Revision 1969
Traffic Navigation:
Started integration of the new intersection queue code.
(main-intersectionDebug.c, main-new.c, & traffic_navigation.h).
The new code will not be compiled by default.
Additionally, I added #defines to all orb control statements because
they were interfering with each other. To turn some orb control statements on,
define them in traffic_navigation.h
| trunk/code/projects/traffic_navigation/main-intersectionDebug.c | ||
|---|---|---|
| 1 |
#ifdef INTERSECTION_MAIN_DEBUG |
|
| 2 |
/* |
|
| 3 |
* main.c for Traffic Navigation, Intersection queue debugging (version 2) |
|
| 4 |
* Runs the highest level behavior for the Dynamic Traffic Navigation (DTM) SURG |
|
| 5 |
* |
|
| 6 |
* Author: Colony Project, CMU Robotics Club |
|
| 7 |
*/ |
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| 8 |
#include "traffic_navigation.h" |
|
| 9 |
|
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| 10 |
static int state, sign, turnDir; |
|
| 11 |
//resolvPrevBotID: -3 : not initialized |
|
| 12 |
// -2 : recieved a resolv packet but still have not |
|
| 13 |
// found someone to be before me |
|
| 14 |
// -1 : bot that was there is done getting in queue |
|
| 15 |
// otherwise, that bot needs to get in the queue before this one |
|
| 16 |
static char sendBuffer[PACKET_LENGTH], queuePrevBot, queueNextBot, id, intersectionNum, resolvPrevBotID = -3; |
|
| 17 |
unsigned char resolvSeed = 0xC9, resolvDraw = 0, resolvPrevBotDraw = 0; |
|
| 18 |
|
|
| 19 |
/* Wireless packet parsing */ |
|
| 20 |
int wirelessPacketHandle(int state); |
|
| 21 |
void enterIntersection(void); |
|
| 22 |
void sendResolv(bool override); |
|
| 23 |
unsigned char resolvRandomNumberGen(); |
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| 24 |
|
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| 25 |
|
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| 26 |
int main (void) {
|
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| 27 |
|
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| 28 |
/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */ |
|
| 29 |
dragonfly_init(ALL_ON); |
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| 30 |
xbee_init(); |
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| 31 |
encoders_init(); |
|
| 32 |
rtc_init(SIXTEENTH_SECOND, NULL); |
|
| 33 |
wl_basic_init_default(); |
|
| 34 |
wl_set_channel(13); |
|
| 35 |
initializeData(); |
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| 36 |
|
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| 37 |
id = get_robotid(); |
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| 38 |
sign = 0; |
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| 39 |
|
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| 40 |
//Test code |
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| 41 |
state = SROAD; |
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| 42 |
|
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| 43 |
sendBuffer[1] = id; |
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| 44 |
|
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| 45 |
/* |
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| 46 |
doDrive(200); |
|
| 47 |
turn(DOUBLE, ILEFT); |
|
| 48 |
*/ |
|
| 49 |
|
|
| 50 |
while (1) {
|
|
| 51 |
/*DTM Finite State Machine*/ |
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| 52 |
switch(state){
|
|
| 53 |
case SROAD:/*Following a normal road*/ |
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| 54 |
|
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| 55 |
//idle parsing |
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| 56 |
wirelessPacketHandle(SROAD); |
|
| 57 |
|
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| 58 |
// sign = lineFollow(); |
|
| 59 |
//other road behaviors |
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| 60 |
//tailgating? |
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| 61 |
//read barcode |
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| 62 |
orb1_set_color(ORB_OFF); |
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| 63 |
orb2_set_color(ORB_OFF); |
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| 64 |
if(button1_click()){
|
|
| 65 |
state = SINTERSECTION_ENTER; |
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| 66 |
} |
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| 67 |
break; |
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| 68 |
case SINTERSECTION_ENTER:/*Entering, and in intersection*/ |
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| 69 |
orb1_set_color(RED); |
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| 70 |
orb2_set_color(ORB_OFF); |
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| 71 |
|
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| 72 |
usb_puts("STATE: SINTERSECTION_ENTER\n");
|
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| 73 |
|
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| 74 |
//empty packet queue |
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| 75 |
//while(wirelessPacketHandle(SCLEARPACKET) != ENOPACKET); |
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| 76 |
|
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| 77 |
/*Intersection queue: |
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| 78 |
*Each robot when entering the intersection will check for other robots |
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| 79 |
*in the intersection, and insert itself in a queue to go through. |
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| 80 |
*/ |
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| 81 |
queuePrevBot = -1; |
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| 82 |
queueNextBot = -1; |
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| 83 |
resolvPrevBotID = -3; |
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| 84 |
resolvPrevBotDraw = 0; |
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| 85 |
resolvDraw = 0; |
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| 86 |
|
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| 87 |
sign = 0; //Test code until barcodes integrated |
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| 88 |
intersectionNum = 0; //actually set this. |
|
| 89 |
turnDir = 1; |
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| 90 |
|
|
| 91 |
enterIntersection(); //sends wireless packet for entry |
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| 92 |
state = SINTERSECTION_WAIT; |
|
| 93 |
|
|
| 94 |
rtc_reset(); //reset rtc for timeout wait for reply |
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| 95 |
|
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| 96 |
bool done = false; |
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| 97 |
bool retried = false; |
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| 98 |
while(rtc_get() < 16 && !done){//waits for a reply, otherwise assumes it is first in queue
|
|
| 99 |
int ret = wirelessPacketHandle(SINTERSECTION_ENTER); |
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| 100 |
if(rtc_get() > 12 && !retried){//by now all resolvs should be done from bots that arrived earlier...
