root / trunk / code / projects / traffic_navigation / main-new.c @ 1999
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| 1 | 1999 | azl | #define MAIN_NEW
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| 2 | 1969 | azl | /*
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| 3 | * main.c for Traffic Navigation
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| 4 | 1988 | bwasserm | * Runs the highest level behavior for the Dynamic Traffic Navigation (DTN) SURG
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| 5 | 1969 | azl | *
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| 6 | * Author: Colony Project, CMU Robotics Club
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| 7 | */
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| 8 | |||
| 9 | #include "traffic_navigation.h" |
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| 10 | #include "../linefollowing/lineDrive.h" |
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| 11 | 1991 | azl | #define ORB_INTERSECTION
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| 12 | #define DEBUG_INTERSECTION
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| 13 | 1988 | bwasserm | #ifdef MAIN_NEW
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| 14 | 1969 | azl | |
| 15 | 1988 | bwasserm | #ifdef ORB_INTERSECTION
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| 16 | #define ORB1_DBG_CLR(color) orb1_set_color(color)
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| 17 | #define ORB2_DBG_CLR(color) orb2_set_color(color)
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| 18 | #else
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| 19 | #define ORB1_DBG_CLR(color)
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| 20 | #define ORB2_DBG_CLR(color)
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| 21 | #endif
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| 22 | |||
| 23 | #ifdef DEBUG_INTERSECTION
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| 24 | #define DBG_USBS(str) usb_puts(str)
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| 25 | #else
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| 26 | #define DBG_USBS(str)
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| 27 | #endif
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| 28 | |||
| 29 | 1969 | azl | static int state, sign, turnDir; |
| 30 | static char sendBuffer[PACKET_LENGTH], queuePrevBot, queueNextBot, id, nextDir, nextPath, intersectionNum, resolvPrevBotID = -3; |
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| 31 | unsigned char resolvSeed = 0xC9, resolvDraw = 0, resolvPrevBotDraw = 0; |
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| 32 | 1972 | azl | bool done;
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| 33 | 1969 | azl | |
| 34 | int wirelessPacketHandle(int state); |
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| 35 | void enterIntersection(void); |
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| 36 | void sendResolv(bool override); |
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| 37 | unsigned char resolvRandomNumberGen(); |
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| 38 | |||
| 39 | int main (void) { |
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| 40 | |||
| 41 | /* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
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| 42 | dragonfly_init(ALL_ON); |
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| 43 | xbee_init(); |
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| 44 | encoders_init(); |
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| 45 | lineDrive_init(); |
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| 46 | rtc_init(SIXTEENTH_SECOND, NULL);
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| 47 | wl_basic_init_default(); |
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| 48 | wl_set_channel(13);
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| 49 | initializeData(); |
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| 50 | |||
| 51 | id = get_robotid(); |
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| 52 | sign = 0;
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| 53 | 1988 | bwasserm | ORB1_DBG_CLR(GREEN); |
| 54 | 1991 | azl | delay_ms(500);
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| 55 | 1988 | bwasserm | ORB1_DBG_CLR(ORB_OFF); |
| 56 | 1969 | azl | |
| 57 | //Test code
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| 58 | state = SROAD; |
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| 59 | |||
| 60 | sendBuffer[1] = id;
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| 61 | |||
| 62 | /*
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| 63 | 1988 | bwasserm | doDrive(180);
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| 64 | 1969 | azl | turn(DOUBLE, ILEFT);
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| 65 | */
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| 66 | /*
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| 67 | while(1)
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| 68 | doDrive(255);
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| 69 | */
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| 70 | |||
| 71 | while (1) { |
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| 72 | 1988 | bwasserm | /*DTN Finite State Machine*/
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| 73 | 1969 | azl | switch(state){
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| 74 | case SROAD:/*Following a normal road*/ |
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| 75 | /* implement other road behaviors?
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| 76 | * -tailgating
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| 77 | */
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| 78 | 1988 | bwasserm | ORB1_DBG_CLR(WHITE); |
| 79 | ORB2_DBG_CLR(ORB_OFF); |
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| 80 | 1977 | azl | start(); |
| 81 | 1972 | azl | done = false;
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| 82 | while(!done){
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| 83 | 1988 | bwasserm | sign = doDrive(180);
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| 84 | 1972 | azl | switch(sign){
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| 85 | case NORMAL:
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| 86 | case FINISHED:
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| 87 | case LOST:
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| 88 | case ERROR:
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| 89 | break;
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| 90 | default:
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| 91 | //we have a barcode!
