/ - Diff - Colony - Robotics Club

     #ifndef _NODE_DATABASE_
     #define _NODE_DATABASE_
     #define NUM_FEATURES 8
     #define NUM_FEATURES 17
     /****************************
      * Node Information: 5-bit Integer
      * 	3 bits of node type
      * 	2 bits of entry information
+     *
      *     3 bits of node type
      *     2 bits of entry information
+     *
      * Intersection Number stored in bits 6-12.
+     *
      * Also contains a "feature id": 4 bits in positions 13,14,15,16
-...
      *  Feature TYPES:
+     *
      ********************************/
     #define INTERSECTION_NODE	0
     #define ROAD_NODE			1
     #define MAPPING_MARKER		NUM_FEATURES
     #define INTERSECTION_NODE   0
     #define ROAD_NODE           1
     #define MAPPING_MARKER      NUM_FEATURES
     //Used when mapping to signify return to previously visited intersection while driving on the wrong side of the road.
      /********************************
-...
      *  OFF_RAMP    2
      *  DOUBLE_C    3
      *  DOUBLE_T    4
      *  ROAD		5
      *  ROAD        5
+     *
      ********************************/
      /********************************
      *  Turn TYPES:
+     *
      *  ISTRAIGHT	0
      *  ILEFT		1
      *  IRIGHT		2
      *  IUTURN		3
      *  ISTRAIGHT   0
      *  ILEFT       1
      *  IRIGHT      2
      *  IUTURN      3
+     *
      ********************************/
-...
      *  Road TYPES:
+     *
      ********************************/
     #define ROAD_DOUBLE	0
     #define ROAD_SINGLE	1
     #define HIGHWAY		2
     #define ROAD_DOUBLE     0
     #define ROAD_SINGLE     1
     #define HIGHWAY         2
     /********************************
      *  Intersection ENTRYPOINTS:
-...
     //DOUBLE_C intersection (Cross Intersection) positions
     /*
     	CTOP
     	||
     	||
     	||
         CTOP
         ||
         ||
         ||
     CLEFT=======CRIGHT
     	||
     	||
     	||
     	CBOT
         ||
         ||
         ||
         CBOT
     */
     #define CTOP 0
     #define CRIGHT 1
     #define CBOT 2
     #define CLEFT 3
     #define CTOP        0
     #define CRIGHT      1
     #define CBOT        2
     #define CLEFT       3
     //DOUBLE_T intersection (T-Junction) positions
     /*
     TLEFT=======TRIGHT
     	||
     	||
     	||
     	TMIDDLE
         ||
         ||
         ||
         TMIDDLE
     */
     #define TLEFT		0
     #define TRIGHT		1
     #define TMIDDLE		2
     #define TLEFT       0
     #define TRIGHT      1
     #define TMIDDLE     2
     //SINGLE intersection positions
     /*
     	   /\
     	  /||\
     	   ||
            /\
           /||\
            ||
     SACROSS==========>
     	   ||
     	   ||
     	   ||
     	   SUP
            ||
            ||
            ||
            SUP
     */
     #define SACROSS		0
     #define SUP		1
     #define SACROSS     0
     #define SUP         1
     //ON_RAMP and OFF_RAMP intersection positions
     /*
     R_LEFT================R_RIGHT
     	    ||
     	    ||
     	    ||
     	  R_RAMP
             ||
             ||
             ||
           R_RAMP
     */
     #define R_LEFT		0
     #define R_RIGHT		1
     #define R_RAMP		2
     #define R_LEFT    0
     #define R_RIGHT   1
     #define R_RAMP    2
     // Global variable for the intersection database.
     int NodeData[NUM_FEATURES];
     extern int NodeData[NUM_FEATURES];
     void initializeData();
     void initializeData(void);
     // Functions to get data from the Database:
     int getFeatureId(int key); //Returns value in Feature TYPES (see above)

