2 * Copyright Droids, Microb Technology (2010)
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.
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.
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
18 * Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
20 * Olivier MATZ <zer0@droids-corp.org>
31 #include <aversive/pgmspace.h>
32 #include <aversive/error.h>
37 #include <clock_time.h>
42 #include <control_system_manager.h>
43 #include <trajectory_manager.h>
44 #include <trajectory_manager_utils.h>
45 #include <trajectory_manager_core.h>
46 #include <vect_base.h>
49 #include <obstacle_avoidance.h>
50 #include <blocking_detection_manager.h>
51 #include <robot_system.h>
52 #include <position_manager.h>
54 #include <diagnostic.h>
59 #include "../common/i2c_commands.h"
60 #include "i2c_protocol.h"
63 #include "strat_base.h"
64 #include "strat_avoid.h"
65 #include "strat_corn.h"
67 #include "strat_utils.h"
71 /* status of objects on area */
72 struct strat_db strat_db;
74 /* given an index, give the i coord */
75 static const uint8_t corn_coord_i[CORN_NB] = {
76 0, 0, 0, 2, 2, 2, 4, 4, 6,
77 6, 8, 8, 10, 10, 10, 12, 12, 12,
80 /* given an index, give the j coord */
81 static const uint8_t corn_coord_j[CORN_NB] = {
82 2, 4, 6, 3, 5, 7, 4, 6, 5,
83 7, 4, 6, 3, 5, 7, 2, 4, 6,
86 /* table to find the symetric idx */
87 static const uint8_t corn_sym[] = {
88 15, 16, 17, 12, 13, 14, 10, 11,
89 8, 9, 6, 7, 3, 4, 5, 0, 1, 2
95 /* the 10 possible configurations for corn on the side */
96 static const uint8_t corn_side_confs[9][2] = {
108 /* the 4 possible configurations for corn on center */
109 static const uint8_t corn_center_confs[4][2] = {
117 /* in these groups, only one black cob */
118 static const int8_t corn_group1[] = { 0, 1, 2, -1, };
119 static const int8_t corn_group2[] = { 3, 4, 6, -1, };
120 static const int8_t corn_group3[] = { 5, 7, -1, };
121 static const int8_t corn_group4[] = { 8, 9, -1, };
122 static const int8_t corn_group5[] = { 11, 14, -1, };
123 static const int8_t corn_group6[] = { 10, 12, 13, -1, };
124 static const int8_t corn_group7[] = { 15, 16, 17, -1, };
126 static const int8_t *corn_groups[] = {
137 /* given an index, give the i coord */
138 static const uint8_t tomato_coord_i[TOMATO_NB] = {
139 0, 0, 2, 2, 4, 4, 6, 6,
140 8, 8, 10, 10, 12, 12,
143 /* given an index, give the j coord */
144 static const uint8_t tomato_coord_j[TOMATO_NB] = {
145 3, 5, 4, 6, 5, 7, 4, 6, 5, 7, 4, 6, 3, 5,
148 /******** Generic waypoint */
150 /* return the xy coords of a waypoint given its ij coords. */
151 int8_t ijcoord_to_xycoord(uint8_t i, uint8_t j, int16_t *x, int16_t *y)
153 if (i >= WAYPOINTS_NBX && j >= WAYPOINTS_NBY)
155 *x = (OFFSET_CORN_X + i*STEP_CORN_X);
157 *y = COLOR_Y(OFFSET_CORN_Y + j*STEP_CORN_Y + STEP_CORN_Y/2);
159 *y = COLOR_Y(OFFSET_CORN_Y + j*STEP_CORN_Y);
163 /* return the nearest waypoint that is not a corn: xp and yp contains
164 * the input and output, and ip, jp are only outputs. return 0 on
166 int8_t xycoord_to_ijcoord(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
175 x += (STEP_CORN_X/2);
178 y = COLOR_Y(y); /* Y depends on color */
183 else if ((i & 3) == 0) {
184 j = y / (STEP_CORN_Y*2);
189 j = y / (STEP_CORN_Y*2);
193 if (ijcoord_to_xycoord(i, j, &x, &y) < 0)
196 if (strat_db.wp_table[i][j].type != WP_TYPE_WAYPOINT &&
197 strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
210 static int8_t early_ijcoord_to_corn_idx(uint8_t i, uint8_t j)
213 for (n = 0; n < CORN_NB; n ++) {