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| 92 | state = SINTERSECTION_ENTER; |
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| 93 | 1991 | azl | usb_puts("Read Barcode #:");
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| 94 | usb_puti(sign); |
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| 95 | usb_putc('\n');
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| 96 | 1972 | azl | done = true;
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| 97 | break;
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| 98 | |||
| 99 | } |
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| 100 | 1969 | azl | } |
| 101 | break;
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| 102 | case SINTERSECTION_ENTER:/*Entering, and in intersection*/ |
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| 103 | stop(); |
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| 104 | doDrive(0);
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| 105 | 1988 | bwasserm | ORB1_DBG_CLR(RED); |
| 106 | ORB2_DBG_CLR(ORB_OFF); |
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| 107 | 1969 | azl | |
| 108 | 1988 | bwasserm | DBG_USBS("STATE: SINTERSECTION_ENTER\n");
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| 109 | 1969 | azl | |
| 110 | /*Intersection queue:
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| 111 | *Each robot when entering the intersection will check for other robots
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| 112 | *in the intersection, and insert itself in a queue to go through.
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| 113 | */
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| 114 | queuePrevBot = -1; //the bot that will drive before this bot |
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| 115 | queueNextBot = -1; //the bot that will drive after this bot |
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| 116 | resolvPrevBotID = -3; //in the case of a race, the bot that is |
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| 117 | //to enter the queue before this bot
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| 118 | resolvPrevBotDraw = 0; //the random priority number that bot has |
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| 119 | resolvDraw = 0; //my random priority number |
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| 120 | |||
| 121 | 1972 | azl | intersectionNum = getIntersectNum(sign); |
| 122 | if(intersectionNum == (char) -1){ //invalid |
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| 123 | state = SROAD; |
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| 124 | 1991 | azl | usb_puts("Barcode has invalid intersectionNum\n");
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| 125 | 1972 | azl | break;
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| 126 | } |
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| 127 | turnDir = validateTurn(sign, getTurnType(sign)); |
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| 128 | if(turnDir == (char) -1){ //invalid |
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| 129 | state = SROAD; |
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| 130 | 1991 | azl | usb_puts("Barcode has invalid turn\n");
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| 131 | 1972 | azl | break;
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| 132 | } |
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| 133 | 1969 | azl | |
| 134 | enterIntersection(); //sends wireless packet for entry
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| 135 | state = SINTERSECTION_WAIT; |
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| 136 | |||
| 137 | rtc_reset(); //reset rtc for timeout wait for reply
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| 138 | 1972 | azl | done = false;
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| 139 | 1969 | azl | char retried = 0; |
| 140 | 1999 | azl | while(rtc_get() < 8 && !done){//waits for a reply, otherwise assumes it is first in queue |
| 141 | 1969 | azl | int ret = wirelessPacketHandle(SINTERSECTION_ENTER);
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| 142 | 1999 | azl | if(rtc_get() > 6 && !retried){//by now all resolvs should be done from bots that arrived earlier... |
| 143 | 1988 | bwasserm | ORB2_DBG_CLR(PURPLE); |
| 144 | 1969 | azl | enterIntersection(); |
| 145 | retried = 1;
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| 146 | } |
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| 147 | switch (ret) {
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| 148 | case KPLACEDINQUEUE:
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| 149 | 1988 | bwasserm | ORB2_DBG_CLR(GREEN); |
| 150 | 1969 | azl | done = true;
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| 151 | break;
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| 152 | case KFAILEDTOQUEUE:
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| 153 | 1988 | bwasserm | DBG_USBS("Failed to queue\n");
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| 154 | ORB2_DBG_CLR(RED); |
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| 155 | 1969 | azl | enterIntersection(); |
| 156 | rtc_reset(); |
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| 157 | break;
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| 158 | case KRESOLVINGENTER:
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| 159 | |||
| 160 | 1988 | bwasserm | ORB2_DBG_CLR(ORANGE); |
| 161 | 1969 | azl | state = SINTERSECTION_ENTER_RESOLV; |
| 162 | done = true;
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| 163 | break;
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| 164 | } |
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| 165 | } |
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| 166 | break;
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| 167 | |||
| 168 | case SINTERSECTION_ENTER_RESOLV:
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| 169 | 1988 | bwasserm | ORB1_DBG_CLR(PURPLE); |