|
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| 101 |
orb2_set_color(PURPLE); |
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| 102 |
enterIntersection(); |
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| 103 |
retried = true; |
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| 104 |
} |
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| 105 |
switch (ret) {
|
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| 106 |
case KPLACEDINQUEUE: |
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| 107 |
orb2_set_color(GREEN); //entered queue! |
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| 108 |
done = true; |
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| 109 |
break; |
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| 110 |
case KFAILEDTOQUEUE: |
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| 111 |
usb_puts("Failed to queue D:\n");
|
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| 112 |
orb2_set_color(RED); |
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| 113 |
enterIntersection(); |
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| 114 |
rtc_reset(); |
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| 115 |
break; |
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| 116 |
case KRESOLVINGENTER: |
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| 117 |
orb2_set_color(ORANGE); |
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| 118 |
state = SINTERSECTION_ENTER_RESOLV; |
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| 119 |
done = true; |
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| 120 |
break; |
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| 121 |
} |
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| 122 |
} |
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| 123 |
break; |
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| 124 |
case SINTERSECTION_ENTER_RESOLV: |
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| 125 |
orb1_set_color(PINK); |
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| 126 |
orb2_set_color(ORB_OFF); |
|
| 127 |
|
|
| 128 |
usb_puts("STATE: SINTERSECTION_ENTER_RESOLV\n");
|
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| 129 |
rtc_reset(); |
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| 130 |
|
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| 131 |
done = false; |
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| 132 |
retried = false; |
|
| 133 |
while(rtc_get() < 9 && !done){
|
|
| 134 |
int ret = wirelessPacketHandle(SINTERSECTION_ENTER_RESOLV); |
|
| 135 |
switch (ret) {
|
|
| 136 |
case KRESOLVINGENTER: |
|
| 137 |
orb2_set_color(YELLOW); |
|
| 138 |
break; |
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| 139 |
case KPLACEDINQUEUE: |
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| 140 |
orb2_set_color(GREEN); //entered queue! |
|
| 141 |
done = true; |
|
| 142 |
break; |
|
| 143 |
case KFAILEDTOQUEUE: |
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| 144 |
usb_puts("Failed to queue D:\n");
|
|
| 145 |
orb2_set_color(RED); |
|
| 146 |
enterIntersection(); |
|
| 147 |
rtc_reset(); |
|
| 148 |
break; |
|
| 149 |
} |
|
| 150 |
if(!done && resolvPrevBotID == (char) -1 && !retried){
|
|
| 151 |
enterIntersection(); |
|
| 152 |
rtc_reset(); |
|
| 153 |
retried = true; |
|
| 154 |
} else if(!done && resolvPrevBotID == (char) -2 && rtc_get() > 6){
|
|
| 155 |
//send a intersection reply to myself to |
|
| 156 |
//trigger other bots to enter queue. |
|
| 157 |
sendBuffer[0] = WINTERSECTIONREPLY; |
|
| 158 |
sendBuffer[2] = intersectionNum; |
|
| 159 |
sendBuffer[3] = id; |
|
| 160 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 161 |
|
|
| 162 |
done = true; |
|
| 163 |
break; |
|
| 164 |
} |
|
| 165 |
} |
|
| 166 |
state = SINTERSECTION_WAIT; |
|
| 167 |
break; |
|
| 168 |
case SINTERSECTION_WAIT:/*Waiting in intersection */ |
|
| 169 |
orb1_set_color(YELLOW); |
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| 170 |
orb2_set_color(ORB_OFF); |
|
| 171 |
usb_puts("STATE: SINTERSECTION_WAIT\n");
|
|
| 172 |
|
|
| 173 |
while(queuePrevBot != (char) -1){
|
|
| 174 |
int ret = wirelessPacketHandle(state); |
|
| 175 |
switch (ret){
|
|
| 176 |
case KFIRSTINQUEUE: |
|
| 177 |
orb2_set_color(GREEN); |
|
| 178 |
state = SINTERSECTION_DRIVE; |
|
| 179 |
break; |
|
| 180 |
case KREPLIEDTOENTER: |
|
| 181 |
orb2_set_color(BLUE); |
|
| 182 |
break; |
|
| 183 |
case KRESOLVINGENTER: |
|
| 184 |
orb2_set_color(ORANGE); |
|
| 185 |
break; |
|
| 186 |
} |
|
| 187 |
} |
|
| 188 |
state = SINTERSECTION_DRIVE; |
|
| 189 |
break; |
|
| 190 |
case SINTERSECTION_DRIVE: |
|
| 191 |
usb_puts("STATE: SINTERSECTION_DRIVE\n");
|
|
| 192 |
orb1_set_color(GREEN); |
|
| 193 |
orb2_set_color(ORB_OFF); |
|
| 194 |
|
|
| 195 |
while(!button2_click()){
|
|
| 196 |
int ret = wirelessPacketHandle(state); |
|
| 197 |
switch (ret){
|
|
| 198 |
case KREPLIEDTOENTER: |
|
| 199 |
orb2_set_color(BLUE); |
|
| 200 |
break; |
|
| 201 |
case KRESOLVINGENTER: |
|
| 202 |
orb2_set_color(ORANGE); |
|
| 203 |
break; |
|
| 204 |
} |
|
| 205 |
} |
|
| 206 |
|
|
| 207 |
