root / trunk / code / projects / traffic_navigation / main.c @ 1869
History | View | Annotate | Download (8.41 KB)
1 |
/*
|
---|---|
2 |
* main.c for Traffic Navigation
|
3 |
* Runs the highest level behavior for the Dynamic Traffic Navigation (DTM) SURG
|
4 |
*
|
5 |
* Author: Colony Project, CMU Robotics Club
|
6 |
*/
|
7 |
|
8 |
#include <dragonfly_lib.h> |
9 |
#include <wl_basic.h> |
10 |
#include "../linefollowing/lineDrive.h" |
11 |
|
12 |
|
13 |
|
14 |
/*States*/
|
15 |
#define SROAD 0 |
16 |
#define SINTERSECTION 10 |
17 |
#define SHIGHWAY 20 |
18 |
|
19 |
/*Sign Codes
|
20 |
* bitwise OR labels to create a barcode or read one
|
21 |
* There should be macros to extract these probably
|
22 |
* The bits will be stored in some variable (char or short)
|
23 |
* Bits if road: ? ? ? NAME NAME NAME TYPE CROAD
|
24 |
* Bits if intersection: ? ? ? ? DIR DIR #WAYS CINTERSECTION
|
25 |
*/
|
26 |
#define CROAD 0x0 //0b |
27 |
#define CINTERSECTION 0x1 //1b |
28 |
#define CNORMALROAD 0x0 //00b |
29 |
#define CHIGHWAYROAD 0x2 //10b |
30 |
#define C4WAY 0x0 //00b |
31 |
#define C3WAY 0x2 //10b |
32 |
#define CNORTH 0x0 //0000b |
33 |
#define CEAST 0x4 //0100b |
34 |
#define CSOUTH 0x8 //1000b |
35 |
#define CWEST 0x12 //1100b |
36 |
|
37 |
/*Wireless Packet Types
|
38 |
* The first byte of any wireless packet should be one of these types.
|
39 |
* Each type will have its own structure
|
40 |
* The second byte should be the id of the bot sending the packet
|
41 |
* The third byte should be the number of the intersection or road that
|
42 |
* the packet pertains to
|
43 |
*/
|
44 |
#define PACKET_LENGTH 5 |
45 |
#define WROADENTRY 0 //[type, bot, road] |
46 |
#define WROADREPLY 1 //[type, fromBot, road, toBot] |
47 |
#define WROADEXIT 2 //[type, bot, road] |
48 |
#define WROADSTOP 3 //[type, bot, road] |
49 |
#define WINTERSECTIONENTRY 10 //[type, bot, intersection, fromDir, toDir] |
50 |
#define WINTERSECTIONREPLY 11 //[type, fromBot, intersection, toBot] |
51 |
#define WINTERSECTIONEXIT 12 //[type, bot, intersection] |
52 |
#define WINTERSECTIONGO 13 //[type, bot, intersection] |
53 |
#define WINTERSECTIONPOLICEENTRY 14 |
54 |
#define WHIGHWAYENTRY 20 //[type, bot, highway] |
55 |
#define WHIGHWAYREPLY 21 //[type, fromBot, highway, toBot] |
56 |
#define WHIGHWAYEXIT 22 //[type, bot, highway] |
57 |
#define WPINGGLOBAL 30 //[type, bot] |
58 |
#define WPINGBOT 31 //[type, fromBot, toBot] |
59 |
#define WPINGQUEUE 32 //[type, fromBot, toBot] |
60 |
#define WPINGREPLY 33 //[type, fromBot, toBot] |
61 |
|
62 |
/*Macros
|
63 |
*/
|
64 |
#define ISPING(p) ((p)[0]==WPINGGLOBAL || (p)[0]==WPINGBOT || (p)[0]==WPINGQUEUE) |
65 |
|
66 |
int main (void) { |
67 |
|
68 |
int state, sign, dataLength, pingWaitTime;
|
69 |
char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, nextDir, nextPath, intersectionNum;
|
70 |
unsigned char *packet; |
71 |
|
72 |
/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
|
73 |
dragonfly_init(ALL_ON); |
74 |
xbee_init(); |
75 |
encoders_init(); |
76 |
// lineDrive_init();
|
77 |
rtc_init(SIXTEENTH_SECOND, NULL);
|
78 |
wl_basic_init_default(); |
79 |
wl_set_channel(13);
|
80 |
|
81 |
id = get_robotid(); |
82 |
sign = 0;
|
83 |
|
84 |
//Test code
|
85 |
state = SROAD; |
86 |
|
87 |
sendBuffer[1] = id;
|
88 |
|
89 |
while (1) { |
90 |
/*DTM Finite State Machine*/
|
91 |
switch(state){
|
92 |
case SROAD:/*Following a normal road*/ |
93 |
// sign = lineFollow();
|
94 |
//other road behaviors
|
95 |
//tailgating?
