Revision 1867
fixed priya's bugs, left her questionable sytlistic choices
| trunk/code/projects/traffic_navigation/main.c | ||
|---|---|---|
| 9 | 9 |
#include "../linefollowing/lineDrive.h" |
| 10 | 10 |
|
| 11 | 11 |
|
| 12 |
|
|
| 12 | 13 |
/*States*/ |
| 13 | 14 |
#define SROAD 0 |
| 14 | 15 |
#define SINTERSECTION 10 |
| trunk/code/projects/traffic_navigation/validTurns.c | ||
|---|---|---|
| 42 | 42 |
if( barcode == NOBARCODE ) return -1; |
| 43 | 43 |
cross_type = getCrossType(barcode); |
| 44 | 44 |
switch (cross_type) |
| 45 |
case DOUBLE_C |
|
| 46 | 45 |
{
|
| 47 |
cross_pos = getCrossPos(barcode, 4); |
|
| 48 |
if (0<=cross_pos && cross_pos<=3) |
|
| 49 |
return randomNumGen(4); |
|
| 50 |
break; |
|
| 51 |
} |
|
| 52 |
case DOUBLE_T |
|
| 53 |
{
|
|
| 54 |
cross_pos = getCrossPos(barcode, 3); |
|
| 55 |
switch (cross_pos) |
|
| 56 |
case TLEFT |
|
| 46 |
case DOUBLE_C: |
|
| 57 | 47 |
{
|
| 58 |
int turn_type = getTurnType();
|
|
| 59 |
if (turn_type == ILEFT) turn_type = ISTRAIGHT;
|
|
| 60 |
return turn_type;
|
|
| 48 |
cross_pos = getCrossPos(barcode, 4);
|
|
| 49 |
if (0<=cross_pos && cross_pos<=3)
|
|
| 50 |
return randomNumGen(4);
|
|
| 61 | 51 |
break; |
| 62 | 52 |
} |
| 63 |
case TRIGHT
|
|
| 53 |
case DOUBLE_T:
|
|
| 64 | 54 |
{
|
| 65 |
int turn_type = getTurnType(); |
|
| 66 |
if (turn_type == IRIGHT) turn_type = ISTRAIGHT; |
|
| 67 |
return turn_type; |
|
| 68 |
break; |
|
| 55 |
cross_pos = getCrossPos(barcode, 3); |
|
| 56 |
switch (cross_pos) |
|
| 57 |
{
|
|
| 58 |
case TLEFT: |
|
| 59 |
{
|
|
| 60 |
int turn_type = getTurnType(); |
|
| 61 |
if (turn_type == ILEFT) turn_type = ISTRAIGHT; |
|
| 62 |
return turn_type; |
|
| 63 |
break; |
|
| 64 |
} |
|
| 65 |
case TRIGHT: |
|
| 66 |
{
|
|
| 67 |
int turn_type = getTurnType(); |
|
| 68 |
if (turn_type == IRIGHT) turn_type = ISTRAIGHT; |
|
| 69 |
return turn_type; |
|
| 70 |
break; |
|
| 71 |
} |
|
| 72 |
case TMIDDLE: |
|
| 73 |
{
|
|
| 74 |
int turn_type = getTurnType(); |
|
| 75 |
if (turn_type == ISTRAIGHT) turn_type = IUTURN; |
|
| 76 |
return turn_type; |
|
| 77 |
break; |
|
| 78 |
} |
|
| 79 |
default: |
|
| 80 |
return -1; |
|
| 81 |
} |
|
| 82 |
break; |
|
| 69 | 83 |
} |
| 70 |
case TMIDDLE
|
|
| 84 |
case SINGLE:
|
|
| 71 | 85 |
{
|
| 72 |
int turn_type = getTurnType(); |
|
| 73 |
if (turn_type == ISTRAIGHT) turn_type = IUTURN; |
|
| 74 |
return turn_type; |
|
| 86 |
cross_pos = getCrossPos(barcode, 2); |
|
| 87 |
switch (cross_pos) |
|
| 88 |
{
|
|
| 89 |
case SACROSS: |
|
| 90 |
{
|
|
| 91 |
int turn_type = getTurnType(); |
|
| 92 |
if (turn_type == IRIGHT || turn_type == IUTURN) turn_type = ISTRAIGHT; |
|
| 93 |
return turn_type; |
|
| 94 |
break; |
|
| 95 |
} |
|
| 96 |
case SUP: |
|
| 97 |
{
|
|
| 98 |
int turn_type = getTurnType(); |
|
| 99 |
if (turn_type == ILEFT || turn_type == IUTURN) turn_type = ISTRAIGHT; |
|
| 100 |
return turn_type; |
|
| 101 |
break; |
|
| 102 |
} |
|
| 103 |
default: |
|
| 104 |
return -1; |
|
| 105 |
} |
|
| 75 | 106 |
break; |
| 76 | 107 |
} |
| 77 |
default return -1; |
|
| 78 |
break; |
|
| 79 |
} |
|
| 80 |
case SINGLE |
|
| 81 |
{
|
|
| 82 |
cross_pos = getCrossPos(barcode, 2); |
|
| 83 |
switch (cross_pos) |
|
| 84 |
case SACROSS |
|
| 108 |
case ON_RAMP: |
|
| 85 | 109 |