//Exits intersection |
|
| 208 |
orb1_set_color(WHITE); |
|
| 209 |
|
|
| 210 |
sendBuffer[0] = WINTERSECTIONEXIT; |
|
| 211 |
sendBuffer[2] = intersectionNum;//Intersection # |
|
| 212 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 213 |
|
|
| 214 |
state = SROAD; |
|
| 215 |
break; |
|
| 216 |
default: |
|
| 217 |
usb_puts("I got stuck in an unknown state! My state is ");
|
|
| 218 |
usb_puti(state); |
|
| 219 |
} |
|
| 220 |
} |
|
| 221 |
|
|
| 222 |
} |
|
| 223 |
|
|
| 224 |
int wirelessPacketHandle(int state){
|
|
| 225 |
int dataLength = 0; |
|
| 226 |
unsigned char *packet = NULL; |
|
| 227 |
packet = wl_basic_do_default(&dataLength); |
|
| 228 |
|
|
| 229 |
/* sanity check */ |
|
| 230 |
if(dataLength == 0 || packet == NULL) //no packet |
|
| 231 |
return ENOPACKET; |
|
| 232 |
|
|
| 233 |
if(dataLength != PACKET_LENGTH) |
|
| 234 |
return EPACKETLEN; |
|
| 235 |
|
|
| 236 |
usb_puts("Recieved Wireless Packet: ");
|
|
| 237 |
for(int i = 0; i < dataLength; i++){
|
|
| 238 |
usb_puti(packet[i]); |
|
| 239 |
usb_putc(' ');
|
|
| 240 |
} |
|
| 241 |
usb_putc('\n');
|
|
| 242 |
|
|
| 243 |
switch (packet[0]){
|
|
| 244 |
case WROADENTRY: //[type, bot, road] |
|
| 245 |
return ENOACTION; |
|
| 246 |
break; |
|
| 247 |
case WROADEXIT: //[type, bot, road] |
|
| 248 |
return ENOACTION; |
|
| 249 |
break; |
|
| 250 |
case WROADSTOP: //[type, bot, road] |
|
| 251 |
return ENOACTION; |
|
| 252 |
break; |
|
| 253 |
case WINTERSECTIONENTRY: //[type, bot, intersection, fromDir, toDir] |
|
| 254 |
if (packet[2] == intersectionNum){
|
|
| 255 |
switch (state){
|
|
| 256 |
case SINTERSECTION_ENTER: |
|
| 257 |
sendResolv(false); |
|
| 258 |
resolvPrevBotID = -2; |
|
| 259 |
return KRESOLVINGENTER; |
|
| 260 |
break; |
|
| 261 |
case SINTERSECTION_ENTER_RESOLV: |
|
| 262 |
return ENOACTION; |
|
| 263 |
case SINTERSECTION_WAIT: |
|
| 264 |
case SINTERSECTION_DRIVE: |
|
| 265 |
if(queueNextBot == (char) -1){
|
|
| 266 |
sendBuffer[0] = WINTERSECTIONREPLY; |
|
| 267 |
sendBuffer[2] = intersectionNum; |
|
| 268 |
sendBuffer[3] = packet[1]; |
|
| 269 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 270 |
queueNextBot = packet[1]; |
|
| 271 |
return KREPLIEDTOENTER; |
|
| 272 |
} |
|
| 273 |
break; |
|
| 274 |
|
|
| 275 |
} |
|
| 276 |
} |
|
| 277 |
break; |
|
| 278 |
case WINTERSECTIONREPLY: //[type, fromBot, intersection, toBot] |
|
| 279 |
if (packet[2] == intersectionNum){
|
|
| 280 |
switch (state){
|
|
| 281 |
case SINTERSECTION_ENTER: |
|
| 282 |
case SINTERSECTION_ENTER_RESOLV: |
|
| 283 |
if(packet[3] == id){ //Reply for me
|
|
| 284 |
queuePrevBot = packet[1]; |
|
| 285 |
return KPLACEDINQUEUE; |
|
| 286 |
} else {
|
|
| 287 |
if(packet[3] == resolvPrevBotID) |
|
| 288 |
resolvPrevBotID = -1; |
|
| 289 |
return KFAILEDTOQUEUE; |
|
| 290 |
} |
|
| 291 |
break; |
|
| 292 |
default: |
|
| 293 |
return ENOACTION; |
|
| 294 |
} |
|
| 295 |
} |
|
| 296 |
break; |
|
| 297 |
case WINTERSECTIONEXIT: //[type, bot, intersection] |
|
| 298 |
if (packet[2] == intersectionNum){
|
|
| 299 |
switch (state){
|
|
| 300 |
case SINTERSECTION_WAIT: |
|
| 301 |
if(packet[1]==queuePrevBot){
|
|
| 302 |
queuePrevBot=-1; |
|
| 303 |
return KFIRSTINQUEUE; |
|
| 304 |
} |
|
| 305 |
} |
|
| 306 |
} |
|
| 307 |
break; |
|
| 308 |
case WINTERSECTIONGO: //[type, bot, intersection] |
|
| 309 |
break; |
|
| 310 |
case WINTERSECTIONPOLICEENTRY: //[?] |
|
| 311 |
return ENOACTION; |
|
| 312 |
break; |
|
| 313 |
case WINTERSECTIONRESOLVERACE: //[type, bot, intersection, num] |
|
| 314 |
//in the case robots draw the same number these will be |
|
| 315 |
//arbitrated using the sending robot's id, prefering |
|
| 316 |
//lower ids |
|
| 317 |
usb_puts("Now in wireless WINTERSECTIONRESOLVERACE handler: resolvPrevBotID: ");
|
|
| 318 |
usb_puti((int) resolvPrevBotID); |
|
| 319 |
usb_putc('\n');
|
|
| 320 |
if (packet[2] == intersectionNum){
|
|
| 321 |
switch (state){
|
|
| 322 |
case SINTERSECTION_ENTER: |
|
| 323 |
case SINTERSECTION_ENTER_RESOLV: |
|
| 324 |
if(resolvPrevBotID == (char) -3){
|
|
| 325 |
usb_puts("resolvPrevBotID == -3; sending a resolv packet and setting to -2\n");
|
|
| 326 |
sendResolv(false); |
|
| 327 |
resolvPrevBotID = -2; |
|
| 328 |
} |
|
| 329 |
if((unsigned char) packet[3] == resolvDraw && id > packet[1]){
|
|
| 330 |
//other bot drew same number as me, |
|
| 331 |
//and i have a higher id, so it goes first. |
|
| 332 |
usb_puts("bot ");
|
|
| 333 |
usb_puti(packet[1]); |
|
| 334 |
usb_puts(" Drew the same number as me and I have a higher id, so it goes first\n");
|
|
| 335 |
resolvPrevBotID = packet[1]; |
|
| 336 |
} else if((unsigned char) packet[3] == resolvPrevBotDraw && resolvPrevBotID > packet[1]){
|
|
| 337 |
//other bot drew same number as the bot before me, |
|
| 338 |
//so if it has a higher id than the bot before me, |
|
| 339 |
//it is going to go in between that one and me. |
|
| 340 |
usb_puts("bot ");
|
|
| 341 |
usb_puti(packet[1]); |
|
| 342 |
usb_puts(" Drew the same number as the bot before me, and the bot before me has have a higher id, so this goes first\n");
|
|
| 343 |
resolvPrevBotID = packet[1]; |
|
| 344 |
