root / trunk / code / projects / traffic_navigation / main.c @ 1890
History | View | Annotate | Download (6.66 KB)
| 1 | 1843 | bwasserm | /*
|
|---|---|---|---|
| 2 | * main.c for Traffic Navigation
|
||
| 3 | * Runs the highest level behavior for the Dynamic Traffic Navigation (DTM) SURG
|
||
| 4 | *
|
||
| 5 | 1869 | bwasserm | * Author: Colony Project, CMU Robotics Club
|
| 6 | */
|
||
| 7 | 1843 | bwasserm | |
| 8 | 1872 | josephle | #include "traffic_navigation.h" |
| 9 | 16 | bcoltin | |
| 10 | 1888 | bwasserm | static int state, sign, dataLength, pingWaitTime; |
| 11 | static char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, nextDir, nextPath, intersectionNum; |
||
| 12 | static unsigned char *packet; |
||
| 13 | |||
| 14 | 1843 | bwasserm | int main (void) { |
| 15 | 1419 | jsexton | |
| 16 | 1843 | bwasserm | /* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
|
| 17 | dragonfly_init(ALL_ON); |
||
| 18 | xbee_init(); |
||
| 19 | encoders_init(); |
||
| 20 | 1876 | markwill | lineDrive_init(); |
| 21 | 1844 | bwasserm | rtc_init(SIXTEENTH_SECOND, NULL);
|
| 22 | 1859 | bwasserm | wl_basic_init_default(); |
| 23 | wl_set_channel(13);
|
||
| 24 | |||
| 25 | 1844 | bwasserm | id = get_robotid(); |
| 26 | 1843 | bwasserm | sign = 0;
|
| 27 | |||
| 28 | 1859 | bwasserm | //Test code
|
| 29 | 1890 | markwill | state = SHIGHWAY; |
| 30 | 1859 | bwasserm | |
| 31 | 1844 | bwasserm | sendBuffer[1] = id;
|
| 32 | 1890 | markwill | /*
|
| 33 | 1888 | bwasserm | doDrive(255);
|
| 34 | turn(DOUBLE, ILEFT);
|
||
| 35 | |||
| 36 | while(1)
|
||
| 37 | doDrive(255);
|
||
| 38 | |||
| 39 | 1890 | markwill | */
|
| 40 | 1843 | bwasserm | while (1) { |
| 41 | /*DTM Finite State Machine*/
|
||
| 42 | switch(state){
|
||
| 43 | case SROAD:/*Following a normal road*/ |
||
| 44 | 1859 | bwasserm | // sign = lineFollow();
|
| 45 | 1843 | bwasserm | //other road behaviors
|
| 46 | //tailgating?
|
||
| 47 | //read barcode
|
||
| 48 | 1888 | bwasserm | sign = doDrive(255);
|
| 49 | if((sign >= 0) || button1_click()){ |
||
| 50 | 1843 | bwasserm | state = SINTERSECTION; |
| 51 | } |
||
| 52 | break;
|
||
| 53 | case SINTERSECTION:/*Entering, and in intersection*/ |
||
| 54 | 1859 | bwasserm | intersectionNum = 0;
|
| 55 | 1844 | bwasserm | /*Intersection queue:
|
| 56 | *Each robot when entering the intersection will check for other robots
|
||
| 57 | *in the intersection, and insert itself in a queue to go through.
