projects/microb2010/mainboard/strat.c

   1 /*
   2  *  Copyright Droids, Microb Technology (2009)
   3  *
   4  *  This program is free software; you can redistribute it and/or modify
   5  *  it under the terms of the GNU General Public License as published by
   6  *  the Free Software Foundation; either version 2 of the License, or
   7  *  (at your option) any later version.
   8  *
   9  *  This program is distributed in the hope that it will be useful,
  10  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  *  GNU General Public License for more details.
  13  *
  14  *  You should have received a copy of the GNU General Public License
  15  *  along with this program; if not, write to the Free Software
  16  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  17  *
  18  *  Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
  19  *
  20  *  Olivier MATZ <zer0@droids-corp.org>
  21  */
  22
  23 #include <stdio.h>
  24 #include <stdlib.h>
  25 #include <string.h>
  26 #include <math.h>
  27
  28 #include <aversive/pgmspace.h>
  29 #include <aversive/queue.h>
  30 #include <aversive/wait.h>
  31 #include <aversive/error.h>
  32
  33 #include <ax12.h>
  34 #include <uart.h>
  35 #include <pwm_ng.h>
  36 #include <clock_time.h>
  37 #include <spi.h>
  38
  39 #include <pid.h>
  40 #include <quadramp.h>
  41 #include <control_system_manager.h>
  42 #include <trajectory_manager.h>
  43 #include <trajectory_manager_utils.h>
  44 #include <trajectory_manager_core.h>
  45 #include <vect_base.h>
  46 #include <lines.h>
  47 #include <polygon.h>
  48 #include <obstacle_avoidance.h>
  49 #include <blocking_detection_manager.h>
  50 #include <robot_system.h>
  51 #include <position_manager.h>
  52
  53 #include <diagnostic.h>
  54
  55 #include <rdline.h>
  56 #include <parse.h>
  57
  58 #include "../common/i2c_commands.h"
  59 #include "i2c_protocol.h"
  60 #include "main.h"
  61 #include "cs.h"
  62 #include "strat.h"
  63 #include "strat_db.h"
  64 #include "strat_base.h"
  65 #include "strat_corn.h"
  66 #include "strat_utils.h"
  67 #include "strat_avoid.h"
  68 #include "sensor.h"
  69 #include "actuator.h"
  70
  71 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
  72 #define COL_SCAN_PRE_MARGIN 250
  73
  74 static volatile uint8_t strat_running = 0;
  75 volatile uint8_t strat_want_pack = 0;
  76 volatile uint8_t strat_lpack60 = 0;
  77 volatile uint8_t strat_rpack60 = 0;
  78
  79 volatile uint8_t strat_opponent_lpack = 0;
  80 volatile uint8_t strat_opponent_rpack = 0;
  81
  82 struct strat_conf strat_conf = {
  83         .dump_enabled = 0,
  84         .opp_orange = 90,
  85         .orphan_tomato = 45,
  86         .flags = 0,
  87 };
  88
  89 /*************************************************************/
  90
  91 /*                  INIT                                     */
  92
  93 /*************************************************************/
  94
  95 /* called before each strat, and before the start switch */
  96 void strat_preinit(void)
  97 {
  98         time_reset();
  99         interrupt_traj_reset();
 100         mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
 101                 DO_POS | DO_BD | DO_POWER;
 102
 103         strat_db_init();
 104         strat_conf.prev_wait_obstacle = -5;
 105         strat_conf_dump(__FUNCTION__);
 106         strat_db_dump(__FUNCTION__);
 107 }
 108
 109 void strat_conf_dump(const char *caller)
 110 {
 111         if (!strat_conf.dump_enabled)
 112                 return;
 113
 114         printf_P(PSTR("-- conf --\r\n"));
 115         printf_P(PSTR("our_orange = %s\r\n"),
 116                  (strat_conf.flags & STRAT_CONF_OUR_ORANGE) ? "y":"n");
 117         printf_P(PSTR("wait_obstacle = %s\r\n"),
 118                  (strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE) ? "y":"n");
 119         printf_P(PSTR("straight begin = %s\r\n"),
 120                  (strat_conf.flags & STRAT_CONF_STRAIGHT_BEGIN) ? "y":"n");
 121         printf_P(PSTR("opp_orange = %d\r\n"), strat_conf.opp_orange);
 122         printf_P(PSTR("orphan_tomato = %d\r\n"), strat_conf.orphan_tomato);
 123 }
 124
 125 void strat_event_enable(void)
 126 {
 127         strat_running = 1;
 128 }
 129
 130 void strat_event_disable(void)
 131 {
 132         strat_running = 0;
 133 }
 134
 135 /* call it just before launching the strat */
 136 void strat_init(void)
 137 {
 138 #ifdef HOST_VERSION
 139         position_set(&mainboard.pos, 298.16,
 140                      COLOR_Y(308.78), COLOR_A(70.00));
 141 #endif
 142
 143         /* we consider that the color is correctly set */
 144         strat_running = 1;
 145         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 146         time_reset();
 147         interrupt_traj_reset();
 148
 149         i2c_cobboard_deploy(I2C_LEFT_SIDE);
 150         i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 151         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 152         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 153
 154         /* used in strat_base for END_TIMER */
 155         mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 156                 DO_POS | DO_BD | DO_TIMER | DO_POWER;
 157 }
 158
 159 /* call it after each strat */
 160 void strat_exit(void)
 161 {
 162 #ifndef HOST_VERSION
 163         uint8_t flags;
 164 #endif
 165
 166         strat_running = 0;
