root / trunk / code / projects / traffic_navigation / main-intersectionDebug.c @ 1999
History | View | Annotate | Download (12 KB)
| 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 |
*/
|
| 8 |
#include "traffic_navigation.h" |
| 9 |
|
| 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(); |
| 24 |
|
| 25 |
|
| 26 |
int main (void) { |
| 27 |
|
| 28 |
/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
|
| 29 |
dragonfly_init(ALL_ON); |
| 30 |
xbee_init(); |
| 31 |
encoders_init(); |
| 32 |
rtc_init(SIXTEENTH_SECOND, NULL);
|
| 33 |
wl_basic_init_default(); |
| 34 |
wl_set_channel(13);
|
| 35 |
initializeData(); |
| 36 |
|
| 37 |
id = get_robotid(); |
| 38 |
sign = 0;
|
| 39 |
|
| 40 |
//Test code
|
| 41 |
state = SROAD; |
| 42 |
|
| 43 |
sendBuffer[1] = id;
|
| 44 |
|
| 45 |
/*
|
| 46 |
doDrive(200);
|
| 47 |
turn(DOUBLE, ILEFT);
|
| 48 |
*/
|
| 49 |
|
| 50 |
while (1) { |
| 51 |
/*DTM Finite State Machine*/
|
| 52 |
switch(state){
|
| 53 |
case SROAD:/*Following a normal road*/ |
| 54 |
|
| 55 |
//idle parsing
|
| 56 |
wirelessPacketHandle(SROAD); |
| 57 |
|
| 58 |
// sign = lineFollow();
|
| 59 |
//other road behaviors
|
| 60 |
//tailgating?
|
| 61 |
//read barcode
|
| 62 |
orb1_set_color(ORB_OFF); |
| 63 |
orb2_set_color(ORB_OFF); |
| 64 |
if(button1_click()){
|
| 65 |
state = SINTERSECTION_ENTER; |
| 66 |
} |
| 67 |
break;
|
| 68 |
case SINTERSECTION_ENTER:/*Entering, and in intersection*/ |
| 69 |
orb1_set_color(RED); |
| 70 |
orb2_set_color(ORB_OFF); |
| 71 |
|
| 72 |
usb_puts("STATE: SINTERSECTION_ENTER\n");
|
| 73 |
|
| 74 |
//empty packet queue
|
| 75 |
//while(wirelessPacketHandle(SCLEARPACKET) != ENOPACKET);
|
| 76 |
|
| 77 |
/*Intersection queue:
|
| 78 |
*Each robot when entering the intersection will check for other robots
|
| 79 |
*in the intersection, and insert itself in a queue to go through.
|
| 80 |
*/
|
| 81 |
queuePrevBot = -1;
|
| 82 |
queueNextBot = -1;
|
| 83 |
resolvPrevBotID = -3;
|
| 84 |
resolvPrevBotDraw = 0;
|
| 85 |
resolvDraw = 0;
|
| 86 |
|
| 87 |
sign = 0; //Test code until barcodes integrated |
| 88 |
intersectionNum = 0; //actually set this. |
| 89 |
turnDir = 1;
|
| 90 |
|
| 91 |
enterIntersection(); //sends wireless packet for entry
|
| 92 |
state = SINTERSECTION_WAIT; |
| 93 |
|
| 94 |
rtc_reset(); //reset rtc for timeout wait for reply
|
| 95 |
|
| 96 |
bool done = false; |
| 97 |
bool retried = false; |
| 98 |
while(rtc_get() < 8 && !done){//waits for a reply, otherwise assumes it is first in queue |
| 99 |
int ret = wirelessPacketHandle(SINTERSECTION_ENTER);
|
| 100 |
if(rtc_get() > 6 && !retried){//by now all resolvs should be done from bots that arrived earlier... |
| 101 |
orb2_set_color(PURPLE); |
| 102 |
enterIntersection(); |
| 103 |
retried = true;
|
| 104 |
} |
| 105 |
switch (ret) {
|
| 106 |
case KPLACEDINQUEUE:
|
| 107 |
orb2_set_color(GREEN); //entered queue!
