root / trunk / code / projects / traffic_navigation / main.c @ 1877
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| 1 | 1843 | bwasserm | /*
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| 2 | * main.c for Traffic Navigation
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| 3 | * Runs the highest level behavior for the Dynamic Traffic Navigation (DTM) SURG
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| 4 | *
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| 5 | 1869 | bwasserm | * Author: Colony Project, CMU Robotics Club
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| 6 | */
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| 7 | 1843 | bwasserm | |
| 8 | 1872 | josephle | #include "traffic_navigation.h" |
| 9 | 16 | bcoltin | |
| 10 | 1843 | bwasserm | int main (void) { |
| 11 | 1419 | jsexton | |
| 12 | 1863 | bwasserm | int state, sign, dataLength, pingWaitTime;
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| 13 | 1869 | bwasserm | char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, nextDir, nextPath, intersectionNum;
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| 14 | unsigned char *packet; |
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| 15 | 1876 | markwill | |
| 16 | 1843 | bwasserm | /* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
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| 17 | dragonfly_init(ALL_ON); |
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| 18 | xbee_init(); |
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| 19 | encoders_init(); |
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| 20 | 1876 | markwill | lineDrive_init(); |
| 21 | 1844 | bwasserm | rtc_init(SIXTEENTH_SECOND, NULL);
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| 22 | 1859 | bwasserm | wl_basic_init_default(); |
| 23 | wl_set_channel(13);
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| 24 | |||
| 25 | 1844 | bwasserm | id = get_robotid(); |
| 26 | 1843 | bwasserm | sign = 0;
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| 27 | |||
| 28 | 1859 | bwasserm | //Test code
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| 29 | 1876 | markwill | state = SHIGHWAY; |
| 30 | 1859 | bwasserm | |
| 31 | 1844 | bwasserm | sendBuffer[1] = id;
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| 32 | |||
| 33 | 1843 | bwasserm | while (1) { |
| 34 | /*DTM Finite State Machine*/
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| 35 | switch(state){
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| 36 | case SROAD:/*Following a normal road*/ |
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| 37 | 1859 | bwasserm | // sign = lineFollow();
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| 38 | 1843 | bwasserm | //other road behaviors
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| 39 | //tailgating?
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| 40 | //read barcode
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| 41 | 1869 | bwasserm | // doDrive(255);
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| 42 | 1859 | bwasserm | if((sign & CINTERSECTION) || button1_click()){
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| 43 | 1843 | bwasserm | state = SINTERSECTION; |
| 44 | } |
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| 45 | break;
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| 46 | case SINTERSECTION:/*Entering, and in intersection*/ |
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| 47 | //Intersection behaviors
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| 48 | //queueing
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| 49 | //no-stop?
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| 50 | //check wireless
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| 51 | 1844 | bwasserm | |
| 52 | 1859 | bwasserm | intersectionNum = 0;
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| 53 | |||
| 54 | 1844 | bwasserm | /*Intersection queue:
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| 55 | *Each robot when entering the intersection will check for other robots
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| 56 | *in the intersection, and insert itself in a queue to go through.