     #include <dragonfly_lib.h>
     #include <wl_basic.h>
     #include "lineDrive.h"
     #include "../linefollowing/lineDrive.h"
     #include "highways.h"
     #include "intersectData.h"
     #include "validTurns.h"

     #include <dragonfly_lib.h>
     #include "intersectData.h"
     #include "validTurns.h"
     #include "lineDrive.h"
     //#define TEST_VALIDTURNS
     #ifdef TEST_VALIDTURNS
     int main(){
     	dragonfly_init(ALL_ON);
     	orb1_set_color(YELLOW);
     	initializeData();
     	if (getTurnIntType(INTERSECTION_DOUBLE_C) == DOUBLE) orb1_set_color(GREEN);
     	delay_ms(500);
     	orb1_set_color(PINK);
     	delay_ms(500);
     	if (getTurnIntType(INTERSECTION_DOUBLE_T) == DOUBLE) orb1_set_color(GREEN);
     	delay_ms(500);
     	orb1_set_color(BLUE);
     	delay_ms(500);
     	if (getTurnIntType(INTERSECTION_SINGLE) == SINGLE) orb1_set_color(GREEN);
     	delay_ms(500);
     	orb1_set_color(PINK);
     	delay_ms(500);
     	if (getTurnIntType(INTERSECTION_ON_RAMP) == ON_RAMP) orb1_set_color(GREEN);
     	delay_ms(500);
     	orb1_set_color(BLUE);
     	delay_ms(500);
     	if( getTurnIntType(getIntersectType(0)) == DOUBLE) orb1_set_color(GREEN);
     	delay_ms(500);
     	orb1_set_color(PINK);
     	delay_ms(500);
     /*****************************TEST FOR validTurns.c
     	int barcode = 0;
     	if (validateTurn(barcode, ILEFT)==ILEFT) orb1_set_color(GREEN);
     	delay_ms(100);
     	orb1_set_color(PINK);
     	delay_ms(50);
     	if (validateTurn(barcode, IUTURN)==IUTURN) orb1_set_color(GREEN);
     	delay_ms(100);
     	orb1_set_color(RED);
     	delay_ms(50);
     */
     	while (1){}
+    }
     #endif

trunk/code/projects/traffic_navigation/lineFollow.c
	1	link ../linefollowing/lineFollow.c
0	2

      *    (because some bot at another intersection entrance may be able to go before another bot at another
      *    intersection entrance, but their order in the queue may not allow this.).
     */
     #include "collision_avoid.h"
     #include "traffic_navigation.h"
     #include "../linefollowing/lineDrive.h"
     static unsigned int my_path = 0;
     static unsigned int first_hop = 0;
     static char intersection = 0;
-...
+     *
      * All this function does is clear some variables. I guess
      * this is optional but it is nice for debugging. */
     void ca_ExitIntersection(){
     void ca_ExitIntersection(void){
     	my_path = 0;
     	first_hop = -1;
     	intersection = -1;

trunk/code/projects/traffic_navigation/lineFollow.h
	1	link ../linefollowing/lineFollow.h
0	2

trunk/code/projects/traffic_navigation/lineDrive.c
	1	link ../linefollowing/lineDrive.c
0	2

     #include "highways.h"
     #include "lineDrive.h"
     #include "../linefollowing/lineDrive.h"
     #include <dragonfly_lib.h>
     static int changeLanes(void);   // declared here to preserve static status
     int counti =0;
     long averagei = 0;
     int states = 0;
-...
     void highwayStart(){
     	canMerge = 1;
+    }
     static int changeLanes(){
     static int changeLanes()
+    {
             if(counti<10000){
     		counti++;
     		motor_r_set(FORWARD,232);
-...
     	counti = 0;
     	return 1;
+    }
     int highwayFSM(){
     	switch(states){

