root / trunk / code / projects / traffic_navigation / main.c @ 1987
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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 | 1966 | alevkoy | #include "../linefollowing/lineDrive.h" |
| 10 | 1972 | azl | #ifndef MAIN_NEW
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| 11 | 1977 | azl | #ifndef WIRELESSWATCH
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| 12 | 16 | bcoltin | |
| 13 | 1957 | azl | static int state, sign, dataLength, pingWaitTime, turnDir; |
| 14 | static char sendBuffer[PACKET_LENGTH], prevBot, nextBot, id, nextDir, nextPath, intersectionNum; |
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| 15 | static unsigned char *packet; |
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| 16 | 1888 | bwasserm | |
| 17 | 1896 | bwasserm | void enterIntersectionQueue(int sign); |
| 18 | 1966 | alevkoy | void waitInIntersectionQueue(void); |
| 19 | 1896 | bwasserm | void driveThroughIntersection(int sign); |
| 20 | |||
| 21 | 1843 | bwasserm | int main (void) { |
| 22 | 1896 | bwasserm | |
| 23 | 1843 | bwasserm | /* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
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| 24 | dragonfly_init(ALL_ON); |
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| 25 | xbee_init(); |
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| 26 | encoders_init(); |
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| 27 | 1876 | markwill | lineDrive_init(); |
| 28 | 1844 | bwasserm | rtc_init(SIXTEENTH_SECOND, NULL);
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| 29 | 1859 | bwasserm | wl_basic_init_default(); |
| 30 | wl_set_channel(13);
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| 31 | 1896 | bwasserm | initializeData(); |
| 32 | 1859 | bwasserm | |
| 33 | 1844 | bwasserm | id = get_robotid(); |
| 34 | 1843 | bwasserm | sign = 0;
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| 35 | |||
| 36 | 1859 | bwasserm | //Test code
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| 37 | 1901 | bwasserm | state = SROAD; |
| 38 | 1859 | bwasserm | |
| 39 | 1844 | bwasserm | sendBuffer[1] = id;
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| 40 | 1901 | bwasserm | |
| 41 | 1957 | azl | /*
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| 42 | doDrive(200);
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| 43 | turn(DOUBLE, ILEFT);
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| 44 | */
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| 45 | /* while(1)
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| 46 | doDrive(255);
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| 47 | */
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| 48 | |||
| 49 | 1843 | bwasserm | while (1) { |
| 50 | /*DTM Finite State Machine*/
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| 51 | switch(state){
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| 52 | case SROAD:/*Following a normal road*/ |
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| 53 | 1859 | bwasserm | // sign = lineFollow();
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| 54 | 1843 | bwasserm | //other road behaviors
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| 55 | //tailgating?
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| 56 | //read barcode
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| 57 | 1901 | bwasserm | sign = doDrive(200);
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| 58 | if(button1_click()){
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| 59 | 1843 | bwasserm | state = SINTERSECTION; |
| 60 | } |
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| 61 | break;
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| 62 | case SINTERSECTION:/*Entering, and in intersection*/ |
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| 63 | 1859 | bwasserm | intersectionNum = 0;
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| 64 | 1844 | bwasserm | /*Intersection queue:
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| 65 | *Each robot when entering the intersection will check for other robots
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| 66 | *in the intersection, and insert itself in a queue to go through.
