root / trunk / code / projects / traffic_navigation / main-new.c @ 1999
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#define MAIN_NEW
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/*
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* main.c for Traffic Navigation
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* Runs the highest level behavior for the Dynamic Traffic Navigation (DTN) 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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#include "../linefollowing/lineDrive.h" |
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#define ORB_INTERSECTION
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#define DEBUG_INTERSECTION
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#ifdef MAIN_NEW
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#ifdef ORB_INTERSECTION
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#define ORB1_DBG_CLR(color) orb1_set_color(color)
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#define ORB2_DBG_CLR(color) orb2_set_color(color)
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#else
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#define ORB1_DBG_CLR(color)
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#define ORB2_DBG_CLR(color)
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#endif
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|
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#ifdef DEBUG_INTERSECTION
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#define DBG_USBS(str) usb_puts(str)
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#else
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#define DBG_USBS(str)
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#endif
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static int state, sign, turnDir; |
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static char sendBuffer[PACKET_LENGTH], queuePrevBot, queueNextBot, id, nextDir, nextPath, intersectionNum, resolvPrevBotID = -3; |
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unsigned char resolvSeed = 0xC9, resolvDraw = 0, resolvPrevBotDraw = 0; |
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bool done;
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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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|
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int main (void) { |
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|
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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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lineDrive_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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ORB1_DBG_CLR(GREEN); |
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delay_ms(500);
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ORB1_DBG_CLR(ORB_OFF); |
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|
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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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/*
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doDrive(180);
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turn(DOUBLE, ILEFT);
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*/
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/*
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while(1)
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doDrive(255);
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*/
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while (1) { |
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/*DTN Finite State Machine*/
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switch(state){
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case SROAD:/*Following a normal road*/ |
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/* implement other road behaviors?
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* -tailgating
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*/
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ORB1_DBG_CLR(WHITE); |
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ORB2_DBG_CLR(ORB_OFF); |
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start(); |
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done = false;
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while(!done){
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sign = doDrive(180);
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switch(sign){
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case NORMAL:
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case FINISHED:
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case LOST:
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case ERROR:
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break;
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default:
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//we have a barcode!
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state = SINTERSECTION_ENTER; |
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usb_puts("Read Barcode #:");
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usb_puti(sign); |
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usb_putc('\n');
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done = true;
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break;
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|
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} |
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} |
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break;
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case SINTERSECTION_ENTER:/*Entering, and in intersection*/ |
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stop(); |
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doDrive(0);
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ORB1_DBG_CLR(RED); |
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ORB2_DBG_CLR(ORB_OFF); |
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DBG_USBS("STATE: SINTERSECTION_ENTER\n");
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|
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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; //the bot that will drive before this bot |
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queueNextBot = -1; //the bot that will drive after this bot |
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resolvPrevBotID = -3; //in the case of a race, the bot that is |
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//to enter the queue before this bot
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resolvPrevBotDraw = 0; //the random priority number that bot has |
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resolvDraw = 0; //my random priority number |
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|
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intersectionNum = getIntersectNum(sign); |
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if(intersectionNum == (char) -1){ //invalid |
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state = SROAD; |
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usb_puts("Barcode has invalid intersectionNum\n");
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break;
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} |
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turnDir = validateTurn(sign, getTurnType(sign)); |
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if(turnDir == (char) -1){ //invalid |
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state = SROAD; |
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usb_puts("Barcode has invalid turn\n");
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break;
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} |
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|
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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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done = false;
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char retried = 0; |
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while(rtc_get() < 8 && !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() > 6 && !retried){//by now all resolvs should be done from bots that arrived earlier... |
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ORB2_DBG_CLR(PURPLE); |
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enterIntersection(); |
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retried = 1;
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} |
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switch (ret) {
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case KPLACEDINQUEUE:
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ORB2_DBG_CLR(GREEN); |
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done = true;
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break;
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case KFAILEDTOQUEUE:
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DBG_USBS("Failed to queue\n");
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ORB2_DBG_CLR(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_DBG_CLR(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_DBG_CLR(PURPLE); |
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ORB2_DBG_CLR(ORB_OFF); |
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DBG_USBS("STATE: SINTERSECTION_ENTER_RESOLV\n");
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rtc_reset(); |
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done = false;
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retried = 0;
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while(rtc_get() < 4 && !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_DBG_CLR(YELLOW); |
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break;
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case KPLACEDINQUEUE:
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ORB2_DBG_CLR(GREEN); |
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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\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 resolvPrevBotID == -1, this indicates that
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//there was a prevbot before, but it has entered
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//the queue so it's our turn.