| 170 | ORB2_DBG_CLR(ORB_OFF); |
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| 171 | DBG_USBS("STATE: SINTERSECTION_ENTER_RESOLV\n");
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| 172 | 1969 | azl | |
| 173 | rtc_reset(); |
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| 174 | done = false;
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| 175 | retried = 0;
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| 176 | 1999 | azl | while(rtc_get() < 4 && !done){ |
| 177 | 1969 | azl | int ret = wirelessPacketHandle(SINTERSECTION_ENTER_RESOLV);
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| 178 | switch (ret) {
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| 179 | case KRESOLVINGENTER:
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| 180 | 1988 | bwasserm | |
| 181 | ORB2_DBG_CLR(YELLOW); |
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| 182 | |||
| 183 | 1969 | azl | break;
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| 184 | case KPLACEDINQUEUE:
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| 185 | 1988 | bwasserm | |
| 186 | ORB2_DBG_CLR(GREEN); |
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| 187 | |||
| 188 | 1969 | azl | done = true;
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| 189 | break;
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| 190 | case KFAILEDTOQUEUE:
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| 191 | usb_puts("Failed to queue\n");
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| 192 | orb2_set_color(RED); |
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| 193 | enterIntersection(); |
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| 194 | rtc_reset(); |
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| 195 | break;
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| 196 | } |
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| 197 | //if resolvPrevBotID == -1, this indicates that
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| 198 | //there was a prevbot before, but it has entered
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| 199 | //the queue so it's our turn.
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| 200 | if(!done && resolvPrevBotID == (char) -1 && !retried){ |
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| 201 | enterIntersection(); |
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| 202 | rtc_reset(); |
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| 203 | retried = 1;
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| 204 | //if resolvPrevBotID == -2, we have been
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| 205 | //resolving but never have seen a bot with lower
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| 206 | //priority than us. after the 6/16ths sec
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| 207 | //timeout, assume we are first.
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| 208 | 1999 | azl | } else if(!done && resolvPrevBotID == (char) -2 && rtc_get() > 2){ |
| 209 | 1969 | azl | //send a intersection reply to myself to
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| 210 | //trigger other bots to enter queue.
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| 211 | sendBuffer[0] = WINTERSECTIONREPLY;
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| 212 | sendBuffer[2] = intersectionNum;
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| 213 | sendBuffer[3] = id;
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| 214 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 215 | |||
| 216 | done = true;
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| 217 | break;
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| 218 | } |
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| 219 | } |
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| 220 | state = SINTERSECTION_WAIT; |
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| 221 | break;
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| 222 | case SINTERSECTION_WAIT:/*Waiting in intersection */ |
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| 223 | |||
| 224 | 1988 | bwasserm | ORB1_DBG_CLR(YELLOW); |
| 225 | ORB2_DBG_CLR(ORB_OFF); |
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| 226 | |||
| 227 | DBG_USBS("STATE: SINTERSECTION_WAIT\n");
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| 228 | |||
| 229 | 1998 | azl | done = false;
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| 230 | 1969 | azl | while(queuePrevBot != (char) -1){ |
| 231 | 1998 | azl | done = true;
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| 232 | 1969 | azl | int ret = wirelessPacketHandle(state);
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| 233 | switch (ret){
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| 234 | case KFIRSTINQUEUE:
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| 235 | 1988 | bwasserm | |
| 236 | ORB2_DBG_CLR(GREEN); |
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| 237 | |||
| 238 | 1969 | azl | state = SINTERSECTION_DRIVE; |
| 239 | break;
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| 240 | case KREPLIEDTOENTER:
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| 241 | 1988 | bwasserm | |
| 242 | ORB2_DBG_CLR(BLUE); |
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| 243 | |||
| 244 | 1969 | azl | break;
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| 245 | case KRESOLVINGENTER:
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| 246 | 1988 | bwasserm | |
| 247 | ORB2_DBG_CLR(ORANGE); |
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| 248 | |||
| 249 | 1969 | azl | break;
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| 250 | } |
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| 251 | } |
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| 252 | 1992 | azl | //hack to make sure bot that just left intersection is
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| 253 | //really out of the intersection.
