection Num*/){ |
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if(packet[0]==WINTERSECTIONEXIT){ |
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prevBot = 0;
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orb2_set_color(RED); |
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}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
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sendBuffer[0] = WINTERSECTIONREPLY;
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sendBuffer[2] = intersectionNum;//Intersection # |
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sendBuffer[3] = packet[1]; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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nextBot = packet[1];
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nextDir = packet[3];
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nextPath = packet[4];
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orb2_set_color(YELLOW); |
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} |
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} |
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if(ISPING(packet)){
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sendBuffer[0] = WPINGREPLY;
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sendBuffer[2] = packet[1]; |
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if(packet[0]==WPINGQUEUE && packet[3]==nextBot){ |
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nextBot = packet[1];
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} |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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} |
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} |
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if(prevBot==0 && nextBot!=0){//let 2 bots go through at same time |
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/*if(bots paths won't collide){
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sendBuffer[0] = WINTERSECTIONGO;
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sendBuffer[2] = 0;//Intersection #
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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*/
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} |
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} |
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//Exits intersection
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sendBuffer[0] = WINTERSECTIONEXIT;
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sendBuffer[2] = intersectionNum;//Intersection # |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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orb1_set_color(ORANGE); |
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if(!(sign & CINTERSECTION)){
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if(sign & CHIGHWAYROAD){
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state = SHIGHWAY; |
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}else{
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state = SROAD; |
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} |
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} |
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break;
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case SHIGHWAY:/*On highway*/ |
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// sign = lineFollow();
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//highway behaviors
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//merging
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//passing
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//read barcode
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break;
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default:
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usb_puts("I got stuck in an unknown state! My state is ");
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usb_puti(state); |
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} |
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} |
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} |