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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 = 1;
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//if resolvPrevBotID == -2, we have been
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//resolving but never have seen a bot with lower
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//priority than us. after the 6/16ths sec
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//timeout, assume we are first.
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} else if(!done && resolvPrevBotID == (char) -2 && rtc_get() > 2){ |
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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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|
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ORB1_DBG_CLR(YELLOW); |
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ORB2_DBG_CLR(ORB_OFF); |
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DBG_USBS("STATE: SINTERSECTION_WAIT\n");
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done = false;
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while(queuePrevBot != (char) -1){ |
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done = true;
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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_DBG_CLR(GREEN); |
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state = SINTERSECTION_DRIVE; |
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break;
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case KREPLIEDTOENTER:
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ORB2_DBG_CLR(BLUE); |
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break;
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case KRESOLVINGENTER:
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|
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ORB2_DBG_CLR(ORANGE); |
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break;
|
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} |
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} |
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//hack to make sure bot that just left intersection is
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//really out of the intersection.
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rtc_reset(); |
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while(rtc_get() < 2 && done){//wait one second |
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wirelessPacketHandle(state); |
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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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DBG_USBS("STATE: SINTERSECTION_DRIVE\n");
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|
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|
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ORB1_DBG_CLR(GREEN); |
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ORB2_DBG_CLR(ORB_OFF); |
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|
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start(); |
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turn(getIntersectType(sign), turnDir); |
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while(doDrive(180) != FINISHED){ |
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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_DBG_CLR(BLUE); |
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break;
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case KRESOLVINGENTER:
|
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|
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ORB2_DBG_CLR(ORANGE); |
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break;
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} |
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} |
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|
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//Exits intersection
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ORB1_DBG_CLR(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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|
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//Exits intersection
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/*
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while(1){
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if(button1_click()){
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start();
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state = SHIGHWAY;
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break;
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}
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if(button2_click()){
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start();
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state = SROAD;
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break;
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}
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}*/
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state = SROAD; |
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break;
|
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case SHIGHWAY:/*On highway*/ |
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ORB1_DBG_CLR(CYAN); |
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|
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while(!button1_click()){
