root / trunk / code / projects / traffic_navigation / main-intersectionDebug.c @ 1973
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#ifdef INTERSECTION_MAIN_DEBUG
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/*
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* main.c for Traffic Navigation, Intersection queue debugging (version 2)
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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: Colony Project, CMU Robotics Club
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*/
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#include "traffic_navigation.h" |
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static int state, sign, turnDir; |
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//resolvPrevBotID: -3 : not initialized
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// -2 : recieved a resolv packet but still have not
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// found someone to be before me
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// -1 : bot that was there is done getting in queue
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// otherwise, that bot needs to get in the queue before this one
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static char sendBuffer[PACKET_LENGTH], queuePrevBot, queueNextBot, id, intersectionNum, resolvPrevBotID = -3; |
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unsigned char resolvSeed = 0xC9, resolvDraw = 0, resolvPrevBotDraw = 0; |
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/* Wireless packet parsing */
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int wirelessPacketHandle(int state); |
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void enterIntersection(void); |
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void sendResolv(bool override); |
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unsigned char resolvRandomNumberGen(); |
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int main (void) { |
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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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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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initializeData(); |
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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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/*
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doDrive(200);
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turn(DOUBLE, ILEFT);
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*/
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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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//idle parsing
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wirelessPacketHandle(SROAD); |
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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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orb1_set_color(ORB_OFF); |
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orb2_set_color(ORB_OFF); |
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if(button1_click()){
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state = SINTERSECTION_ENTER; |
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} |
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break;
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case SINTERSECTION_ENTER:/*Entering, and in intersection*/ |
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orb1_set_color(RED); |
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orb2_set_color(ORB_OFF); |
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usb_puts("STATE: SINTERSECTION_ENTER\n");
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//empty packet queue
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//while(wirelessPacketHandle(SCLEARPACKET) != ENOPACKET);
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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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queuePrevBot = -1;
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queueNextBot = -1;
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resolvPrevBotID = -3;
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resolvPrevBotDraw = 0;
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resolvDraw = 0;
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sign = 0; //Test code until barcodes integrated |
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intersectionNum = 0; //actually set this. |
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turnDir = 1;
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enterIntersection(); //sends wireless packet for entry
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state = SINTERSECTION_WAIT; |
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rtc_reset(); //reset rtc for timeout wait for reply
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bool done = false; |
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bool retried = false; |
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while(rtc_get() < 16 && !done){//waits for a reply, otherwise assumes it is first in queue |
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int ret = wirelessPacketHandle(SINTERSECTION_ENTER);
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if(rtc_get() > 12 && !retried){//by now all resolvs should be done from bots that arrived earlier... |
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orb2_set_color(PURPLE); |
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enterIntersection(); |
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retried = true;
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} |
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switch (ret) {
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case KPLACEDINQUEUE:
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orb2_set_color(GREEN); //entered queue!
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done = true;
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break;
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case KFAILEDTOQUEUE:
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usb_puts("Failed to queue D:\n");
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orb2_set_color(RED); |
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enterIntersection(); |
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rtc_reset(); |
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break;
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case KRESOLVINGENTER:
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orb2_set_color(ORANGE); |
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state = SINTERSECTION_ENTER_RESOLV; |
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done = true;
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break;
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} |
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} |
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break;
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case SINTERSECTION_ENTER_RESOLV:
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orb1_set_color(PINK); |
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orb2_set_color(ORB_OFF); |
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usb_puts("STATE: SINTERSECTION_ENTER_RESOLV\n");
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rtc_reset(); |
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done = false;
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retried = false;
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while(rtc_get() < 9 && !done){ |
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int ret = wirelessPacketHandle(SINTERSECTION_ENTER_RESOLV);
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switch (ret) {
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case KRESOLVINGENTER:
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orb2_set_color(YELLOW); |
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break;
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case KPLACEDINQUEUE:
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orb2_set_color(GREEN); //entered queue!
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done = true;
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break;
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case KFAILEDTOQUEUE:
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usb_puts("Failed to queue D:\n");
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orb2_set_color(RED); |
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enterIntersection(); |
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rtc_reset(); |
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break;
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} |
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if(!done && resolvPrevBotID == (char) -1 && !retried){ |
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enterIntersection(); |
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rtc_reset(); |
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retried = true;
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} else if(!done && resolvPrevBotID == (char) -2 && rtc_get() > 6){ |
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//send a intersection reply to myself to
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//trigger other bots to enter queue.