|
96 |
//read barcode
|
97 |
// doDrive(255);
|
98 |
if((sign & CINTERSECTION) || button1_click()){
|
99 |
state = SINTERSECTION; |
100 |
} |
101 |
break;
|
102 |
case SINTERSECTION:/*Entering, and in intersection*/ |
103 |
//Intersection behaviors
|
104 |
//queueing
|
105 |
//no-stop?
|
106 |
//check wireless
|
107 |
|
108 |
intersectionNum = 0;
|
109 |
|
110 |
/*Intersection queue:
|
111 |
*Each robot when entering the intersection will check for other robots
|
112 |
*in the intersection, and insert itself in a queue to go through.
|
113 |
*/
|
114 |
prevBot = 0;
|
115 |
nextBot = 0;
|
116 |
//Sends packet announcing its entry to the intersection
|
117 |
sendBuffer[0] = WINTERSECTIONENTRY;
|
118 |
sendBuffer[2] = intersectionNum;//Intersection # |
119 |
sendBuffer[3] = 0;//From Direction |
120 |
sendBuffer[4] = 2;//To Direction |
121 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
122 |
orb1_set_color(BLUE); |
123 |
// stop();
|
124 |
rtc_reset(); |
125 |
while(rtc_get() < 8){//waits for a reply, otherwise assumes it is first in queue |
126 |
dataLength = 0;
|
127 |
packet = wl_basic_do_default(&dataLength); |
128 |
if(dataLength==PACKET_LENGTH && packet[2]==intersectionNum){ |
129 |
if(packet[0] == WINTERSECTIONREPLY){ |
130 |
if(packet[3] == id){//Reply for me |
131 |
prevBot = packet[1];
|
132 |
orb2_set_color(GREEN); |
133 |
break;
|
134 |
}else if(packet[1] != id){//Someone else got here first, try again |
135 |
sendBuffer[0] = WINTERSECTIONENTRY;
|
136 |
sendBuffer[2] = intersectionNum;//Intersection # |
137 |
sendBuffer[3] = 0;//From Direction |
138 |
sendBuffer[4] = 2;//To Direction |
139 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
140 |
orb2_set_color(ORANGE); |
141 |
rtc_reset(); |
142 |
} |
143 |
}else /*if(packet[0]==WINTERSECTIONENTRY && nextBot==0 && prevBot!=packet[1]){ |
144 |
sendBuffer[0] = WINTERSECTIONREPLY;
|
145 |
sendBuffer[2] = intersectionNum;
|
146 |
sendBuffer[3] = packet[1];
|
147 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
148 |
nextBot = packet[1];
|
149 |
nextDir = packet[3];
|
150 |
nextPath = packet[4];
|
151 |
orb2_set_color(BLUE);
|
152 |
delay_ms(200);
|
153 |
}*/
|
154 |
delay_ms(0);
|
155 |
} |
156 |
} |
157 |
orb1_set_color(PURPLE); |
158 |
//waits for its turn
|
159 |
while(prevBot != 0){ |
160 |
dataLength = 0;
|
161 |
packet = wl_basic_do_default(&dataLength); |
162 |
if(dataLength==PACKET_LENGTH){
|
163 |
if(packet[2] == intersectionNum){ |
164 |
if(packet[1]==prevBot && (packet[0]==WINTERSECTIONGO || packet[0]==WINTERSECTIONEXIT)){ |
165 |
prevBot = 0;
|
166 |
orb2_set_color(PURPLE); |
167 |
}/*else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){
|
168 |
sendBuffer[0] = WINTERSECTIONREPLY;
|
169 |
sendBuffer[2] = intersectionNum;
|
170 |
sendBuffer[3] = packet[1];
|
171 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
172 |
nextBot = packet[1];
|
173 |
nextDir = packet[3];
|
174 |
nextPath = packet[4];
|
175 |
orb2_set_color(BLUE);
|
176 |
}*/
|
177 |
} |
178 |
/* if(ISPING(packet)){
|
179 |
sendBuffer[0] = WPINGREPLY;
|
180 |
sendBuffer[2] = packet[1];
|
181 |
if(packet[0]==WPINGQUEUE && packet[3]==nextBot){
|
182 |