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| 254 | rtc_reset(); |
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| 255 | 1999 | azl | while(rtc_get() < 2 && done){//wait one second |
| 256 | 1992 | azl | wirelessPacketHandle(state); |
| 257 | } |
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| 258 | |||
| 259 | 1969 | azl | state = SINTERSECTION_DRIVE; |
| 260 | break;
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| 261 | case SINTERSECTION_DRIVE:
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| 262 | 1988 | bwasserm | DBG_USBS("STATE: SINTERSECTION_DRIVE\n");
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| 263 | |||
| 264 | |||
| 265 | ORB1_DBG_CLR(GREEN); |
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| 266 | ORB2_DBG_CLR(ORB_OFF); |
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| 267 | |||
| 268 | 1969 | azl | start(); |
| 269 | 1972 | azl | turn(getIntersectType(sign), turnDir); |
| 270 | 1988 | bwasserm | while(doDrive(180) != FINISHED){ |
| 271 | 1969 | azl | //while(!button2_click()){
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| 272 | int ret = wirelessPacketHandle(state);
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| 273 | switch (ret){
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| 274 | case KREPLIEDTOENTER:
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| 275 | 1988 | bwasserm | |
| 276 | ORB2_DBG_CLR(BLUE); |
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| 277 | |||
| 278 | 1969 | azl | break;
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| 279 | case KRESOLVINGENTER:
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| 280 | 1988 | bwasserm | |
| 281 | ORB2_DBG_CLR(ORANGE); |
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| 282 | |||
| 283 | 1969 | azl | break;
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| 284 | } |
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| 285 | } |
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| 286 | |||
| 287 | //Exits intersection
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| 288 | |||
| 289 | 1988 | bwasserm | ORB1_DBG_CLR(WHITE); |
| 290 | |||
| 291 | |||
| 292 | 1969 | azl | sendBuffer[0] = WINTERSECTIONEXIT;
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| 293 | sendBuffer[2] = intersectionNum;//Intersection # |
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| 294 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 295 | |||
| 296 | //Exits intersection
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| 297 | 1972 | azl | /*
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| 298 | 1969 | azl | while(1){
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| 299 | if(button1_click()){
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| 300 | start();
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| 301 | state = SHIGHWAY;
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| 302 | break;
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| 303 | }
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| 304 | if(button2_click()){
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| 305 | start();
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| 306 | state = SROAD;
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| 307 | break;
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| 308 | }
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| 309 | 1972 | azl | }*/
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| 310 | state = SROAD; |
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| 311 | 1969 | azl | break;
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| 312 | case SHIGHWAY:/*On highway*/ |
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| 313 | 1988 | bwasserm | |
| 314 | ORB1_DBG_CLR(CYAN); |
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| 315 | |||
| 316 | 1969 | azl | while(!button1_click()){
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| 317 | highwayFSM(); |
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| 318 | } |
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| 319 | state = SINTERSECTION_ENTER; |
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| 320 | break;
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| 321 | default:
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| 322 | usb_puts("I got stuck in an unknown state! My state is ");
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| 323 | usb_puti(state); |
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| 324 | } |
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| 325 | } |
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| 326 | |||
| 327 | } |
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| 328 | |||
| 329 | int wirelessPacketHandle(int state){ |
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| 330 | int dataLength = 0; |
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| 331 | unsigned char *packet = NULL; |
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| 332 | packet = wl_basic_do_default(&dataLength); |
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| 333 | |||
| 334 | /* sanity check */
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| 335 | if(dataLength == 0 || packet == NULL) //no packet |
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| 336 | return ENOPACKET;
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| 337 | |||
| 338 | if(dataLength != PACKET_LENGTH)
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| 339 | return EPACKETLEN;
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| 340 | |||
| 341 | usb_puts("Recieved Wireless Packet: ");
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| 342 | for(int i = 0; i < dataLength; i++){ |
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| 343 | usb_puti(packet[i]); |
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| 344 | usb_putc(' ');
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| 345 | } |
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| 346 | usb_putc('\n');
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| 347 | |||
| 348 | switch (packet[0]){ |
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| 349 | case WROADENTRY: //[type, bot, road] |
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| 350 | return ENOACTION;
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| 351 | break;
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| 352 | case WROADEXIT: //[type, bot, road] |
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| 353 | return ENOACTION;
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| 354 | break;
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| 355 | case WROADSTOP: //[type, bot, road] |
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| 356 | return ENOACTION;
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| 357 | break;
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| 358 | case WINTERSECTIONENTRY: //[type, bot, intersection, fromDir, toDir] |
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| 359 | if (packet[2] == intersectionNum){ |
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| 360 | switch (state){
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| 361 | case SINTERSECTION_ENTER:
