root / scout / libscout / src / behaviors / trafficNavigation.cpp @ 414d2b48
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| 1 | 0e6831f5 | unknown | /**
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| 2 | * Copyright (c) 2011 Colony Project
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| 3 | *
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| 4 | * Permission is hereby granted, free of charge, to any person
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| 5 | * obtaining a copy of this software and associated documentation
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| 6 | * files (the "Software"), to deal in the Software without
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| 7 | * restriction, including without limitation the rights to use,
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| 8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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| 9 | * copies of the Software, and to permit persons to whom the
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| 10 | * Software is furnished to do so, subject to the following
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| 11 | * conditions:
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| 12 | *
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| 13 | * The above copyright notice and this permission notice shall be
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| 14 | * included in all copies or substantial portions of the Software.
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| 15 | *
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| 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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| 17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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| 18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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| 19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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| 20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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| 21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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| 22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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| 23 | * OTHER DEALINGS IN THE SOFTWARE.
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| 24 | */
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| 25 | |||
| 26 | #include "trafficNavigation.h" |
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| 27 | #include "../linefollowing/lineDrive.h" |
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| 28 | |||
| 29 | #define DEBUG_INTERSECTION
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| 30 | #ifdef MAIN_NEW
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| 31 | |||
| 32 | #ifdef DEBUG_INTERSECTION
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| 33 | #define DBG_USBS(str) usb_puts(str)
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| 34 | #define DBG_USBI(x) usb_puti(x)
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| 35 | #else
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| 36 | #define DBG_USBS(str)
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| 37 | #define DBG_USBI(x)
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| 38 | #endif
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| 39 | |||
| 40 | static int state, sign, turnDir; |
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| 41 | static char sendBuffer[PACKET_LENGTH], queuePrevBot, queueNextBot, id, nextDir, nextPath, intersectionNum, resolvPrevBotID = -3; |
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| 42 | unsigned char resolvSeed = 0xC9, resolvDraw = 0, resolvPrevBotDraw = 0; |
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| 43 | bool done;
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| 44 | |||
| 45 | |||
| 46 | //TODO: classes for lineDrive::doDrive and other functions in line_drive.h, clock functions, sending/receiving packets, encoder data, initializations, get ids, etc.
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| 47 | void trafficNavigation::run()
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| 48 | {
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| 49 | |||
| 50 | /* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
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| 51 | |||
| 52 | id = get_robotid(); |
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| 53 | sign = 0;
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| 54 | delay_ms(500);
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| 55 | |||
| 56 | //Test code
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| 57 | state = SROAD; |
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| 58 | |||
| 59 | sendBuffer[1] = id;
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| 60 | |||
| 61 | |||
| 62 | while (ok()) {
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| 63 | /*DTN Finite State Machine*/
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| 64 | switch(state){
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| 65 | case SROAD:/*Following a normal road*/ |
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| 66 | start(); |
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| 67 | done = false;
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| 68 | |||
| 69 | //finishes when reads a barcode: TODO: how do we detect intersections now?
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| 70 | while(!done){
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| 71 | sign = lineDrive::doDrive(180);
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| 72 | switch(sign){
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| 73 | case NORMAL:
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| 74 | case FINISHED:
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| 75 | case LOST:
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| 76 | case ERROR:
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| 77 | break;
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| 78 | default:
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| 79 | //we have a barcode!
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| 80 | state = SINTERSECTION_ENTER; |
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| 81 | DBG_USBS("Read Barcode #:");
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| 82 | DBG_USBI(sign); |
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| 83 | DBG_USBS("\n");
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| 84 | done = true;
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| 85 | break;
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| 86 | |||
| 87 | } |
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| 88 | } |
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| 89 | break;
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| 90 | case SINTERSECTION_ENTER:/*Entering, and in intersection*/ |
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| 91 | stop(); |
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| 92 | lineDrive::doDrive(0);
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| 93 | |||
| 94 | DBG_USBS("STATE: SINTERSECTION_ENTER\n");
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| 95 | |||
| 96 | /*Intersection queue:
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| 97 | *Each robot when entering the intersection will check for other robots
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| 98 | *in the intersection, and insert itself in a queue to go through.
