root / trunk / code / projects / traffic_navigation / main-intersectionTest.c @ 1984
History | View | Annotate | Download (6.99 KB)
| 1 | 1918 | bwasserm | /*
|
|---|---|---|---|
| 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 | 1939 | bwasserm | //#define traffic_nav_test
|
| 9 | |||
| 10 | #ifdef traffic_nav_test
|
||
| 11 | |||
| 12 | 1918 | bwasserm | #include "traffic_navigation.h" |
| 13 | |||
| 14 | static int state, sign, dataLength, pingWaitTime, turnDir; |
||
| 15 | static char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, nextDir, nextPath, intersectionNum; |
||
| 16 | static unsigned char *packet; |
||
| 17 | |||
| 18 | void enterIntersectionQueue(int sign); |
||
| 19 | void waitInIntersectionQueue();
|
||
| 20 | void driveThroughIntersection(int sign); |
||
| 21 | |||
| 22 | int main (void) { |
||
| 23 | |||
| 24 | /* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
|
||
| 25 | dragonfly_init(ALL_ON); |
||
| 26 | xbee_init(); |
||
| 27 | encoders_init(); |
||
| 28 | lineDrive_init(); |
||
| 29 | rtc_init(SIXTEENTH_SECOND, NULL);
|
||
| 30 | wl_basic_init_default(); |
||
| 31 | wl_set_channel(14);// Temporary, restore to 13 |
||
| 32 | initializeData(); |
||
| 33 | |||
| 34 | id = get_robotid(); |
||
| 35 | sign = 0;
|
||
| 36 | |||
| 37 | //Test code
|
||
| 38 | state = SINTERSECTION; |
||
| 39 | |||
| 40 | sendBuffer[1] = id;
|
||
| 41 | |||
| 42 | /*
|
||
| 43 | doDrive(200);
|
||
| 44 | turn(DOUBLE, ILEFT);
|
||
| 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 | // sign = lineFollow();
|
||
| 55 | //other road behaviors
|
||
| 56 | //tailgating?
|
||
| 57 | //read barcode
|
||
| 58 | // sign = doDrive(200);
|
||
| 59 | if(button1_click()){
|
||
| 60 | state = SINTERSECTION; |
||
| 61 | } |
||
| 62 | break;
|
||
| 63 | case SINTERSECTION:/*Entering, and in intersection*/ |
||
| 64 | intersectionNum = 0;
|
||
| 65 | /*Intersection queue:
|
||
| 66 | *Each robot when entering the intersection will check for other robots
|
||
| 67 | *in the intersection, and insert itself in a queue to go through.
|
||
| 68 | */
|
||
| 69 | prevBot = 0;
|
||
| 70 | nextBot = 0;
|
||
| 71 | |||
| 72 | sign = 0; //Test code until barcodes integrated |
||
| 73 | |||
| 74 | enterIntersectionQueue(sign); |
||
| 75 | |||
| 76 | orb1_set_color(PURPLE); |
||
| 77 | //waits for its turn
|
||
| 78 | |||
| 79 | waitInIntersectionQueue(); |
||
| 80 | |||
| 81 | orb1_set_color(RED); |
||
| 82 | //Drives through intersection
|
||
| 83 | driveThroughIntersection(sign); |
||
| 84 | |||
| 85 | //Exits intersection
|
||
| 86 | sendBuffer[0] = WINTERSECTIONEXIT;
|
||
| 87 | sendBuffer[2] = intersectionNum;//Intersection # |
||
| 88 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 89 | orb1_set_color(ORANGE); |
||
| 90 | while(1){ |
||
| 91 | stop(); |
||
| 92 | // sign = doDrive(200);
|
||
| 93 | if(button1_click()){
|
||
| 94 | start(); |
||
| 95 | state = SHIGHWAY; |
||
| 96 | break;
|
||
| 97 | } |
||
| 98 | if(button2_click()){
|
||
| 99 | start(); |
||
| 100 | state = SROAD; |
||
| 101 | break;
|
||
| 102 | } |
||
| 103 | } |
||
| 104 | break;
|
||
| 105 | case SHIGHWAY:/*On highway*/ |
||