 167         mainboard.flags &= ~(DO_TIMER);
 168         strat_hardstop();
 169         time_reset();
 170         wait_ms(100);
 171 #ifndef HOST_VERSION
 172         IRQ_LOCK(flags);
 173         mainboard.flags &= ~(DO_CS);
 174         IRQ_UNLOCK(flags);
 175         pwm_ng_set(LEFT_PWM, 0);
 176         pwm_ng_set(RIGHT_PWM, 0);
 177 #endif
 178 }
 179
 180 /* mark tomato as not present */
 181 static void check_tomato(void)
 182 {
 183         int16_t x, y;
 184         uint8_t i, j;
 185         static uint8_t prev_check_time;
 186         uint8_t cur_time;
 187
 188         /* check present tomatoes once per second */
 189         cur_time = time_get_s();
 190         if (cur_time != prev_check_time) {
 191                 uint8_t k;
 192
 193                 for (k = 0; k < TOMATO_NB; k++) {
 194                         if (strat_db.tomato_table[k]->present == 1 &&
 195                             strat_db.tomato_table[k]->time_removed != -1 &&
 196                             strat_db.tomato_table[k]->time_removed + 2 <= time_get_s()) {
 197 #ifdef HOST_VERSION
 198                                 printf("remove tomato %d\n", k);
 199 #endif
 200                                 strat_db.tomato_table[k]->present = 0;
 201                         }
 202                 }
 203                 prev_check_time = cur_time;
 204         }
 205
 206         x = position_get_x_s16(&mainboard.pos);
 207         y = position_get_y_s16(&mainboard.pos);
 208
 209         if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
 210                 return;
 211
 212         if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
 213                 return;
 214
 215         if (strat_db.wp_table[i][j].present == 0)
 216                 return;
 217
 218         strat_db.wp_table[i][j].time_removed = time_get_s();
 219         strat_db.wp_table[i][j].present = 0;
 220 #ifdef HOST_VERSION
 221         ballboard.ball_count ++;
 222         printf("add ball %d,%d\n", i, j);
 223 #endif
 224 }
 225
 226 static void remove_cob(uint8_t idx)
 227 {
 228         if (strat_db.corn_table[idx]->corn.color == I2C_COB_BLACK)
 229                 return;
 230
 231         if (strat_db.corn_table[idx]->time_removed == -1) {
 232                 strat_db.corn_table[idx]->time_removed = time_get_s();
 233 #ifdef HOST_VERSION
 234                 cobboard.cob_count ++;
 235                 printf("add cob %d\n", idx);
 236 #endif
 237         }
 238 }
 239
 240 /* mark corn as not present and give correct commands to the cobboard
 241  * for spickles */
 242 static void check_corn(void)
 243 {
 244         uint8_t flags;
 245         int8_t lcob_near, rcob_near;
 246         uint8_t lcob, rcob;
 247         uint8_t lidx, ridx;
 248         static uint8_t prev_check_time;
 249         uint8_t cur_time;
 250         uint8_t need_lpack, need_rpack;
 251         int16_t l_xspickle, l_yspickle;
 252         int16_t r_xspickle, r_yspickle;
 253         uint8_t l_y_too_high_pack = 0, r_y_too_high_pack = 0;
 254
 255         /* read sensors from ballboard */
 256         IRQ_LOCK(flags);
 257         lcob = ballboard.lcob;
 258         ballboard.lcob = I2C_COB_NONE;
 259         rcob = ballboard.rcob;
 260         ballboard.rcob = I2C_COB_NONE;
 261         IRQ_UNLOCK(flags);
 262
 263         /* check present cobs once per second */
 264         cur_time = time_get_s();
 265         if (cur_time != prev_check_time) {
 266                 uint8_t i;
 267
 268                 /* only useful for simu */
 269                 for (i = 0; i < CORN_NB; i++) {
 270                         if (strat_db.corn_table[i]->present == 1 &&
 271                             strat_db.corn_table[i]->time_removed != -1 &&
 272                             strat_db.corn_table[i]->time_removed + 2 <= time_get_s()) {
 273 #ifdef HOST_VERSION
 274                                 printf("remove cob %d\n", i);
 275 #endif
 276                                 strat_db.corn_table[i]->present = 0;
 277                         }
 278                 }
 279                 prev_check_time = cur_time;
 280         }
 281
 282         /* detect cob on left side */
 283         lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE,
 284                                  &l_xspickle, &l_yspickle);
 285         if (lcob_near && lcob != I2C_COB_NONE) {
 286                 if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
 287                         DEBUG(E_USER_STRAT, "lcob %s %d",
 288                               lcob == I2C_COB_WHITE ? "white" : "black", lidx);
 289                 corn_set_color(strat_db.corn_table[lidx], lcob);
 290         }
 291         if (cur_time > 5 && !__y_is_more_than(l_yspickle, 600))
 292                 l_y_too_high_pack = 1;
 293
 294         /* detect cob on right side */
 295         rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE,
 296                                  &r_xspickle, &r_yspickle);
 297         if (rcob_near && rcob != I2C_COB_NONE) {
 298                 if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
 299                         DEBUG(E_USER_STRAT, "rcob %s %d",
 300                               rcob == I2C_COB_WHITE ? "white" : "black", ridx);
 301                 corn_set_color(strat_db.corn_table[ridx], rcob);
 302         }
 303         if (cur_time > 5 && !__y_is_more_than(r_yspickle, 600))