|
| 108 |
done = true;
|
| 109 |
break;
|
| 110 |
case KFAILEDTOQUEUE:
|
| 111 |
usb_puts("Failed to queue D:\n");
|
| 112 |
orb2_set_color(RED); |
| 113 |
enterIntersection(); |
| 114 |
rtc_reset(); |
| 115 |
break;
|
| 116 |
case KRESOLVINGENTER:
|
| 117 |
orb2_set_color(ORANGE); |
| 118 |
state = SINTERSECTION_ENTER_RESOLV; |
| 119 |
done = true;
|
| 120 |
break;
|
| 121 |
} |
| 122 |
} |
| 123 |
break;
|
| 124 |
case SINTERSECTION_ENTER_RESOLV:
|
| 125 |
orb1_set_color(PINK); |
| 126 |
orb2_set_color(ORB_OFF); |
| 127 |
|
| 128 |
usb_puts("STATE: SINTERSECTION_ENTER_RESOLV\n");
|
| 129 |
rtc_reset(); |
| 130 |
|
| 131 |
done = false;
|
| 132 |
retried = false;
|
| 133 |
while(rtc_get() < 4 && !done){ |
| 134 |
int ret = wirelessPacketHandle(SINTERSECTION_ENTER_RESOLV);
|
| 135 |
switch (ret) {
|
| 136 |
case KRESOLVINGENTER:
|
| 137 |
orb2_set_color(YELLOW); |
| 138 |
break;
|
| 139 |
case KPLACEDINQUEUE:
|
| 140 |
orb2_set_color(GREEN); //entered queue!
|
| 141 |
done = true;
|
| 142 |
break;
|
| 143 |
case KFAILEDTOQUEUE:
|
| 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() > 2){ |
| 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); |
| 170 |
orb2_set_color(ORB_OFF); |
| 171 |
usb_puts("STATE: SINTERSECTION_WAIT\n");
|
| 172 |
|
| 173 |
done = false;
|
| 174 |
while(queuePrevBot != (char) -1){ |
| 175 |
done = true;
|
| 176 |
int ret = wirelessPacketHandle(state);
|
| 177 |
switch (ret){
|
| 178 |
case KFIRSTINQUEUE:
|
| 179 |
orb2_set_color(GREEN); |
| 180 |
state = SINTERSECTION_DRIVE; |
| 181 |
break;
|
| 182 |
case KREPLIEDTOENTER:
|
| 183 |
orb2_set_color(BLUE); |
| 184 |
break;
|
| 185 |
case KRESOLVINGENTER:
|
| 186 |
orb2_set_color(ORANGE); |
| 187 |
break;
|
| 188 |
} |
| 189 |
} |
| 190 |
//hack to make sure bot that just left intersection is
|
| 191 |
//really out of the intersection.
|
| 192 |
rtc_reset(); |
| 193 |
while(rtc_get() < 2 && done){//wait one second |
| 194 |
wirelessPacketHandle(state); |
| 195 |
} |
| 196 |
|
| 197 |
state = SINTERSECTION_DRIVE; |
| 198 |
break;
|
| 199 |
state = SINTERSECTION_DRIVE; |
| 200 |
break;
|
| 201 |
case SINTERSECTION_DRIVE:
|
| 202 |
usb_puts("STATE: SINTERSECTION_DRIVE\n");
|
| 203 |
orb1_set_color(GREEN); |
| 204 |
orb2_set_color(ORB_OFF); |
| 205 |
|
| 206 |
while(!button2_click()){
|
| 207 |
int ret = wirelessPacketHandle(state);
|
| 208 |
switch (ret){
|
| 209 |
case KREPLIEDTOENTER:
|
| 210 |
orb2_set_color(BLUE); |
| 211 |
break;
|
| 212 |
case KRESOLVINGENTER:
|
| 213 |
orb2_set_color(ORANGE); |
| 214 |
break;
|
| 215 |
} |
| 216 |
} |
| 217 |
|
| 218 |
//Exits intersection
|
| 219 |
orb1_set_color(WHITE); |
| 220 |
|
| 221 |
sendBuffer[0] = WINTERSECTIONEXIT;
|
| 222 |
sendBuffer[2] = intersectionNum;//Intersection # |
| 223 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
| 224 |
|
| 225 |
state = SROAD; |
| 226 |
break;
|
| 227 |
default:
|
| 228 |
usb_puts("I got stuck in an unknown state! My state is ");
|
| 229 |
usb_puti(state); |
| 230 |
} |
| 231 |
} |
| 232 |
|
| 233 |
} |
| 234 |
|
| 235 |
int wirelessPacketHandle(int state){ |
| 236 |
int dataLength = 0; |
| 237 |
unsigned char *packet = NULL; |
| 238 |
packet = wl_basic_do_default(&dataLength); |
| 239 |
|
| 240 |
/* sanity check */
|
| 241 |
if(dataLength == 0 || packet == NULL) //no packet |
| 242 |
return ENOPACKET;
|
| 243 |
|
| 244 |