{
|
| 86 |
int turn_type = getTurnType(); |
|
| 87 |
if (turn_type == IRIGHT || turn_type == IUTURN) turn_type = ISTRAIGHT; |
|
| 88 |
return turn_type; |
|
| 110 |
cross_pos = getCrossPos(barcode, 3); |
|
| 111 |
switch (cross_pos) |
|
| 112 |
{
|
|
| 113 |
case R_LEFT: |
|
| 114 |
{
|
|
| 115 |
int turn_type = getTurnType(); |
|
| 116 |
if (turn_type == ILEFT || turn_type == IUTURN) turn_type = ISTRAIGHT; |
|
| 117 |
return turn_type; |
|
| 118 |
break; |
|
| 119 |
} |
|
| 120 |
case R_RIGHT: |
|
| 121 |
{
|
|
| 122 |
int turn_type = getTurnType(); |
|
| 123 |
if (turn_type == IRIGHT || turn_type == IUTURN) turn_type = ISTRAIGHT; |
|
| 124 |
return turn_type; |
|
| 125 |
break; |
|
| 126 |
} |
|
| 127 |
default: |
|
| 128 |
return -1; |
|
| 129 |
} |
|
| 89 | 130 |
break; |
| 90 | 131 |
} |
| 91 |
case SUP
|
|
| 132 |
case OFF_RAMP:
|
|
| 92 | 133 |
{
|
| 93 |
int turn_type = getTurnType(); |
|
| 94 |
if (turn_type == ILEFT || turn_type == IUTURN) turn_type = ISTRAIGHT; |
|
| 95 |
return turn_type; |
|
| 134 |
cross_pos = getCrossPos(barcode, 3); |
|
| 135 |
switch (cross_pos) |
|
| 136 |
{
|
|
| 137 |
case R_LEFT: |
|
| 138 |
{
|
|
| 139 |
int turn_type = ISTRAIGHT; |
|
| 140 |
return turn_type; |
|
| 141 |
break; |
|
| 142 |
} |
|
| 143 |
case R_RIGHT: |
|
| 144 |
{
|
|
| 145 |
int turn_type = ISTRAIGHT; |
|
| 146 |
return turn_type; |
|
| 147 |
break; |
|
| 148 |
} |
|
| 149 |
case R_RAMP: |
|
| 150 |
{
|
|
| 151 |
int turn_type = getTurnType(); |
|
| 152 |
if (turn_type == ISTRAIGHT || turn_type == IUTURN) turn_type = ILEFT; |
|
| 153 |
return turn_type; |
|
| 154 |
break; |
|
| 155 |
} |
|
| 156 |
default: |
|
| 157 |
return -1; |
|
| 158 |
} |
|
| 96 | 159 |
break; |
| 97 | 160 |
} |
| 98 |
default return -1; |
|
| 99 |
break; |
|
| 100 |
} |
|
| 101 |
case ON_RAMP |
|
| 102 |
{
|
|
| 103 |
cross_pos = getCrossPos(barcode, 3); |
|
| 104 |
switch (cross_pos) |
|
| 105 |
case R_LEFT |
|
| 106 |
{
|
|
| 107 |
int turn_type = getTurnType(); |
|
| 108 |
if (turn_type == ILEFT || turn_type == IUTURN) turn_type = ISTRAIGHT; |
|
| 109 |
return turn_type; |
|
| 110 |
break; |
|
| 111 |
} |
|
| 112 |
case R_RIGHT |
|
| 113 |
{
|
|
| 114 |
int turn_type = getTurnType(); |
|
| 115 |
if (turn_type == IRIGHT || turn_type == IUTURN) turn_type = ISTRAIGHT; |
|
| 116 |
return turn_type; |
|
| 117 |
break; |
|
| 118 |
} |
|
| 119 |
default return -1; |
|
| 120 |
break; |
|
| 121 |
} |
|
| 122 |
case OFF_RAMP |
|
| 123 |
{
|
|
| 124 |
cross_pos = getCrossPos(barcode, 3); |
|
| 125 |
switch (cross_pos) |
|
| 126 |
case R_LEFT |
|
| 127 |
{
|
|
| 128 |
int turn_type = ISTRAIGHT; |
|
| 129 |
return turn_type; |
|
| 130 |
break; |
|
| 131 |
} |
|
| 132 |
case R_RIGHT |
|
| 133 |
{
|
|
| 134 |
int turn_type = ISTRAIGHT; |
|
| 135 |
return turn_type; |
|
| 136 |
break; |
|
| 137 |
} |
|
| 138 |
case R_RAMP |
|
| 139 |
{
|
|
| 140 |
int turn_type = getTurnType(); |
|
| 141 |
if (turn_type == ISTRAIGHT || turn_type == IUTURN) turn_type = ILEFT; |
|
| 142 |
return turn_type; |
|
| 143 |
break; |
|
| 144 |
} |
|
| 145 |
default return -1; |
|
| 146 |
break; |
|
| 147 |
} |
|
| 148 |
default return -1; |
|
| 161 |
default: |
|
| 162 |
return -1; |
|
| 149 | 163 |
} |
| 164 |
} |
|
Also available in: Unified diff