 304                 r_y_too_high_pack = 1;
 305
 306         /* re-enable white cob */
 307         if (lcob == I2C_COB_WHITE && lcob_near &&
 308             strat_db.corn_table[lidx]->present == 0) {
 309                 strat_db.corn_table[lidx]->present = 1;
 310                 strat_db.corn_table[lidx]->time_removed = -1;
 311         }
 312         if (rcob == I2C_COB_WHITE && rcob_near &&
 313             strat_db.corn_table[ridx]->present == 0) {
 314                 strat_db.corn_table[ridx]->present = 1;
 315                 strat_db.corn_table[ridx]->time_removed = -1;
 316         }
 317
 318         /* control the cobboard mode for left spickle */
 319         need_lpack = get_cob_count() >= 5 || strat_want_pack ||
 320                 strat_lpack60 || strat_opponent_lpack || l_y_too_high_pack;
 321
 322         if (lcob_near &&
 323             (strat_db.corn_table[lidx]->present ||
 324              strat_db.corn_table[lidx]->time_removed == -1)) {
 325                 if (need_lpack) {
 326                         /* nothing  */
 327                 }
 328                 else {
 329                         /* deploy spickle and harvest white ones */
 330                         if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
 331                                 i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
 332                         else
 333                                 i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
 334                         remove_cob(lidx);
 335                 }
 336         }
 337         else {
 338                 /* no cob near us, we can pack or deploy freely */
 339                 if (need_lpack)
 340                         i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
 341                 else
 342                         i2c_cobboard_deploy(I2C_LEFT_SIDE);
 343         }
 344
 345         /* control the cobboard mode for right spickle */
 346         need_rpack = get_cob_count() >= 5 || strat_want_pack ||
 347                 strat_rpack60 || strat_opponent_rpack || r_y_too_high_pack;
 348         if (rcob_near &&
 349             (strat_db.corn_table[ridx]->present ||
 350              strat_db.corn_table[ridx]->time_removed == -1)) {
 351                 if (need_rpack) {
 352                         /* nothing */
 353                 }
 354                 else {
 355                         /* deploy spickle and harvest white ones */
 356                         if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
 357                                 i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
 358                         else
 359                                 i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
 360                         remove_cob(ridx);
 361                 }
 362         }
 363         else {
 364                 /* no cob near us, we can pack or deploy freely */
 365                 if (need_rpack)
 366                         i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
 367                 else
 368                         i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 369         }
 370 }
 371
 372 /* check opponent position */
 373 void check_opponent(void)
 374 {
 375         int16_t opp_x, opp_y;
 376         int16_t opp_d, opp_a;
 377         uint8_t i, j;
 378
 379         strat_opponent_lpack = 0;
 380         strat_opponent_rpack = 0;
 381
 382         if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a) < 0)
 383                 return;
 384
 385         /* pack spickles if opponent too close */
 386         if (opp_d < 600) {
 387                 if (opp_a > 45 && opp_a < 135)
 388                         strat_opponent_lpack = 1;
 389                 if (opp_a > 225 && opp_a < 315)
 390                         strat_opponent_rpack = 1;
 391         }
 392
 393         /* check for oranges after 5 seconds */
 394         if (time_get_s() > 5) {
 395                 if (mainboard.our_color == I2C_COLOR_YELLOW) {
 396                         if (opp_y < 500 && opp_x < 500)
 397                                 strat_db.our_oranges_count = 0;
 398                         if (opp_y < 500 && opp_x > AREA_X - 500)
 399                                 strat_db.opp_oranges_count = 0;
 400                 }
 401                 else {
 402                         if (opp_y > AREA_Y - 500 && opp_x < 500)
 403                                 strat_db.our_oranges_count = 0;
 404                         if (opp_y > AREA_Y - 500 && opp_x > AREA_X - 500)
 405                                 strat_db.opp_oranges_count = 0;
 406                 }
 407         }
 408
 409         /* malus for some tomatoes and cobs, visited by opponent */
 410         if (xycoord_to_ijcoord(&opp_x, &opp_y, &i, &j) < 0)
 411                 return;
 412
 413         strat_db.wp_table[i][j].opp_visited = 1;
 414 }
 415
 416 /* called periodically (10ms) */
 417 void strat_event(void *dummy)
 418 {
 419         /* ignore when strat is not running */
 420         if (strat_running == 0)
 421                 return;
 422
 423         check_opponent();
 424         check_tomato();
 425         check_corn();
 426
 427         /* limit speed when opponent is near */
 428         /* disabled for 2010, we are already slow :) */
 429         //strat_limit_speed();
 430 }
 431
 432 /* check that we are on an eject line */