214 if (i == corn_coord_i[n] &&
215 j == corn_coord_j[n])
221 /* return the index of a corn given its i,j coords. */
222 int8_t ijcoord_to_corn_idx(uint8_t i, uint8_t j)
224 if (strat_db.wp_table[i][j].type != WP_TYPE_CORN)
226 return strat_db.wp_table[i][j].corn.idx;
229 /* return the i,j coords of a corn given its index */
230 int8_t corn_idx_to_ijcoord(uint8_t idx, uint8_t *i, uint8_t *j)
234 *i = corn_coord_i[idx];
235 *j = corn_coord_j[idx];
239 /* return the index of a corn given its x,y coords. */
240 int8_t corn_idx_to_xycoord(uint8_t idx, int16_t *x, int16_t *y)
243 if (corn_idx_to_ijcoord(idx, &i, &j) < 0)
245 if (ijcoord_to_xycoord(i, j, x, y) < 0)
250 #define CORN_MARGIN 200
251 /* return the index of the closest corn at these coordinates. If the
252 * corn is really too far (~20cm), return NULL. The x and y pointer are
253 * updated with the real position of the corn */
254 struct waypoint_db *xycoord_to_corn_idx(int16_t *xp, int16_t *yp)
265 x /= (STEP_CORN_X*2);
272 y /= (STEP_CORN_Y*2);
275 j = (y * 2) + (x & 1);
277 if (ijcoord_to_xycoord(i, j, &x, &y) < 0)
280 if (strat_db.wp_table[i][j].type != WP_TYPE_CORN)
283 d = xy_norm(*xp, *yp, x, y);
291 return &strat_db.wp_table[i][j];
294 /* return true if 'idx' is in group */
295 static uint8_t is_in_group(const int8_t *group, uint8_t idx)
298 for (pidx = group; *pidx != -1; pidx++) {
306 /* return the number of cob of that color in the group */
307 static uint8_t count_in_group(const int8_t *group, uint8_t color)
310 struct waypoint_db *wp;
313 for (pidx = &group[0]; *pidx != -1; pidx++) {
314 wp = strat_db.corn_table[*pidx];
315 if (wp->corn.color == color)
321 /* set all unkown cobs to specified color */
322 static void set_unknown_in_group(const int8_t *group, uint8_t color)
325 struct waypoint_db *wp;
327 for (pidx = &group[0]; *pidx != -1; pidx++) {
328 wp = strat_db.corn_table[*pidx];
329 if (wp->corn.color == I2C_COB_UNKNOWN)
330 wp->corn.color = color;
334 /* depending on which cob is set (and its color), set the color of
336 static void corn_deduct_other(uint8_t idx, uint8_t color)
338 const int8_t **pgroup;
340 for (pgroup = &corn_groups[0]; *pgroup; pgroup++) {
341 if (!is_in_group(*pgroup, idx))
343 if (color == I2C_COB_BLACK) {
344 set_unknown_in_group(*pgroup, I2C_COB_WHITE);
346 else if (color == I2C_COB_WHITE) {
347 if (count_in_group(*pgroup, I2C_COB_UNKNOWN) == 1)
348 set_unknown_in_group(*pgroup, I2C_COB_BLACK);
353 /* set color of a corn
354 * type is I2C_COB_BLACK, I2C_COB_WHITE, I2C_COB_UNKNOWN
355 * it will update the symetric corn if != UNKOWN
356 * it will also deduct color of some other cobs */
357 void corn_set_color(struct waypoint_db *wp, uint8_t color)
361 if (wp->corn.color != I2C_COB_UNKNOWN)
363 wp->corn.color = color;
364 if (color == I2C_COB_UNKNOWN)
366 corn_deduct_other(wp->corn.idx, color);
367 symidx = corn_get_sym_idx(wp->corn.idx);
368 strat_db.corn_table[symidx]->corn.color = color;
369 corn_deduct_other(symidx, color);
373 /* return the idx of the symetric corn */
374 int8_t corn_get_sym_idx(int8_t i)
381 /*********** TOMATO */
383 /* return the index of a tomato given its i,j coords. */
384 int8_t ijcoord_to_tomato_idx(uint8_t i, uint8_t j)
387 for (n = 0; n < TOMATO_NB; n ++) {
388 if (i == tomato_coord_i[n] &&
389 j == tomato_coord_j[n])
395 /* return the i,j coords of a tomato given its index */
396 int8_t tomato_idx_to_ijcoord(uint8_t idx, uint8_t *i, uint8_t *j)
398 if (idx >= TOMATO_NB)
400 *i = tomato_coord_i[idx];
401 *j = tomato_coord_j[idx];