      */
     #include "traffic_navigation.h"
     #include "../linefollowing/lineDrive.h"
     	static int state, sign, dataLength, pingWaitTime, turnDir;
     	static char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, nextDir, nextPath, intersectionNum;
     	static unsigned char *packet;
     	void enterIntersectionQueue(int sign);
     	void waitInIntersectionQueue();
     	void waitInIntersectionQueue(void);
     	void driveThroughIntersection(int sign);
     int main (void) {

trunk/code/projects/traffic_navigation/lineDrive.h
	1	link ../linefollowing/lineDrive.h
0	2

     #include "intersectData.h"
     #include "lineDrive.h"
     #include "../linefollowing/lineDrive.h"
     int NodeData[NUM_FEATURES];
     /*
      * This function serves to make the code for the intersection database
      * as reuseable as possible. This part creates the implementation of the
-...
     // Does nothing if your indmax is out of bounds.
     void insertNode(int key, int featureid, int intersect_num, int node_type, int node_info){
     	if(key < NUM_FEATURES)
     	  NodeData[key] = (featureid<<12) + (intersect_num<<5) + (node_type<<2) + node_info;
     	return;
         if(key < NUM_FEATURES)
           NodeData[key] = (featureid<<12) + (intersect_num<<5) + (node_type<<2) + node_info;
         return;
+    }
     void insertIntersection(int key, int intersect_num, int node_type, int intersection_position){
     	if(key < NUM_FEATURES)
     	   NodeData[key] = (INTERSECTION_NODE<<12) + (intersect_num<<5) + (node_type<<2)
     	       + intersection_position;
     	return;
         if(key < NUM_FEATURES)
            NodeData[key] = (INTERSECTION_NODE<<12) + (intersect_num<<5) + (node_type<<2)
                + intersection_position;
         return;
+    }
     void insertRoad(int key, int intersect_num, int node_type, int road_type){
     	if(key < NUM_FEATURES)
     	   NodeData[key] = (ROAD_NODE<<12) + (intersect_num<<5) + (node_type<<2) + road_type;
     	return;
         if(key < NUM_FEATURES)
            NodeData[key] = (ROAD_NODE<<12) + (intersect_num<<5) + (node_type<<2) + road_type;
         return;
+    }
     /*
-...
      * only one that needs to be rewritten for ech map.
+     *
      */
     /**********************************************************************NEEDS TO BE FIXED*/
     void initializeData(){
     	//insert all intersections that are in the map.
     	//THIS DATA FOR THE DEMO MAP
     /*	insertNode(0, INTERSECTION_NODE, DOUBLE_C, TMIDDLE);
     	insertNode(1, ROAD_NODE, ROAD, ROAD_SINGLE);
     	insertNode(2, INTERSECTION_NODE, DOUBLE_C, TMIDDLE);
     	insertNode(4,ROAD_NODE,ROAD,HIGHWAY);
     	insertNode(5,INTERSECTION_NODE,DOUBLE_C,TMIDDLE);
     	insertNode(8,ROAD_NODE,ROAD,ROAD_SINGLE);
     	insertNode(10,ROAD_NODE,ROAD,ROAD_SINGLE);
     	insertNode(16,INTERSECTION_NODE,DOUBLE_C, TMIDDLE);
     */	return;
         //insert all intersections that are in the map.
         //THIS DATA FOR THE DEMO MAP
         insertIntersection(0, 1, SINGLE, SACROSS);
         insertIntersection(1, 1, SINGLE, SUP);
         insertIntersection(2, 2, SINGLE, SUP);
         insertIntersection(3, 2, SINGLE, SACROSS);
         insertIntersection(4, 3, DOUBLE_C, CLEFT);
         insertIntersection(5, 3, DOUBLE_C, CTOP);
         insertIntersection(6, 3, DOUBLE_C, CRIGHT);
         insertIntersection(7, 3, DOUBLE_C, CBOT);
         insertIntersection(8, 5, DOUBLE_T, TLEFT);
         insertIntersection(9, 5, DOUBLE_T, TMIDDLE);
         insertIntersection(10, 5, DOUBLE_T, TRIGHT);
         insertIntersection(11, 6, ON_RAMP, R_LEFT);
         insertIntersection(12, 6, ON_RAMP, R_RAMP);
         insertIntersection(13, 6, ON_RAMP, R_RIGHT);
         insertIntersection(14, 4, OFF_RAMP, R_RIGHT);
         insertIntersection(15, 4, OFF_RAMP, R_RAMP);
         insertIntersection(16, 4, OFF_RAMP, R_LEFT);
         return;
+    }
     // Functions to get data from the Database:
     int getFeatureId(int key)
+    {
     	if(key < NUM_FEATURES)
     	  return (NodeData[key]>>12)&15;
     	else return -1;
         if(key < NUM_FEATURES)
           return (NodeData[key]>>12)&15;
         else return -1;
+    }
     int getIntersectType(int key){
     	if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
     		return (NodeData[key]>>2)&7;
     	else return -1;
         if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
         	return (NodeData[key]>>2)&7;
         else return -1;
+    }
     int getIntersectPos(int key){
     	if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
     		return (NodeData[key])&3;
     	else return -1;
         if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
         	return (NodeData[key])&3;
         else return -1;
+    }
     int getRoadType(int key){
     	if(key < NUM_FEATURES && getFeatureId(key) == ROAD_NODE)
     		return (NodeData[key]>>2)&7;
     	else return -1;
         if(key < NUM_FEATURES && getFeatureId(key) == ROAD_NODE)
         	return (NodeData[key]>>2)&7;
         else return -1;
+    }
     int getRoadInfo(int key){
     	if(key < NUM_FEATURES && getFeatureId(key) == ROAD_NODE)
     		return (NodeData[key])&3;
     	else return -1;
         if(key < NUM_FEATURES && getFeatureId(key) == ROAD_NODE)
         	return (NodeData[key])&3;
         else return -1;
+    }
     int getIntersectNum(int key){
     	if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
     		return (NodeData[key]>>5)&127;
     	else return -1;
         if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
         	return (NodeData[key]>>5)&127;
         else return -1;
+    }