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| 99 | */
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| 100 | queuePrevBot = -1; //the bot that will drive before this bot |
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| 101 | queueNextBot = -1; //the bot that will drive after this bot |
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| 102 | resolvPrevBotID = -3; //in the case of a race, the bot that is |
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| 103 | //to enter the queue before this bot
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| 104 | resolvPrevBotDraw = 0; //the random priority number that bot has |
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| 105 | resolvDraw = 0; //my random priority number |
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| 106 | |||
| 107 | intersectionNum = getIntersectNum(sign); |
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| 108 | if(intersectionNum == (char) -1){ //invalid |
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| 109 | state = SROAD; |
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| 110 | DBG_USBS("Barcode has invalid intersectionNum\n");
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| 111 | break;
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| 112 | } |
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| 113 | turnDir = validateTurn(sign, getTurnType(sign)); |
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| 114 | if(turnDir == (char) -1){ //invalid |
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| 115 | state = SROAD; |
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| 116 | DBG_USBS("Barcode has invalid turn\n");
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| 117 | break;
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| 118 | } |
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| 119 | |||
| 120 | trafficNavigation::enterIntersection(); //sends wireless packet for entry
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| 121 | state = SINTERSECTION_WAIT; |
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| 122 | |||
| 123 | rtc_reset(); //reset rtc for timeout wait for reply
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| 124 | done = false;
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| 125 | char retried = 0; |
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| 126 | while(rtc_get() < 8 && !done){//waits for a reply, otherwise assumes it is first in queue |
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| 127 | int ret = wirelessPacketHandle(SINTERSECTION_ENTER);
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| 128 | if(rtc_get() > 6 && !retried){//by now all resolvs should be done from bots that arrived earlier... |
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| 129 | trafficNavigation::enterIntersection(); |
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| 130 | retried = 1;
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| 131 | } |
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| 132 | switch (ret) {
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| 133 | case KPLACEDINQUEUE:
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| 134 | done = true;
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| 135 | break;
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| 136 | case KFAILEDTOQUEUE:
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| 137 | DBG_USBS("Failed to queue\n");
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| 138 | trafficNavigation::enterIntersection(); |
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| 139 | rtc_reset(); |
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| 140 | break;
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| 141 | case KRESOLVINGENTER:
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| 142 | state = SINTERSECTION_ENTER_RESOLV; |
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| 143 | done = true;
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| 144 | break;
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| 145 | } |
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| 146 | } |
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| 147 | break;
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| 148 | |||
| 149 | case SINTERSECTION_ENTER_RESOLV:
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| 150 | DBG_USBS("STATE: SINTERSECTION_ENTER_RESOLV\n");
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| 151 | |||
| 152 | rtc_reset(); |
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| 153 | done = false;
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| 154 | retried = 0;
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| 155 | while(rtc_get() < 4 && !done){ |
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| 156 | int ret = wirelessPacketHandle(SINTERSECTION_ENTER_RESOLV);
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| 157 | switch (ret) {
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| 158 | case KRESOLVINGENTER:
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| 159 | break;
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| 160 | case KPLACEDINQUEUE:
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| 161 | done = true;
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| 162 | break;
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| 163 | case KFAILEDTOQUEUE:
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| 164 | DBG_USBS("Failed to queue\n");
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| 165 | trafficNavigation::enterIntersection(); |
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| 166 | rtc_reset(); |
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| 167 | break;
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| 168 | } |
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| 169 | //if resolvPrevBotID == -1, this indicates that
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| 170 | //there was a prevbot before, but it has entered
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| 171 | //the queue so it's our turn.
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| 172 | if(!done && resolvPrevBotID == (char) -1 && !retried){ |
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| 173 | trafficNavigation::enterIntersection(); |
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| 174 | rtc_reset(); |
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| 175 | retried = 1;
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| 176 | //if resolvPrevBotID == -2, we have been
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| 177 | //resolving but never have seen a bot with lower
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| 178 | //priority than us. after the 6/16ths sec
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| 179 | //timeout, assume we are first.
