Revision 1991
Updated some random number generators to have more entropy.
| trunk/code/projects/traffic_navigation/validTurns.c | ||
|---|---|---|
| 22 | 22 |
#define SHIFT(s)( (s)<<1) |
| 23 | 23 |
#define RESEED(s)( (s)=( ( ((GET16(s)^GET14(s))^GET13(s))^GET11(s) ) | SHIFT(s) ) )/*reseeding the first bit of the number with bits from the number*/ |
| 24 | 24 |
|
| 25 |
unsigned int seed = 0xC0DE; |
|
| 26 |
int randomNumGen(int max){
|
|
| 27 |
//int a = 0; // not currently in use |
|
| 28 |
//int b = 0xBEEF; |
|
| 29 |
seed++; |
|
| 30 |
return seed%4; |
|
| 25 |
unsigned int turnseed = 0xC0DE; |
|
| 26 |
int resolvRandomNumberGen(int max){
|
|
| 27 |
turnseed *= (rtc_get() + encoder_read(LEFT))%9; |
|
| 28 |
return turnseed % max; |
|
| 31 | 29 |
} |
| 32 | 30 |
|
| 33 | 31 |
/* |
| 34 |
int randomNumGen(int max){
|
|
| 35 |
return rtc_get() % max; |
|
| 36 |
} |
|
| 37 |
int randomNumGen(int max){
|
|
| 38 |
int a = 1337; |
|
| 39 |
int b = 0xDEADBEEF; |
|
| 40 |
seed++; |
|
| 41 |
return seed%max; |
|
| 42 |
} |
|
| 43 |
*/ |
|
| 44 |
|
|
| 45 |
/* |
|
| 46 | 32 |
int getIntersectType(int barcode) |
| 47 | 33 |
{
|
| 48 | 34 |
return randomNumGen(5); |
| ... | ... | |
| 54 | 40 |
} |
| 55 | 41 |
*/ |
| 56 | 42 |
|
| 57 |
int getTurnType(int barcode)
|
|
| 43 |
char getTurnType(char barcode)
|
|
| 58 | 44 |
{
|
| 59 | 45 |
return randomNumGen(4); |
| 60 | 46 |
} |
| trunk/code/projects/traffic_navigation/main-new.c | ||
|---|---|---|
| 9 | 9 |
|
| 10 | 10 |
#include "traffic_navigation.h" |
| 11 | 11 |
#include "../linefollowing/lineDrive.h" |
| 12 |
#define ORB_INTERSECTION |
|
| 13 |
#define DEBUG_INTERSECTION |
|
| 12 | 14 |
#ifdef MAIN_NEW |
| 13 | 15 |
|
| 14 | 16 |
#ifdef ORB_INTERSECTION |
| ... | ... | |
| 50 | 52 |
id = get_robotid(); |
| 51 | 53 |
sign = 0; |
| 52 | 54 |
ORB1_DBG_CLR(GREEN); |
| 53 |
delay_ms(1000);
|
|
| 55 |
delay_ms(500);
|
|
| 54 | 56 |
ORB1_DBG_CLR(ORB_OFF); |
| 55 | 57 |
|
| 56 | 58 |
//Test code |
| ... | ... | |
| 89 | 91 |
default: |
| 90 | 92 |
//we have a barcode! |
| 91 | 93 |
state = SINTERSECTION_ENTER; |
| 94 |
usb_puts("Read Barcode #:");
|
|
| 95 |
usb_puti(sign); |
|
| 96 |
usb_putc('\n');
|
|
| 92 | 97 |
done = true; |
| 93 | 98 |
break; |
| 94 | 99 |
|
| ... | ... | |
| 117 | 122 |
intersectionNum = getIntersectNum(sign); |
| 118 | 123 |
if(intersectionNum == (char) -1){ //invalid
|
| 119 | 124 |
state = SROAD; |
| 125 |
usb_puts("Barcode has invalid intersectionNum\n");
|
|
| 120 | 126 |
break; |
| 121 | 127 |
} |
| 122 | 128 |
turnDir = validateTurn(sign, getTurnType(sign)); |
| 123 | 129 |
if(turnDir == (char) -1){ //invalid
|
| 124 | 130 |
state = SROAD; |
| 131 |
usb_puts("Barcode has invalid turn\n");
|
|
| 125 | 132 |
break; |
| 126 | 133 |
} |
| 127 | 134 |
|
| ... | ... | |
| 487 | 494 |
} |
| 488 | 495 |
|
| 489 | 496 |
unsigned char resolvRandomNumberGen(){
|
| 490 |
if ((resolvSeed *= (rtc_get())%9) == 0){
|
|
| 497 |
if ((resolvSeed *= (rtc_get() + encoder_read(LEFT))%9) == 0){
|
|
| 491 | 498 |
return resolvSeed + 1; //0 is a reseved priority value for the last |
| 492 | 499 |
//bot that is already in the queue. |
| 493 | 500 |
} |
Also available in: Unified diff