Statistics
| Revision:

root / trunk / code / projects / traffic_navigation / main.cold @ 1979

History | View | Annotate | Download (6.99 KB)

1
/*
2
 * main.c for Traffic Navigation
3
 * Runs the highest level behavior for the Dynamic Traffic Navigation (DTM) SURG
4
 *
5
 * Author: Colony Project, CMU Robotics Club
6
 */
7

    
8
#include "traffic_navigation.h"
9
#include "../linefollowing/lineDrive.h"
10
#ifndef MAIN_NEW
11
#ifndef WIRELESSWATCH
12

    
13
	static int state, sign, dataLength, pingWaitTime, turnDir;
14
	static char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, nextDir, nextPath, intersectionNum;
15
	static unsigned char *packet;
16

    
17
	void enterIntersectionQueue(int sign);
18
	void waitInIntersectionQueue(void);
19
	void driveThroughIntersection(int sign);
20
	
21
int main (void) {
22
	
23
	/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
24
	dragonfly_init(ALL_ON);
25
	xbee_init();
26
	encoders_init();
27
	lineDrive_init();
28
	rtc_init(SIXTEENTH_SECOND, NULL);	
29
	wl_basic_init_default();
30
	wl_set_channel(13);
31
	initializeData();
32
	
33
	id = get_robotid();
34
	sign = 0;
35
	
36
	//Test code
37
	state = SROAD;
38

    
39
	sendBuffer[1] = id;
40

    
41
	/*
42
	doDrive(200);
43
	turn(DOUBLE, ILEFT);
44
	*/
45
/*	while(1)
46
		doDrive(255);
47
	*/
48
	
49
	while (1) {
50
		/*DTM Finite State Machine*/
51
		switch(state){
52
		case SROAD:/*Following a normal road*/
53
//			sign = lineFollow();
54
			//other road behaviors
55
				//tailgating?
56
			//read barcode
57
			sign = doDrive(200);
58
			if(button1_click()){
59
				state = SINTERSECTION;
60
			}
61
			break;
62
		case SINTERSECTION:/*Entering, and in intersection*/
63
			intersectionNum = 0;
64
			/*Intersection queue:
65
			 *Each robot when entering the intersection will check for other robots
66
			 *in the intersection, and insert itself in a queue to go through.
67
			 */
68
			prevBot = 0;
69
			nextBot = 0;
70
			
71
			sign = 0; //Test code until barcodes integrated
72
			
73
			enterIntersectionQueue(sign);
74
			
75
			orb1_set_color(PURPLE);
76
			//waits for its turn
77
			
78
			waitInIntersectionQueue();
79
			
80
			orb1_set_color(RED);
81
			//Drives through intersection
82
			driveThroughIntersection(sign);
83
			
84
			//Exits intersection
85
			sendBuffer[0] = WINTERSECTIONEXIT;
86
			sendBuffer[2] = intersectionNum;//Intersection #
87
			wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
88
			orb1_set_color(ORANGE);
89
			while(1){
90
				stop();
91
				sign = doDrive(200);
92
				if(button1_click()){
93
					start();
94
					state = SHIGHWAY;
95
					break;
96
				}
97
				if(button2_click()){
98
					start();
99
					state = SROAD;
100
					break;
101
				}
102
			}
103
			break;
104
		case SHIGHWAY:/*On highway*/
105
			orb1_set_color(CYAN);
106
			while(!button1_click()){
107
				highwayFSM();
108
			}
109
			state = SINTERSECTION;
110
			break;
111
		default:
112
			usb_puts("I got stuck in an unknown state! My state is ");
113
			usb_puti(state);
114
		}
115
	}
116

    
117
}
118

    
119
void enterIntersectionQueue(int sign){
120
		
121
	//Choose turn direction
122
	intersectionNum = getIntersectType(sign);
123
	turnDir = validateTurn(sign, getTurnType(4));
124
	//Sends packet announcing its entry to the intersection
125
	sendBuffer[0] = WINTERSECTIONENTRY;
126
	sendBuffer[2] = intersectionNum;//Intersection #
127
	sendBuffer[3] = getIntersectPos(sign);
128
	sendBuffer[4] = turnDir;
129
	wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
130
	orb1_set_color(BLUE);
131
	stop();
132
	doDrive(0);
133
	rtc_reset();
134
	while(rtc_get() < 8){//waits for a reply, otherwise assumes it is first in queue
135
		dataLength = 0;
136
		packet = NULL;
137
		packet = wl_basic_do_default(&dataLength);
138
		if(packet && dataLength==PACKET_LENGTH && packet[2]==intersectionNum){
139
			if(packet[0] == WINTERSECTIONREPLY){
140
				if(packet[3] == id){//Reply for me
141
					prevBot = packet[1];
142
					orb2_set_color(GREEN);
143
					break;
144
				}else if(packet[1] != id){//Someone else got here first, try again
145
					sendBuffer[0] = WINTERSECTIONENTRY;
146
					sendBuffer[2] = intersectionNum;
147
					sendBuffer[3] = getIntersectPos(sign);
148
					sendBuffer[4] = turnDir;
149
					wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
150
					orb2_set_color(ORANGE);
151
					rtc_reset();
152
				}
153
			}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0 && prevBot!=packet[1]){
154
				sendBuffer[0] = WINTERSECTIONREPLY;
155
				sendBuffer[2] = intersectionNum;
156
				sendBuffer[3] = packet[1];
157
				wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
158
				nextBot = packet[1];
159
				nextDir = packet[3];
160
				nextPath = packet[4];
161
				orb2_set_color(BLUE);
162
				//delay_ms(200);
163
			}
164
				delay_ms(0);
165
		}
166
	}
167
}
168

