root / trunk / code / projects / traffic_navigation / main.c @ 1890
History | View | Annotate | Download (6.66 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 "traffic_navigation.h" |
9 |
|
10 |
static int state, sign, dataLength, pingWaitTime; |
11 |
static char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, nextDir, nextPath, intersectionNum; |
12 |
static unsigned char *packet; |
13 |
|
14 |
int main (void) { |
15 |
|
16 |
/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
|
17 |
dragonfly_init(ALL_ON); |
18 |
xbee_init(); |
19 |
encoders_init(); |
20 |
lineDrive_init(); |
21 |
rtc_init(SIXTEENTH_SECOND, NULL);
|
22 |
wl_basic_init_default(); |
23 |
wl_set_channel(13);
|
24 |
|
25 |
id = get_robotid(); |
26 |
sign = 0;
|
27 |
|
28 |
//Test code
|
29 |
state = SHIGHWAY; |
30 |
|
31 |
sendBuffer[1] = id;
|
32 |
/*
|
33 |
doDrive(255);
|
34 |
turn(DOUBLE, ILEFT);
|
35 |
|
36 |
while(1)
|
37 |
doDrive(255);
|
38 |
|
39 |
*/
|
40 |
while (1) { |
41 |
/*DTM Finite State Machine*/
|
42 |
switch(state){
|
43 |
case SROAD:/*Following a normal road*/ |
44 |
// sign = lineFollow();
|
45 |
//other road behaviors
|
46 |
//tailgating?
|
47 |
//read barcode
|
48 |
sign = doDrive(255);
|
49 |
if((sign >= 0) || button1_click()){ |
50 |
state = SINTERSECTION; |
51 |
} |
52 |
break;
|
53 |
case SINTERSECTION:/*Entering, and in intersection*/ |
54 |
intersectionNum = 0;
|
55 |
/*Intersection queue:
|
56 |
*Each robot when entering the intersection will check for other robots
|
57 |
*in the intersection, and insert itself in a queue to go through.
|
58 |
*/
|
59 |
prevBot = 0;
|
60 |
nextBot = 0;
|
61 |
enterIntersectionQueue(); |
62 |
|
63 |
orb1_set_color(PURPLE); |
64 |
//waits for its turn
|
65 |
|
66 |
waitInIntersectionQueue(); |
67 |
|
68 |
orb1_set_color(RED); |
69 |
//Drives through intersection
|
70 |
driveThroughIntersection(); |
71 |
|
72 |
//Exits intersection
|
73 |
sendBuffer[0] = WINTERSECTIONEXIT;
|
74 |
sendBuffer[2] = intersectionNum;//Intersection # |
75 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
76 |
orb1_set_color(ORANGE); |
77 |
while(1){ |
78 |
sign = doDrive(255);
|
79 |
if((sign >= 0) || button1_click()){ |
80 |
if(0){ |
81 |
state = SHIGHWAY; |
82 |
break;
|
83 |
}else{
|
84 |
state = SROAD; |
85 |
break;
|
86 |
} |
87 |
} |
88 |
} |
89 |
break;
|
90 |
case SHIGHWAY:/*On highway*/ |
91 |
// usb_puts("HIGHWAY\r\n");
|
92 |
if(button1_click()) highwayStart();
|
93 |
highwayFSM(); |
94 |
// sign = lineFollow();
|
95 |
//highway behaviors
|
96 |
//merging
|
97 |
//passing
|
98 |
//read barcode
|
99 |
break;
|
100 |
default:
|
101 |
usb_puts("I got stuck in an unknown state! My state is ");
|
102 |
usb_puti(state); |
103 |
} |
104 |
} |
105 |
|
106 |
} |
107 |
|
108 |
void enterIntersectionQueue(){
|
109 |
//Sends packet announcing its entry to the intersection
|
110 |
sendBuffer[0] = WINTERSECTIONENTRY;
|
111 |
sendBuffer[2] = intersectionNum;//Intersection # |
112 |
sendBuffer[3] = 0;//From Direction |
113 |
sendBuffer[4] = 2;//To Direction |
114 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
115 |
orb1_set_color(BLUE); |
116 |
stop(); |
117 |
doDrive(0);
|
118 |
rtc_reset(); |
119 |
while(rtc_get() < 8){//waits for a reply, otherwise assumes it is first in queue |
120 |
dataLength = 0;
|
121 |
packet = NULL;
|
122 |
packet = wl_basic_do_default(&dataLength); |
123 |
if(packet && dataLength==PACKET_LENGTH && packet[2]==intersectionNum){ |
124 |
if(packet[0] == WINTERSECTIONREPLY){ |
125 |
if(packet[3] == id){//Reply for me |
126 |
prevBot = packet[1];
|
127 |
orb2_set_color(GREEN); |
128 |
break;
|
129 |
}else if(packet[1] != id){//Someone else got here first, try again |
130 |
sendBuffer[0] = WINTERSECTIONENTRY;
|
131 |
sendBuffer[2] = intersectionNum;//Intersection # |
132 |
sendBuffer[3] = 0;//From Direction |
133 |
sendBuffer[4] = 2;//To Direction |
134 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
135 |