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| 57 | */
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| 58 | prevBot = 0;
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| 59 | nextBot = 0;
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| 60 | //Sends packet announcing its entry to the intersection
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| 61 | sendBuffer[0] = WINTERSECTIONENTRY;
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| 62 | 1859 | bwasserm | sendBuffer[2] = intersectionNum;//Intersection # |
| 63 | 1844 | bwasserm | sendBuffer[3] = 0;//From Direction |
| 64 | 1859 | bwasserm | sendBuffer[4] = 2;//To Direction |
| 65 | 1844 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 66 | 1859 | bwasserm | orb1_set_color(BLUE); |
| 67 | 1869 | bwasserm | // stop();
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| 68 | 1844 | bwasserm | rtc_reset(); |
| 69 | while(rtc_get() < 8){//waits for a reply, otherwise assumes it is first in queue |
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| 70 | 1869 | bwasserm | dataLength = 0;
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| 71 | 1844 | bwasserm | packet = wl_basic_do_default(&dataLength); |
| 72 | 1869 | bwasserm | if(dataLength==PACKET_LENGTH && packet[2]==intersectionNum){ |
| 73 | if(packet[0] == WINTERSECTIONREPLY){ |
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| 74 | if(packet[3] == id){//Reply for me |
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| 75 | prevBot = packet[1];
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| 76 | orb2_set_color(GREEN); |
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| 77 | break;
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| 78 | }else if(packet[1] != id){//Someone else got here first, try again |
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| 79 | sendBuffer[0] = WINTERSECTIONENTRY;
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| 80 | sendBuffer[2] = intersectionNum;//Intersection # |
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| 81 | sendBuffer[3] = 0;//From Direction |
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| 82 | sendBuffer[4] = 2;//To Direction |
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| 83 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 84 | orb2_set_color(ORANGE); |
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| 85 | rtc_reset(); |
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| 86 | } |
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| 87 | }else /*if(packet[0]==WINTERSECTIONENTRY && nextBot==0 && prevBot!=packet[1]){ |
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| 88 | sendBuffer[0] = WINTERSECTIONREPLY;
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| 89 | sendBuffer[2] = intersectionNum;
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| 90 | sendBuffer[3] = packet[1];
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| 91 | 1844 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 92 | 1869 | bwasserm | nextBot = packet[1];
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| 93 | nextDir = packet[3];
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| 94 | nextPath = packet[4];
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| 95 | orb2_set_color(BLUE);
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| 96 | delay_ms(200);
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| 97 | }*/
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| 98 | delay_ms(0);
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| 99 | 1844 | bwasserm | } |
| 100 | } |
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| 101 | 1859 | bwasserm | orb1_set_color(PURPLE); |
| 102 | 1844 | bwasserm | //waits for its turn
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| 103 | while(prevBot != 0){ |
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| 104 | 1869 | bwasserm | dataLength = 0;
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| 105 | packet = wl_basic_do_default(&dataLength); |
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| 106 | 1863 | bwasserm | if(dataLength==PACKET_LENGTH){
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| 107 | if(packet[2] == intersectionNum){ |
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| 108 | if(packet[1]==prevBot && (packet[0]==WINTERSECTIONGO || packet[0]==WINTERSECTIONEXIT)){ |
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| 109 | prevBot = 0;
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| 110 | orb2_set_color(PURPLE); |
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| 111 | 1869 | bwasserm | }/*else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){
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| 112 | 1863 | bwasserm | sendBuffer[0] = WINTERSECTIONREPLY;
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| 113 | 1869 | bwasserm | sendBuffer[2] = intersectionNum;
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| 114 | 1863 | bwasserm | sendBuffer[3] = packet[1];
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| 115 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 116 | nextBot = packet[1];
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| 117 | nextDir = packet[3];
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| 118 | nextPath = packet[4];
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| 119 | orb2_set_color(BLUE);
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| 120 | 1869 | bwasserm | }*/
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| 121 | 1863 | bwasserm | } |
| 122 | 1869 | bwasserm | /* if(ISPING(packet)){
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| 123 | 1863 | bwasserm | sendBuffer[0] = WPINGREPLY;
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| 124 | sendBuffer[2] = packet[1];
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| 125 | if(packet[0]==WPINGQUEUE && packet[3]==nextBot){
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| 126 | nextBot = packet[1];
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| 127 | }
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| 128 | 1844 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 129 | }
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| 130 | 1863 | bwasserm | if(packet[0]==WPINGREPLY && packet[2]==id){
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| 131 | prevBot = packet[1];
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| 132 | pingWaitTime = rtc_get();
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| 133 | }
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| 134 | 1869 | bwasserm | */ }
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| 135 | 1863 | bwasserm | |
| 136 | 1869 | bwasserm | if(prevBot && rtc_get() << 12 == 0){ |
| 137 | 1863 | bwasserm | sendBuffer[0] = WPINGBOT;
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| 138 | sendBuffer[2] = prevBot;
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| 139 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 140 | pingWaitTime = rtc_get(); |
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| 141 | 1861 | bwasserm | } |
| 142 | 1869 | bwasserm | if(prevBot && pingWaitTime - rtc_get() > 4){ |
| 143 | 1863 | bwasserm | sendBuffer[0] = WPINGBOT;
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| 144 | if(pingWaitTime - rtc_get() > 8){ |
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| 145 | sendBuffer[0] = WPINGQUEUE;
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| 146 | } |
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| 147 | sendBuffer[2] = prevBot;
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| 148 | 1861 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 149 | } |
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| 150 | 1869 | bwasserm | /* if(prevBot && pingWaitTime - rtc_get() > 12){
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| 151 | 1863 | bwasserm | prevBot = 0;
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| 152 | }
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| 153 | 1869 | bwasserm | */ }
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| 154 | 1859 | bwasserm | orb1_set_color(RED); |
| 155 | 1844 | bwasserm | //Drives through intersection
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| 156 | //Code to choose path through intersection goes in this while loop
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| 157 | //But here's the code to handle wireless while in the intersection...