 433 static uint8_t robot_is_on_eject_line(void)
 434 {
 435         int16_t x, y;
 436         uint8_t i, j;
 437
 438         x = position_get_x_s16(&mainboard.pos);
 439         y = position_get_y_s16(&mainboard.pos);
 440
 441         if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
 442                 return 0;
 443
 444         if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
 445             !wp_belongs_to_line(i, j, 2, LINE_R_UP))
 446                 return 0;
 447
 448         return 1;
 449 }
 450
 451 /* 0 = fast, 1 = slow */
 452 static uint8_t eject_select_speed(void)
 453 {
 454         int16_t x, y;
 455         uint8_t i, j;
 456
 457         x = position_get_x_s16(&mainboard.pos);
 458         y = position_get_y_s16(&mainboard.pos);
 459
 460         if (get_cob_count() >= 5) {
 461                 strat_want_pack = 1;
 462                 return 0; /* fast */
 463         }
 464
 465         if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
 466                 DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
 467                       __FUNCTION__, x, y);
 468                 return 1; /* slow */
 469         }
 470
 471         if (corn_count_neigh(i, j) == 2)
 472                 return 1; /* slow */
 473
 474         return 0; /* fast */
 475 }
 476
 477 /* called multiple times while we are waiting to reach the ejection
 478  * point */
 479 static uint8_t speedify_eject(void)
 480 {
 481         if (eject_select_speed())
 482                 strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 483         else
 484                 strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 485         return 0;
 486 }
 487
 488 /* must be called from a terminal line */
 489 static uint8_t strat_eject(void)
 490 {
 491         uint8_t err;
 492
 493         DEBUG(E_USER_STRAT, "%s() cob_count=%d ball_count=%d",
 494               __FUNCTION__, get_cob_count(), get_ball_count());
 495
 496         /* check that we are called from an eject line */
 497         if (!robot_is_on_eject_line()) {
 498                 DEBUG(E_USER_STRAT, "%s() not on eject line", __FUNCTION__);
 499                 return END_ERROR;
 500         }
 501
 502         /* go to eject point */
 503         trajectory_goto_forward_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
 504         err = WAIT_COND_OR_TRAJ_END(speedify_eject(),
 505                                     TRAJ_FLAGS_NO_NEAR);
 506         /* err is never == 0 because speedify_eject() always return 0 */
 507         if (!TRAJ_SUCCESS(err))
 508                 return err;
 509
 510         /* pack arms (force), and disable strat_event */
 511         strat_event_disable();
 512         i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
 513         i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
 514
 515         /* ball ejection */
 516         if (get_ball_count() > 0) {
 517                 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
 518                 time_wait_ms(300);
 519                 trajectory_a_abs(&mainboard.traj, COLOR_A(70));
 520                 err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 521                 if (!TRAJ_SUCCESS(err))
 522                         goto fail;
 523
 524                 DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 525                 strat_hardstop();
 526 #ifdef HOST_VERSION
 527                 time_wait_ms(2000);
 528 #else
 529                 WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
 530                                      2000);
 531 #endif
 532         }
 533         else {
 534                 /* to pack spickles */
 535                 time_wait_ms(300);
 536         }
 537
 538         if (get_cob_count() > 0 ||
 539             cobboard.status == I2C_COBBOARD_STATUS_LBUSY ||
 540             cobboard.status == I2C_COBBOARD_STATUS_RBUSY) {
 541                 /* half turn */
 542                 trajectory_a_abs(&mainboard.traj, COLOR_A(-110));
 543                 err = wait_traj_end(END_INTR|END_TRAJ);
 544                 if (!TRAJ_SUCCESS(err))
 545                         goto fail;
 546
 547                 /* cob ejection */
 548                 trajectory_d_rel(&mainboard.traj, -70);
 549                 err = wait_traj_end(END_INTR|END_TRAJ);
 550                 if (!TRAJ_SUCCESS(err))
 551                         goto fail;
 552
 553                 i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
 554                 time_wait_ms(2000);
 555
 556
 557                 /* cob ejection */
 558                 trajectory_d_rel(&mainboard.traj, 70);
 559                 err = wait_traj_end(END_INTR|END_TRAJ);
 560                 if (!TRAJ_SUCCESS(err))
 561                         goto fail;
 562         }
 563
 564         strat_db_dump(__FUNCTION__);
 565         err = END_TRAJ;
 566
 567  fail:
 568         strat_event_enable();
 569         strat_want_pack = 0;
 570         return err;
 571 }
 572
 573 static uint8_t strat_beginning(uint8_t do_initturn)
 574 {
 575         uint8_t err;
 576
 577         strat_set_acc(ACC_DIST, ACC_ANGLE);
 578
 579         if (do_initturn) {
 580                 //strat_set_speed(600, 60);
 581                 //strat_set_speed(450, 50);
 582                 strat_set_speed(350, 40);
 583                 trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
