root / scout / libscout / src / behaviors / trafficNavigation.cpp @ c840fbe6
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/**
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include "trafficNavigation.h" |
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#include "../linefollowing/lineDrive.h" |
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#define DEBUG_INTERSECTION
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#ifdef MAIN_NEW
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#ifdef DEBUG_INTERSECTION
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#define DBG_USBS(str) usb_puts(str)
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#define DBG_USBI(x) usb_puti(x)
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#else
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#define DBG_USBS(str)
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#define DBG_USBI(x)
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#endif
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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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//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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void trafficNavigation::run()
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{ |
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/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
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id = get_robotid(); |
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sign = 0;
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delay_ms(500);
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//Test code
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state = SROAD; |
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sendBuffer[1] = id;
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while (ok()) {
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/*DTN Finite State Machine*/
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switch(state){
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case SROAD:/*Following a normal road*/ |
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start(); |
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done = false;
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//finishes when reads a barcode: TODO: how do we detect intersections now?
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while(!done){
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sign = lineDrive::doDrive(180);
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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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DBG_USBS("Read Barcode #:");
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DBG_USBI(sign); |
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DBG_USBS("\n");
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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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case SINTERSECTION_ENTER:/*Entering, and in intersection*/ |
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stop(); |
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lineDrive::doDrive(0);
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DBG_USBS("STATE: SINTERSECTION_ENTER\n");
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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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intersectionNum = getIntersectNum(sign); |
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if(intersectionNum == (char) -1){ //invalid |
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state = SROAD; |
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DBG_USBS("Barcode has invalid intersectionNum\n");
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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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DBG_USBS("Barcode has invalid turn\n");
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break;
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} |
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trafficNavigation::enterIntersection(); //sends wireless packet for entry
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state = SINTERSECTION_WAIT; |
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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() < 8 && !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() > 6 && !retried){//by now all resolvs should be done from bots that arrived earlier... |
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trafficNavigation::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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done = true;
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break;
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case KFAILEDTOQUEUE:
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DBG_USBS("Failed to queue\n");
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trafficNavigation::enterIntersection(); |
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rtc_reset(); |
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break;
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case KRESOLVINGENTER:
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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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case SINTERSECTION_ENTER_RESOLV:
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DBG_USBS("STATE: SINTERSECTION_ENTER_RESOLV\n");
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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() < 4 && !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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break;
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case KPLACEDINQUEUE:
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done = true;
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break;
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case KFAILEDTOQUEUE:
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DBG_USBS("Failed to queue\n");
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trafficNavigation::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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trafficNavigation::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() > 2){ |
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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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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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DBG_USBS("STATE: SINTERSECTION_WAIT\n");
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done = false;
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while(queuePrevBot != (char) -1){ |
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done = true;
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int ret = wirelessPacketHandle(state);
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if (ret==KFIRSTINQUEUE) state = SINTERSECTION_DRIVE;
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} |
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//hack to make sure bot that just left intersection is
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//really out of the intersection.
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rtc_reset(); |
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while(rtc_get() < 2 && done){//wait one second |
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wirelessPacketHandle(state); |
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} |
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state = SINTERSECTION_DRIVE; |
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break;
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case SINTERSECTION_DRIVE:
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DBG_USBS("STATE: SINTERSECTION_DRIVE\n");
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start(); |
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turn(getIntersectType(sign), turnDir); |
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//Exits intersection
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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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state = SROAD; |
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break;
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default:
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DBG_USBS("I got stuck in an unknown state (Likely highway) My state is ");
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DBG_USBI(state); |
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} |
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} |
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} |
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int trafficNavigation::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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/* sanity check */
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if(dataLength == 0 || packet == NULL) //no packet |
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return ENOPACKET;
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if(dataLength != PACKET_LENGTH)
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return EPACKETLEN;
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DBG_USBS("Recieved Wireless Packet: ");
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for(int i = 0; i < dataLength; i++){ |
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DBG_USBI(packet[i]); |
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DBG_USBS(" ");
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} |
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DBG_USBS("\n");
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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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trafficNavigation::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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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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DBG_USBS("Now in wireless WINTERSECTIONRESOLVERACE handler: resolvPrevBotID: ");
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DBG_USBI((int) resolvPrevBotID);
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DBG_USBS("\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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DBG_USBS("resolvPrevBotID == -3; sending a resolv packet and setting to -2\n");
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trafficNavigation::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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DBG_USBS("bot ");
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DBG_USBI(packet[1]);
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DBG_USBS(" 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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DBG_USBS("bot ");
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DBG_USBI(packet[1]);
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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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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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DBG_USBS("bot ");
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DBG_USBI(packet[1]);
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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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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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DBG_USBS("Trying to resolv in non resolv case...queueNextbot = "); DBG_USBI(queueNextBot); DBG_USBS("\n"); |
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if(queueNextBot == (char) -1){ |
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trafficNavigation::sendResolv(true);
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} |
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return KRESOLVINGENTER;
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break;
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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;
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case WHIGHWAYREPLY: //[type, fromBot, highway, toBot] |
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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;
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break;
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case WPINGQUEUE: //[type, fromBot, toBot] |
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return ENOACTION;
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break;
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case WPINGREPLY: //[type, fromBot, toBot] |
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return ENOACTION;
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break;
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case WCOLLISIONAVOID: //[type, bot, intersection, collision-int] //Note: collision is an int and thus takes two spaces |
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return ENOACTION;
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break;
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default:
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return ENOACTION;
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break;
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} |
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} |
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unsigned char trafficNavigation::resolvRandomNumberGen(){ |
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if ((resolvSeed *= (rtc_get() + encoder_read(LEFT))%9) == 0){ |
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return resolvSeed + 1; //0 is a reseved priority value for the last |
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//bot that is already in the queue.
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} |
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return resolvSeed;
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} |
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void trafficNavigation::sendResolv(bool override){ |
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if(!override)
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resolvDraw = trafficNavigation::resolvRandomNumberGen(); |
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else
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resolvDraw = 0;
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sendBuffer[0] = WINTERSECTIONRESOLVERACE;
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sendBuffer[2] = intersectionNum;
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sendBuffer[3] = resolvDraw;
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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} |
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void trafficNavigation::enterIntersection(void){ |
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//Sends packet announcing its entry to the intersection
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sendBuffer[0] = WINTERSECTIONENTRY;
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sendBuffer[2] = intersectionNum;//Intersection # |
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sendBuffer[3] = 0; //getIntersectPos(sign); |
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sendBuffer[4] = turnDir;
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wl_basic_send_global_packet(42, sendBuffer, PACKET_LENGTH);
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} |