root / trunk / code / projects / traffic_navigation / main-new.cold @ 1987
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/* |
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* main.c for Traffic Navigation |
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* Runs the highest level behavior for the Dynamic Traffic Navigation (DTM) SURG |
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* |
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* Author: Colony Project, CMU Robotics Club |
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*/ |
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|
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#include "traffic_navigation.h" |
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#include "../linefollowing/lineDrive.h" |
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#ifdef MAIN_NEW |
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|
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static int state, sign, turnDir; |
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static char sendBuffer[PACKET_LENGTH], queuePrevBot, queueNextBot, id, nextDir, nextPath, intersectionNum, resolvPrevBotID = -3; |
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unsigned char resolvSeed = 0xC9, resolvDraw = 0, resolvPrevBotDraw = 0; |
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bool done; |
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|
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int wirelessPacketHandle(int state); |
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void enterIntersection(void); |
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void sendResolv(bool override); |
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unsigned char resolvRandomNumberGen(); |
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|
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int main (void) { |
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|
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/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */ |
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dragonfly_init(ALL_ON); |
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xbee_init(); |
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encoders_init(); |
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lineDrive_init(); |
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rtc_init(SIXTEENTH_SECOND, NULL); |
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wl_basic_init_default(); |
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wl_set_channel(13); |
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initializeData(); |
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|
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id = get_robotid(); |
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sign = 0; |
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orb1_set_color(GREEN); |
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delay_ms(1000); |
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orb1_set_color(ORB_OFF); |
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|
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//Test code |
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state = SROAD; |
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|
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sendBuffer[1] = id; |
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|
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/* |
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doDrive(200); |
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turn(DOUBLE, ILEFT); |
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*/ |
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/* |
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while(1) |
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doDrive(255); |
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*/ |
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|
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while (1) { |
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/*DTM Finite State Machine*/ |
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switch(state){ |
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case SROAD:/*Following a normal road*/ |
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/* implement other road behaviors? |
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* -tailgating |
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*/ |
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#ifdef ORB_INTERSECTION |
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orb1_set_color(WHITE); |
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orb2_set_color(ORB_OFF); |
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#endif |
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start(); |
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done = false; |
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while(!done){ |
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sign = doDrive(200); |
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switch(sign){ |
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case NORMAL: |
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case FINISHED: |
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case LOST: |
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case ERROR: |
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break; |
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default: |
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//we have a barcode! |
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state = SINTERSECTION_ENTER; |
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done = true; |
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break; |
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|
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} |
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} |
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break; |
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case SINTERSECTION_ENTER:/*Entering, and in intersection*/ |
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stop(); |
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doDrive(0); |
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#ifdef ORB_INTERSECTION |
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orb1_set_color(RED); |
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orb2_set_color(ORB_OFF); |
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#endif |
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|
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#ifdef DEBUG_INTERSECTION |
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usb_puts("STATE: SINTERSECTION_ENTER\n"); |
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#endif |
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|
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/*Intersection queue: |
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*Each robot when entering the intersection will check for other robots |
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*in the intersection, and insert itself in a queue to go through. |
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*/ |
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queuePrevBot = -1; //the bot that will drive before this bot |
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queueNextBot = -1; //the bot that will drive after this bot |
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resolvPrevBotID = -3; //in the case of a race, the bot that is |
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//to enter the queue before this bot |
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resolvPrevBotDraw = 0; //the random priority number that bot has |
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resolvDraw = 0; //my random priority number |
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|
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intersectionNum = getIntersectNum(sign); |
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if(intersectionNum == (char) -1){ //invalid |
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state = SROAD; |
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break; |
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} |
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turnDir = validateTurn(sign, getTurnType(sign)); |
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if(turnDir == (char) -1){ //invalid |
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state = SROAD; |
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break; |
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} |
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|
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enterIntersection(); //sends wireless packet for entry |
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state = SINTERSECTION_WAIT; |
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|
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rtc_reset(); //reset rtc for timeout wait for reply |
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done = false; |
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char retried = 0; |
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while(rtc_get() < 16 && !done){//waits for a reply, otherwise assumes it is first in queue |