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| 180 | } else if(!done && resolvPrevBotID == (char) -2 && rtc_get() > 2){ |
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| 181 | //send a intersection reply to myself to
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| 182 | //trigger other bots to enter queue.
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| 183 | sendBuffer[0] = WINTERSECTIONREPLY;
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| 184 | sendBuffer[2] = intersectionNum;
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| 185 | sendBuffer[3] = id;
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| 186 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 187 | |||
| 188 | done = true;
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| 189 | break;
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| 190 | } |
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| 191 | } |
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| 192 | state = SINTERSECTION_WAIT; |
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| 193 | break;
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| 194 | case SINTERSECTION_WAIT:/*Waiting in intersection */ |
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| 195 | |||
| 196 | |||
| 197 | DBG_USBS("STATE: SINTERSECTION_WAIT\n");
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| 198 | |||
| 199 | done = false;
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| 200 | while(queuePrevBot != (char) -1){ |
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| 201 | done = true;
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| 202 | int ret = wirelessPacketHandle(state);
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| 203 | if (ret==KFIRSTINQUEUE) state = SINTERSECTION_DRIVE;
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| 204 | } |
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| 205 | //hack to make sure bot that just left intersection is
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| 206 | //really out of the intersection.
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| 207 | rtc_reset(); |
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| 208 | while(rtc_get() < 2 && done){//wait one second |
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| 209 | wirelessPacketHandle(state); |
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| 210 | } |
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| 211 | |||
| 212 | state = SINTERSECTION_DRIVE; |
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| 213 | break;
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| 214 | case SINTERSECTION_DRIVE:
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| 215 | DBG_USBS("STATE: SINTERSECTION_DRIVE\n");
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| 216 | start(); |
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| 217 | turn(getIntersectType(sign), turnDir); |
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| 218 | |||
| 219 | |||
| 220 | //Exits intersection
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| 221 | sendBuffer[0] = WINTERSECTIONEXIT;
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| 222 | sendBuffer[2] = intersectionNum;//Intersection # |
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| 223 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 224 | |||
| 225 | state = SROAD; |
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| 226 | break;
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| 227 | default:
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| 228 | DBG_USBS("I got stuck in an unknown state (Likely highway) My state is ");
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| 229 | DBG_USBI(state); |
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| 230 | } |
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| 231 | } |
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| 232 | } |
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| 233 | |||
| 234 | int trafficNavigation::wirelessPacketHandle(int state){ |
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| 235 | int dataLength = 0; |
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| 236 | unsigned char *packet = NULL; |
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| 237 | packet = wl_basic_do_default(&dataLength); |
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| 238 | |||
| 239 | /* sanity check */
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| 240 | if(dataLength == 0 || packet == NULL) //no packet |
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| 241 | return ENOPACKET;
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| 242 | |||
| 243 | if(dataLength != PACKET_LENGTH)
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| 244 | return EPACKETLEN;
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| 245 | |||
| 246 | DBG_USBS("Recieved Wireless Packet: ");
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| 247 | for(int i = 0; i < dataLength; i++){ |
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| 248 | DBG_USBI(packet[i]); |
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| 249 | DBG_USBS(" ");
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| 250 | } |
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| 251 | DBG_USBS("\n");
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| 252 | |||
| 253 | switch (packet[0]){ |
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| 254 | case WROADENTRY: //[type, bot, road] |
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| 255 | return ENOACTION;
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| 256 | break;
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| 257 | case WROADEXIT: //[type, bot, road] |
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| 258 | return ENOACTION;
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| 259 | break;
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| 260 | case WROADSTOP: //[type, bot, road] |
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| 261 | return ENOACTION;
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| 262 | break;
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| 263 | case WINTERSECTIONENTRY: //[type, bot, intersection, fromDir, toDir] |
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| 264 | if (packet[2] == intersectionNum){ |
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| 265 | switch (state){
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| 266 | case SINTERSECTION_ENTER:
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| 267 | trafficNavigation::sendResolv(false);
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| 268 | resolvPrevBotID = -2;
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| 269 | return KRESOLVINGENTER;
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| 270 | break;