 584                 err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 585                                             TRAJ_FLAGS_STD);
 586         }
 587
 588         strat_set_acc(ACC_DIST, ACC_ANGLE);
 589         strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 590
 591  l1:
 592         err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
 593         if (err == END_OBSTACLE &&
 594             strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
 595             time_get_s() > strat_conf.prev_wait_obstacle + 5) {
 596                 strat_conf.prev_wait_obstacle = time_get_s();
 597                 time_wait_ms(2000);
 598                 goto l1;
 599         }
 600         if (!TRAJ_SUCCESS(err))
 601                 return err;
 602
 603  l2:
 604         err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
 605         if (err == END_OBSTACLE &&
 606             strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
 607             time_get_s() > strat_conf.prev_wait_obstacle + 5) {
 608                 strat_conf.prev_wait_obstacle = time_get_s();
 609                 time_wait_ms(2000);
 610                 goto l2;
 611         }
 612         if (!TRAJ_SUCCESS(err)) {
 613                 return err;
 614         }
 615
 616         return END_TRAJ;
 617 }
 618
 619 static uint8_t strat_beginning2(uint8_t do_initturn)
 620 {
 621         uint8_t err;
 622
 623         strat_set_acc(ACC_DIST, ACC_ANGLE);
 624
 625         if (do_initturn) {
 626                 strat_set_speed(600, 95); /* OK */
 627                 trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(-40));
 628                 err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
 629                                             TRAJ_FLAGS_STD);
 630                 if (err == 0)
 631                         return END_TRAJ;
 632         }
 633         else {
 634                 trajectory_goto_forward_xy_abs(&mainboard.traj,
 635                                                375, COLOR_Y(597));
 636                 err = wait_traj_end(TRAJ_FLAGS_STD);
 637         }
 638         return err;
 639 }
 640
 641 /* dump state (every 5 s max) */
 642 #define DUMP_RATE_LIMIT(dump, last_print)               \
 643         do {                                            \
 644                 if (time_get_s() - last_print > 5) {    \
 645                         dump();                         \
 646                         last_print = time_get_s();      \
 647                 }                                       \
 648         } while (0)
 649
 650
 651 #if 0
 652 /* return true if we need to grab some more elements */
 653 static uint8_t need_more_elements(void)
 654 {
 655         if (time_get_s() <= 75) {
 656                 /* we have enough time left */
 657                 if (get_ball_count() >= 4)
 658                         return 0;
 659                 if (get_cob_count() >= 4)
 660                         return 0;
 661                 if ((get_ball_count() >= 2) &&
 662                     (get_cob_count() >= 2))
 663                         return 0;
 664                 return 1;
 665         }
 666         else {
 667                 /* not much time remaining */
 668                 if ((get_ball_count() >= 1) &&
 669                     (get_cob_count() >= 1))
 670                         return 0;
 671                 return 1;
 672         }
 673 }
 674 #endif
 675
 676 /* get tomatoes near our goals (12,5 and 12,3) */
 677 uint8_t get_opp_oranges(void)
 678 {
 679         int16_t x, y;
 680         uint8_t i, j;
 681         uint8_t err;
 682
 683         DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
 684
 685         /* only if oranges are present */
 686         if (strat_db.opp_oranges_count == 0)
 687                 return END_TRAJ;
 688
 689         strat_db.opp_oranges_count = 0;
 690         x = position_get_x_s16(&mainboard.pos);
 691         y = position_get_y_s16(&mainboard.pos);
 692
 693         if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
 694                 return END_ERROR;
 695
 696         /* not on eject point */
 697         if (i != 11 || j != 6)
 698                 return END_ERROR;
 699
 700         strat_want_pack = 1;
 701         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 702
 703         /* turn in the correct direction */
 704         trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
 705         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 706         if (!TRAJ_SUCCESS(err))
 707                 goto fail;
 708
 709         trajectory_goto_forward_xy_abs(&mainboard.traj, 2625, COLOR_Y(597));
 710         err = wait_traj_end(TRAJ_FLAGS_STD);
 711         if (!TRAJ_SUCCESS(err))
 712                 goto fail;
 713
 714         strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
 715         trajectory_goto_forward_xy_abs(&mainboard.traj, 2750, COLOR_Y(250));
 716         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 717         if (!TRAJ_SUCCESS(err))
 718                 goto fail;
 719
 720         err = run_to_the_hills(get_opponent_color());
 721
 722  fail:
 723         strat_want_pack = 0;
 724         return err;
 725 }
 726
 727 /* get tomatoes near our goals (12,5 and 12,3) */
 728 uint8_t get_orphan_tomatoes(void)
 729 {
 730 #define CLITOID_TOMATO_RADIUS 100.
