Colony

#include <stdlib.h>

#include <stdio.h>

#include <time.h>

#include <unistd.h>

#include "../../libwireless/lib/wl_basic.h"

#include "../../libwireless/lib/wireless.h"

#include "../hunter_prey.h"

#define TYPE 42	// packet type for wireless communication

#define NUM_BOTS 17

#define TOTAL_GAME_TIME 600*5 //in 100 ms intervals

void packet_receive(char type, int source, unsigned char* packet, int length);

volatile unsigned int preyTime[20];

volatile int preyBot=-1;

void waitKey(void) {

  unsigned char buf[10];

  //read from stdin

   while(read(0, buf, 10)==10) {

     printf("!");

     fflush(stdout);

   }

  while(getchar()==-1);

}

void print_stats(void) {

  int i=0;

  for(i=0;i<NUM_BOTS;i++) {

    printf("%5d ", preyTime[i]);

  }

  printf("\n");

}

int main(int argc, char *argv[])

{

    char send_buffer[2];    // holds data to send

    int data_length;	// length of data received

    unsigned char *packet_data;	// data received

    int ret;

    int i;

    int winner, maxTime=0;

    unsigned int channel = 0xF;

    struct timespec delay, rem;

    delay.tv_sec = 0;

    delay.tv_nsec = 100000000;

    if(argc > 1) {

      channel = atoi(argv[1]);

    }

    printf("using wireless channel %d\n", channel);

    wl_set_com_port("/dev/ttyUSB0");

    // set up wireless

    ret = wl_basic_init(&packet_receive);

    if(ret) {

      printf("ERROR: wl_basic_init failed. %d\n", ret);

      return ret;

    }

    //wl_set_channel(channel);

    for(i=0;i<NUM_BOTS;i++) {

      preyTime[i]=0;

    }

    ret = 0;    

    i=0;

    printf("ready\n");

    //TODO: use rtc to make this more accurate

    while(i < TOTAL_GAME_TIME) {

      wl_do();

      if(ret==0) {

	ret = nanosleep(&delay, &rem);

      }

      else {

	ret = nanosleep(&rem, &rem);

      }

      //update counts when we have waited at least enough time

      if(ret == 0 && preyBot >= 0) {

	preyTime[preyBot]++;

	if(i==0) { //time starts on the first real tag

	  printf("\nThe race is on!\n");

	}

	i++;

      }

      if((TOTAL_GAME_TIME - i)%600 == 0) {

	printf("%d minutes remaining!\n", (TOTAL_GAME_TIME - i)/600);

      }

      if(i%10==0) {

	print_stats();

	if( TOTAL_GAME_TIME - i <= 100)

	  printf("%d...\n", (TOTAL_GAME_TIME - i)/10);

      }

    }

    for(i=1;i<NUM_BOTS;i++) {

      if(preyTime[i] > maxTime) {

	maxTime = preyTime[i];

	winner = i;

      }

    }

    printf("\n\GAME OVER!n\nAAAAAAAAAAND the winner is\nBOT %d!!!!\n", winner);

    return 0;

}

void packet_receive(char type, int source, unsigned char* packet, int length)

{

  if(type==42 && length>=2){

    if(packet[0] == HUNTER_PREY_ACTION_TAG) {

      //TODO: check tag

    }

    else if(packet[0] == HUNTER_PREY_ACTION_ACK) {

      preyBot = packet[1];

      printf("bot %d is prey!\n", preyBot);

    }

    else {

      printf("got invalid packet! %c%d\n", packet[0], packet[1]);

    }

  }

  else {

    printf("got unknown packet! type=%d, length=%d\n", type, length);

  }

}

/* Referee Bot for Hunter-Prey

 * Ben Wasserman

 * Robotics Club Colony Project 2010

 */

#include <dragonfly_lib.h>

#include <wl_basic.h>

#include "hunter_prey.h"

int main(void){

	dragonfly_init(ALL_ON);

	xbee_init();

	wl_basic_init_default();

	wl_set_channel(15);

	rtc_init(SIXTEENTH_SECOND, NULL);

	int currentPrey, length = 0, index, lastTime = 0, lastAck = 0, preyTime[20], timeOfLastTag[20];

	unsigned char *packet, lastTags[5], tags[20], acks[20], timesAsPrey[20];

	float iAcks, iTags, ratio;

	for(currentPrey=19; currentPrey>0; currentPrey--){

		preyTime[currentPrey] = 0;

		tags[currentPrey] = 0;

		acks[currentPrey] = 0;

		timesAsPrey[currentPrey] = 0;

		timeOfLastTag[currentPrey] = 0;

	}

	lastTags[0] = 0;

	lastTags[1] = 0;

	lastTags[2] = 0;

	lastTags[3] = 0;

	lastTags[4] = 0;

	delay_ms(1000);

	while(1){

		length = 0;

		if(rtc_get()%2){

			orb1_set_color(GREEN);

		}else{

			orb1_set_color(BLUE);

		}

		delay_ms(10);

		packet = wl_basic_do_default(&length);

		switch(length){

			case 0:

				delay_ms(10);

				orb2_set_color(BLUE);

				break;

			case 1:

				usb_puts("\r\nGot packet of size 1: ");

				usb_puti(packet[0]);

				orb2_set_color(ORANGE);

				break;

			case 2:

				usb_puts("\r\nGot packet of size 2: ");

				usb_puti(packet[0]);

				usb_putc('\t');

				usb_puti(packet[0]);

				orb2_set_color(ORANGE);

				break;

			case 3:

				usb_puts("\r\nGot packet of size 3: Action: ");

				switch(packet[0]){

					case HUNTER_PREY_ACTION_TAG:

						usb_puts("TAG");

						lastTags[0] = lastTags[1];

						lastTags[1] = lastTags[2];

						lastTags[2] = lastTags[3];

						lastTags[3] = lastTags[4];

						lastTags[4] = packet[1];

						if(packet[1] != currentPrey && (rtc_get() - timeOfLastTag[packet[1]]) > 16 && (rtc_get() - lastAck) > 48){

							tags[packet[1]]++;