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sendBuffer[0] = WINTERSECTIONREPLY;
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sendBuffer[2] = intersectionNum;
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sendBuffer[3] = id;
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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done = true;
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break;
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} |
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} |
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state = SINTERSECTION_WAIT; |
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break;
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case SINTERSECTION_WAIT:/*Waiting in intersection */ |
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orb1_set_color(YELLOW); |
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orb2_set_color(ORB_OFF); |
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usb_puts("STATE: SINTERSECTION_WAIT\n");
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while(queuePrevBot != (char) -1){ |
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int ret = wirelessPacketHandle(state);
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switch (ret){
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case KFIRSTINQUEUE:
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orb2_set_color(GREEN); |
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state = SINTERSECTION_DRIVE; |
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break;
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case KREPLIEDTOENTER:
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orb2_set_color(BLUE); |
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break;
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case KRESOLVINGENTER:
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orb2_set_color(ORANGE); |
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break;
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} |
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} |
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state = SINTERSECTION_DRIVE; |
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break;
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case SINTERSECTION_DRIVE:
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usb_puts("STATE: SINTERSECTION_DRIVE\n");
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orb1_set_color(GREEN); |
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orb2_set_color(ORB_OFF); |
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while(!button2_click()){
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int ret = wirelessPacketHandle(state);
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switch (ret){
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case KREPLIEDTOENTER:
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orb2_set_color(BLUE); |
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break;
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case KRESOLVINGENTER:
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orb2_set_color(ORANGE); |
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break;
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} |
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} |
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//Exits intersection
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orb1_set_color(WHITE); |
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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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state = SROAD; |
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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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} |
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int wirelessPacketHandle(int state){ |
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int dataLength = 0; |
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unsigned char *packet = NULL; |
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packet = wl_basic_do_default(&dataLength); |
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/* sanity check */
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if(dataLength == 0 || packet == NULL) //no packet |
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return ENOPACKET;
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if(dataLength != PACKET_LENGTH)
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return EPACKETLEN;
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usb_puts("Recieved Wireless Packet: ");
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for(int i = 0; i < dataLength; i++){ |
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usb_puti(packet[i]); |
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usb_putc(' ');
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} |
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usb_putc('\n');
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switch (packet[0]){ |
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case WROADENTRY: //[type, bot, road] |
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return ENOACTION;
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break;
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case WROADEXIT: //[type, bot, road] |
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return ENOACTION;
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break;
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case WROADSTOP: //[type, bot, road] |
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return ENOACTION;
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break;
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case WINTERSECTIONENTRY: //[type, bot, intersection, fromDir, toDir] |
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if (packet[2] == intersectionNum){ |
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switch (state){
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case SINTERSECTION_ENTER:
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sendResolv(false);
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resolvPrevBotID = -2;
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return KRESOLVINGENTER;
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break;
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case SINTERSECTION_ENTER_RESOLV:
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return ENOACTION;
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case SINTERSECTION_WAIT:
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case SINTERSECTION_DRIVE:
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if(queueNextBot == (char) -1){ |
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sendBuffer[0] = WINTERSECTIONREPLY;
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sendBuffer[2] = intersectionNum;
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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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queueNextBot = packet[1];
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return KREPLIEDTOENTER;
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} |
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break;
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} |
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} |
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break;
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case WINTERSECTIONREPLY: //[type, fromBot, intersection, toBot] |
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if (packet[2] == intersectionNum){ |
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switch (state){
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case SINTERSECTION_ENTER:
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case SINTERSECTION_ENTER_RESOLV:
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if(packet[3] == id){ //Reply for me |
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queuePrevBot = packet[1];
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return KPLACEDINQUEUE;
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} else {
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if(packet[3] == resolvPrevBotID) |
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resolvPrevBotID = -1;
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return KFAILEDTOQUEUE;
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} |
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break;
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default:
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return ENOACTION;
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} |
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} |
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break;
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case WINTERSECTIONEXIT: //[type, bot, intersection] |
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if (packet[2] == intersectionNum){ |
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switch (state){
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case SINTERSECTION_WAIT:
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if(packet[1]==queuePrevBot){ |
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queuePrevBot=-1;
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return KFIRSTINQUEUE;
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} |
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} |
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} |
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break;
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case WINTERSECTIONGO: //[type, bot, intersection] |
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break;
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case WINTERSECTIONPOLICEENTRY: //[?] |
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return ENOACTION;
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break;
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case WINTERSECTIONRESOLVERACE: //[type, bot, intersection, num] |
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//in the case robots draw the same number these will be
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//arbitrated using the sending robot's id, prefering
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//lower ids
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usb_puts("Now in wireless WINTERSECTIONRESOLVERACE handler: resolvPrevBotID: ");
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usb_puti((int) resolvPrevBotID);
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usb_putc('\n');
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if (packet[2] == intersectionNum){ |
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switch (state){
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case SINTERSECTION_ENTER:
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case SINTERSECTION_ENTER_RESOLV:
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if(resolvPrevBotID == (char) -3){ |
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usb_puts("resolvPrevBotID == -3; sending a resolv packet and setting to -2\n");
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sendResolv(false);
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resolvPrevBotID = -2;
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} |
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if((unsigned char) packet[3] == resolvDraw && id > packet[1]){ |
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//other bot drew same number as me,
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//and i have a higher id, so it goes first.