} else if((unsigned char)packet[3] < resolvDraw && (unsigned char)packet[3] > resolvPrevBotDraw){
|
|
| 345 |
//found a bot that goes in between the bot before me |
|
| 346 |
//and me, so now it is before me. |
|
| 347 |
usb_puts("bot ");
|
|
| 348 |
usb_puti(packet[1]); |
|
| 349 |
usb_puts(" Drew a lower number bot before me, and the bot before me has have a higher id, so this goes first\n");
|
|
| 350 |
resolvPrevBotDraw = packet[3]; |
|
| 351 |
resolvPrevBotID = packet[1]; |
|
| 352 |
} |
|
| 353 |
return KRESOLVINGENTER; |
|
| 354 |
break; |
|
| 355 |
case SINTERSECTION_WAIT: |
|
| 356 |
case SINTERSECTION_DRIVE: |
|
| 357 |
usb_puts("Trying to resolv in non resolv case...queueNextbot = "); usb_puti(queueNextBot); usb_puts("\n");
|
|
| 358 |
if(queueNextBot == (char) -1){
|
|
| 359 |
sendResolv(true); |
|
| 360 |
} |
|
| 361 |
return KRESOLVINGENTER; |
|
| 362 |
break; |
|
| 363 |
} |
|
| 364 |
|
|
| 365 |
} |
|
| 366 |
break; |
|
| 367 |
case WHIGHWAYENTRY: //[type, bot, highway] |
|
| 368 |
return ENOACTION; |
|
| 369 |
break; |
|
| 370 |
case WHIGHWAYREPLY: //[type, fromBot, highway, toBot] |
|
| 371 |
return ENOACTION; |
|
| 372 |
break; |
|
| 373 |
case WHIGHWAYEXIT: //[type, bot, highway] |
|
| 374 |
return ENOACTION; |
|
| 375 |
break; |
|
| 376 |
case WPINGGLOBAL: //[type, bot] |
|
| 377 |
return ENOACTION; |
|
| 378 |
break; |
|
| 379 |
case WPINGBOT: //[type, fromBot, toBot] |
|
| 380 |
return ENOACTION; |
|
| 381 |
break; |
|
| 382 |
case WPINGQUEUE: //[type, fromBot, toBot] |
|
| 383 |
return ENOACTION; |
|
| 384 |
break; |
|
| 385 |
case WPINGREPLY: //[type, fromBot, toBot] |
|
| 386 |
return ENOACTION; |
|
| 387 |
break; |
|
| 388 |
case WCOLLISIONAVOID: //[type, bot, intersection, collision-int] //Note: collision is an int and thus takes two spaces |
|
| 389 |
return ENOACTION; |
|
| 390 |
break; |
|
| 391 |
default: |
|
| 392 |
return ENOACTION; |
|
| 393 |
break; |
|
| 394 |
} |
|
| 395 |
} |
|
| 396 |
|
|
| 397 |
unsigned char resolvRandomNumberGen(){
|
|
| 398 |
if ((resolvSeed *= (rtc_get())%9) == 0){
|
|
| 399 |
return resolvSeed + 1; //0 is a reseved priority value for the last |
|
| 400 |
//bot that is already in the queue. |
|
| 401 |
} |
|
| 402 |
return resolvSeed; |
|
| 403 |
} |
|
| 404 |
void sendResolv(bool override){
|
|
| 405 |
if(!override) |
|
| 406 |
resolvDraw = resolvRandomNumberGen(); |
|
| 407 |
else |
|
| 408 |
resolvDraw = 0; |
|
| 409 |
sendBuffer[0] = WINTERSECTIONRESOLVERACE; |
|
| 410 |
sendBuffer[2] = intersectionNum; |
|
| 411 |
sendBuffer[3] = resolvDraw; |
|
| 412 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 413 |
} |
|
| 414 |
void enterIntersection(void){
|
|
| 415 |
//Sends packet announcing its entry to the intersection |
|
| 416 |
sendBuffer[0] = WINTERSECTIONENTRY; |
|
| 417 |
sendBuffer[2] = intersectionNum;//Intersection # |
|
| 418 |
sendBuffer[3] = 0; //getIntersectPos(sign); |
|
| 419 |
sendBuffer[4] = turnDir; |
|
| 420 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 421 |
} |
|
| 422 |
#endif |
|
| trunk/code/projects/traffic_navigation/traffic_navigation.h | ||
|---|---|---|
| 7 | 7 |
#include "intersectData.h" |
| 8 | 8 |
#include "validTurns.h" |
| 9 | 9 |
|
| 10 |
/* Debug Options */ |
|
| 11 |
#ifdef DEBUGALL |
|
| 12 |
#define ORB_HIGHWAY |
|
| 13 |
#define ORB_LINEFOLLOW |
|
| 14 |
#define ORB_INTERSECTON |
|
| 15 |
#define DEBUG_CA |
|
| 16 |
#define DEBUG_INTERSECTION |
|
| 17 |
#endif |
|
| 18 |
|
|
| 10 | 19 |
/*States*/ |
| 11 | 20 |
#define SROAD 0 |
| 12 |
#define SINTERSECTION 10 |
|
| 21 |
#define SINTERSECTION 9 /* for old version */ |
|
| 22 |
#define SINTERSECTION_ENTER 10 |
|
| 23 |
#define SINTERSECTION_ENTER_RESOLV 11 |
|
| 24 |
#define SINTERSECTION_WAIT 12 |
|
| 25 |
#define SINTERSECTION_DRIVE 13 |
|
| 13 | 26 |
#define SHIGHWAY 20 |
| 27 |
#define SCLEARPACKET 30 |
|
| 14 | 28 |
|
| 15 | 29 |
/*Sign Codes |
| 16 | 30 |
* bitwise OR labels to create a barcode or read one |
| ... | ... | |
| 42 | 56 |
#define WROADREPLY 1 //[type, fromBot, road, toBot] |
| 43 | 57 |
#define WROADEXIT 2 //[type, bot, road] |
| 44 | 58 |
#define WROADSTOP 3 //[type, bot, road] |
| 45 |
#define WINTERSECTIONENTRY 10 //[type, bot, intersection, fromDir, toDir] |
|
| 46 |
#define WINTERSECTIONREPLY 11 //[type, fromBot, intersection, toBot] |
|
| 47 |
#define WINTERSECTIONEXIT 12 //[type, bot, intersection] |
|
| 48 |
#define WINTERSECTIONGO 13 //[type, bot, intersection] |
|
| 59 |
#define WINTERSECTIONENTRY 10 //[type, bot, intersection, fromDir, toDir]
|
|
| 60 |
#define WINTERSECTIONREPLY 11 //[type, fromBot, intersection, toBot]
|
|
| 61 |
#define WINTERSECTIONEXIT 12 //[type, bot, intersection]
|
|
| 62 |
#define WINTERSECTIONGO 13 //[type, bot, intersection]
|
|
| 49 | 63 |
#define WINTERSECTIONPOLICEENTRY 14 |
| 64 |
#define WINTERSECTIONRESOLVERACE 15 //[type, bot, intersection, num] |
|
| 50 | 65 |
#define WHIGHWAYENTRY 20 //[type, bot, highway] |
| 51 | 66 |
#define WHIGHWAYREPLY 21 //[type, fromBot, highway, toBot] |
| 52 | 67 |
#define WHIGHWAYEXIT 22 //[type, bot, highway] |
| ... | ... | |
| 56 | 71 |
#define WPINGREPLY 33 //[type, fromBot, toBot] |
| 57 | 72 |