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| 362 | sendResolv(false);
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| 363 | resolvPrevBotID = -2;
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| 364 | return KRESOLVINGENTER;
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| 365 | break;
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| 366 | case SINTERSECTION_ENTER_RESOLV:
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| 367 | return ENOACTION;
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| 368 | case SINTERSECTION_WAIT:
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| 369 | case SINTERSECTION_DRIVE:
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| 370 | if(queueNextBot == (char) -1){ |
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| 371 | sendBuffer[0] = WINTERSECTIONREPLY;
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| 372 | sendBuffer[2] = intersectionNum;
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| 373 | sendBuffer[3] = packet[1]; |
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| 374 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 375 | queueNextBot = packet[1];
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| 376 | return KREPLIEDTOENTER;
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| 377 | } |
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| 378 | break;
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| 379 | |||
| 380 | } |
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| 381 | } |
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| 382 | break;
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| 383 | case WINTERSECTIONREPLY: //[type, fromBot, intersection, toBot] |
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| 384 | if (packet[2] == intersectionNum){ |
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| 385 | switch (state){
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| 386 | case SINTERSECTION_ENTER:
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| 387 | case SINTERSECTION_ENTER_RESOLV:
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| 388 | if(packet[3] == id){ //Reply for me |
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| 389 | queuePrevBot = packet[1];
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| 390 | return KPLACEDINQUEUE;
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| 391 | } else {
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| 392 | if(packet[3] == resolvPrevBotID) |
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| 393 | resolvPrevBotID = -1;
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| 394 | return KFAILEDTOQUEUE;
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| 395 | } |
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| 396 | break;
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| 397 | default:
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| 398 | return ENOACTION;
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| 399 | } |
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| 400 | } |
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| 401 | break;
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| 402 | case WINTERSECTIONEXIT: //[type, bot, intersection] |
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| 403 | if (packet[2] == intersectionNum){ |
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| 404 | switch (state){
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| 405 | case SINTERSECTION_WAIT:
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| 406 | if(packet[1]==queuePrevBot){ |
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| 407 | queuePrevBot=-1;
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| 408 | return KFIRSTINQUEUE;
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| 409 | } |
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| 410 | } |
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| 411 | } |
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| 412 | break;
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| 413 | case WINTERSECTIONGO: //[type, bot, intersection] |
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| 414 | break;
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| 415 | case WINTERSECTIONPOLICEENTRY: //[?] |
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| 416 | return ENOACTION;
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| 417 | break;
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| 418 | case WINTERSECTIONRESOLVERACE: //[type, bot, intersection, num] |
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| 419 | //in the case robots draw the same number these will be
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| 420 | //arbitrated using the sending robot's id, prefering
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| 421 | //lower ids
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| 422 | usb_puts("Now in wireless WINTERSECTIONRESOLVERACE handler: resolvPrevBotID: ");
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| 423 | usb_puti((int) resolvPrevBotID);
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| 424 | usb_putc('\n');
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| 425 | if (packet[2] == intersectionNum){ |
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| 426 | switch (state){
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| 427 | case SINTERSECTION_ENTER:
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| 428 | case SINTERSECTION_ENTER_RESOLV:
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| 429 | if(resolvPrevBotID == (char) -3){ |
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| 430 | usb_puts("resolvPrevBotID == -3; sending a resolv packet and setting to -2\n");
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| 431 | sendResolv(false);
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| 432 | resolvPrevBotID = -2;
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| 433 | } |
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| 434 | if((unsigned char) packet[3] == resolvDraw && id > packet[1]){ |
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| 435 | //other bot drew same number as me,
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| 436 | //and i have a higher id, so it goes first.
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| 437 | usb_puts("bot ");
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| 438 | usb_puti(packet[1]);
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| 439 | usb_puts(" Drew the same number as me and I have a higher id, so it goes first\n");
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| 440 | resolvPrevBotID = packet[1];
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| 441 | } else if((unsigned char) packet[3] == resolvPrevBotDraw && resolvPrevBotID > packet[1]){ |
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| 442 | //other bot drew same number as the bot before me,
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| 443 | //so if it has a higher id than the bot before me,
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| 444 | //it is going to go in between that one and me.
