root / trunk / code / projects / traffic_navigation / sendGraph.c @ 1979
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1 | 1979 | dgurjar | #include <dragonfly_lib.h> |
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2 | #include <wl_basic.h> |
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3 | #include "sendGraph.h" |
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4 | |||
5 | int main(void){ |
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6 | |||
7 | dragonfly_init(ALL_ON); |
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8 | wl_basic_init_default(); |
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9 | wl_set_channel(12);
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10 | |||
11 | node a; |
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12 | node b; |
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13 | |||
14 | edge aTob; |
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15 | edge bToa; |
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16 | |||
17 | //Create the edges
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18 | aTob.to = 'b';
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19 | aTob.dist = 25;
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20 | |||
21 | bToa.to = 'a';
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22 | bToa.dist = 25;
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23 | |||
24 | |||
25 | a.outgoingEdges[0] = aTob;
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26 | b.outgoingEdges[0] = bToa;
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27 | |||
28 | |||
29 | a.type = 1;
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30 | a.intNum = 1;
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31 | a.numOut = 1;
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32 | a.outSeen = 1;
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33 | |||
34 | |||
35 | b.type = 1;
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36 | b.intNum = 2;
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37 | b.numOut = 1;
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38 | b.outSeen = 1;
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39 | |||
40 | intersections[0] = a;
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41 | intersections[1] = b;
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42 | |||
43 | sendIntersectionGraph(); |
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44 | } |
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45 | |||
46 | |||
47 | |||
48 | |||
49 | |||
50 | /*
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51 | * Uses wireless to send the graph sructure
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52 | * to other robots
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53 | *
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54 | * @return
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55 | *
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56 | */
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57 | void sendIntersectionGraph() {
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58 | int i;
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59 | node_union graph; |
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60 | |||
61 | for(i=0; i< NUM_FEATURES; i++){ |
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62 | graph.n = intersections[i]; |
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63 | wl_basic_send_global_packet(42, graph.array, 12); |
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64 | wl_basic_send_global_packet(42, '\n', 1); |
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65 | } |
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66 | } |