#define WCOLLISIONAVOID 41 //[type, bot, intersection, collision-int] //Note: collision is an int and thus takes two spaces |
| 58 | 73 |
|
| 74 |
/*Wireless Parsing Status |
|
| 75 |
* For wireless parsing - status codes describing various errors/statuses with wireless |
|
| 76 |
* parsing. |
|
| 77 |
* Errors begin with E - Note that all of these errors are actually returned as negative. |
|
| 78 |
* - values of >= 100 indicate a serious error |
|
| 79 |
* Non-Errors begin with K - returned as positive. (don't start with S because S |
|
| 80 |
* is for state) |
|
| 81 |
*/ |
|
| 82 |
#define ENOPACKET -10 //The received packet doesn't exist. |
|
| 83 |
#define ENOACTION -15 //The received packet has no defined action, and this is OK |
|
| 84 |
#define ENOIMPLEMENT -20 //The received packet has no defined action and needs to be implemented. |
|
| 85 |
#define EPACKETLEN -100 //The received packet was the wrong length |
|
| 86 |
#define KOK 1 |
|
| 87 |
#define KPLACEDINQUEUE 20 |
|
| 88 |
#define KFAILEDTOQUEUE 21 |
|
| 89 |
#define KFIRSTINQUEUE 22 |
|
| 90 |
#define KREPLIEDTOENTER 23 |
|
| 91 |
#define KRESOLVINGENTER 24 //resolving a race between bots trying to enter intersection at the same time. |
|
| 92 |
|
|
| 59 | 93 |
/*Macros |
| 60 | 94 |
*/ |
| 61 | 95 |
#define ISPING(p) ((p)[0]==WPINGGLOBAL || (p)[0]==WPINGBOT || (p)[0]==WPINGQUEUE) |
| trunk/code/projects/traffic_navigation/main-new.c | ||
|---|---|---|
| 1 |
#ifdef MAIN_NEW |
|
| 2 |
/* |
|
| 3 |
* main.c for Traffic Navigation |
|
| 4 |
* Runs the highest level behavior for the Dynamic Traffic Navigation (DTM) SURG |
|
| 5 |
* |
|
| 6 |
* Author: Colony Project, CMU Robotics Club |
|
| 7 |
*/ |
|
| 8 |
|
|
| 9 |
#include "traffic_navigation.h" |
|
| 10 |
#include "../linefollowing/lineDrive.h" |
|
| 11 |
|
|
| 12 |
static int state, sign, turnDir; |
|
| 13 |
static char sendBuffer[PACKET_LENGTH], queuePrevBot, queueNextBot, id, nextDir, nextPath, intersectionNum, resolvPrevBotID = -3; |
|
| 14 |
unsigned char resolvSeed = 0xC9, resolvDraw = 0, resolvPrevBotDraw = 0; |
|
| 15 |
|
|
| 16 |
int wirelessPacketHandle(int state); |
|
| 17 |
void enterIntersection(void); |
|
| 18 |
void sendResolv(bool override); |
|
| 19 |
unsigned char resolvRandomNumberGen(); |
|
| 20 |
|
|
| 21 |
int main (void) {
|
|
| 22 |
|
|
| 23 |
/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */ |
|
| 24 |
dragonfly_init(ALL_ON); |
|
| 25 |
xbee_init(); |
|
| 26 |
encoders_init(); |
|
| 27 |
lineDrive_init(); |
|
| 28 |
rtc_init(SIXTEENTH_SECOND, NULL); |
|
| 29 |
wl_basic_init_default(); |
|
| 30 |
wl_set_channel(13); |
|
| 31 |
initializeData(); |
|
| 32 |
|
|
| 33 |
id = get_robotid(); |
|
| 34 |
sign = 0; |
|
| 35 |
|
|
| 36 |
//Test code |
|
| 37 |
state = SROAD; |
|
| 38 |
|
|
| 39 |
sendBuffer[1] = id; |
|
| 40 |
|
|
| 41 |
/* |
|
| 42 |
doDrive(200); |
|
| 43 |
turn(DOUBLE, ILEFT); |
|
| 44 |
*/ |
|
| 45 |
/* |
|
| 46 |
while(1) |
|
| 47 |
doDrive(255); |
|
| 48 |
*/ |
|
| 49 |
|
|
| 50 |
while (1) {
|
|
| 51 |
/*DTM Finite State Machine*/ |
|
| 52 |
switch(state){
|
|
| 53 |
case SROAD:/*Following a normal road*/ |
|
| 54 |
/* implement other road behaviors? |
|
| 55 |
* -tailgating |
|
| 56 |
*/ |
|
| 57 |
//read barcode |
|
| 58 |
sign = doDrive(200); |
|
| 59 |
#ifdef ORB_INTERSECTION |
|
| 60 |
orb1_set_color(ORB_OFF); |
|
| 61 |
orb2_set_color(ORB_OFF); |
|
| 62 |
#endif |
|
| 63 |
if(button1_click()){
|
|
| 64 |
state = SINTERSECTION_ENTER; |
|
| 65 |
} |
|
| 66 |
break; |
|
| 67 |
case SINTERSECTION_ENTER:/*Entering, and in intersection*/ |
|
| 68 |
stop(); |
|
| 69 |
doDrive(0); |
|
| 70 |
#ifdef ORB_INTERSECTION |
|
| 71 |
orb1_set_color(RED); |
|
| 72 |
orb2_set_color(ORB_OFF); |
|
| 73 |
#endif |
|
| 74 |
|
|
| 75 |
#ifdef DEBUG_INTERSECTION |
|
| 76 |
usb_puts("STATE: SINTERSECTION_ENTER\n");
|
|
| 77 |
#endif |
|
| 78 |
|
|
| 79 |
/*Intersection queue: |
|
| 80 |
*Each robot when entering the intersection will check for other robots |
|
| 81 |
*in the intersection, and insert itself in a queue to go through. |
|
| 82 |
*/ |
|
| 83 |
queuePrevBot = -1; //the bot that will drive before this bot |
|
| 84 |
queueNextBot = -1; //the bot that will drive after this bot |
|
| 85 |
resolvPrevBotID = -3; //in the case of a race, the bot that is |
|
| 86 |
//to enter the queue before this bot |
|
| 87 |
resolvPrevBotDraw = 0; //the random priority number that bot has |
|
| 88 |
resolvDraw = 0; //my random priority number |
|
| 89 |
|
|
| 90 |
sign = 0; //Test code until barcodes integrated |
|
| 91 |
intersectionNum = getIntersectType(sign); |
|
| 92 |
turnDir = validateTurn(sign, getTurnType(4)); |
|
| 93 |
|
|
| 94 |
enterIntersection(); //sends wireless packet for entry |
|
| 95 |
state = SINTERSECTION_WAIT; |
|
| 96 |
|
|
| 97 |
rtc_reset(); //reset rtc for timeout wait for reply |
|
| 98 |
bool done = false; |
|
| 99 |
char retried = 0; |
|
| 100 |
while(rtc_get() < 16 && !done){//waits for a reply, otherwise assumes it is first in queue
|
|
| 101 |
int ret = wirelessPacketHandle(SINTERSECTION_ENTER); |
|
| 102 |
if(rtc_get() > 12 && !retried){//by now all resolvs should be done from bots that arrived earlier...
