#include "strat.h"
#include "sensor.h"
#include "i2c_protocol.h"
+#include "robotsim.h"
/* true if we want to interrupt a trajectory */
static uint8_t traj_intr=0;
+/* to debug state of strat_obstacle() */
+static uint8_t strat_obstacle_debug = 0;
+
/* filled when a END_OBSTACLE is returned */
struct opponent_obstacle opponent_obstacle;
strat_exit();
}
+
/* return true if we have to brake due to an obstacle */
uint8_t strat_obstacle(void)
{
int16_t opp_x, opp_y, opp_d, opp_a;
/* too slow */
- if (ABS(mainboard.speed_d) < 150)
+ if (ABS(mainboard.speed_d) < 100) {
+ if (strat_obstacle_debug != 1) {
+ DEBUG(E_USER_STRAT, "disable opp, too slow");
+ strat_obstacle_debug = 1;
+ }
return 0;
+ }
/* no opponent detected */
- if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a))
+ if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a) < 0) {
+ if (strat_obstacle_debug != 2) {
+ DEBUG(E_USER_STRAT, "no opponent found");
+ strat_obstacle_debug = 2;
+ }
return 0;
+ }
/* save obstacle position */
opponent_obstacle.x = opp_x;
opponent_obstacle.d = opp_d;
opponent_obstacle.a = opp_a;
- if (!is_in_area(opp_x, opp_y, 250))
+ if (!is_in_area(opp_x, opp_y, 250)) {
+ if (strat_obstacle_debug != 3) {
+ DEBUG(E_USER_STRAT,
+ "opponent not in area : d=%d, a=%d "
+ "x=%d y=%d (speed_d=%d)",
+ opp_d, opp_a, opp_x, opp_y, mainboard.speed_d);
+ strat_obstacle_debug = 3;
+ }
return 0;
+ }
/* sensor are temporarily disabled */
- if (sensor_obstacle_is_disabled())
+ if (sensor_obstacle_is_disabled()) {
+ if (strat_obstacle_debug != 4) {
+ DEBUG(E_USER_STRAT,
+ "sensor are disabled: opponent d=%d, a=%d "
+ "x=%d y=%d (speed_d=%d)",
+ opp_d, opp_a, opp_x, opp_y, mainboard.speed_d);
+ strat_obstacle_debug = 4;
+ }
return 0;
+ }
/* relative position */
x_rel = cos(RAD(opp_a)) * (double)opp_d;
y_rel = sin(RAD(opp_a)) * (double)opp_d;
/* opponent too far */
- if (opp_d > 500)
+ if (opp_d > 650) {
+ if (strat_obstacle_debug != 5) {
+ DEBUG(E_USER_STRAT, "opponent too far d=%d, a=%d "
+ "x=%d y=%d (speed_d=%d)",
+ opp_d, opp_a, opp_x, opp_y, mainboard.speed_d);
+ strat_obstacle_debug = 5;
+ }
return 0;
+ }
/* opponent is in front of us */
- if (mainboard.speed_d > 0 && (opp_a > 325 || opp_a < 35)) {
+ if ((mainboard.speed_d >= 0 && opp_d < 600 && (opp_a > 315 || opp_a < 45)) ||
+ (mainboard.speed_d >= 0 && opp_d < 800 && (opp_a > 330 || opp_a < 30))) {
DEBUG(E_USER_STRAT, "opponent front d=%d, a=%d "
"xrel=%d yrel=%d (speed_d=%d)",
opp_d, opp_a, x_rel, y_rel, mainboard.speed_d);
return 1;
}
/* opponent is behind us */
- if (mainboard.speed_d < 0 && (opp_a < 215 && opp_a > 145)) {
+ if ((mainboard.speed_d < 0 && opp_d < 600 && (opp_a < 225 && opp_a > 135)) ||
+ (mainboard.speed_d < 0 && opp_d < 800 && (opp_a < 210 && opp_a > 150))) {
DEBUG(E_USER_STRAT, "opponent behind d=%d, a=%d xrel=%d yrel=%d",
opp_d, opp_a, x_rel, y_rel);
sensor_obstacle_disable();
return 1;
}
+ if (strat_obstacle_debug != 6) {
+ DEBUG(E_USER_STRAT, "opponent not in cone d=%d, a=%d "
+ "x=%d y=%d (speed_d=%d)",
+ opp_d, opp_a, opp_x, opp_y, mainboard.speed_d);
+ strat_obstacle_debug = 6;
+ }
+
return 0;
}
return END_OBSTACLE;
}
+#ifdef HOST_VERSION
+ if (robotsim_blocking) {
+ robotsim_blocking = 0;
+ return END_BLOCKING;
+ }
+#endif
return 0;
}