 731 #define TOMATO_BACK_X 2780
 732 #define TOMATO_BACK_LEN 200
 733
 734         int16_t x, y, a;
 735         uint8_t i, j;
 736         uint8_t err;
 737         int8_t ret;
 738
 739         DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
 740
 741         /* only go if both tomatoes are present */
 742         if (!strat_db.wp_table[12][5].present ||
 743             !strat_db.wp_table[12][3].present) {
 744                 return END_TRAJ;
 745         }
 746
 747         x = position_get_x_s16(&mainboard.pos);
 748         y = position_get_y_s16(&mainboard.pos);
 749
 750         if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
 751                 return END_ERROR;
 752
 753         /* not on eject point */
 754         if (i != 11 || j != 6)
 755                 return END_ERROR;
 756
 757         strat_want_pack = 1;
 758         strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 759
 760         /* turn in the correct direction */
 761         trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
 762         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 763
 764         /* clitoid to turn and take the first ball */
 765         ret = trajectory_clitoid(&mainboard.traj, 2625, COLOR_Y(1847),
 766                                  COLOR_A(-90), 150., COLOR_A(90), 0,
 767                                  CLITOID_TOMATO_RADIUS, 3*125);
 768         if (ret < 0) {
 769                 err = END_ERROR;
 770                 goto fail;
 771         }
 772
 773         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 774         if (!TRAJ_SUCCESS(err))
 775                 goto fail;
 776
 777         strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 778         err = strat_calib(300, END_TRAJ|END_BLOCKING);
 779         a = position_get_a_deg_s16(&mainboard.pos);
 780         if (ABS(a) < 10)
 781                 strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_FRONT,
 782                                 DO_NOT_SET_POS,
 783                                 COLOR_A(0) + ROBOT_ANGLE_FRONT);
 784
 785         strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
 786         trajectory_d_rel(&mainboard.traj, -250);
 787         err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
 788                                     TRAJ_FLAGS_NO_NEAR);
 789
 790         if (err != 0 && !TRAJ_SUCCESS(err))
 791                 goto fail;
 792
 793         trajectory_d_a_rel(&mainboard.traj, -TOMATO_BACK_LEN, COLOR_A(-90));
 794         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 795
 796         /* next ball */
 797
 798         /* clitoid to turn and take the first ball */
 799         strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 800         ret = trajectory_clitoid(&mainboard.traj, 2625, COLOR_Y(1847),
 801                                  COLOR_A(-90), 150., COLOR_A(90), 0,
 802                                  CLITOID_TOMATO_RADIUS, 7*125);
 803         if (ret < 0) {
 804                 err = END_ERROR;
 805                 goto fail;
 806         }
 807         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 808         if (!TRAJ_SUCCESS(err))
 809                 goto fail;
 810
 811         strat_hardstop();
 812         strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
 813         trajectory_d_rel(&mainboard.traj, -250);
 814         err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
 815                                     TRAJ_FLAGS_NO_NEAR);
 816         trajectory_d_a_rel(&mainboard.traj, -TOMATO_BACK_LEN, COLOR_A(-90));
 817         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 818
 819 fail:
 820         strat_want_pack = 0;
 821         return err;
 822 }
 823
 824
 825 #define HILL_LEN 1000
 826
 827 #define HILL_ANGLE 0
 828 #define HILL_POSY_YELLOW 310
 829 #define HILL_POSY_BLUE 190
 830
 831 #define HILL_POSX_BALLS_DOWN1 830
 832 #define HILL_POSX_BALLS_DOWN2 920
 833 #define HILL_POSX_BALLS_DOWN3 730
 834 #define HILL_START_POSX 580
 835
 836 uint8_t prepare_hill(uint8_t orange_color, int16_t posx)
 837 {
 838         int16_t startx, starty;
 839         uint8_t our_color = get_color();
 840         uint8_t err;
 841
 842         strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
 843         if (orange_color == I2C_COLOR_YELLOW)
 844                 starty = HILL_POSY_YELLOW;
 845         else
 846                 starty = HILL_POSY_BLUE;
 847         if (orange_color == our_color)
 848                 startx = posx;
 849         else
 850                 startx = AREA_X - posx;
 851         trajectory_goto_forward_xy_abs(&mainboard.traj, startx, COLOR_Y(starty));
 852         err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
 853         if (!TRAJ_SUCCESS(err))
 854                 return err;
 855
 856         /* turn to the hills */
 857         if (orange_color == our_color)
 858                 trajectory_a_abs(&mainboard.traj, COLOR_A(HILL_ANGLE));
 859         else
 860                 trajectory_a_abs(&mainboard.traj, COLOR_A(-180+HILL_ANGLE));
 861         err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
 862         if (!TRAJ_SUCCESS(err))
 863                 return err;
 864
 865         return END_TRAJ;
 866 }
 867
 868 /* get oranges, must be called near game area */
 869 uint8_t run_to_the_hills(uint8_t orange_color)
 870 {
 871         double aa, ad;
 872         uint16_t sa, sd;
 873         uint8_t err;
 874         uint8_t our_color = get_color();
 875         int32_t p = pid_get_gain_P(&mainboard.angle.pid);
 876         int32_t i = pid_get_gain_I(&mainboard.angle.pid);
 877         int32_t d = pid_get_gain_D(&mainboard.angle.pid);