|
|
| 103 |
#ifdef ORB_INTERSECTION |
|
| 104 |
orb2_set_color(PURPLE); |
|
| 105 |
#endif |
|
| 106 |
enterIntersection(); |
|
| 107 |
retried = 1; |
|
| 108 |
} |
|
| 109 |
switch (ret) {
|
|
| 110 |
case KPLACEDINQUEUE: |
|
| 111 |
#ifdef ORB_INTERSECTION |
|
| 112 |
orb2_set_color(GREEN); |
|
| 113 |
#endif |
|
| 114 |
done = true; |
|
| 115 |
break; |
|
| 116 |
case KFAILEDTOQUEUE: |
|
| 117 |
#ifdef DEBUG_INTERSECTION |
|
| 118 |
usb_puts("Failed to queue\n");
|
|
| 119 |
#endif |
|
| 120 |
#ifdef ORB_INTERSECTION |
|
| 121 |
orb2_set_color(RED); |
|
| 122 |
#endif |
|
| 123 |
enterIntersection(); |
|
| 124 |
rtc_reset(); |
|
| 125 |
break; |
|
| 126 |
case KRESOLVINGENTER: |
|
| 127 |
|
|
| 128 |
#ifdef ORB_INTERSECTION |
|
| 129 |
orb2_set_color(ORANGE); |
|
| 130 |
#endif |
|
| 131 |
state = SINTERSECTION_ENTER_RESOLV; |
|
| 132 |
done = true; |
|
| 133 |
break; |
|
| 134 |
} |
|
| 135 |
} |
|
| 136 |
break; |
|
| 137 |
|
|
| 138 |
case SINTERSECTION_ENTER_RESOLV: |
|
| 139 |
#ifdef ORB_INTERSECTION |
|
| 140 |
orb1_set_color(WHITE); |
|
| 141 |
orb2_set_color(ORB_OFF); |
|
| 142 |
#endif |
|
| 143 |
#ifdef DEBUG_INTERSECTION |
|
| 144 |
usb_puts("STATE: SINTERSECTION_ENTER_RESOLV\n");
|
|
| 145 |
#endif |
|
| 146 |
|
|
| 147 |
rtc_reset(); |
|
| 148 |
done = false; |
|
| 149 |
retried = 0; |
|
| 150 |
while(rtc_get() < 9 && !done){
|
|
| 151 |
int ret = wirelessPacketHandle(SINTERSECTION_ENTER_RESOLV); |
|
| 152 |
switch (ret) {
|
|
| 153 |
case KRESOLVINGENTER: |
|
| 154 |
#ifdef ORB_INTERSECTION |
|
| 155 |
orb2_set_color(YELLOW); |
|
| 156 |
#endif |
|
| 157 |
break; |
|
| 158 |
case KPLACEDINQUEUE: |
|
| 159 |
#ifdef ORB_INTERSECTION |
|
| 160 |
orb2_set_color(GREEN); |
|
| 161 |
#endif |
|
| 162 |
done = true; |
|
| 163 |
break; |
|
| 164 |
case KFAILEDTOQUEUE: |
|
| 165 |
usb_puts("Failed to queue\n");
|
|
| 166 |
orb2_set_color(RED); |
|
| 167 |
enterIntersection(); |
|
| 168 |
rtc_reset(); |
|
| 169 |
break; |
|
| 170 |
} |
|
| 171 |
//if resolvPrevBotID == -1, this indicates that |
|
| 172 |
//there was a prevbot before, but it has entered |
|
| 173 |
//the queue so it's our turn. |
|
| 174 |
if(!done && resolvPrevBotID == (char) -1 && !retried){
|
|
| 175 |
enterIntersection(); |
|
| 176 |
rtc_reset(); |
|
| 177 |
retried = 1; |
|
| 178 |
//if resolvPrevBotID == -2, we have been |
|
| 179 |
//resolving but never have seen a bot with lower |
|
| 180 |
//priority than us. after the 6/16ths sec |
|
| 181 |
//timeout, assume we are first. |
|
| 182 |
} else if(!done && resolvPrevBotID == (char) -2 && rtc_get() > 6){
|
|
| 183 |
//send a intersection reply to myself to |
|
| 184 |
//trigger other bots to enter queue. |
|
| 185 |
sendBuffer[0] = WINTERSECTIONREPLY; |
|
| 186 |
sendBuffer[2] = intersectionNum; |
|
| 187 |
sendBuffer[3] = id; |
|
| 188 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 189 |
|
|
| 190 |
done = true; |
|
| 191 |
break; |
|
| 192 |
} |
|
| 193 |
} |
|
| 194 |
state = SINTERSECTION_WAIT; |
|
| 195 |
break; |
|
| 196 |
case SINTERSECTION_WAIT:/*Waiting in intersection */ |
|
| 197 |
#ifdef ORB_INTERSECTION |
|
| 198 |
orb1_set_color(YELLOW); |
|
| 199 |
orb2_set_color(ORB_OFF); |
|
| 200 |
#endif |
|
| 201 |
#ifdef DEBUG_INTERSECTION |
|
| 202 |
usb_puts("STATE: SINTERSECTION_WAIT\n");
|
|
| 203 |
#endif |
|
| 204 |
|
|
| 205 |
while(queuePrevBot != (char) -1){
|
|
| 206 |
int ret = wirelessPacketHandle(state); |
|
| 207 |
switch (ret){
|
|
| 208 |
case KFIRSTINQUEUE: |
|
| 209 |
#ifdef ORB_INTERSECTION |
|
| 210 |
orb2_set_color(GREEN); |
|
| 211 |
#endif |
|
| 212 |
state = SINTERSECTION_DRIVE; |
|
| 213 |
break; |
|
| 214 |
case KREPLIEDTOENTER: |
|
| 215 |
#ifdef ORB_INTERSECTION |
|
| 216 |
orb2_set_color(BLUE); |
|
| 217 |
#endif |
|
| 218 |
break; |
|
| 219 |
case KRESOLVINGENTER: |
|
| 220 |
#ifdef ORB_INTERSECTION |
|
| 221 |
orb2_set_color(ORANGE); |
|
| 222 |
#endif |
|
| 223 |
break; |
|
| 224 |
} |
|
| 225 |
} |
|
| 226 |
state = SINTERSECTION_DRIVE; |
|
| 227 |
break; |
|
| 228 |
|
|
| 229 |
case SINTERSECTION_DRIVE: |
|
| 230 |
#ifdef DEBUG_INTERSECTION |
|
| 231 |
usb_puts("STATE: SINTERSECTION_DRIVE\n");
|
|
| 232 |
#endif |
|
| 233 |
#ifdef ORB_INTERSECTION |
|
| 234 |
orb1_set_color(GREEN); |
|
| 235 |
orb2_set_color(ORB_OFF); |
|
| 236 |
#endif |
|
| 237 |
start(); |
|
| 238 |
turn(getIntersectType(0), turnDir); |
|
| 239 |
while(doDrive(200) != FINISHED){
|
|
| 240 |
//while(!button2_click()){
|
|
| 241 |
int ret = wirelessPacketHandle(state); |
|
| 242 |
switch (ret){
|
|
| 243 |
case KREPLIEDTOENTER: |
|
| 244 |
#ifdef ORB_INTERSECTION |
|
| 245 |
orb2_set_color(BLUE); |
|
| 246 |
#endif |
|
| 247 |
break; |
|
| 248 |
case KRESOLVINGENTER: |
|
| 249 |
#ifdef ORB_INTERSECTION |
|
| 250 |
orb2_set_color(ORANGE); |
|
| 251 |
#endif |
|
| 252 |
break; |
|
| 253 |
} |
|
| 254 |
} |
|
| 255 |
|
|
| 256 |
//Exits intersection |
|
| 257 |
#ifdef ORB_INTERSECTION |
|
| 258 |
orb1_set_color(WHITE); |
|
| 259 |