405 /* return the index of a tomato given its x,y coords. */
406 int8_t tomato_idx_to_xycoord(uint8_t idx, int16_t *x, int16_t *y)
409 if (tomato_idx_to_ijcoord(idx, &i, &j) < 0)
411 if (ijcoord_to_xycoord(i, j, x, y) < 0)
416 #define TOMATO_MARGIN 200
417 /* return the index of the closest tomato at these coordinates. If the
418 * tomato is really too far (~20cm), return NULL. The x and y pointer are
419 * updated with the real position of the tomato */
420 struct waypoint_db *xycoord_to_tomato_idx(int16_t *x, int16_t *y)
423 int16_t d, x_tomato, y_tomato;
424 int16_t x_tomato_min = 0, y_tomato_min = 0;
427 /* XXX does it work when we are blue ? */
428 for (n = 0; n < TOMATO_NB; n ++) {
429 tomato_idx_to_xycoord(n, &x_tomato, &y_tomato);
430 d = xy_norm(x_tomato, y_tomato, *x, *y);
431 if (d < TOMATO_MARGIN && (d_min == 0 || d < d_min)) {
434 x_tomato_min = x_tomato;
435 y_tomato_min = y_tomato;
444 return strat_db.tomato_table[idx];
448 * Init internal database. The initialization is done with UNKNOWN
449 * corn with all objects present
451 void strat_db_init(void)
453 struct waypoint_db *wp;
457 memset(&strat_db.wp_table, 0, sizeof(strat_db.wp_table));
460 for (i=0; i<CORN_NB; i++) {
461 strat_db.corn_table[i] =
462 &strat_db.wp_table[corn_coord_i[i]][corn_coord_j[i]];
465 for (i=0; i<TOMATO_NB; i++) {
466 strat_db.tomato_table[i] =
467 &strat_db.wp_table[tomato_coord_i[i]][tomato_coord_j[i]];
470 strat_db.our_oranges_count = 6;
471 strat_db.opp_oranges_count = 6;
473 for (i=0; i<WAYPOINTS_NBX; i++) {
475 for (j=0; j<WAYPOINTS_NBY; j++) {
476 wp = &strat_db.wp_table[i][j];
479 wp->type = WP_TYPE_WAYPOINT;
482 wp->time_removed = -1;
484 /* mark dangerous points */
485 if (i == 0 || i == (WAYPOINTS_NBX-1))
487 if ((i & 1) == 0 && j == (WAYPOINTS_NBY-1))
490 /* on border, unreachable wp */
491 if ((i & 1) == 1 && j == (WAYPOINTS_NBY-1)) {
492 wp->type = WP_TYPE_OBSTACLE;
497 if (i >= 2 && i < (WAYPOINTS_NBX-2) && j < 2) {
498 wp->type = WP_TYPE_OBSTACLE;
503 idx = early_ijcoord_to_corn_idx(i, j);
505 wp->type = WP_TYPE_CORN;
509 if (idx == corn_side_confs[SIDE_CONF][0] ||
510 idx == corn_side_confs[SIDE_CONF][1] ||
511 corn_get_sym_idx(idx) == corn_side_confs[SIDE_CONF][0] ||
512 corn_get_sym_idx(idx) == corn_side_confs[SIDE_CONF][1] ||
513 idx == corn_center_confs[CENTER_CONF][0] ||
514 idx == corn_center_confs[CENTER_CONF][1] ||
515 corn_get_sym_idx(idx) == corn_center_confs[CENTER_CONF][0] ||
516 corn_get_sym_idx(idx) == corn_center_confs[CENTER_CONF][1])
517 wp->corn.color = I2C_COB_BLACK;
519 wp->corn.color = I2C_COB_WHITE;
521 wp->corn.color = I2C_COB_UNKNOWN;
527 idx = ijcoord_to_tomato_idx(i, j);
529 wp->type = WP_TYPE_TOMATO;
531 wp->tomato.idx = idx;
538 /* dump infos about area and objects */
539 void strat_db_dump(const char *caller)
542 struct waypoint_db *wp;
544 if (strat_db.dump_enabled == 0)
547 printf_P(PSTR("DB dump from <%s>\r\n"), caller);
548 for (i=0; i<CORN_NB; i++) {
549 wp = strat_db.corn_table[i];
550 printf_P(PSTR("corn%d: present=%d opp=%d "),
551 i, wp->present, wp->opp_visited);
552 if (wp->corn.color == I2C_COB_UNKNOWN)
553 printf_P(PSTR("unknown"));
554 else if (wp->corn.color == I2C_COB_BLACK)
555 printf_P(PSTR("black"));
556 else if (wp->corn.color == I2C_COB_WHITE)
557 printf_P(PSTR("white"));
558 printf_P(PSTR("\r\n"));
561 for (i=0; i<TOMATO_NB; i++) {
562 wp = strat_db.tomato_table[i];
563 printf_P(PSTR("tomato%d: present=%d opp=%d\r\n"),
564 i, wp->present, wp->opp_visited);
567 /* fill circuit infos */