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| 158 | 1869 | bwasserm | // start();
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| 159 | // turn(DOUBLE, ILEFT);//Change paramers to variables
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| 160 | 1859 | bwasserm | while(!button1_click()/*replace with variable to keep track of if in intersection*/){ |
| 161 | 1869 | bwasserm | // doDrive(255);
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| 162 | 1844 | bwasserm | packet = wl_basic_do_default(&dataLength); |
| 163 | 1863 | bwasserm | if(dataLength==PACKET_LENGTH){
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| 164 | if(packet[2]==intersectionNum/*Intersection Num*/){ |
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| 165 | if(packet[0]==WINTERSECTIONEXIT){ |
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| 166 | prevBot = 0;
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| 167 | orb2_set_color(RED); |
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| 168 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
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| 169 | sendBuffer[0] = WINTERSECTIONREPLY;
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| 170 | sendBuffer[2] = intersectionNum;//Intersection # |
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| 171 | sendBuffer[3] = packet[1]; |
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| 172 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 173 | nextBot = packet[1];
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| 174 | nextDir = packet[3];
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| 175 | nextPath = packet[4];
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| 176 | orb2_set_color(YELLOW); |
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| 177 | } |
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| 178 | } |
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| 179 | if(ISPING(packet)){
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| 180 | sendBuffer[0] = WPINGREPLY;
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| 181 | sendBuffer[2] = packet[1]; |
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| 182 | if(packet[0]==WPINGQUEUE && packet[3]==nextBot){ |
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| 183 | nextBot = packet[1];
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| 184 | } |
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| 185 | 1844 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 186 | } |
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| 187 | } |
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| 188 | if(prevBot==0 && nextBot!=0){//let 2 bots go through at same time |
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| 189 | /*if(bots paths won't collide){
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| 190 | sendBuffer[0] = WINTERSECTIONGO;
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| 191 | sendBuffer[2] = 0;//Intersection #
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| 192 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 193 | */
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| 194 | } |
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| 195 | } |
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| 196 | //Exits intersection
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| 197 | sendBuffer[0] = WINTERSECTIONEXIT;
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| 198 | 1859 | bwasserm | sendBuffer[2] = intersectionNum;//Intersection # |
| 199 | 1844 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 200 | 1859 | bwasserm | orb1_set_color(ORANGE); |
| 201 | 1844 | bwasserm | |
| 202 | 1843 | bwasserm | if(!(sign & CINTERSECTION)){
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| 203 | if(sign & CHIGHWAYROAD){
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| 204 | state = SHIGHWAY; |
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| 205 | }else{
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| 206 | state = SROAD; |
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| 207 | } |
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| 208 | } |
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| 209 | break;
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| 210 | case SHIGHWAY:/*On highway*/ |
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| 211 | 1877 | markwill | highwayFSM(); |
| 212 | 1843 | bwasserm | default:
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| 213 | usb_puts("I got stuck in an unknown state! My state is ");
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| 214 | usb_puti(state); |
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| 215 | } |
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| 216 | 967 | alevkoy | } |
| 217 | |||
| 218 | 16 | bcoltin | } |