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highwayFSM(); |
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} |
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state = SINTERSECTION_ENTER; |
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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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} |
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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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|
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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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|
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if(dataLength != PACKET_LENGTH)
|
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return EPACKETLEN;
|
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|
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usb_puts("Recieved Wireless Packet: ");
|
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for(int i = 0; i < dataLength; i++){ |
| 343 |
usb_puti(packet[i]); |
| 344 |
usb_putc(' ');
|
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} |
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usb_putc('\n');
|
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|
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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] |
| 359 |
if (packet[2] == intersectionNum){ |
| 360 |
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:
|
| 369 |
case SINTERSECTION_DRIVE:
|
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if(queueNextBot == (char) -1){ |
| 371 |
sendBuffer[0] = WINTERSECTIONREPLY;
|
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sendBuffer[2] = intersectionNum;
|
| 373 |
sendBuffer[3] = packet[1]; |
| 374 |
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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} |
| 378 |
break;
|
| 379 |
|
| 380 |
} |
| 381 |
} |
| 382 |
break;
|
| 383 |
case WINTERSECTIONREPLY: //[type, fromBot, intersection, toBot] |
| 384 |
if (packet[2] == intersectionNum){ |
| 385 |
switch (state){
|
| 386 |
case SINTERSECTION_ENTER:
|
| 387 |
case SINTERSECTION_ENTER_RESOLV:
|
| 388 |
if(packet[3] == id){ //Reply for me |
| 389 |
queuePrevBot = packet[1];
|
| 390 |
return KPLACEDINQUEUE;
|
| 391 |
} else {
|
| 392 |
if(packet[3] == resolvPrevBotID) |
| 393 |
resolvPrevBotID = -1;
|
| 394 |
return KFAILEDTOQUEUE;
|
| 395 |
} |
| 396 |
break;
|
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default:
|
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return ENOACTION;
|
| 399 |
} |
| 400 |
} |
| 401 |
break;
|
| 402 |
case WINTERSECTIONEXIT: //[type, bot, intersection] |
| 403 |
if (packet[2] == intersectionNum){ |
| 404 |
switch (state){
|
| 405 |
case SINTERSECTION_WAIT:
|
| 406 |
if(packet[1]==queuePrevBot){ |
| 407 |
queuePrevBot=-1;
|
| 408 |
return KFIRSTINQUEUE;
|
| 409 |
} |
| 410 |
} |
| 411 |
} |
| 412 |
break;
|
| 413 |
case WINTERSECTIONGO: //[type, bot, intersection] |
| 414 |
break;
|
| 415 |
case WINTERSECTIONPOLICEENTRY: //[?] |
| 416 |
return ENOACTION;
|
| 417 |
break;
|
| 418 |
case WINTERSECTIONRESOLVERACE: //[type, bot, intersection, num] |
| 419 |
//in the case robots draw the same number these will be
|
| 420 |
//arbitrated using the sending robot's id, prefering
|
| 421 |
//lower ids
|
| 422 |
usb_puts("Now in wireless WINTERSECTIONRESOLVERACE handler: resolvPrevBotID: ");
|
| 423 |
usb_puti((int) resolvPrevBotID);
|
| 424 |
usb_putc('\n');
|
| 425 |
if (packet[2] == intersectionNum){ |
| 426 |
switch (state){
|
| 427 |
case SINTERSECTION_ENTER:
|
| 428 |
case SINTERSECTION_ENTER_RESOLV:
|
| 429 |
if(resolvPrevBotID == (char) -3){ |
| 430 |
usb_puts("resolvPrevBotID == -3; sending a resolv packet and setting to -2\n");
|
| 431 |
sendResolv(false);
|
| 432 |
resolvPrevBotID = -2;
|
| 433 |
} |
| 434 |
if((unsigned char) packet[3] == resolvDraw && id > packet[1]){ |
| 435 |
//other bot drew same number as me,
|
| 436 |
//and i have a higher id, so it goes first.
|
| 437 |
usb_puts("bot ");
|
| 438 |
usb_puti(packet[1]);
|
| 439 |
usb_puts(" Drew the same number as me and I have a higher id, so it goes first\n");
|
| 440 |
resolvPrevBotID = packet[1];
|
| 441 |
} else if((unsigned char) packet[3] == resolvPrevBotDraw && resolvPrevBotID > packet[1]){ |
| 442 |
//other bot drew same number as the bot before me,
|
| 443 |
//so if it has a higher id than the bot before me,
|
| 444 |
//it is going to go in between that one and me.
|
| 445 |
usb_puts("bot ");
|
| 446 |
usb_puti(packet[1]);
|
| 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");
|
| 448 |
resolvPrevBotID = packet[1];
|
| 449 |
} else if((unsigned char)packet[3] < resolvDraw && (unsigned char)packet[3] > resolvPrevBotDraw){ |
| 450 |
//found a bot that goes in between the bot before me
|
| 451 |
//and me, so now it is before me.
|
| 452 |
usb_puts("bot ");
|
| 453 |
usb_puti(packet[1]);
|
| 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");
|
| 455 |
resolvPrevBotDraw = packet[3];
|
| 456 |
resolvPrevBotID = packet[1];
|
| 457 |
} |
| 458 |
return KRESOLVINGENTER;
|
| 459 |
break;
|
| 460 |
case SINTERSECTION_WAIT:
|
| 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 |
if ((resolvSeed *= (rtc_get() + encoder_read(LEFT))%9) == 0){ |
| 504 |
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 |
|
| 528 |
#endif
|