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| 445 | usb_puts("bot ");
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| 446 | usb_puti(packet[1]);
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| 447 | 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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| 448 | resolvPrevBotID = packet[1];
|
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| 449 | } else if((unsigned char)packet[3] < resolvDraw && (unsigned char)packet[3] > resolvPrevBotDraw){ |
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| 450 | //found a bot that goes in between the bot before me
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| 451 | //and me, so now it is before me.
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| 452 | usb_puts("bot ");
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| 453 | usb_puti(packet[1]);
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| 454 | 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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| 455 | resolvPrevBotDraw = packet[3];
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| 456 | resolvPrevBotID = packet[1];
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| 457 | } |
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| 458 | return KRESOLVINGENTER;
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| 459 | break;
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| 460 | case SINTERSECTION_WAIT:
|
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| 461 | case SINTERSECTION_DRIVE:
|
||
| 462 | usb_puts("Trying to resolv in non resolv case...queueNextbot = "); usb_puti(queueNextBot); usb_puts("\n"); |
||
| 463 | if(queueNextBot == (char) -1){ |
||
| 464 | sendResolv(true);
|
||
| 465 | } |
||
| 466 | return KRESOLVINGENTER;
|
||
| 467 | break;
|
||
| 468 | } |
||
| 469 | |||
| 470 | } |
||
| 471 | break;
|
||
| 472 | case WHIGHWAYENTRY: //[type, bot, highway] |
||
| 473 | return ENOACTION;
|
||
| 474 | break;
|
||
| 475 | case WHIGHWAYREPLY: //[type, fromBot, highway, toBot] |
||
| 476 | return ENOACTION;
|
||
| 477 | break;
|
||
| 478 | case WHIGHWAYEXIT: //[type, bot, highway] |
||
| 479 | return ENOACTION;
|
||
| 480 | break;
|
||
| 481 | case WPINGGLOBAL: //[type, bot] |
||
| 482 | return ENOACTION;
|
||
| 483 | break;
|
||
| 484 | case WPINGBOT: //[type, fromBot, toBot] |
||
| 485 | return ENOACTION;
|
||
| 486 | break;
|
||
| 487 | case WPINGQUEUE: //[type, fromBot, toBot] |
||
| 488 | return ENOACTION;
|
||
| 489 | break;
|
||
| 490 | case WPINGREPLY: //[type, fromBot, toBot] |
||
| 491 | return ENOACTION;
|
||
| 492 | break;
|
||
| 493 | case WCOLLISIONAVOID: //[type, bot, intersection, collision-int] //Note: collision is an int and thus takes two spaces |
||
| 494 | return ENOACTION;
|
||
| 495 | break;
|
||
| 496 | default:
|
||
| 497 | return ENOACTION;
|
||
| 498 | break;
|
||
| 499 | } |
||
| 500 | } |
||
| 501 | |||
| 502 | unsigned char resolvRandomNumberGen(){ |
||
| 503 | 1991 | azl | if ((resolvSeed *= (rtc_get() + encoder_read(LEFT))%9) == 0){ |
| 504 | 1969 | azl | return resolvSeed + 1; //0 is a reseved priority value for the last |
| 505 | //bot that is already in the queue.
|
||
| 506 | } |
||
| 507 | return resolvSeed;
|
||
| 508 | } |
||
| 509 | void sendResolv(bool override){ |
||
| 510 | if(!override)
|
||
| 511 | resolvDraw = resolvRandomNumberGen(); |
||
| 512 | else
|
||
| 513 | resolvDraw = 0;
|
||
| 514 | sendBuffer[0] = WINTERSECTIONRESOLVERACE;
|
||
| 515 | sendBuffer[2] = intersectionNum;
|
||
| 516 | sendBuffer[3] = resolvDraw;
|
||
| 517 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 518 | } |
||
| 519 | void enterIntersection(void){ |
||
| 520 | //Sends packet announcing its entry to the intersection
|
||
| 521 | sendBuffer[0] = WINTERSECTIONENTRY;
|
||
| 522 | sendBuffer[2] = intersectionNum;//Intersection # |
||
| 523 | sendBuffer[3] = 0; //getIntersectPos(sign); |
||
| 524 | sendBuffer[4] = turnDir;
|
||
| 525 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 526 | } |
||
| 527 | 1988 | bwasserm | |
| 528 | 1969 | azl | #endif |