 878         int32_t max_in = pid_get_max_in(&mainboard.angle.pid);
 879         int32_t max_i = pid_get_max_I(&mainboard.angle.pid);
 880         int32_t max_out = pid_get_max_out(&mainboard.angle.pid);
 881
 882         strat_want_pack = 1;
 883         strat_get_acc(&ad, &aa);
 884         strat_get_speed(&sd, &sa);
 885
 886         DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
 887
 888         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 889         err = prepare_hill(orange_color, HILL_START_POSX);
 890         if (!TRAJ_SUCCESS(err))
 891                 return err;
 892
 893         strat_set_acc(5, ACC_ANGLE);
 894         strat_set_speed(300, SPEED_ANGLE_SLOW);
 895         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 2000000, 80);
 896         bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 2000000, 80);
 897         bd_set_speed_threshold(&mainboard.distance.bd, 10);
 898         support_balls_pack();
 899
 900         /* decrease angle gains */
 901         pid_set_gains(&mainboard.angle.pid, 200, 0, 2000);
 902
 903         /* here it is difficult to handle return values, because we
 904          * are on the hill */
 905         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
 906         trajectory_d_rel(&mainboard.traj, HILL_LEN);
 907         if (orange_color == our_color)
 908                 err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
 909                                             HILL_POSX_BALLS_DOWN1,
 910                                             TRAJ_FLAGS_SMALL_DIST);
 911         else
 912                 err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
 913                                             AREA_X - HILL_POSX_BALLS_DOWN1,
 914                                             TRAJ_FLAGS_SMALL_DIST);
 915         DEBUG(E_USER_STRAT, "deploy support balls");
 916         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
 917         support_balls_deploy();
 918         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_UP);
 919         trajectory_only_a_rel(&mainboard.traj, 2);
 920         err = WAIT_COND_OR_TE_TO(0, 0, 2200);
 921
 922         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
 923         strat_set_acc(3, 3);
 924         strat_hardstop();
 925         i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
 926
 927         time_wait_ms(500);
 928
 929         trajectory_d_rel(&mainboard.traj, 15);
 930         time_wait_ms(700);
 931         strat_hardstop();
 932         time_wait_ms(200);
 933
 934         /* reach top, go down */
 935         trajectory_d_a_rel(&mainboard.traj, -HILL_LEN, -2);
 936
 937         if (orange_color == our_color)
 938                 err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
 939                                             HILL_POSX_BALLS_DOWN2,
 940                                             TRAJ_FLAGS_SMALL_DIST);
 941         else
 942                 err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
 943                                             AREA_X - HILL_POSX_BALLS_DOWN2,
 944                                             TRAJ_FLAGS_SMALL_DIST);
 945         DEBUG(E_USER_STRAT, "pack support balls");
 946         support_balls_pack();
 947         if (orange_color == our_color)
 948                 err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
 949                                             HILL_POSX_BALLS_DOWN3,
 950                                             TRAJ_FLAGS_SMALL_DIST);
 951         else
 952                 err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
 953                                             AREA_X - HILL_POSX_BALLS_DOWN3,
 954                                             TRAJ_FLAGS_SMALL_DIST);
 955
 956         DEBUG(E_USER_STRAT, "deploy support balls");
 957         support_balls_deploy();
 958
 959         if (orange_color == I2C_COLOR_YELLOW) {
 960                 strat_set_acc(ad, aa);
 961                 strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 962         }
 963         else {
 964                 strat_set_acc(ad, 0.4);
 965                 strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
 966                 trajectory_d_a_rel(&mainboard.traj, -500, 20);
 967         }
 968
 969         /* wait to be near the wall */
 970         if (orange_color == our_color)
 971                 err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < 300,
 972                                             TRAJ_FLAGS_SMALL_DIST);
 973         else
 974                 err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
 975                                             AREA_X - 300,
 976                                             TRAJ_FLAGS_SMALL_DIST);
 977
 978         strat_set_acc(ad, aa);
 979         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 980
 981         /* restore BD coefs */
 982         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
 983         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
 984         bd_set_speed_threshold(&mainboard.distance.bd, 60);
 985
 986         /* calibrate position on the wall */
 987         strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_SLOW);
 988
 989         i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 990
 991         trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
 992         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 993         time_wait_ms(200);
 994
 995         err = strat_calib(400, TRAJ_FLAGS_SMALL_DIST);
 996         strat_reset_pos(DO_NOT_SET_POS,
 997                         COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
 998                         COLOR_A(-90) + ROBOT_ANGLE_FRONT);