    
169
void waitInIntersectionQueue(){
170
	while(prevBot != 0){
171
		dataLength = 0;
172
		packet = NULL;
173
		packet = wl_basic_do_default(&dataLength);
174
		if(packet && dataLength==PACKET_LENGTH){
175
			if(packet[2] == intersectionNum){
176
				if(packet[1]==prevBot && (packet[0]==WINTERSECTIONGO || packet[0]==WINTERSECTIONEXIT)){
177
					prevBot = 0;
178
					orb2_set_color(PURPLE);
179
				}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){
180
					sendBuffer[0] = WINTERSECTIONREPLY;
181
					sendBuffer[2] = intersectionNum;
182
					sendBuffer[3] = packet[1];
183
					wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
184
					nextBot = packet[1];
185
					nextDir = packet[3];
186
					nextPath = packet[4];
187
					orb2_set_color(BLUE);
188
				}
189
			}
190
/*
191
			if(ISPING(packet)){
192
				sendBuffer[0] = WPINGREPLY;
193
				sendBuffer[2] = packet[1];
194
				if(packet[0]==WPINGQUEUE && packet[3]==nextBot){
195
					nextBot = packet[1];
196
				}
197
				wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
198
			}
199
			if(packet[0]==WPINGREPLY && packet[2]==id){
200
				prevBot = packet[1];
201
				pingWaitTime = rtc_get();
202
			}
203
*/
204
		}
205
					
206
		if(prevBot && rtc_get() << 12 == 0){
207
			sendBuffer[0] = WPINGBOT;
208
			sendBuffer[2] = prevBot;
209
			wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
210
			pingWaitTime = rtc_get();
211
		}
212
		if(prevBot && pingWaitTime - rtc_get() > 4){
213
			sendBuffer[0] = WPINGBOT;
214
			if(pingWaitTime - rtc_get() > 8){
215
				sendBuffer[0] = WPINGQUEUE;
216
			}
217
			sendBuffer[2] = prevBot;
218
			wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
219
		}
220
/*				if(prevBot && pingWaitTime - rtc_get() > 12){
221
			prevBot = 0;
222
		}
223
*/
224
	}
225
}
226

    
227
void driveThroughIntersection(int sign){
228
	//Code to choose path through intersection goes in this while loop
229
	//But here's the code to handle wireless while in the intersection...
230
	start();
231
	turn(getIntersectType(0), turnDir);
232
	while(doDrive(200) != FINISHED){
233
		dataLength = 0;
234
		packet = NULL;
235
		packet = wl_basic_do_default(&dataLength);		
236
		if(dataLength==PACKET_LENGTH){
237
			if(packet[2]==intersectionNum/*Intersection Num*/){
238
				if(packet[0]==WINTERSECTIONEXIT){
239
					prevBot = 0;
240
					orb2_set_color(RED);
241
				}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){
242
					sendBuffer[0] = WINTERSECTIONREPLY;
243
					sendBuffer[2] = intersectionNum;//Intersection #
244
					sendBuffer[3] = packet[1];
245
					wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
246
					nextBot = packet[1];
247
					nextDir = packet[3];
248
					nextPath = packet[4];
249
					orb2_set_color(YELLOW);
250
				}
251
			}
252
			if(ISPING(packet)){
253
				sendBuffer[0] = WPINGREPLY;
254
				sendBuffer[2] = packet[1];
255
				if(packet[0]==WPINGQUEUE && packet[3]==nextBot){
256
					nextBot = packet[1];
257
				}
258
				wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
259
			}
260
		}
261
		if(prevBot==0 && nextBot!=0){//let 2 bots go through at same time
262
			/*if(bots paths won't collide){
263
				sendBuffer[0] = WINTERSECTIONGO;
264
				sendBuffer[2] = 0;//Intersection #
265
				wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
266
			*/
267
		}
268
	}
269
}
270
#endif
271
#endif