Revision 1869
Added code for pinging in intersections, but it currently doesn't work so its commented out. Intersections should work. Unfortunately some of Alex's doxygen code might be gone. Sorry.
| trunk/code/projects/traffic_navigation/main.c | ||
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| 2 | 2 |
* main.c for Traffic Navigation |
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* Runs the highest level behavior for the Dynamic Traffic Navigation (DTM) SURG |
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* |
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* Author: Benjamin Wasserman, Colony Project, CMU Robotics Club */ |
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* Author: Colony Project, CMU Robotics Club |
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*/ |
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#include <dragonfly_lib.h> |
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#include <wl_basic.h> |
| ... | ... | |
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*/ |
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#define ISPING(p) ((p)[0]==WPINGGLOBAL || (p)[0]==WPINGBOT || (p)[0]==WPINGQUEUE) |
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void pingReply(char ping[PACKET_LENGTH], char sendBuffer[PACKET_LENGTH], char nextBot){
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sendBuffer[0] = WPINGREPLY; |
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switch(ping[0]){
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case WPINGBOT: |
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sendBuffer[2] = ping[1]; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
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break; |
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case WPINGQUEUE: |
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sendBuffer[2] = ping[1]; |
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if(ping[3] == get_robotid()){
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
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} |
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if(ping[3] == nextBot){
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//If next bot is missing from queue, take its place |
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} |
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break; |
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default: |
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break; |
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} |
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} |
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int main (void) {
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int state, sign, dataLength, pingWaitTime; |
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char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, *packet, nextDir, nextPath, intersectionNum; |
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char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, nextDir, nextPath, intersectionNum; |
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unsigned char *packet; |
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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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// 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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//other road behaviors |
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//tailgating? |
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//read barcode |
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doDrive(255); |
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// doDrive(255);
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if((sign & CINTERSECTION) || button1_click()){
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state = SINTERSECTION; |
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} |
| ... | ... | |
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sendBuffer[4] = 2;//To Direction |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
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orb1_set_color(BLUE); |
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stop(); |
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// stop();
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rtc_reset(); |
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while(rtc_get() < 8){//waits for a reply, otherwise assumes it is first in queue
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dataLength = 0; |
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packet = wl_basic_do_default(&dataLength); |
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if(dataLength==PACKET_LENGTH && packet[0]==WINTERSECTIONREPLY && packet[2]==intersectionNum/*Intersection Num*/){
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if(packet[3]==id){//Reply for me
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prevBot = packet[1]; |
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orb2_set_color(GREEN); |
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break; |
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}else{//Someone else got here first, try again
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if(dataLength==PACKET_LENGTH && packet[2]==intersectionNum){
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if(packet[0] == WINTERSECTIONREPLY){
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if(packet[3] == id){//Reply for me
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prevBot = packet[1]; |
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orb2_set_color(GREEN); |
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break; |
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}else if(packet[1] != id){//Someone else got here first, try again
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sendBuffer[0] = WINTERSECTIONENTRY; |
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sendBuffer[2] = intersectionNum;//Intersection # |
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sendBuffer[3] = 0;//From Direction |
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sendBuffer[4] = 2;//To Direction |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
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orb2_set_color(ORANGE); |
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rtc_reset(); |
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} |
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}else /*if(packet[0]==WINTERSECTIONENTRY && nextBot==0 && prevBot!=packet[1]){
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sendBuffer[0] = WINTERSECTIONREPLY; |
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sendBuffer[2] = intersectionNum; |
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sendBuffer[3] = packet[1]; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
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rtc_reset(); |
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} |
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nextBot = packet[1]; |
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nextDir = packet[3]; |
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nextPath = packet[4]; |
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orb2_set_color(BLUE); |
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delay_ms(200); |
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}*/ |
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delay_ms(0); |
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} |
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} |
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orb1_set_color(PURPLE); |
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//waits for its turn |
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while(prevBot != 0){
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packet = wl_basic_do_default(&dataLength); |
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dataLength = 0; |
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packet = wl_basic_do_default(&dataLength); |
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if(dataLength==PACKET_LENGTH){
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if(packet[2] == intersectionNum){
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if(packet[1]==prevBot && (packet[0]==WINTERSECTIONGO || packet[0]==WINTERSECTIONEXIT)){
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prevBot = 0; |
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orb2_set_color(PURPLE); |
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}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){
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}/*else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){
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sendBuffer[0] = WINTERSECTIONREPLY; |
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sendBuffer[2] = intersectionNum;//Intersection #
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sendBuffer[2] = intersectionNum; |
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sendBuffer[3] = packet[1]; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
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nextBot = packet[1]; |
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nextDir = packet[3]; |
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nextPath = packet[4]; |
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orb2_set_color(BLUE); |
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} |
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}*/
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} |
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if(ISPING(packet)){
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/* if(ISPING(packet)){
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sendBuffer[0] = WPINGREPLY; |
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sendBuffer[2] = packet[1]; |
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if(packet[0]==WPINGQUEUE && packet[3]==nextBot){
|
| ... | ... | |
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prevBot = packet[1]; |
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pingWaitTime = rtc_get(); |
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} |
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} |
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*/ }
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if(rtc_get() << 12 == 0){
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if(prevBot && rtc_get() << 12 == 0){
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sendBuffer[0] = WPINGBOT; |
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sendBuffer[2] = prevBot; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
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pingWaitTime = rtc_get(); |
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} |
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if(pingWaitTime - rtc_get() > 4){
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if(prevBot && pingWaitTime - rtc_get() > 4){
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sendBuffer[0] = WPINGBOT; |
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if(pingWaitTime - rtc_get() > 8){
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sendBuffer[0] = WPINGQUEUE; |
| ... | ... | |
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sendBuffer[2] = prevBot; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
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} |
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if(pingWaitTime - rtc_get() > 12){
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/* if(prevBot && pingWaitTime - rtc_get() > 12){
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prevBot = 0; |
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} |
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} |
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*/ }
|
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orb1_set_color(RED); |
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//Drives through intersection |
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//Code to choose path through intersection goes in this while loop |
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//But here's the code to handle wireless while in the intersection... |
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start(); |
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turn(DOUBLE, ILEFT);//Change paramers to variables |
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// start();
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// turn(DOUBLE, ILEFT);//Change paramers to variables
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while(!button1_click()/*replace with variable to keep track of if in intersection*/){
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doDrive(255); |
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// doDrive(255);
|
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packet = wl_basic_do_default(&dataLength); |
| 218 | 219 |
if(dataLength==PACKET_LENGTH){
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| 219 | 220 |
if(packet[2]==intersectionNum/*Intersection Num*/){
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