#endif |
|
| 260 |
|
|
| 261 |
sendBuffer[0] = WINTERSECTIONEXIT; |
|
| 262 |
sendBuffer[2] = intersectionNum;//Intersection # |
|
| 263 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 264 |
|
|
| 265 |
//Exits intersection |
|
| 266 |
while(1){
|
|
| 267 |
if(button1_click()){
|
|
| 268 |
start(); |
|
| 269 |
state = SHIGHWAY; |
|
| 270 |
break; |
|
| 271 |
} |
|
| 272 |
if(button2_click()){
|
|
| 273 |
start(); |
|
| 274 |
state = SROAD; |
|
| 275 |
break; |
|
| 276 |
} |
|
| 277 |
} |
|
| 278 |
break; |
|
| 279 |
case SHIGHWAY:/*On highway*/ |
|
| 280 |
#ifdef ORB_INTERSECTION |
|
| 281 |
orb1_set_color(CYAN); |
|
| 282 |
#endif |
|
| 283 |
while(!button1_click()){
|
|
| 284 |
highwayFSM(); |
|
| 285 |
} |
|
| 286 |
state = SINTERSECTION_ENTER; |
|
| 287 |
break; |
|
| 288 |
default: |
|
| 289 |
usb_puts("I got stuck in an unknown state! My state is ");
|
|
| 290 |
usb_puti(state); |
|
| 291 |
} |
|
| 292 |
} |
|
| 293 |
|
|
| 294 |
} |
|
| 295 |
|
|
| 296 |
int wirelessPacketHandle(int state){
|
|
| 297 |
int dataLength = 0; |
|
| 298 |
unsigned char *packet = NULL; |
|
| 299 |
packet = wl_basic_do_default(&dataLength); |
|
| 300 |
|
|
| 301 |
/* sanity check */ |
|
| 302 |
if(dataLength == 0 || packet == NULL) //no packet |
|
| 303 |
return ENOPACKET; |
|
| 304 |
|
|
| 305 |
if(dataLength != PACKET_LENGTH) |
|
| 306 |
return EPACKETLEN; |
|
| 307 |
|
|
| 308 |
usb_puts("Recieved Wireless Packet: ");
|
|
| 309 |
for(int i = 0; i < dataLength; i++){
|
|
| 310 |
usb_puti(packet[i]); |
|
| 311 |
usb_putc(' ');
|
|
| 312 |
} |
|
| 313 |
usb_putc('\n');
|
|
| 314 |
|
|
| 315 |
switch (packet[0]){
|
|
| 316 |
case WROADENTRY: //[type, bot, road] |
|
| 317 |
return ENOACTION; |
|
| 318 |
break; |
|
| 319 |
case WROADEXIT: //[type, bot, road] |
|
| 320 |
return ENOACTION; |
|
| 321 |
break; |
|
| 322 |
case WROADSTOP: //[type, bot, road] |
|
| 323 |
return ENOACTION; |
|
| 324 |
break; |
|
| 325 |
case WINTERSECTIONENTRY: //[type, bot, intersection, fromDir, toDir] |
|
| 326 |
if (packet[2] == intersectionNum){
|
|
| 327 |
switch (state){
|
|
| 328 |
case SINTERSECTION_ENTER: |
|
| 329 |
sendResolv(false); |
|
| 330 |
resolvPrevBotID = -2; |
|
| 331 |
return KRESOLVINGENTER; |
|
| 332 |
break; |
|
| 333 |
case SINTERSECTION_ENTER_RESOLV: |
|
| 334 |
return ENOACTION; |
|
| 335 |
case SINTERSECTION_WAIT: |
|
| 336 |
case SINTERSECTION_DRIVE: |
|
| 337 |
if(queueNextBot == (char) -1){
|
|
| 338 |
sendBuffer[0] = WINTERSECTIONREPLY; |
|
| 339 |
sendBuffer[2] = intersectionNum; |
|
| 340 |
sendBuffer[3] = packet[1]; |
|
| 341 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 342 |
queueNextBot = packet[1]; |
|
| 343 |
return KREPLIEDTOENTER; |
|
| 344 |
} |
|
| 345 |
break; |
|
| 346 |
|
|
| 347 |
} |
|
| 348 |
} |
|
| 349 |
break; |
|
| 350 |
case WINTERSECTIONREPLY: //[type, fromBot, intersection, toBot] |
|
| 351 |
if (packet[2] == intersectionNum){
|
|
| 352 |
switch (state){
|
|
| 353 |
case SINTERSECTION_ENTER: |
|
| 354 |
case SINTERSECTION_ENTER_RESOLV: |
|
| 355 |
if(packet[3] == id){ //Reply for me
|
|
| 356 |
queuePrevBot = packet[1]; |
|
| 357 |
return KPLACEDINQUEUE; |
|
| 358 |
} else {
|
|
| 359 |
if(packet[3] == resolvPrevBotID) |
|
| 360 |
resolvPrevBotID = -1; |
|
| 361 |
return KFAILEDTOQUEUE; |
|
| 362 |
} |
|
| 363 |
break; |
|
| 364 |
default: |
|
| 365 |
return ENOACTION; |
|
| 366 |
} |
|
| 367 |
} |
|
| 368 |
break; |
|
| 369 |
case WINTERSECTIONEXIT: //[type, bot, intersection] |
|
| 370 |
if (packet[2] == intersectionNum){
|
|
| 371 |
switch (state){
|
|
| 372 |
case SINTERSECTION_WAIT: |
|
| 373 |
if(packet[1]==queuePrevBot){
|
|
| 374 |
queuePrevBot=-1; |
|
| 375 |
return KFIRSTINQUEUE; |
|
| 376 |
} |
|
| 377 |
} |
|
| 378 |
} |
|
| 379 |
break; |
|
| 380 |
case WINTERSECTIONGO: //[type, bot, intersection] |
|
| 381 |
break; |
|
| 382 |
case WINTERSECTIONPOLICEENTRY: //[?] |
|
| 383 |
return ENOACTION; |
|
| 384 |
break; |
|
| 385 |
case WINTERSECTIONRESOLVERACE: //[type, bot, intersection, num] |
|
| 386 |
//in the case robots draw the same number these will be |
|
| 387 |
//arbitrated using the sending robot's id, prefering |
|
| 388 |
//lower ids |
|
| 389 |
usb_puts("Now in wireless WINTERSECTIONRESOLVERACE handler: resolvPrevBotID: ");
|
|
| 390 |
usb_puti((int) resolvPrevBotID); |
|
| 391 |
usb_putc('\n');
|
|
| 392 |
if (packet[2] == intersectionNum){
|
|
| 393 |
switch (state){
|
|
| 394 |
case SINTERSECTION_ENTER: |
|
| 395 |
case SINTERSECTION_ENTER_RESOLV: |
|
| 396 |
if(resolvPrevBotID == (char) -3){
|
|
| 397 |
usb_puts("resolvPrevBotID == -3; sending a resolv packet and setting to -2\n");
|
|
| 398 |
sendResolv(false); |
|
| 399 |
resolvPrevBotID = -2; |
|
| 400 |
} |
|
| 401 |
if((unsigned char) packet[3] == resolvDraw && id > packet[1]){
|
|
| 402 |
//other bot drew same number as me, |
|
| 403 |
//and i have a higher id, so it goes first. |
|
| 404 |
usb_puts("bot ");
|
|
| 405 |
usb_puti(packet[1]); |
|
| 406 |