nextBot = packet[1];
|
183 |
}
|
184 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
185 |
}
|
186 |
if(packet[0]==WPINGREPLY && packet[2]==id){
|
187 |
prevBot = packet[1];
|
188 |
pingWaitTime = rtc_get();
|
189 |
}
|
190 |
*/ }
|
191 |
|
192 |
if(prevBot && rtc_get() << 12 == 0){ |
193 |
sendBuffer[0] = WPINGBOT;
|
194 |
sendBuffer[2] = prevBot;
|
195 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
196 |
pingWaitTime = rtc_get(); |
197 |
} |
198 |
if(prevBot && pingWaitTime - rtc_get() > 4){ |
199 |
sendBuffer[0] = WPINGBOT;
|
200 |
if(pingWaitTime - rtc_get() > 8){ |
201 |
sendBuffer[0] = WPINGQUEUE;
|
202 |
} |
203 |
sendBuffer[2] = prevBot;
|
204 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
205 |
} |
206 |
/* if(prevBot && pingWaitTime - rtc_get() > 12){
|
207 |
prevBot = 0;
|
208 |
}
|
209 |
*/ }
|
210 |
orb1_set_color(RED); |
211 |
//Drives through intersection
|
212 |
//Code to choose path through intersection goes in this while loop
|
213 |
//But here's the code to handle wireless while in the intersection...
|
214 |
// start();
|
215 |
// turn(DOUBLE, ILEFT);//Change paramers to variables
|
216 |
while(!button1_click()/*replace with variable to keep track of if in intersection*/){ |
217 |
// doDrive(255);
|
218 |
packet = wl_basic_do_default(&dataLength); |
219 |
if(dataLength==PACKET_LENGTH){
|
220 |
if(packet[2]==intersectionNum/*Intersection Num*/){ |
221 |
if(packet[0]==WINTERSECTIONEXIT){ |
222 |
prevBot = 0;
|
223 |
orb2_set_color(RED); |
224 |
}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
225 |
sendBuffer[0] = WINTERSECTIONREPLY;
|
226 |
sendBuffer[2] = intersectionNum;//Intersection # |
227 |
sendBuffer[3] = packet[1]; |
228 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
229 |
nextBot = packet[1];
|
230 |
nextDir = packet[3];
|
231 |
nextPath = packet[4];
|
232 |
orb2_set_color(YELLOW); |
233 |
} |
234 |
} |
235 |
if(ISPING(packet)){
|
236 |
sendBuffer[0] = WPINGREPLY;
|
237 |
sendBuffer[2] = packet[1]; |
238 |
if(packet[0]==WPINGQUEUE && packet[3]==nextBot){ |
239 |
nextBot = packet[1];
|
240 |
} |
241 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
242 |
} |
243 |
} |
244 |
if(prevBot==0 && nextBot!=0){//let 2 bots go through at same time |
245 |
/*if(bots paths won't collide){
|
246 |
sendBuffer[0] = WINTERSECTIONGO;
|
247 |
sendBuffer[2] = 0;//Intersection #
|
248 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
249 |
*/
|
250 |
} |
251 |
} |
252 |
//Exits intersection
|
253 |
sendBuffer[0] = WINTERSECTIONEXIT;
|
254 |
sendBuffer[2] = intersectionNum;//Intersection # |
255 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
256 |
orb1_set_color(ORANGE); |
257 |
|
258 |
if(!(sign & CINTERSECTION)){
|
259 |
if(sign & CHIGHWAYROAD){
|
260 |
state = SHIGHWAY; |
261 |
}else{
|
262 |
state = SROAD; |
263 |
} |
264 |
} |
265 |
break;
|
266 |
case SHIGHWAY:/*On highway*/ |
267 |
// sign = lineFollow();
|
268 |
//highway behaviors
|
269 |
//merging
|
270 |
//passing
|
271 |
//read barcode
|
272 |
break;
|
273 |
default:
|
274 |
usb_puts("I got stuck in an unknown state! My state is ");
|
275 |
usb_puti(state); |
276 |
} |
277 |
} |
278 |
|
279 |
} |