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| 67 | */
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| 68 | prevBot = 0;
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| 69 | nextBot = 0;
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| 70 | 1888 | bwasserm | |
| 71 | 1913 | bwasserm | sign = 0; //Test code until barcodes integrated |
| 72 | 1896 | bwasserm | |
| 73 | enterIntersectionQueue(sign); |
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| 74 | |||
| 75 | 1859 | bwasserm | orb1_set_color(PURPLE); |
| 76 | 1844 | bwasserm | //waits for its turn
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| 77 | 1888 | bwasserm | |
| 78 | waitInIntersectionQueue(); |
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| 79 | |||
| 80 | 1859 | bwasserm | orb1_set_color(RED); |
| 81 | 1844 | bwasserm | //Drives through intersection
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| 82 | 1896 | bwasserm | driveThroughIntersection(sign); |
| 83 | 1888 | bwasserm | |
| 84 | 1844 | bwasserm | //Exits intersection
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| 85 | sendBuffer[0] = WINTERSECTIONEXIT;
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| 86 | 1859 | bwasserm | sendBuffer[2] = intersectionNum;//Intersection # |
| 87 | 1844 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 88 | 1859 | bwasserm | orb1_set_color(ORANGE); |
| 89 | 1888 | bwasserm | while(1){ |
| 90 | 1891 | bwasserm | stop(); |
| 91 | 1901 | bwasserm | sign = doDrive(200);
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| 92 | 1913 | bwasserm | if(button1_click()){
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| 93 | 1891 | bwasserm | start(); |
| 94 | 1913 | bwasserm | state = SHIGHWAY; |
| 95 | break;
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| 96 | 1843 | bwasserm | } |
| 97 | 1913 | bwasserm | if(button2_click()){
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| 98 | start(); |
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| 99 | state = SROAD; |
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| 100 | break;
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| 101 | } |
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| 102 | 1843 | bwasserm | } |
| 103 | break;
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| 104 | case SHIGHWAY:/*On highway*/ |
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| 105 | 1901 | bwasserm | orb1_set_color(CYAN); |
| 106 | while(!button1_click()){
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| 107 | 1891 | bwasserm | highwayFSM(); |
| 108 | 1901 | bwasserm | } |
| 109 | state = SINTERSECTION; |
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| 110 | 1888 | bwasserm | break;
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| 111 | 1843 | bwasserm | default:
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| 112 | usb_puts("I got stuck in an unknown state! My state is ");
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| 113 | usb_puti(state); |
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| 114 | } |
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| 115 | 967 | alevkoy | } |
| 116 | |||
| 117 | 16 | bcoltin | } |
| 118 | 1888 | bwasserm | |
| 119 | 1896 | bwasserm | void enterIntersectionQueue(int sign){ |
| 120 | |||
| 121 | //Choose turn direction
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| 122 | intersectionNum = getIntersectType(sign); |
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| 123 | 1913 | bwasserm | turnDir = validateTurn(sign, getTurnType(4));
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| 124 | 1888 | bwasserm | //Sends packet announcing its entry to the intersection
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| 125 | sendBuffer[0] = WINTERSECTIONENTRY;
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| 126 | sendBuffer[2] = intersectionNum;//Intersection # |
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| 127 | 1896 | bwasserm | sendBuffer[3] = getIntersectPos(sign);
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| 128 | sendBuffer[4] = turnDir;
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| 129 | 1888 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 130 | orb1_set_color(BLUE); |
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| 131 | stop(); |
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| 132 | doDrive(0);
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| 133 | rtc_reset(); |
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| 134 | while(rtc_get() < 8){//waits for a reply, otherwise assumes it is first in queue |
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| 135 | dataLength = 0;
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| 136 | packet = NULL;
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| 137 | packet = wl_basic_do_default(&dataLength); |
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| 138 | if(packet && dataLength==PACKET_LENGTH && packet[2]==intersectionNum){ |
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| 139 | if(packet[0] == WINTERSECTIONREPLY){ |
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| 140 | if(packet[3] == id){//Reply for me |
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| 141 | prevBot = packet[1];
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| 142 | orb2_set_color(GREEN); |
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| 143 | break;
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| 144 | }else if(packet[1] != id){//Someone else got here first, try again |
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| 145 | sendBuffer[0] = WINTERSECTIONENTRY;
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| 146 | 1896 | bwasserm | sendBuffer[2] = intersectionNum;
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| 147 | sendBuffer[3] = getIntersectPos(sign);
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| 148 | sendBuffer[4] = turnDir;
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| 149 | 1888 | bwasserm | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 150 | orb2_set_color(ORANGE); |
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| 151 | rtc_reset(); |
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| 152 | } |
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| 153 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0 && prevBot!=packet[1]){ |
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| 154 | sendBuffer[0] = WINTERSECTIONREPLY;
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| 155 | sendBuffer[2] = intersectionNum;
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| 156 | sendBuffer[3] = packet[1]; |
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| 157 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 158 | nextBot = packet[1];
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| 159 | nextDir = packet[3];
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| 160 | nextPath = packet[4];
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| 161 | orb2_set_color(BLUE); |
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| 162 | //delay_ms(200);
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| 163 | } |
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| 164 | delay_ms(0);
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| 165 | } |
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| 166 | } |
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| 167 | } |
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| 168 | |||
| 169 | void waitInIntersectionQueue(){
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| 170 | while(prevBot != 0){ |
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| 171 | dataLength = 0;
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| 172 | packet = NULL;
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| 173 | packet = wl_basic_do_default(&dataLength); |