usb_puts(" Drew the same number as me and I have a higher id, so it goes first\n");
|
|
| 407 |
resolvPrevBotID = packet[1]; |
|
| 408 |
} else if((unsigned char) packet[3] == resolvPrevBotDraw && resolvPrevBotID > packet[1]){
|
|
| 409 |
//other bot drew same number as the bot before me, |
|
| 410 |
//so if it has a higher id than the bot before me, |
|
| 411 |
//it is going to go in between that one and me. |
|
| 412 |
usb_puts("bot ");
|
|
| 413 |
usb_puti(packet[1]); |
|
| 414 |
usb_puts(" Drew the same number as the bot before me, and the bot before me has have a higher id, so this goes first\n");
|
|
| 415 |
resolvPrevBotID = packet[1]; |
|
| 416 |
} else if((unsigned char)packet[3] < resolvDraw && (unsigned char)packet[3] > resolvPrevBotDraw){
|
|
| 417 |
//found a bot that goes in between the bot before me |
|
| 418 |
//and me, so now it is before me. |
|
| 419 |
usb_puts("bot ");
|
|
| 420 |
usb_puti(packet[1]); |
|
| 421 |
usb_puts(" Drew a lower number bot before me, and the bot before me has have a higher id, so this goes first\n");
|
|
| 422 |
resolvPrevBotDraw = packet[3]; |
|
| 423 |
resolvPrevBotID = packet[1]; |
|
| 424 |
} |
|
| 425 |
return KRESOLVINGENTER; |
|
| 426 |
break; |
|
| 427 |
case SINTERSECTION_WAIT: |
|
| 428 |
case SINTERSECTION_DRIVE: |
|
| 429 |
usb_puts("Trying to resolv in non resolv case...queueNextbot = "); usb_puti(queueNextBot); usb_puts("\n");
|
|
| 430 |
if(queueNextBot == (char) -1){
|
|
| 431 |
sendResolv(true); |
|
| 432 |
} |
|
| 433 |
return KRESOLVINGENTER; |
|
| 434 |
break; |
|
| 435 |
} |
|
| 436 |
|
|
| 437 |
} |
|
| 438 |
break; |
|
| 439 |
case WHIGHWAYENTRY: //[type, bot, highway] |
|
| 440 |
return ENOACTION; |
|
| 441 |
break; |
|
| 442 |
case WHIGHWAYREPLY: //[type, fromBot, highway, toBot] |
|
| 443 |
return ENOACTION; |
|
| 444 |
break; |
|
| 445 |
case WHIGHWAYEXIT: //[type, bot, highway] |
|
| 446 |
return ENOACTION; |
|
| 447 |
break; |
|
| 448 |
case WPINGGLOBAL: //[type, bot] |
|
| 449 |
return ENOACTION; |
|
| 450 |
break; |
|
| 451 |
case WPINGBOT: //[type, fromBot, toBot] |
|
| 452 |
return ENOACTION; |
|
| 453 |
break; |
|
| 454 |
case WPINGQUEUE: //[type, fromBot, toBot] |
|
| 455 |
return ENOACTION; |
|
| 456 |
break; |
|
| 457 |
case WPINGREPLY: //[type, fromBot, toBot] |
|
| 458 |
return ENOACTION; |
|
| 459 |
break; |
|
| 460 |
case WCOLLISIONAVOID: //[type, bot, intersection, collision-int] //Note: collision is an int and thus takes two spaces |
|
| 461 |
return ENOACTION; |
|
| 462 |
break; |
|
| 463 |
default: |
|
| 464 |
return ENOACTION; |
|
| 465 |
break; |
|
| 466 |
} |
|
| 467 |
} |
|
| 468 |
|
|
| 469 |
unsigned char resolvRandomNumberGen(){
|
|
| 470 |
if ((resolvSeed *= (rtc_get())%9) == 0){
|
|
| 471 |
return resolvSeed + 1; //0 is a reseved priority value for the last |
|
| 472 |
//bot that is already in the queue. |
|
| 473 |
} |
|
| 474 |
return resolvSeed; |
|
| 475 |
} |
|
| 476 |
void sendResolv(bool override){
|
|
| 477 |
if(!override) |
|
| 478 |
resolvDraw = resolvRandomNumberGen(); |
|
| 479 |
else |
|
| 480 |
resolvDraw = 0; |
|
| 481 |
sendBuffer[0] = WINTERSECTIONRESOLVERACE; |
|
| 482 |
sendBuffer[2] = intersectionNum; |
|
| 483 |
sendBuffer[3] = resolvDraw; |
|
| 484 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 485 |
} |
|
| 486 |
void enterIntersection(void){
|
|
| 487 |
//Sends packet announcing its entry to the intersection |
|
| 488 |
sendBuffer[0] = WINTERSECTIONENTRY; |
|
| 489 |
sendBuffer[2] = intersectionNum;//Intersection # |
|
| 490 |
sendBuffer[3] = 0; //getIntersectPos(sign); |
|
| 491 |
sendBuffer[4] = turnDir; |
|
| 492 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
|
| 493 |
} |
|
| 494 |
#endif |
|
| trunk/code/projects/traffic_navigation/highways.c | ||
|---|---|---|
| 46 | 46 |
usb_puts(" : ");
|
| 47 | 47 |
usb_puti(averagei); |
| 48 | 48 |
usb_puts("\r\n");
|
| 49 |
#ifdef ORB_HIGHWAY |
|
| 49 | 50 |
orb1_set_color(CYAN); |
| 51 |
#endif |
|
| 50 | 52 |
if(range == -1){
|
| 51 | 53 |
range = PASS_DISTANCE+50; |
| 52 | 54 |
} |
| ... | ... | |
| 66 | 68 |
case 2: |
| 67 | 69 |
if(changeLanes()){
|
| 68 | 70 |
states = 0; |
| 71 |
#ifdef ORB_HIGHWAY |
|
| 69 | 72 |
orb1_set_color(GREEN); |
| 73 |
#endif |
|
| 70 | 74 |
} |
| 75 |
#ifdef ORB_HIGHWAY |
|
| 71 | 76 |
else orb1_set_color(YELLOW); |
| 77 |
#endif |
|
| 72 | 78 |
break; |
| 73 | 79 |
} |
| 74 | 80 |
return 0; |
| ... | ... | |
| 90 | 96 |
average += range; |
| 91 | 97 |
if(count >= COUNT_MAX){
|
| 92 | 98 |
if(state[0] != MERGELEFT){
|
| 99 |
#ifdef ORB_HIGHWAY |
|
| 93 | 100 |
orb1_set_color(ORANGE); |
| 101 |
#endif |
|
| 94 | 102 |
if(average / COUNT_MAX < PASS_DISTANCE){
|
| 95 | 103 |
merge(ILEFT); |
| 96 | 104 |
usb_puts("MERGE \r\n");
|
| ... | ... | |
| 100 | 108 |
count =0; |
| 101 | 109 |
average = 0; |
| 102 | 110 |
} |
| 111 |
#ifdef ORB_HIGHWAY |
|
| 103 | 112 |
//else orb1_set_color(GREEN); |
| 113 |
#endif |
|
| 104 | 114 |
} |
| 105 | 115 |
*/ |
Also available in: Unified diff