						}else{

							usb_puts(" CHEAT");

						}

						timeOfLastTag[packet[1]] = rtc_get();

						orb2_set_color(PURPLE);

						break;

					case HUNTER_PREY_ACTION_ACK:

						usb_puts("ACK");

						if(lastTags[0]==packet[1] || lastTags[1]==packet[1] || lastTags[2]==packet[1] || lastTags[3]==packet[1] || lastTags[4]==packet[1]){

							acks[packet[1]]++;

							timesAsPrey[packet[2]]++;

							currentPrey = packet[1];

							lastAck = rtc_get();

							usb_puts(" New Prey: ");

							usb_puti(currentPrey);

							orb2_set_color(GREEN);

						}else{

							usb_puts(" Spam!");

							orb2_set_color(ORANGE);

						}

						break;

					default:

						usb_puts("Unknown: ");

						usb_puti(packet[0]);

						orb2_set_color(ORANGE);

						break;

				}

				usb_puts(" Tagging Bot: ");

				usb_puti(packet[1]);

				usb_puts(" Sending Bot: ");

				usb_puti(packet[2]);

				if(packet[0] == HUNTER_PREY_ACTION_TAG && packet[1] != packet[2]){

					usb_puts(" Tag error: mismatched IDs");

				}

				break;

			default:

				usb_puts("\nOversized packet. Contents: ");

				for(index = 0; index < length; index++){

					usb_puti(packet[index]);

					usb_putc(' ');

					orb2_set_color(ORANGE);

				}

		}

		if(rtc_get() - 4 > lastTime){

			preyTime[currentPrey]++;

			lastTime = rtc_get();

			if(timesAsPrey[currentPrey] == 0){

				timesAsPrey[currentPrey] = 1;

			}

		}

		if(button1_read()){

			usb_puts("\r\n!!Game Stats!! Game time: ");

			usb_puti(rtc_get() / 16);

			usb_puts("\r\nBot\tTags\tAcks\tATR\tP Time\t#aP\tTp#\r\n");

			for(index = 1; index < 20; index++){

				if(tags[index]){

					usb_puti(index);

					if(index == currentPrey){

						usb_putc('*');

					}

					usb_putc('\t');

					usb_puti(tags[index]);

					usb_putc('\t');

					usb_puti(acks[index]);

					usb_putc('\t');

					iAcks = acks[index];

					iTags = tags[index];

					iAcks *= 1000;

					iTags *= 1000;

					ratio = iAcks / iTags;

					usb_puti(ratio*1000);

					usb_putc('\t');

					usb_puti(preyTime[index]/4);

					usb_putc('\t');

					usb_puti(timesAsPrey[index]);

					usb_putc('\t');

					if(timesAsPrey[index]){

						usb_puti((preyTime[index] / 4) / timesAsPrey[index]);

					}else{

						usb_puts("NaN");

					}

					usb_puts("\r\n");

				}

			}

		}

	}

	while(1);

	return 0;

}

#include "hunter_prey.h"

#include <dragonfly_lib.h>

#define TAG_TIME 3

#define TAG_RANGE 150

/**** This file should not be edited! ****/

/*

 * The criteria for tagging are the following:

 *   * The max bom is betweed 1 and 7

 *   * The front rangefinder reads less than TAG_RANGE

 *   * -1 values from the rangefinder are ignored

 *   * These conditions are met across TAG_TIME calls to this function

 */

unsigned char hunter_prey_tagged(int max_bom, int frontRange) {

  static int onTarget = 0;

  if(max_bom < 7 && max_bom > 1 && frontRange > 0 && frontRange < TAG_RANGE) {

    if(onTarget == 0) {

      onTarget = TAG_TIME;

      usb_puts("On target!\n");

    }

    else {

      if(--onTarget <= 0) {

	onTarget = 0;

	usb_puts("TAG!\n");

	return 1;

      }

    }

  }

  else{

    //don't reset onTarget because the robot got too close

    if(frontRange > 0)

      onTarget = 0;

  }

  return 0;

}

CC = gcc

CFLAGS = -Wall -g

all: ref

ref: *.c ../../libwireless/lib/*.c 

	$(CC) $(CFLAGS) *.c -L../../libwireless/lib -o ref -DWL_DEBUG -lwireless -lpthread -ggdb

clean:

	rm -f *.o ref ../lib/*.o

#ifndef _HUNTER_PREY_H

#define _HUNTER_PREY_H

#include <inttypes.h>

/**** This file should not be edited! ****/

/*

 * The packet structure is 2 bytes

 * byte 0 is the action, which is one of the values below

 * byte 1 is the robot id

 */

#define HUNTER_PREY_ACTION_TAG 'T'

#define HUNTER_PREY_ACTION_ACK 'A'

unsigned char hunter_prey_tagged(int max_bom, int front_rangefinder);

#endif

# this is a local makefile

# Relative path to the root directory (containing lib directory)

ifndef COLONYROOT

COLONYROOT := ..

# Target file name (without extension).

TARGET = main

# Uncomment this to use the wireless library

USE_WIRELESS = 1

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)

else

COLONYROOT := ../$(COLONYROOT)

endif

include $(COLONYROOT)/Makefile