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int ret = wirelessPacketHandle(SINTERSECTION_ENTER); |
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if(rtc_get() > 12 && !retried){//by now all resolvs should be done from bots that arrived earlier... |
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#ifdef ORB_INTERSECTION |
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orb2_set_color(PURPLE); |
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#endif |
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enterIntersection(); |
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retried = 1; |
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} |
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switch (ret) { |
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case KPLACEDINQUEUE: |
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#ifdef ORB_INTERSECTION |
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orb2_set_color(GREEN); |
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#endif |
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done = true; |
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break; |
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case KFAILEDTOQUEUE: |
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#ifdef DEBUG_INTERSECTION |
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usb_puts("Failed to queue\n"); |
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#endif |
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#ifdef ORB_INTERSECTION |
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orb2_set_color(RED); |
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#endif |
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enterIntersection(); |
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rtc_reset(); |
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break; |
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case KRESOLVINGENTER: |
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|
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#ifdef ORB_INTERSECTION |
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orb2_set_color(ORANGE); |
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#endif |
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state = SINTERSECTION_ENTER_RESOLV; |
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done = true; |
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break; |
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} |
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} |
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break; |
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|
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case SINTERSECTION_ENTER_RESOLV: |
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#ifdef ORB_INTERSECTION |
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orb1_set_color(PURPLE); |
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orb2_set_color(ORB_OFF); |
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#endif |
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#ifdef DEBUG_INTERSECTION |
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usb_puts("STATE: SINTERSECTION_ENTER_RESOLV\n"); |
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#endif |
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|
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rtc_reset(); |
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done = false; |
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retried = 0; |
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while(rtc_get() < 9 && !done){ |
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int ret = wirelessPacketHandle(SINTERSECTION_ENTER_RESOLV); |
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switch (ret) { |
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case KRESOLVINGENTER: |
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#ifdef ORB_INTERSECTION |
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orb2_set_color(YELLOW); |
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#endif |
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break; |
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case KPLACEDINQUEUE: |
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#ifdef ORB_INTERSECTION |
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orb2_set_color(GREEN); |
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#endif |
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done = true; |
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break; |
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case KFAILEDTOQUEUE: |
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usb_puts("Failed to queue\n"); |
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orb2_set_color(RED); |
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enterIntersection(); |
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rtc_reset(); |
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break; |
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} |
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//if resolvPrevBotID == -1, this indicates that |
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//there was a prevbot before, but it has entered |
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//the queue so it's our turn. |
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if(!done && resolvPrevBotID == (char) -1 && !retried){ |
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enterIntersection(); |
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rtc_reset(); |
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retried = 1; |
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//if resolvPrevBotID == -2, we have been |
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//resolving but never have seen a bot with lower |
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//priority than us. after the 6/16ths sec |
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//timeout, assume we are first. |
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} else if(!done && resolvPrevBotID == (char) -2 && rtc_get() > 6){ |
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//send a intersection reply to myself to |
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//trigger other bots to enter queue. |
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sendBuffer[0] = WINTERSECTIONREPLY; |
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sendBuffer[2] = intersectionNum; |
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sendBuffer[3] = id; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
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|
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done = true; |
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break; |
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} |
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} |
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state = SINTERSECTION_WAIT; |
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break; |
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case SINTERSECTION_WAIT:/*Waiting in intersection */ |
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#ifdef ORB_INTERSECTION |
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orb1_set_color(YELLOW); |
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orb2_set_color(ORB_OFF); |
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#endif |
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#ifdef DEBUG_INTERSECTION |
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usb_puts("STATE: SINTERSECTION_WAIT\n"); |
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#endif |
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|
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while(queuePrevBot != (char) -1){ |
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int ret = wirelessPacketHandle(state); |
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switch (ret){ |
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case KFIRSTINQUEUE: |
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#ifdef ORB_INTERSECTION |
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orb2_set_color(GREEN); |
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#endif |
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state = SINTERSECTION_DRIVE; |
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break; |
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case KREPLIEDTOENTER: |
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#ifdef ORB_INTERSECTION |
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orb2_set_color(BLUE); |
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#endif |
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break; |
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case KRESOLVINGENTER: |
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#ifdef ORB_INTERSECTION |
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orb2_set_color(ORANGE); |
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#endif |
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break; |
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} |
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} |
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state = SINTERSECTION_DRIVE; |
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break; |
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|