| 106 | orb1_set_color(CYAN); |
||
| 107 | while(!button1_click()){
|
||
| 108 | highwayFSM(); |
||
| 109 | } |
||
| 110 | state = SINTERSECTION; |
||
| 111 | break;
|
||
| 112 | default:
|
||
| 113 | usb_puts("I got stuck in an unknown state! My state is ");
|
||
| 114 | usb_puti(state); |
||
| 115 | } |
||
| 116 | } |
||
| 117 | |||
| 118 | } |
||
| 119 | |||
| 120 | void enterIntersectionQueue(int sign){ |
||
| 121 | |||
| 122 | //Choose turn direction
|
||
| 123 | intersectionNum = getIntersectType(sign); |
||
| 124 | turnDir = validateTurn(sign, getTurnType(4));
|
||
| 125 | //Sends packet announcing its entry to the intersection
|
||
| 126 | sendBuffer[0] = WINTERSECTIONENTRY;
|
||
| 127 | sendBuffer[2] = intersectionNum;//Intersection # |
||
| 128 | sendBuffer[3] = getIntersectPos(sign);
|
||
| 129 | sendBuffer[4] = turnDir;
|
||
| 130 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 131 | orb1_set_color(BLUE); |
||
| 132 | stop(); |
||
| 133 | doDrive(0);
|
||
| 134 | rtc_reset(); |
||
| 135 | while(rtc_get() < 8){//waits for a reply, otherwise assumes it is first in queue |
||
| 136 | dataLength = 0;
|
||
| 137 | packet = NULL;
|
||
| 138 | packet = wl_basic_do_default(&dataLength); |
||
| 139 | if(packet && dataLength==PACKET_LENGTH && packet[2]==intersectionNum){ |
||
| 140 | if(packet[0] == WINTERSECTIONREPLY){ |
||
| 141 | if(packet[3] == id){//Reply for me |
||
| 142 | prevBot = packet[1];
|
||
| 143 | orb2_set_color(GREEN); |
||
| 144 | break;
|
||
| 145 | }else if(packet[1] != id){//Someone else got here first, try again |
||
| 146 | sendBuffer[0] = WINTERSECTIONENTRY;
|
||
| 147 | sendBuffer[2] = intersectionNum;
|
||
| 148 | sendBuffer[3] = getIntersectPos(sign);
|
||
| 149 | sendBuffer[4] = turnDir;
|
||
| 150 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 151 | orb2_set_color(ORANGE); |
||
| 152 | rtc_reset(); |
||
| 153 | } |
||
| 154 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0 && prevBot!=packet[1]){ |
||
| 155 | sendBuffer[0] = WINTERSECTIONREPLY;
|
||
| 156 | sendBuffer[2] = intersectionNum;
|
||
| 157 | sendBuffer[3] = packet[1]; |
||
| 158 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 159 | nextBot = packet[1];
|
||
| 160 | nextDir = packet[3];
|
||
| 161 | nextPath = packet[4];
|
||
| 162 | orb2_set_color(BLUE); |
||
| 163 | //delay_ms(200);
|
||
| 164 | } |
||
| 165 | delay_ms(0);
|
||
| 166 | } |
||
| 167 | } |
||
| 168 | } |
||
| 169 | |||
| 170 | void waitInIntersectionQueue(){
|
||
| 171 | while(prevBot != 0){ |
||
| 172 | dataLength = 0;
|
||
| 173 | packet = NULL;
|
||
| 174 | packet = wl_basic_do_default(&dataLength); |
||
| 175 | if(packet && dataLength==PACKET_LENGTH){
|
||
| 176 | if(packet[2] == intersectionNum){ |
||
| 177 | if(packet[1]==prevBot && (packet[0]==WINTERSECTIONGO || packet[0]==WINTERSECTIONEXIT)){ |
||
| 178 | prevBot = 0;
|
||
| 179 | orb2_set_color(PURPLE); |
||
| 180 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
||
| 181 | sendBuffer[0] = WINTERSECTIONREPLY;
|
||
| 182 | sendBuffer[2] = intersectionNum;
|
||
| 183 | sendBuffer[3] = packet[1]; |
||
| 184 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 185 | nextBot = packet[1];