|
||
| 58 | */
|
||
| 59 | prevBot = 0;
|
||
| 60 | nextBot = 0;
|
||
| 61 | 1888 | bwasserm | enterIntersectionQueue(); |
| 62 | |||
| 63 | 1859 | bwasserm | orb1_set_color(PURPLE); |
| 64 | 1844 | bwasserm | //waits for its turn
|
| 65 | 1888 | bwasserm | |
| 66 | waitInIntersectionQueue(); |
||
| 67 | |||
| 68 | 1859 | bwasserm | orb1_set_color(RED); |
| 69 | 1844 | bwasserm | //Drives through intersection
|
| 70 | 1888 | bwasserm | driveThroughIntersection(); |
| 71 | |||
| 72 | 1844 | bwasserm | //Exits intersection
|
| 73 | sendBuffer[0] = WINTERSECTIONEXIT;
|
||
| 74 | 1859 | bwasserm | sendBuffer[2] = intersectionNum;//Intersection # |
| 75 | 1844 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
| 76 | 1859 | bwasserm | orb1_set_color(ORANGE); |
| 77 | 1888 | bwasserm | while(1){ |
| 78 | sign = doDrive(255);
|
||
| 79 | if((sign >= 0) || button1_click()){ |
||
| 80 | if(0){ |
||
| 81 | state = SHIGHWAY; |
||
| 82 | break;
|
||
| 83 | }else{
|
||
| 84 | state = SROAD; |
||
| 85 | break;
|
||
| 86 | } |
||
| 87 | 1843 | bwasserm | } |
| 88 | } |
||
| 89 | break;
|
||
| 90 | case SHIGHWAY:/*On highway*/ |
||
| 91 | 1890 | markwill | // usb_puts("HIGHWAY\r\n");
|
| 92 | if(button1_click()) highwayStart();
|
||
| 93 | highwayFSM(); |
||
| 94 | 1888 | bwasserm | // sign = lineFollow();
|
| 95 | //highway behaviors
|
||
| 96 | //merging
|
||
| 97 | //passing
|
||
| 98 | //read barcode
|
||
| 99 | break;
|
||
| 100 | 1843 | bwasserm | default:
|
| 101 | usb_puts("I got stuck in an unknown state! My state is ");
|
||
| 102 | usb_puti(state); |
||
| 103 | } |
||
| 104 | 967 | alevkoy | } |
| 105 | |||
| 106 | 16 | bcoltin | } |
| 107 | 1888 | bwasserm | |
| 108 | void enterIntersectionQueue(){
|
||
| 109 | //Sends packet announcing its entry to the intersection
|
||
| 110 | sendBuffer[0] = WINTERSECTIONENTRY;
|
||
| 111 | sendBuffer[2] = intersectionNum;//Intersection # |
||
| 112 | sendBuffer[3] = 0;//From Direction |
||
| 113 | sendBuffer[4] = 2;//To Direction |
||
| 114 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 115 | orb1_set_color(BLUE); |
||
| 116 | stop(); |
||
| 117 | doDrive(0);
|
||
| 118 | rtc_reset(); |
||
| 119 | while(rtc_get() < 8){//waits for a reply, otherwise assumes it is first in queue |
||
| 120 | dataLength = 0;
|
||
| 121 | packet = NULL;
|
||
| 122 | packet = wl_basic_do_default(&dataLength); |
||
| 123 | if(packet && dataLength==PACKET_LENGTH && packet[2]==intersectionNum){ |
||
| 124 | if(packet[0] == WINTERSECTIONREPLY){ |
||
| 125 | if(packet[3] == id){//Reply for me |
||
| 126 | prevBot = packet[1];
|
||
| 127 | orb2_set_color(GREEN); |
||
| 128 | break;
|
||
| 129 | }else if(packet[1] != id){//Someone else got here first, try again |
||
| 130 | sendBuffer[0] = WINTERSECTIONENTRY;
|
||
| 131 | sendBuffer[2] = intersectionNum;//Intersection # |
||
| 132 | sendBuffer[3] = 0;//From Direction |
||
| 133 | sendBuffer[4] = 2;//To Direction |
||
| 134 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 135 | orb2_set_color(ORANGE); |
||
| 136 | rtc_reset(); |
||
| 137 | } |
||
| 138 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0 && prevBot!=packet[1]){ |
||
| 139 | sendBuffer[0] = WINTERSECTIONREPLY;
|
||
| 140 | sendBuffer[2] = intersectionNum;
|
||
| 141 | sendBuffer[3] = packet[1]; |
||
| 142 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 143 | nextBot = packet[1];
|
||
| 144 | nextDir = packet[3];
|
||
| 145 | nextPath = packet[4];
|
||
| 146 | orb2_set_color(BLUE); |
||
| 147 | //delay_ms(200);
|
||
| 148 | } |
||
| 149 | delay_ms(0);
|
||
| 150 | } |
||
| 151 | } |
||
| 152 | } |
||
| 153 | |||
| 154 | void waitInIntersectionQueue(){
|
||
| 155 | while(prevBot != 0){ |
||
| 156 | dataLength = 0;
|
||
| 157 | packet = NULL;