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| 174 | if(packet && dataLength==PACKET_LENGTH){
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| 175 | if(packet[2] == intersectionNum){ |
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| 176 | if(packet[1]==prevBot && (packet[0]==WINTERSECTIONGO || packet[0]==WINTERSECTIONEXIT)){ |
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| 177 | prevBot = 0;
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| 178 | orb2_set_color(PURPLE); |
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| 179 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
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| 180 | sendBuffer[0] = WINTERSECTIONREPLY;
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| 181 | sendBuffer[2] = intersectionNum;
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| 182 | sendBuffer[3] = packet[1]; |
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| 183 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 184 | nextBot = packet[1];
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| 185 | nextDir = packet[3];
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| 186 | nextPath = packet[4];
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| 187 | orb2_set_color(BLUE); |
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| 188 | } |
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| 189 | } |
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| 190 | /*
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| 191 | if(ISPING(packet)){
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| 192 | sendBuffer[0] = WPINGREPLY;
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| 193 | sendBuffer[2] = packet[1];
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| 194 | if(packet[0]==WPINGQUEUE && packet[3]==nextBot){
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| 195 | nextBot = packet[1];
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| 196 | }
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| 197 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 198 | }
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| 199 | if(packet[0]==WPINGREPLY && packet[2]==id){
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| 200 | prevBot = packet[1];
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| 201 | pingWaitTime = rtc_get();
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| 202 | }
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| 203 | */
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| 204 | } |
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| 205 | |||
| 206 | if(prevBot && rtc_get() << 12 == 0){ |
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| 207 | sendBuffer[0] = WPINGBOT;
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| 208 | sendBuffer[2] = prevBot;
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| 209 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 210 | pingWaitTime = rtc_get(); |
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| 211 | } |
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| 212 | if(prevBot && pingWaitTime - rtc_get() > 4){ |
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| 213 | sendBuffer[0] = WPINGBOT;
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| 214 | if(pingWaitTime - rtc_get() > 8){ |
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| 215 | sendBuffer[0] = WPINGQUEUE;
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| 216 | } |
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| 217 | sendBuffer[2] = prevBot;
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| 218 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 219 | } |
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| 220 | /* if(prevBot && pingWaitTime - rtc_get() > 12){
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| 221 | prevBot = 0;
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| 222 | }
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| 223 | */
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| 224 | } |
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| 225 | } |
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| 226 | |||
| 227 | 1896 | bwasserm | void driveThroughIntersection(int sign){ |
| 228 | 1888 | bwasserm | //Code to choose path through intersection goes in this while loop
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| 229 | //But here's the code to handle wireless while in the intersection...
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| 230 | start(); |
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| 231 | 1912 | pdeo | turn(getIntersectType(0), turnDir);
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| 232 | 1901 | bwasserm | while(doDrive(200) != FINISHED){ |
| 233 | 1888 | bwasserm | dataLength = 0;
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| 234 | packet = NULL;
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| 235 | packet = wl_basic_do_default(&dataLength); |
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| 236 | if(dataLength==PACKET_LENGTH){
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| 237 | if(packet[2]==intersectionNum/*Intersection Num*/){ |
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| 238 | if(packet[0]==WINTERSECTIONEXIT){ |
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| 239 | prevBot = 0;
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| 240 | orb2_set_color(RED); |
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| 241 | }else if(packet[0]==WINTERSECTIONENTRY && nextBot==0){ |
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| 242 | sendBuffer[0] = WINTERSECTIONREPLY;
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| 243 | sendBuffer[2] = intersectionNum;//Intersection # |
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| 244 | sendBuffer[3] = packet[1]; |
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| 245 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 246 | nextBot = packet[1];
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| 247 | nextDir = packet[3];
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| 248 | nextPath = packet[4];
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| 249 | orb2_set_color(YELLOW); |
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| 250 | } |
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| 251 | } |
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| 252 | if(ISPING(packet)){
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| 253 | sendBuffer[0] = WPINGREPLY;
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| 254 | sendBuffer[2] = packet[1]; |
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| 255 | if(packet[0]==WPINGQUEUE && packet[3]==nextBot){ |
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| 256 | nextBot = packet[1];
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| 257 | } |
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| 258 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 259 | } |
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| 260 | } |
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| 261 | if(prevBot==0 && nextBot!=0){//let 2 bots go through at same time |
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| 262 | /*if(bots paths won't collide){
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| 263 | sendBuffer[0] = WINTERSECTIONGO;
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| 264 | sendBuffer[2] = 0;//Intersection #
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| 265 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 266 | */
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| 267 | } |
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| 268 | } |
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| 269 | 1905 | pdeo | } |
| 270 | 1972 | azl | #endif
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| 271 | 1977 | azl | #endif |