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>
36 #include <clock_time.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>
48 #include <obstacle_avoidance.h>
49 #include <blocking_detection_manager.h>
50 #include <robot_system.h>
51 #include <position_manager.h>
53 #include <diagnostic.h>
58 #include "../common/i2c_commands.h"
59 #include "i2c_protocol.h"
62 #include "strat_base.h"
63 #include "strat_avoid.h"
64 #include "strat_corn.h"
66 #include "strat_utils.h"
70 /* status of objects on area */
71 struct strat_db strat_db;
73 /* given an index, give the i coord */
74 static const uint8_t corn_coord_i[CORN_NB] = {
75 0, 0, 0, 2, 2, 2, 4, 4, 6,
76 6, 8, 8, 10, 10, 10, 12, 12, 12,
79 /* given an index, give the j coord */
80 static const uint8_t corn_coord_j[CORN_NB] = {
81 2, 4, 6, 3, 5, 7, 4, 6, 5,
82 7, 4, 6, 3, 5, 7, 2, 4, 6,
85 /* table to find the symetric idx */
86 static const uint8_t corn_sym[] = {
87 15, 16, 17, 12, 13, 14, 10, 11,
88 8, 9, 6, 7, 3, 4, 5, 0, 1, 2
94 /* the 10 possible configurations for corn on the side */
95 static const uint8_t corn_side_confs[9][2] = {
107 /* the 4 possible configurations for corn on center */
108 static const uint8_t corn_center_confs[4][2] = {
116 /* in these groups, only one black cob */
117 static const int8_t corn_group1[] = { 0, 1, 2, -1, };
118 static const int8_t corn_group2[] = { 3, 4, 6, -1, };
119 static const int8_t corn_group3[] = { 5, 7, -1, };
120 static const int8_t corn_group4[] = { 8, 9, -1, };
121 static const int8_t corn_group5[] = { 11, 14, -1, };
122 static const int8_t corn_group6[] = { 10, 12, 13, -1, };
123 static const int8_t corn_group7[] = { 15, 16, 17, -1, };
125 static const int8_t *corn_groups[] = {
136 /* given an index, give the i coord */
137 static const uint8_t tomato_coord_i[TOMATO_NB] = {
138 0, 0, 2, 2, 4, 4, 6, 6,
139 8, 8, 10, 10, 12, 12,
142 /* given an index, give the j coord */
143 static const uint8_t tomato_coord_j[TOMATO_NB] = {
144 3, 5, 4, 6, 5, 7, 4, 6, 5, 7, 4, 6, 3, 5,
147 /******** Generic waypoint */
149 /* return the xy coords of a waypoint given its ij coords. */
150 int8_t ijcoord_to_xycoord(uint8_t i, uint8_t j, int16_t *x, int16_t *y)
152 if (i >= WAYPOINTS_NBX && j >= WAYPOINTS_NBY)
154 *x = (OFFSET_CORN_X + i*STEP_CORN_X);
156 *y = COLOR_Y(OFFSET_CORN_Y + j*STEP_CORN_Y + STEP_CORN_Y/2);
158 *y = COLOR_Y(OFFSET_CORN_Y + j*STEP_CORN_Y);
162 /* return the nearest waypoint that is not a corn: xp and yp contains
163 * the input and output, and ip, jp are only outputs. return 0 on
165 int8_t xycoord_to_ijcoord(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
174 x += (STEP_CORN_X/2);
182 else if ((i & 3) == 0) {
183 j = y / (STEP_CORN_Y*2);
188 j = y / (STEP_CORN_Y*2);
192 if (ijcoord_to_xycoord(i, j, &x, &y) < 0)
195 if (strat_db.wp_table[i][j].type != WP_TYPE_WAYPOINT &&
196 strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
209 /* return the index of a corn given its i,j coords. */
210 int8_t 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 i,j coords of a corn given its index */
222 int8_t corn_idx_to_ijcoord(uint8_t idx, uint8_t *i, uint8_t *j)
226 *i = corn_coord_i[idx];
227 *j = corn_coord_j[idx];
231 /* return the index of a corn given its x,y coords. */
232 int8_t corn_idx_to_xycoord(uint8_t idx, int16_t *x, int16_t *y)
235 if (corn_idx_to_ijcoord(idx, &i, &j) < 0)
237 if (ijcoord_to_xycoord(i, j, x, y) < 0)
242 #define CORN_MARGIN 200
243 /* return the index of the closest corn at these coordinates. If the
244 * corn is really too far (~20cm), return NULL. The x and y pointer are
245 * updated with the real position of the corn */
246 struct waypoint_db *xycoord_to_corn_idx(int16_t *xp, int16_t *yp)
257 x /= (STEP_CORN_X*2);
264 y /= (STEP_CORN_Y*2);
267 j = (y * 2) + (x & 1);
269 if (ijcoord_to_xycoord(i, j, &x, &y) < 0)
272 if (strat_db.wp_table[i][j].type != WP_TYPE_CORN)
275 d = xy_norm(*xp, *yp, x, y);
283 return &strat_db.wp_table[i][j];
286 /* return true if 'idx' is in group */
287 static uint8_t is_in_group(const int8_t *group, uint8_t idx)
290 for (pidx = group; *pidx != -1; pidx++) {
298 /* return the number of cob of that color in the group */