orb2_set_color(ORANGE); |
136 |
rtc_reset(); |
137 |
} |
138 |
}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0 && prevBot!=packet[1]){ |
139 |
sendBuffer[0] = WINTERSECTIONREPLY;
|
140 |
sendBuffer[2] = intersectionNum;
|
141 |
sendBuffer[3] = packet[1]; |
142 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
143 |
nextBot = packet[1];
|
144 |
nextDir = packet[3];
|
145 |
nextPath = packet[4];
|
146 |
orb2_set_color(BLUE); |
147 |
//delay_ms(200);
|
148 |
} |
149 |
delay_ms(0);
|
150 |
} |
151 |
} |
152 |
} |
153 |
|
154 |
void waitInIntersectionQueue(){
|
155 |
while(prevBot != 0){ |
156 |
dataLength = 0;
|
157 |
packet = NULL;
|
158 |
packet = wl_basic_do_default(&dataLength); |
159 |
if(packet && dataLength==PACKET_LENGTH){
|
160 |
if(packet[2] == intersectionNum){ |
161 |
if(packet[1]==prevBot && (packet[0]==WINTERSECTIONGO || packet[0]==WINTERSECTIONEXIT)){ |
162 |
prevBot = 0;
|
163 |
orb2_set_color(PURPLE); |
164 |
}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
165 |
sendBuffer[0] = WINTERSECTIONREPLY;
|
166 |
sendBuffer[2] = intersectionNum;
|
167 |
sendBuffer[3] = packet[1]; |
168 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
169 |
nextBot = packet[1];
|
170 |
nextDir = packet[3];
|
171 |
nextPath = packet[4];
|
172 |
orb2_set_color(BLUE); |
173 |
} |
174 |
} |
175 |
/*
|
176 |
if(ISPING(packet)){
|
177 |
sendBuffer[0] = WPINGREPLY;
|
178 |
sendBuffer[2] = packet[1];
|
179 |
if(packet[0]==WPINGQUEUE && packet[3]==nextBot){
|
180 |
nextBot = packet[1];
|
181 |
}
|
182 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
183 |
}
|
184 |
if(packet[0]==WPINGREPLY && packet[2]==id){
|
185 |
prevBot = packet[1];
|
186 |
pingWaitTime = rtc_get();
|
187 |
}
|
188 |
*/
|
189 |
} |
190 |
|
191 |
if(prevBot && rtc_get() << 12 == 0){ |
192 |
sendBuffer[0] = WPINGBOT;
|
193 |
sendBuffer[2] = prevBot;
|
194 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
195 |
pingWaitTime = rtc_get(); |
196 |
} |
197 |
if(prevBot && pingWaitTime - rtc_get() > 4){ |
198 |
sendBuffer[0] = WPINGBOT;
|
199 |
if(pingWaitTime - rtc_get() > 8){ |
200 |
sendBuffer[0] = WPINGQUEUE;
|
201 |
} |
202 |
sendBuffer[2] = prevBot;
|
203 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
204 |
} |
205 |
/* if(prevBot && pingWaitTime - rtc_get() > 12){
|
206 |
prevBot = 0;
|
207 |
}
|
208 |
*/
|
209 |
} |
210 |
} |
211 |
|
212 |
void driveThroughIntersection(){
|
213 |
//Code to choose path through intersection goes in this while loop
|
214 |
//But here's the code to handle wireless while in the intersection...
|
215 |
start(); |
216 |
turn(DOUBLE, IRIGHT);//Change paramers to variables
|
217 |
while(doDrive(255) != FINISHED){ |
218 |
dataLength = 0;
|
219 |
packet = NULL;
|
220 |
packet = wl_basic_do_default(&dataLength); |
221 |
if(dataLength==PACKET_LENGTH){
|
222 |
if(packet[2]==intersectionNum/*Intersection Num*/){ |
223 |
if(packet[0]==WINTERSECTIONEXIT){ |
224 |
prevBot = 0;
|
225 |
orb2_set_color(RED); |
226 |
}else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
227 |
sendBuffer[0] = WINTERSECTIONREPLY;
|
228 |
sendBuffer[2] = intersectionNum;//Intersection # |
229 |
sendBuffer[3] = packet[1]; |
230 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
231 |
nextBot = packet[1];
|
232 |
nextDir = packet[3];
|
233 |
nextPath = packet[4];
|
234 |
orb2_set_color(YELLOW); |
235 |
} |
236 |
} |
237 |
if(ISPING(packet)){
|
238 |
sendBuffer[0] = WPINGREPLY;
|
239 |
sendBuffer[2] = packet[1]; |
240 |
if(packet[0]==WPINGQUEUE && packet[3]==nextBot){ |
241 |
nextBot = packet[1];
|
242 |
} |
243 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
244 |
} |
245 |
} |
246 |
if(prevBot==0 && nextBot!=0){//let 2 bots go through at same time |
247 |
/*if(bots paths won't collide){
|
248 |
sendBuffer[0] = WINTERSECTIONGO;
|
249 |
sendBuffer[2] = 0;//Intersection #
|
250 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
251 |
*/
|
252 |
} |
253 |
} |
254 |
} |