|
||
| 158 | packet = wl_basic_do_default(&dataLength); |
||
| 159 | if(packet && dataLength==PACKET_LENGTH){
|
||
| 160 | if(packet[2] == intersectionNum){ |
||
| 161 | if(packet[1]==prevBot && (packet[0]==WINTERSECTIONGO || packet[0]==WINTERSECTIONEXIT)){ |
||
| 162 | prevBot = 0;
|
||
| 163 | orb2_set_color(PURPLE); |
||
| 164 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
||
| 165 | sendBuffer[0] = WINTERSECTIONREPLY;
|
||
| 166 | sendBuffer[2] = intersectionNum;
|
||
| 167 | sendBuffer[3] = packet[1]; |
||
| 168 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 169 | nextBot = packet[1];
|
||
| 170 | nextDir = packet[3];
|
||
| 171 | nextPath = packet[4];
|
||
| 172 | orb2_set_color(BLUE); |
||
| 173 | } |
||
| 174 | } |
||
| 175 | /*
|
||
| 176 | if(ISPING(packet)){
|
||
| 177 | sendBuffer[0] = WPINGREPLY;
|
||
| 178 | sendBuffer[2] = packet[1];
|
||
| 179 | if(packet[0]==WPINGQUEUE && packet[3]==nextBot){
|
||
| 180 | nextBot = packet[1];
|
||
| 181 | }
|
||
| 182 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 183 | }
|
||
| 184 | if(packet[0]==WPINGREPLY && packet[2]==id){
|
||
| 185 | prevBot = packet[1];
|
||
| 186 | pingWaitTime = rtc_get();
|
||
| 187 | }
|
||
| 188 | */
|
||
| 189 | } |
||
| 190 | |||
| 191 | if(prevBot && rtc_get() << 12 == 0){ |
||
| 192 | sendBuffer[0] = WPINGBOT;
|
||
| 193 | sendBuffer[2] = prevBot;
|
||
| 194 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 195 | pingWaitTime = rtc_get(); |
||
| 196 | } |
||
| 197 | if(prevBot && pingWaitTime - rtc_get() > 4){ |
||
| 198 | sendBuffer[0] = WPINGBOT;
|
||
| 199 | if(pingWaitTime - rtc_get() > 8){ |
||
| 200 | sendBuffer[0] = WPINGQUEUE;
|
||
| 201 | } |
||
| 202 | sendBuffer[2] = prevBot;
|
||
| 203 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 204 | } |
||
| 205 | /* if(prevBot && pingWaitTime - rtc_get() > 12){
|
||
| 206 | prevBot = 0;
|
||
| 207 | }
|
||
| 208 | */
|
||
| 209 | } |
||
| 210 | } |
||
| 211 | |||
| 212 | void driveThroughIntersection(){
|
||
| 213 | //Code to choose path through intersection goes in this while loop
|
||
| 214 | //But here's the code to handle wireless while in the intersection...
|
||
| 215 | start(); |
||
| 216 | turn(DOUBLE, IRIGHT);//Change paramers to variables
|
||
| 217 | while(doDrive(255) != FINISHED){ |
||
| 218 | dataLength = 0;
|
||
| 219 | packet = NULL;
|
||
| 220 | packet = wl_basic_do_default(&dataLength); |
||
| 221 | if(dataLength==PACKET_LENGTH){
|
||
| 222 | if(packet[2]==intersectionNum/*Intersection Num*/){ |
||
| 223 | if(packet[0]==WINTERSECTIONEXIT){ |
||
| 224 | prevBot = 0;
|
||
| 225 | orb2_set_color(RED); |
||
| 226 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
||
| 227 | sendBuffer[0] = WINTERSECTIONREPLY;
|
||
| 228 | sendBuffer[2] = intersectionNum;//Intersection # |
||
| 229 | sendBuffer[3] = packet[1]; |
||
| 230 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 231 | nextBot = packet[1];
|
||
| 232 | nextDir = packet[3];
|
||
| 233 | nextPath = packet[4];
|
||
| 234 | orb2_set_color(YELLOW); |
||
| 235 | } |
||
| 236 | } |
||
| 237 | if(ISPING(packet)){
|
||
| 238 | sendBuffer[0] = WPINGREPLY;
|
||
| 239 | sendBuffer[2] = packet[1]; |
||
| 240 | if(packet[0]==WPINGQUEUE && packet[3]==nextBot){ |
||
| 241 | nextBot = packet[1];
|
||
| 242 | } |
||
| 243 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 244 | } |
||
| 245 | } |
||
| 246 | if(prevBot==0 && nextBot!=0){//let 2 bots go through at same time |
||
| 247 | /*if(bots paths won't collide){
|
||
| 248 | sendBuffer[0] = WINTERSECTIONGO;
|
||
| 249 | sendBuffer[2] = 0;//Intersection #
|
||
| 250 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 251 | */
|
||
| 252 | } |
||
| 253 | } |
||
| 254 | 1890 | markwill | } |