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| 271 | case SINTERSECTION_ENTER_RESOLV:
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| 272 | return ENOACTION;
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| 273 | case SINTERSECTION_WAIT:
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| 274 | case SINTERSECTION_DRIVE:
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| 275 | if(queueNextBot == (char) -1){ |
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| 276 | sendBuffer[0] = WINTERSECTIONREPLY;
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| 277 | sendBuffer[2] = intersectionNum;
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| 278 | sendBuffer[3] = packet[1]; |
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| 279 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 280 | queueNextBot = packet[1];
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| 281 | return KREPLIEDTOENTER;
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| 282 | } |
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| 283 | break;
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| 284 | |||
| 285 | } |
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| 286 | } |
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| 287 | break;
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| 288 | case WINTERSECTIONREPLY: //[type, fromBot, intersection, toBot] |
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| 289 | if (packet[2] == intersectionNum){ |
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| 290 | switch (state){
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| 291 | case SINTERSECTION_ENTER:
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| 292 | case SINTERSECTION_ENTER_RESOLV:
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| 293 | if(packet[3] == id){ //Reply for me |
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| 294 | queuePrevBot = packet[1];
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| 295 | return KPLACEDINQUEUE;
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| 296 | } else {
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| 297 | if(packet[3] == resolvPrevBotID) |
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| 298 | resolvPrevBotID = -1;
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| 299 | return KFAILEDTOQUEUE;
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| 300 | } |
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| 301 | break;
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| 302 | default:
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| 303 | return ENOACTION;
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| 304 | } |
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| 305 | } |
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| 306 | break;
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| 307 | case WINTERSECTIONEXIT: //[type, bot, intersection] |
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| 308 | if (packet[2] == intersectionNum){ |
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| 309 | switch (state){
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| 310 | case SINTERSECTION_WAIT:
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| 311 | if(packet[1]==queuePrevBot){ |
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| 312 | queuePrevBot=-1;
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| 313 | return KFIRSTINQUEUE;
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| 314 | } |
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| 315 | } |
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| 316 | } |
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| 317 | break;
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| 318 | case WINTERSECTIONGO: //[type, bot, intersection] |
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| 319 | break;
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| 320 | case WINTERSECTIONPOLICEENTRY: //[?] |
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| 321 | return ENOACTION;
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| 322 | break;
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| 323 | case WINTERSECTIONRESOLVERACE: //[type, bot, intersection, num] |
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| 324 | //in the case robots draw the same number these will be
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| 325 | //arbitrated using the sending robot's id, prefering
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| 326 | //lower ids
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| 327 | DBG_USBS("Now in wireless WINTERSECTIONRESOLVERACE handler: resolvPrevBotID: ");
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| 328 | DBG_USBI((int) resolvPrevBotID);
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| 329 | DBG_USBS("\n");
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| 330 | if (packet[2] == intersectionNum){ |
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| 331 | switch (state){
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| 332 | case SINTERSECTION_ENTER:
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| 333 | case SINTERSECTION_ENTER_RESOLV:
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| 334 | if(resolvPrevBotID == (char) -3){ |
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| 335 | DBG_USBS("resolvPrevBotID == -3; sending a resolv packet and setting to -2\n");
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| 336 | trafficNavigation::sendResolv(false);
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| 337 | resolvPrevBotID = -2;
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| 338 | } |
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| 339 | if((unsigned char) packet[3] == resolvDraw && id > packet[1]){ |
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| 340 | //other bot drew same number as me,
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| 341 | //and i have a higher id, so it goes first.
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| 342 | DBG_USBS("bot ");
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| 343 | DBG_USBI(packet[1]);
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| 344 | DBG_USBS(" Drew the same number as me and I have a higher id, so it goes first\n");
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| 345 | resolvPrevBotID = packet[1];
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| 346 | } else if((unsigned char) packet[3] == resolvPrevBotDraw && resolvPrevBotID > packet[1]){ |
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| 347 | //other bot drew same number as the bot before me,
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| 348 | //so if it has a higher id than the bot before me,
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| 349 | //it is going to go in between that one and me.