     /******************************Random Num Gen Version of validTurns*/
     #include "intersectData.h"
     #include "../linefollowing/lineDrive.h"
     #include "validTurns.h"
     #define GET16(s)( ((s)&0x8000)>>16 ) /*gets the 16 bit*/
     #define GET14(s)( ((s)&0x2000)>>14 ) /*gets the 14thbit*/
     #define GET13(s)( ((s)&0x1000)>>13 ) /*you get the idea*/
-...
     #define SHIFT(s)( (s)<<1)
     #define RESEED(s)( (s)=( ( ((GET16(s)^GET14(s))^GET13(s))^GET11(s) ) | SHIFT(s) ) )/*reseeding the first bit of the number with bits from the number*/
     unsigned int seed = 0xC0FFEE;
     unsigned int seed = 0xC0DE;
     int randomNumGen(int max){
     	int a = 0;
     	int b = 0xBEEF;
     	//int a = 0;    // not currently in use
     	//int b = 0xBEEF;
     	seed++;
     	return seed%4;
+    }
-...
     int randomNumGen(int max){
     	return rtc_get() % max;
+    }
     */
     int randomNumGen(int max){
     	int a = 1337;
     	int b = 0xDEADBEEF;
     	seed++;
     	return seed%max;
+    }
     */
     /*
     int getIntersectType(int barcode)
+    {
-...
     	return randomNumGen(max);
+    }
     */
     int getTurnType(int barcode)
+    {
     	return randomNumGen(4);
+    }
     #include "intersectData.h"
     #include "lineDrive.h"
     #include "validTurns.h"
     int validateTurn(int barcode, int turn_type)
+    {
     	int intersect_type;
-...
+    			}
     		break;
+    		}
     	default:
     		return -1;
             default:
                 return -1;
+        }
         return -1;
+    }
+    }

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Revision 1966