|
||
| 186 | nextDir = packet[3];
|
||
| 187 | nextPath = packet[4];
|
||
| 188 | orb2_set_color(BLUE); |
||
| 189 | } |
||
| 190 | } |
||
| 191 | /*
|
||
| 192 | if(ISPING(packet)){
|
||
| 193 | sendBuffer[0] = WPINGREPLY;
|
||
| 194 | sendBuffer[2] = packet[1];
|
||
| 195 | if(packet[0]==WPINGQUEUE && packet[3]==nextBot){
|
||
| 196 | nextBot = packet[1];
|
||
| 197 | }
|
||
| 198 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 199 | }
|
||
| 200 | if(packet[0]==WPINGREPLY && packet[2]==id){
|
||
| 201 | prevBot = packet[1];
|
||
| 202 | pingWaitTime = rtc_get();
|
||
| 203 | }
|
||
| 204 | */
|
||
| 205 | } |
||
| 206 | |||
| 207 | if(prevBot && rtc_get() << 12 == 0){ |
||
| 208 | sendBuffer[0] = WPINGBOT;
|
||
| 209 | sendBuffer[2] = prevBot;
|
||
| 210 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 211 | pingWaitTime = rtc_get(); |
||
| 212 | } |
||
| 213 | if(prevBot && pingWaitTime - rtc_get() > 4){ |
||
| 214 | sendBuffer[0] = WPINGBOT;
|
||
| 215 | if(pingWaitTime - rtc_get() > 8){ |
||
| 216 | sendBuffer[0] = WPINGQUEUE;
|
||
| 217 | } |
||
| 218 | sendBuffer[2] = prevBot;
|
||
| 219 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 220 | } |
||
| 221 | /* if(prevBot && pingWaitTime - rtc_get() > 12){
|
||
| 222 | prevBot = 0;
|
||
| 223 | }
|
||
| 224 | */
|
||
| 225 | } |
||
| 226 | } |
||
| 227 | |||
| 228 | void driveThroughIntersection(int sign){ |
||
| 229 | //Code to choose path through intersection goes in this while loop
|
||
| 230 | //But here's the code to handle wireless while in the intersection...
|
||
| 231 | start(); |
||
| 232 | turn(getIntersectType(0), turnDir);
|
||
| 233 | while(doDrive(200) != FINISHED){ |
||
| 234 | dataLength = 0;
|
||
| 235 | packet = NULL;
|
||
| 236 | packet = wl_basic_do_default(&dataLength); |
||
| 237 | if(dataLength==PACKET_LENGTH){
|
||
| 238 | if(packet[2]==intersectionNum/*Intersection Num*/){ |
||
| 239 | if(packet[0]==WINTERSECTIONEXIT){ |
||
| 240 | prevBot = 0;
|
||
| 241 | orb2_set_color(RED); |
||
| 242 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
||
| 243 | sendBuffer[0] = WINTERSECTIONREPLY;
|
||
| 244 | sendBuffer[2] = intersectionNum;//Intersection # |
||
| 245 | sendBuffer[3] = packet[1]; |
||
| 246 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 247 | nextBot = packet[1];
|
||
| 248 | nextDir = packet[3];
|
||
| 249 | nextPath = packet[4];
|
||
| 250 | orb2_set_color(YELLOW); |
||
| 251 | } |
||
| 252 | } |
||
| 253 | if(ISPING(packet)){
|
||
| 254 | sendBuffer[0] = WPINGREPLY;
|
||
| 255 | sendBuffer[2] = packet[1]; |
||
| 256 | if(packet[0]==WPINGQUEUE && packet[3]==nextBot){ |
||
| 257 | nextBot = packet[1];
|
||
| 258 | } |
||
| 259 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 260 | } |
||
| 261 | } |
||
| 262 | if(prevBot==0 && nextBot!=0){//let 2 bots go through at same time |
||
| 263 | /*if(bots paths won't collide){
|
||
| 264 | sendBuffer[0] = WINTERSECTIONGO;
|
||
| 265 | sendBuffer[2] = 0;//Intersection #
|
||
| 266 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
||
| 267 | */
|
||
| 268 | } |
||
| 269 | } |
||
| 270 | } |
||
| 271 | 1939 | bwasserm | |
| 272 | #endif |