if(dataLength != PACKET_LENGTH)
|
| 245 |
return EPACKETLEN;
|
| 246 |
|
| 247 |
usb_puts("Recieved Wireless Packet: ");
|
| 248 |
for(int i = 0; i < dataLength; i++){ |
| 249 |
usb_puti(packet[i]); |
| 250 |
usb_putc(' ');
|
| 251 |
} |
| 252 |
usb_putc('\n');
|
| 253 |
|
| 254 |
switch (packet[0]){ |
| 255 |
case WROADENTRY: //[type, bot, road] |
| 256 |
return ENOACTION;
|
| 257 |
break;
|
| 258 |
case WROADEXIT: //[type, bot, road] |
| 259 |
return ENOACTION;
|
| 260 |
break;
|
| 261 |
case WROADSTOP: //[type, bot, road] |
| 262 |
return ENOACTION;
|
| 263 |
break;
|
| 264 |
case WINTERSECTIONENTRY: //[type, bot, intersection, fromDir, toDir] |
| 265 |
if (packet[2] == intersectionNum){ |
| 266 |
switch (state){
|
| 267 |
case SINTERSECTION_ENTER:
|
| 268 |
sendResolv(false);
|
| 269 |
resolvPrevBotID = -2;
|
| 270 |
return KRESOLVINGENTER;
|
| 271 |
break;
|
| 272 |
case SINTERSECTION_ENTER_RESOLV:
|
| 273 |
return ENOACTION;
|
| 274 |
case SINTERSECTION_WAIT:
|
| 275 |
case SINTERSECTION_DRIVE:
|
| 276 |
if(queueNextBot == (char) -1){ |
| 277 |
sendBuffer[0] = WINTERSECTIONREPLY;
|
| 278 |
sendBuffer[2] = intersectionNum;
|
| 279 |
sendBuffer[3] = packet[1]; |
| 280 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
| 281 |
queueNextBot = packet[1];
|
| 282 |
return KREPLIEDTOENTER;
|
| 283 |
} |
| 284 |
break;
|
| 285 |
|
| 286 |
} |
| 287 |
} |
| 288 |
break;
|
| 289 |
case WINTERSECTIONREPLY: //[type, fromBot, intersection, toBot] |
| 290 |
if (packet[2] == intersectionNum){ |
| 291 |
switch (state){
|
| 292 |
case SINTERSECTION_ENTER:
|
| 293 |
case SINTERSECTION_ENTER_RESOLV:
|
| 294 |
if(packet[3] == id){ //Reply for me |
| 295 |
queuePrevBot = packet[1];
|
| 296 |
return KPLACEDINQUEUE;
|
| 297 |
} else {
|
| 298 |
if(packet[3] == resolvPrevBotID) |
| 299 |
resolvPrevBotID = -1;
|
| 300 |
return KFAILEDTOQUEUE;
|
| 301 |
} |
| 302 |
break;
|
| 303 |
default:
|
| 304 |
return ENOACTION;
|
| 305 |
} |
| 306 |
} |
| 307 |
break;
|
| 308 |
case WINTERSECTIONEXIT: //[type, bot, intersection] |
| 309 |
if (packet[2] == intersectionNum){ |
| 310 |
switch (state){
|
| 311 |
case SINTERSECTION_WAIT:
|
| 312 |
if(packet[1]==queuePrevBot){ |
| 313 |
queuePrevBot=-1;
|
| 314 |
return KFIRSTINQUEUE;
|
| 315 |
} |
| 316 |
} |
| 317 |
} |
| 318 |
break;
|
| 319 |
case WINTERSECTIONGO: //[type, bot, intersection] |
| 320 |
break;
|
| 321 |
case WINTERSECTIONPOLICEENTRY: //[?] |
| 322 |
return ENOACTION;
|
| 323 |
break;
|
| 324 |
case WINTERSECTIONRESOLVERACE: //[type, bot, intersection, num] |
| 325 |
//in the case robots draw the same number these will be
|
| 326 |
//arbitrated using the sending robot's id, prefering
|
| 327 |
//lower ids
|
| 328 |
usb_puts("Now in wireless WINTERSECTIONRESOLVERACE handler: resolvPrevBotID: ");
|
| 329 |
usb_puti((int) resolvPrevBotID);
|
| 330 |
usb_putc('\n');
|
| 331 |
if (packet[2] == intersectionNum){ |
| 332 |
switch (state){
|
| 333 |
case SINTERSECTION_ENTER:
|
| 334 |
case SINTERSECTION_ENTER_RESOLV:
|
| 335 |
if(resolvPrevBotID == (char) -3){ |
| 336 |
usb_puts("resolvPrevBotID == -3; sending a resolv packet and setting to -2\n");
|
| 337 |
sendResolv(false);
|
| 338 |
resolvPrevBotID = -2;
|
| 339 |
} |
| 340 |
if((unsigned char) packet[3] == resolvDraw && id > packet[1]){ |
| 341 |
//other bot drew same number as me,
|
| 342 |
//and i have a higher id, so it goes first.
