Colony » Colony Scout

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#ifndef _trafficNavigation_H_

#define _trafficNavigation_H_

#include "../Behavior.h"

//from old trafficNavigation.h

#ifndef trafficNavigation_H

/* Debug Options - These must go before includes */

#define MAIN_NEW

//#define SENDGRAPH

#include <dragonfly_lib.h>

#include <wl_basic.h>

#include "../linefollowing/lineDrive.h"

#include "highways.h"

#include "intersectData.h"

#include "validTurns.h"

/*States*/

#define SROAD 0

#define SINTERSECTION 9 /* for old version */

#define SINTERSECTION_ENTER 10

#define SINTERSECTION_ENTER_RESOLV 11

#define SINTERSECTION_WAIT 12

#define SINTERSECTION_DRIVE 13

#define SHIGHWAY 20

#define SCLEARPACKET 30

/*Sign Codes

 * bitwise OR labels to create a barcode or read one

 * There should be macros to extract these probably

 * The bits will be stored in some variable (char or short)

 * Bits if road: ? ? ? NAME NAME NAME TYPE CROAD

 * Bits if intersection: ? ? ? ? DIR DIR #WAYS CINTERSECTION

 */

#define CROAD 0x0 //0b

#define CINTERSECTION 0x1 //1b

#define CNORMALROAD 0x0 //00b

#define CHIGHWAYROAD 0x2 //10b

#define C4WAY 0x0 //00b

#define C3WAY 0x2 //10b

#define CNORTH 0x0 //0000b

#define CEAST 0x4 //0100b

#define CSOUTH 0x8 //1000b

#define CWEST 0x12 //1100b

/*Wireless Packet Types

 * The first byte of any wireless packet should be one of these types.

 * Each type will have its own structure

 * The second byte should be the id of the bot sending the packet

 * The third byte should be the number of the intersection or road that

 *   the packet pertains to

 */

#define PACKET_LENGTH 5

#define WROADENTRY 0 //[type, bot, road]

#define WROADREPLY 1 //[type, fromBot, road, toBot]

#define WROADEXIT 2 //[type, bot, road]

#define WROADSTOP 3 //[type, bot, road]

#define WINTERSECTIONENTRY 10   //[type, bot, intersection, fromDir, toDir]

#define WINTERSECTIONREPLY 11   //[type, fromBot, intersection, toBot]

#define WINTERSECTIONEXIT 12    //[type, bot, intersection]

#define WINTERSECTIONGO 13      //[type, bot, intersection]

#define WINTERSECTIONPOLICEENTRY 14

#define WINTERSECTIONRESOLVERACE 15   //[type, bot, intersection, num]

#define WHIGHWAYENTRY 20 //[type, bot, highway]

#define WHIGHWAYREPLY 21 //[type, fromBot, highway, toBot]

#define WHIGHWAYEXIT 22 //[type, bot, highway]

#define WPINGGLOBAL 30 //[type, bot]

#define WPINGBOT 31 //[type, fromBot, toBot]

#define WPINGQUEUE 32 //[type, fromBot, toBot]

#define WPINGREPLY 33 //[type, fromBot, toBot]

#define WCOLLISIONAVOID 41 //[type, bot, intersection, collision-int] //Note: collision is an int and thus takes two spaces

#define WGRAPHDATA 80

/*Wireless Parsing Status

 * For wireless parsing - status codes describing various errors/statuses with wireless

 * parsing. 

 * Errors begin with E - Note that all of these errors are actually returned as negative.

 *                     - values of >= 100 indicate a serious error

 * Non-Errors begin with K - returned as positive. (don't start with S because S

 *                           is for state)

 */

#define ENOPACKET -10 //The received packet doesn't exist.

#define ENOACTION -15 //The received packet has no defined action, and this is OK

#define ENOIMPLEMENT -20 //The received packet has no defined action and needs to be implemented.

#define EPACKETLEN -100 //The received packet was the wrong length

#define KOK 1

#define KPLACEDINQUEUE 20

#define KFAILEDTOQUEUE 21

#define KFIRSTINQUEUE 22

#define KREPLIEDTOENTER 23

#define KRESOLVINGENTER 24 //resolving a race between bots trying to enter intersection at the same time.

/*Macros

 */

#define ISPING(p) ((p)[0]==WPINGGLOBAL || (p)[0]==WPINGBOT || (p)[0]==WPINGQUEUE)

#endif

//

#ifdef DEBUG_INTERSECTION

  #define DBG_USBS(str) usb_puts(str)

  #define DBG_USBI(x) usb_puti(x)

#else

  #define DBG_USBS(str)

  #define DBG_USBI(x)

#endif

class trafficNavigation : Behavior

{

    public:

        trafficNavigation(std::string scoutname, Sensors* sensors) : 

                Behavior(scoutname, "traffic_nav", sensors) {};

        void run();

                int wirelessPacketHandle(int state);

                void enterIntersection(void);

                void sendResolv(bool override);

                unsigned char resolvRandomNumberGen();

};

#endif