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| 350 | DBG_USBS("bot ");
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| 351 | DBG_USBI(packet[1]);
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| 352 | DBG_USBS(" 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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| 353 | resolvPrevBotID = packet[1];
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| 354 | } else if((unsigned char)packet[3] < resolvDraw && (unsigned char)packet[3] > resolvPrevBotDraw){ |
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| 355 | //found a bot that goes in between the bot before me
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| 356 | //and me, so now it is before me.
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| 357 | DBG_USBS("bot ");
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| 358 | DBG_USBI(packet[1]);
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| 359 | DBG_USBS(" 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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| 360 | resolvPrevBotDraw = packet[3];
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| 361 | resolvPrevBotID = packet[1];
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| 362 | } |
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| 363 | return KRESOLVINGENTER;
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| 364 | break;
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| 365 | case SINTERSECTION_WAIT:
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| 366 | case SINTERSECTION_DRIVE:
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| 367 | DBG_USBS("Trying to resolv in non resolv case...queueNextbot = "); DBG_USBI(queueNextBot); DBG_USBS("\n"); |
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| 368 | if(queueNextBot == (char) -1){ |
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| 369 | trafficNavigation::sendResolv(true);
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| 370 | } |
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| 371 | return KRESOLVINGENTER;
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| 372 | break;
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| 373 | } |
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| 374 | |||
| 375 | } |
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| 376 | break;
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| 377 | case WHIGHWAYENTRY: //[type, bot, highway] |
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| 378 | return ENOACTION;
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| 379 | break;
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| 380 | case WHIGHWAYREPLY: //[type, fromBot, highway, toBot] |
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| 381 | return ENOACTION;
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| 382 | break;
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| 383 | case WHIGHWAYEXIT: //[type, bot, highway] |
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| 384 | return ENOACTION;
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| 385 | break;
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| 386 | case WPINGGLOBAL: //[type, bot] |
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| 387 | return ENOACTION;
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| 388 | break;
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| 389 | case WPINGBOT: //[type, fromBot, toBot] |
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| 390 | return ENOACTION;
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| 391 | break;
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| 392 | case WPINGQUEUE: //[type, fromBot, toBot] |
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| 393 | return ENOACTION;
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| 394 | break;
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| 395 | case WPINGREPLY: //[type, fromBot, toBot] |
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| 396 | return ENOACTION;
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| 397 | break;
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| 398 | case WCOLLISIONAVOID: //[type, bot, intersection, collision-int] //Note: collision is an int and thus takes two spaces |
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| 399 | return ENOACTION;
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| 400 | break;
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| 401 | default:
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| 402 | return ENOACTION;
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| 403 | break;
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| 404 | } |
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| 405 | } |
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| 406 | |||
| 407 | unsigned char trafficNavigation::resolvRandomNumberGen(){ |
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| 408 | if ((resolvSeed *= (rtc_get() + encoder_read(LEFT))%9) == 0){ |
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| 409 | return resolvSeed + 1; //0 is a reseved priority value for the last |
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| 410 | //bot that is already in the queue.
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| 411 | } |
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| 412 | return resolvSeed;
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| 413 | } |
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| 414 | void trafficNavigation::sendResolv(bool override){ |
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| 415 | if(!override)
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| 416 | resolvDraw = trafficNavigation::resolvRandomNumberGen(); |
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| 417 | else
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| 418 | resolvDraw = 0;
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| 419 | sendBuffer[0] = WINTERSECTIONRESOLVERACE;
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| 420 | sendBuffer[2] = intersectionNum;
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| 421 | sendBuffer[3] = resolvDraw;
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| 422 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 423 | } |
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| 424 | void trafficNavigation::enterIntersection(void){ |
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| 425 | //Sends packet announcing its entry to the intersection
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| 426 | sendBuffer[0] = WINTERSECTIONENTRY;
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| 427 | sendBuffer[2] = intersectionNum;//Intersection # |
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| 428 | sendBuffer[3] = 0; //getIntersectPos(sign); |
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| 429 | sendBuffer[4] = turnDir;
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| 430 | wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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| 431 | } |