|
| 343 |
usb_puts("bot ");
|
| 344 |
usb_puti(packet[1]);
|
| 345 |
usb_puts(" Drew the same number as me and I have a higher id, so it goes first\n");
|
| 346 |
resolvPrevBotID = packet[1];
|
| 347 |
} else if((unsigned char) packet[3] == resolvPrevBotDraw && resolvPrevBotID > packet[1]){ |
| 348 |
//other bot drew same number as the bot before me,
|
| 349 |
//so if it has a higher id than the bot before me,
|
| 350 |
//it is going to go in between that one and me.
|
| 351 |
usb_puts("bot ");
|
| 352 |
usb_puti(packet[1]);
|
| 353 |
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");
|
| 354 |
resolvPrevBotID = packet[1];
|
| 355 |
} else if((unsigned char)packet[3] < resolvDraw && (unsigned char)packet[3] > resolvPrevBotDraw){ |
| 356 |
//found a bot that goes in between the bot before me
|
| 357 |
//and me, so now it is before me.
|
| 358 |
usb_puts("bot ");
|
| 359 |
usb_puti(packet[1]);
|
| 360 |
usb_puts(" Drew a lower number bot before me, and the bot before me has have a higher id, so this goes first\n");
|
| 361 |
resolvPrevBotDraw = packet[3];
|
| 362 |
resolvPrevBotID = packet[1];
|
| 363 |
} |
| 364 |
return KRESOLVINGENTER;
|
| 365 |
break;
|
| 366 |
case SINTERSECTION_WAIT:
|
| 367 |
case SINTERSECTION_DRIVE:
|
| 368 |
usb_puts("Trying to resolv in non resolv case...queueNextbot = "); usb_puti(queueNextBot); usb_puts("\n"); |
| 369 |
if(queueNextBot == (char) -1){ |
| 370 |
sendResolv(true);
|
| 371 |
} |
| 372 |
return KRESOLVINGENTER;
|
| 373 |
break;
|
| 374 |
} |
| 375 |
|
| 376 |
} |
| 377 |
break;
|
| 378 |
case WHIGHWAYENTRY: //[type, bot, highway] |
| 379 |
return ENOACTION;
|
| 380 |
break;
|
| 381 |
case WHIGHWAYREPLY: //[type, fromBot, highway, toBot] |
| 382 |
return ENOACTION;
|
| 383 |
break;
|
| 384 |
case WHIGHWAYEXIT: //[type, bot, highway] |
| 385 |
return ENOACTION;
|
| 386 |
break;
|
| 387 |
case WPINGGLOBAL: //[type, bot] |
| 388 |
return ENOACTION;
|
| 389 |
break;
|
| 390 |
case WPINGBOT: //[type, fromBot, toBot] |
| 391 |
return ENOACTION;
|
| 392 |
break;
|
| 393 |
case WPINGQUEUE: //[type, fromBot, toBot] |
| 394 |
return ENOACTION;
|
| 395 |
break;
|
| 396 |
case WPINGREPLY: //[type, fromBot, toBot] |
| 397 |
return ENOACTION;
|
| 398 |
break;
|
| 399 |
case WCOLLISIONAVOID: //[type, bot, intersection, collision-int] //Note: collision is an int and thus takes two spaces |
| 400 |
return ENOACTION;
|
| 401 |
break;
|
| 402 |
default:
|
| 403 |
return ENOACTION;
|
| 404 |
break;
|
| 405 |
} |
| 406 |
} |
| 407 |
|
| 408 |
unsigned char resolvRandomNumberGen(){ |
| 409 |
if ((resolvSeed *= (rtc_get())%9) == 0){ |
| 410 |
return resolvSeed + 1; //0 is a reseved priority value for the last |
| 411 |
//bot that is already in the queue.
|
| 412 |
} |
| 413 |
return resolvSeed;
|
| 414 |
} |
| 415 |
void sendResolv(bool override){ |
| 416 |
if(!override)
|
| 417 |
resolvDraw = resolvRandomNumberGen(); |
| 418 |
else
|
| 419 |
resolvDraw = 0;
|
| 420 |
sendBuffer[0] = WINTERSECTIONRESOLVERACE;
|
| 421 |
sendBuffer[2] = intersectionNum;
|
| 422 |
sendBuffer[3] = resolvDraw;
|
| 423 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
| 424 |
} |
| 425 |
void enterIntersection(void){ |
| 426 |
//Sends packet announcing its entry to the intersection
|
| 427 |
sendBuffer[0] = WINTERSECTIONENTRY;
|
| 428 |
sendBuffer[2] = intersectionNum;//Intersection # |
| 429 |
sendBuffer[3] = 0; //getIntersectPos(sign); |
| 430 |
sendBuffer[4] = turnDir;
|
| 431 |
wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
|
| 432 |
} |
| 433 |
#endif
|