 999         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
1000
1001         trajectory_d_rel(&mainboard.traj, -250);
1002         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
1003 #if 0
1004         if (orange_color == our_color)
1005                 trajectory_a_abs(&mainboard.traj, 180);
1006         else
1007                 trajectory_a_abs(&mainboard.traj, 0);
1008         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
1009         time_wait_ms(200);
1010
1011         strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
1012         err = strat_calib(400, TRAJ_FLAGS_SMALL_DIST);
1013         if (orange_color == our_color)
1014                 strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
1015                                 DO_NOT_SET_POS,
1016                                 180 + ROBOT_ANGLE_FRONT);
1017         else
1018                 strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_FRONT,
1019                                 DO_NOT_SET_POS,
1020                                 0 + ROBOT_ANGLE_FRONT);
1021         strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
1022
1023         trajectory_d_rel(&mainboard.traj, -250);
1024         err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
1025 #endif
1026         /* revert acceleration and speed */
1027         pid_set_gains(&mainboard.angle.pid, p, i, d);
1028         pid_set_maximums(&mainboard.distance.pid, max_in, max_i, max_out);
1029         strat_want_pack = 0;
1030         strat_set_speed(sd, sa);
1031         support_balls_deploy();
1032         return err;
1033 }
1034
1035 uint8_t strat_main(void)
1036 {
1037         uint8_t err, do_initturn = 1;
1038
1039         /* get oranges */
1040         if (strat_conf.flags & STRAT_CONF_OUR_ORANGE) {
1041                 err = run_to_the_hills(get_color());
1042                 strat_db.our_oranges_count = 0;
1043                 do_initturn = 0;
1044         }
1045
1046         /* harvest the first cobs + balls */
1047         if (strat_conf.flags & STRAT_CONF_STRAIGHT_BEGIN)
1048                 err = strat_beginning2(do_initturn);
1049         else
1050                 err = strat_beginning(do_initturn);
1051
1052         if (!TRAJ_SUCCESS(err))
1053                 strat_unblock();
1054         else
1055                 err = strat_eject();
1056
1057         /* choose circuit, and harvest on it */
1058         while (1) {
1059
1060                 DEBUG(E_USER_STRAT, "start main loop");
1061
1062                 /* if it's time to get tomatoes, do it */
1063                 if (time_get_s() > strat_conf.orphan_tomato) {
1064                         err = get_orphan_tomatoes();
1065                         if (err == END_ERROR) {
1066                                 DEBUG(E_USER_STRAT,
1067                                       "get_orphan_tomatoes returned END_ERROR");
1068                         }
1069                         else if (err == END_TIMER) {
1070                                 DEBUG(E_USER_STRAT, "End of time");
1071                                 strat_exit();
1072                                 break;
1073                         }
1074                         else if (!TRAJ_SUCCESS(err)) {
1075                                 /* don't retry these tomatoes if it failed */
1076                                 strat_conf.orphan_tomato = 90;
1077                                 strat_unblock();
1078                         }
1079                 }
1080
1081                 /* if it's time to get opponent oranges, do it */
1082                 if (time_get_s() > strat_conf.opp_orange) {
1083                         err = get_opp_oranges();
1084                         if (err == END_ERROR) {
1085                                 DEBUG(E_USER_STRAT,
1086                                       "get_opp_oranges returned END_ERROR");
1087                         }
1088                         else if (err == END_TIMER) {
1089                                 DEBUG(E_USER_STRAT, "End of time");
1090                                 strat_exit();
1091                                 break;
1092                         }
1093                         else if (!TRAJ_SUCCESS(err)) {
1094                                 /* don't retry oranges if it failed */
1095                                 strat_conf.opp_orange = 90;
1096                                 strat_unblock();
1097                         }
1098                 }
1099
1100                 /**********************/
1101                 /* harvest on circuit */
1102                 /**********************/
1103
1104                 err = strat_harvest_circuit();
1105                 if (err == END_TIMER) {
1106                         DEBUG(E_USER_STRAT, "End of time");
1107                         strat_exit();
1108                         break;
1109                 }
1110                 if (!TRAJ_SUCCESS(err)) {
1111                         strat_unblock();
1112                         continue;
1113                 }
1114
1115                 /***********************/
1116                 /* eject game elements */
1117                 /***********************/
1118
1119                 err = strat_eject();
1120                 /* end of time exit ! */
1121                 if (err == END_TIMER) {
1122                         DEBUG(E_USER_STRAT, "End of time");
1123                         strat_exit();
1124                         break;
1125                 }
1126                 if (!TRAJ_SUCCESS(err)) {
1127                         strat_unblock();
1128                         continue;
1129                 }
1130         }
1131
1132         return err;
1133 }