Colony

#include <dragonfly_lib.h>

#include <wl_basic.h>

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

/*States*/

#define SROAD 0

#define SINTERSECTION 10

#define SHIGHWAY 20

/*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 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]

/*Macros

 */

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