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usb_puts("bot ");
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usb_puti(packet[1]);
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usb_puts(" Drew the same number as me and I have a higher id, so it goes first\n");
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resolvPrevBotID = packet[1];
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} else if((unsigned char) packet[3] == resolvPrevBotDraw && resolvPrevBotID > packet[1]){ |
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//other bot drew same number as the bot before me,
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//so if it has a higher id than the bot before me,
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//it is going to go in between that one and me.
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usb_puts("bot ");
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usb_puti(packet[1]);
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usb_puts(" Drew the same number as the bot before me, and the bot before me has have a higher id, so this goes first\n");
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resolvPrevBotID = packet[1];
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} else if((unsigned char)packet[3] < resolvDraw && (unsigned char)packet[3] > resolvPrevBotDraw){ |
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//found a bot that goes in between the bot before me
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//and me, so now it is before me.
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usb_puts("bot ");
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usb_puti(packet[1]);
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usb_puts(" Drew a lower number bot before me, and the bot before me has have a higher id, so this goes first\n");
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resolvPrevBotDraw = packet[3];
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resolvPrevBotID = packet[1];
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} |
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return KRESOLVINGENTER;
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break;
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case SINTERSECTION_WAIT:
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case SINTERSECTION_DRIVE:
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usb_puts("Trying to resolv in non resolv case...queueNextbot = "); usb_puti(queueNextBot); usb_puts("\n"); |
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if(queueNextBot == (char) -1){ |
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sendResolv(true);
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} |
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return KRESOLVINGENTER;
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break;
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} |
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} |
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break;
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case WHIGHWAYENTRY: //[type, bot, highway] |
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return ENOACTION;
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break;
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case WHIGHWAYREPLY: //[type, fromBot, highway, toBot] |
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return ENOACTION;
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break;
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case WHIGHWAYEXIT: //[type, bot, highway] |
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return ENOACTION;
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break;
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case WPINGGLOBAL: //[type, bot] |
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return ENOACTION;
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break;
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case WPINGBOT: //[type, fromBot, toBot] |
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return ENOACTION;
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break;
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case WPINGQUEUE: //[type, fromBot, toBot] |
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return ENOACTION;
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break;
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case WPINGREPLY: //[type, fromBot, toBot] |
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return ENOACTION;
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break;
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case WCOLLISIONAVOID: //[type, bot, intersection, collision-int] //Note: collision is an int and thus takes two spaces |
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return ENOACTION;
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break;
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default:
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return ENOACTION;
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break;
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} |
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} |
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|
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unsigned char resolvRandomNumberGen(){ |
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if ((resolvSeed *= (rtc_get())%9) == 0){ |
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return resolvSeed + 1; //0 is a reseved priority value for the last |
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//bot that is already in the queue.
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} |
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return resolvSeed;
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} |
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void sendResolv(bool override){ |
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if(!override)
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resolvDraw = resolvRandomNumberGen(); |
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else
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resolvDraw = 0;
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sendBuffer[0] = WINTERSECTIONRESOLVERACE;
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sendBuffer[2] = intersectionNum;
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sendBuffer[3] = resolvDraw;
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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} |
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void enterIntersection(void){ |
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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; //getIntersectPos(sign); |
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sendBuffer[4] = turnDir;
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
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} |
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#endif
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