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case SINTERSECTION_DRIVE: |
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#ifdef DEBUG_INTERSECTION |
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usb_puts("STATE: SINTERSECTION_DRIVE\n"); |
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#endif |
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#ifdef ORB_INTERSECTION |
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orb1_set_color(GREEN); |
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orb2_set_color(ORB_OFF); |
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#endif |
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start(); |
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turn(getIntersectType(sign), turnDir); |
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while(doDrive(200) != FINISHED){ |
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//while(!button2_click()){ |
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int ret = wirelessPacketHandle(state); |
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switch (ret){ |
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case KREPLIEDTOENTER: |
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#ifdef ORB_INTERSECTION |
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orb2_set_color(BLUE); |
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#endif |
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break; |
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case KRESOLVINGENTER: |
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#ifdef ORB_INTERSECTION |
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orb2_set_color(ORANGE); |
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#endif |
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break; |
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} |
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} |
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|
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//Exits intersection |
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#ifdef ORB_INTERSECTION |
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orb1_set_color(WHITE); |
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#endif |
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|
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sendBuffer[0] = WINTERSECTIONEXIT; |
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sendBuffer[2] = intersectionNum;//Intersection # |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
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|
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//Exits intersection |
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/* |
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while(1){ |
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if(button1_click()){ |
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start(); |
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state = SHIGHWAY; |
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break; |
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} |
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if(button2_click()){ |
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start(); |
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state = SROAD; |
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break; |
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} |
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}*/ |
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state = SROAD; |
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break; |
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case SHIGHWAY:/*On highway*/ |
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#ifdef ORB_INTERSECTION |
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orb1_set_color(CYAN); |
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#endif |
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while(!button1_click()){ |
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highwayFSM(); |
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} |
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state = SINTERSECTION_ENTER; |
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break; |
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default: |
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usb_puts("I got stuck in an unknown state! My state is "); |
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usb_puti(state); |
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} |
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} |
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|
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} |
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|
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int wirelessPacketHandle(int state){ |
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int dataLength = 0; |
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unsigned char *packet = NULL; |
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packet = wl_basic_do_default(&dataLength); |
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|
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/* sanity check */ |
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if(dataLength == 0 || packet == NULL) //no packet |
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return ENOPACKET; |
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|
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if(dataLength != PACKET_LENGTH) |
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return EPACKETLEN; |
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|
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usb_puts("Recieved Wireless Packet: "); |
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for(int i = 0; i < dataLength; i++){ |
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usb_puti(packet[i]); |
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usb_putc(' '); |
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} |
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usb_putc('\n'); |
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|
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switch (packet[0]){ |
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case WROADENTRY: //[type, bot, road] |
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return ENOACTION; |
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break; |
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case WROADEXIT: //[type, bot, road] |
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return ENOACTION; |
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break; |
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case WROADSTOP: //[type, bot, road] |
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return ENOACTION; |
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break; |
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case WINTERSECTIONENTRY: //[type, bot, intersection, fromDir, toDir] |
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if (packet[2] == intersectionNum){ |
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switch (state){ |
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case SINTERSECTION_ENTER: |
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sendResolv(false); |
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resolvPrevBotID = -2; |
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return KRESOLVINGENTER; |
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break; |
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case SINTERSECTION_ENTER_RESOLV: |
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return ENOACTION; |
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case SINTERSECTION_WAIT: |
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case SINTERSECTION_DRIVE: |
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if(queueNextBot == (char) -1){ |
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sendBuffer[0] = WINTERSECTIONREPLY; |
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sendBuffer[2] = intersectionNum; |
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sendBuffer[3] = packet[1]; |
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
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queueNextBot = packet[1]; |
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return KREPLIEDTOENTER; |
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} |
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break; |
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|
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} |
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} |
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break; |
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case WINTERSECTIONREPLY: //[type, fromBot, intersection, toBot] |
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if (packet[2] == intersectionNum){ |
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switch (state){ |
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case SINTERSECTION_ENTER: |
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case SINTERSECTION_ENTER_RESOLV: |
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if(packet[3] == id){ //Reply for me |
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queuePrevBot = packet[1]; |
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return KPLACEDINQUEUE; |
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} else { |
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if(packet[3] == resolvPrevBotID) |
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resolvPrevBotID = -1; |
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return KFAILEDTOQUEUE; |
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} |
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break; |
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default: |
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return ENOACTION; |
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} |
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} |
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break; |
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case WINTERSECTIONEXIT: //[type, bot, intersection] |
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if (packet[2] == intersectionNum){ |
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switch (state){ |
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case SINTERSECTION_WAIT: |
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if(packet[1]==queuePrevBot){ |
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queuePrevBot=-1; |
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return KFIRSTINQUEUE; |
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} |
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} |
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} |
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break; |
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case WINTERSECTIONGO: //[type, bot, intersection] |
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break; |
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case WINTERSECTIONPOLICEENTRY: //[?] |
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return ENOACTION; |
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break; |
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case WINTERSECTIONRESOLVERACE: //[type, bot, intersection, num] |
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//in the case robots draw the same number these will be |
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//arbitrated using the sending robot's id, prefering |
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//lower ids |
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usb_puts("Now in wireless WINTERSECTIONRESOLVERACE handler: resolvPrevBotID: "); |
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usb_puti((int) resolvPrevBotID); |
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usb_putc('\n'); |
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if (packet[2] == intersectionNum){ |
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switch (state){ |
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case SINTERSECTION_ENTER: |
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case SINTERSECTION_ENTER_RESOLV: |
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if(resolvPrevBotID == (char) -3){ |
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usb_puts("resolvPrevBotID == -3; sending a resolv packet and setting to -2\n"); |
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sendResolv(false); |
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resolvPrevBotID = -2; |
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} |
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if((unsigned char) packet[3] == resolvDraw && id > packet[1]){ |
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//other bot drew same number as me, |
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//and i have a higher id, so it goes first. |
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usb_puts("bot "); |
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usb_puti(packet[1]); |
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usb_puts(" Drew the same number as me and I have a higher id, so it goes first\n"); |
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resolvPrevBotID = packet[1]; |
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} else if((unsigned char) packet[3] == resolvPrevBotDraw && resolvPrevBotID > packet[1]){ |
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//other bot drew same number as the bot before me, |
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//so if it has a higher id than the bot before me, |
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//it is going to go in between that one and me. |
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usb_puts("bot "); |
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usb_puti(packet[1]); |
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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"); |
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resolvPrevBotID = packet[1]; |
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} else if((unsigned char)packet[3] < resolvDraw && (unsigned char)packet[3] > resolvPrevBotDraw){ |
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//found a bot that goes in between the bot before me |
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//and me, so now it is before me. |
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usb_puts("bot "); |
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usb_puti(packet[1]); |
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usb_puts(" Drew a lower number bot before me, and the bot before me has have a higher id, so this goes first\n"); |
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resolvPrevBotDraw = packet[3]; |
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resolvPrevBotID = packet[1]; |
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} |
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return KRESOLVINGENTER; |
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break; |
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case SINTERSECTION_WAIT: |
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case SINTERSECTION_DRIVE: |
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usb_puts("Trying to resolv in non resolv case...queueNextbot = "); usb_puti(queueNextBot); usb_puts("\n"); |
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if(queueNextBot == (char) -1){ |
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sendResolv(true); |
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} |
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return KRESOLVINGENTER; |
460 |
break; |
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} |
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|
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} |
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break; |
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case WHIGHWAYENTRY: //[type, bot, highway] |
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return ENOACTION; |
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break; |
468 |
case WHIGHWAYREPLY: //[type, fromBot, highway, toBot] |
469 |
return ENOACTION; |
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break; |
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case WHIGHWAYEXIT: //[type, bot, highway] |
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return ENOACTION; |
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break; |
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case WPINGGLOBAL: //[type, bot] |
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return ENOACTION; |
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break; |
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case WPINGBOT: //[type, fromBot, toBot] |
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return ENOACTION; |
479 |
break; |
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case WPINGQUEUE: //[type, fromBot, toBot] |
481 |
return ENOACTION; |
482 |
break; |
483 |
case WPINGREPLY: //[type, fromBot, toBot] |
484 |
return ENOACTION; |
485 |
break; |
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case WCOLLISIONAVOID: //[type, bot, intersection, collision-int] //Note: collision is an int and thus takes two spaces |
487 |
return ENOACTION; |
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break; |
489 |
default: |
490 |
return ENOACTION; |
491 |
break; |
492 |
} |
493 |
} |
494 |
|
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unsigned char resolvRandomNumberGen(){ |
496 |
if ((resolvSeed *= (rtc_get())%9) == 0){ |
497 |
return resolvSeed + 1; //0 is a reseved priority value for the last |
498 |
//bot that is already in the queue. |
499 |
} |
500 |
return resolvSeed; |
501 |
} |
502 |
void sendResolv(bool override){ |
503 |
if(!override) |
504 |
resolvDraw = resolvRandomNumberGen(); |
505 |
else |
506 |
resolvDraw = 0; |
507 |
sendBuffer[0] = WINTERSECTIONRESOLVERACE; |
508 |
sendBuffer[2] = intersectionNum; |
509 |
sendBuffer[3] = resolvDraw; |
510 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
511 |
} |
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void enterIntersection(void){ |
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//Sends packet announcing its entry to the intersection |
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sendBuffer[0] = WINTERSECTIONENTRY; |
515 |
sendBuffer[2] = intersectionNum;//Intersection # |
516 |
sendBuffer[3] = 0; //getIntersectPos(sign); |
517 |
sendBuffer[4] = turnDir; |
518 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH); |
519 |
} |
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#endif |