299 static uint8_t count_in_group(const int8_t *group, uint8_t color)
302 struct waypoint_db *wp;
305 for (pidx = &group[0]; *pidx != -1; pidx++) {
306 wp = strat_db.corn_table[*pidx];
307 if (wp->corn.color == color)
313 /* set all unkown cobs to specified color */
314 static void set_unknown_in_group(const int8_t *group, uint8_t color)
317 struct waypoint_db *wp;
319 for (pidx = &group[0]; *pidx != -1; pidx++) {
320 wp = strat_db.corn_table[*pidx];
321 if (wp->corn.color == I2C_COB_UNKNOWN)
322 wp->corn.color = color;
326 /* depending on which cob is set (and its color), set the color of
328 static void corn_deduct_other(uint8_t idx, uint8_t color)
330 const int8_t **pgroup;
332 for (pgroup = &corn_groups[0]; *pgroup; pgroup++) {
333 if (!is_in_group(*pgroup, idx))
335 if (color == I2C_COB_BLACK) {
336 set_unknown_in_group(*pgroup, I2C_COB_WHITE);
338 else if (color == I2C_COB_WHITE) {
339 if (count_in_group(*pgroup, I2C_COB_UNKNOWN) == 1)
340 set_unknown_in_group(*pgroup, I2C_COB_BLACK);
345 /* set color of a corn
346 * type is I2C_COB_BLACK, I2C_COB_WHITE, I2C_COB_UNKNOWN
347 * it will update the symetric corn if != UNKOWN
348 * it will also deduct color of some other cobs */
349 void corn_set_color(struct waypoint_db *wp, uint8_t color)
353 if (wp->corn.color != I2C_COB_UNKNOWN)
355 wp->corn.color = color;
356 if (color == I2C_COB_UNKNOWN)
358 corn_deduct_other(wp->corn.idx, color);
359 symidx = corn_get_sym_idx(wp->corn.idx);
360 strat_db.corn_table[symidx]->corn.color = color;
361 corn_deduct_other(symidx, color);
365 /* return the idx of the symetric corn */
366 int8_t corn_get_sym_idx(int8_t i)
373 /*********** TOMATO */
375 /* return the index of a tomato given its i,j coords. */
376 int8_t ijcoord_to_tomato_idx(uint8_t i, uint8_t j)
379 for (n = 0; n < TOMATO_NB; n ++) {
380 if (i == tomato_coord_i[n] &&
381 j == tomato_coord_j[n])
387 /* return the i,j coords of a tomato given its index */
388 int8_t tomato_idx_to_ijcoord(uint8_t idx, uint8_t *i, uint8_t *j)
390 if (idx >= TOMATO_NB)
392 *i = tomato_coord_i[idx];
393 *j = tomato_coord_j[idx];
397 /* return the index of a tomato given its x,y coords. */
398 int8_t tomato_idx_to_xycoord(uint8_t idx, int16_t *x, int16_t *y)
401 if (tomato_idx_to_ijcoord(idx, &i, &j) < 0)
403 if (ijcoord_to_xycoord(i, j, x, y) < 0)
408 #define TOMATO_MARGIN 200
409 /* return the index of the closest tomato at these coordinates. If the
410 * tomato is really too far (~20cm), return NULL. The x and y pointer are
411 * updated with the real position of the tomato */
412 struct waypoint_db *xycoord_to_tomato_idx(int16_t *x, int16_t *y)
415 int16_t d, x_tomato, y_tomato;
416 int16_t x_tomato_min = 0, y_tomato_min = 0;
419 /* XXX does it work when we are blue ? */
420 for (n = 0; n < TOMATO_NB; n ++) {
421 tomato_idx_to_xycoord(n, &x_tomato, &y_tomato);
422 d = xy_norm(x_tomato, y_tomato, *x, *y);
423 if (d < TOMATO_MARGIN && (d_min == 0 || d < d_min)) {
426 x_tomato_min = x_tomato;
427 y_tomato_min = y_tomato;
436 return strat_db.tomato_table[idx];
440 * Init internal database. The initialization is done with UNKNOWN
441 * corn with all objects present
443 void strat_db_init(void)
445 struct waypoint_db *wp;
449 memset(&strat_db.wp_table, 0, sizeof(strat_db.wp_table));
452 for (i=0; i<CORN_NB; i++) {
453 strat_db.corn_table[i] =
454 &strat_db.wp_table[corn_coord_i[i]][corn_coord_j[i]];
457 for (i=0; i<TOMATO_NB; i++) {
458 strat_db.tomato_table[i] =
459 &strat_db.wp_table[tomato_coord_i[i]][tomato_coord_j[i]];
462 strat_db.our_oranges_count = 6;
463 strat_db.opp_oranges_count = 6;
465 for (i=0; i<WAYPOINTS_NBX; i++) {
467 for (j=0; j<WAYPOINTS_NBY; j++) {
468 wp = &strat_db.wp_table[i][j];
471 wp->type = WP_TYPE_WAYPOINT;
474 wp->time_removed = -1;
476 /* mark dangerous points */
477 if (i == 0 || i == (WAYPOINTS_NBX-1))
479 if ((i & 1) == 0 && j == (WAYPOINTS_NBY-1))
482 /* on border, unreachable wp */
483 if ((i & 1) == 1 && j == (WAYPOINTS_NBY-1)) {
484 wp->type = WP_TYPE_OBSTACLE;
489 if (i >= 2 && i < (WAYPOINTS_NBX-2) && j < 2) {
490 wp->type = WP_TYPE_OBSTACLE;
495 idx = ijcoord_to_corn_idx(i, j);
497 wp->type = WP_TYPE_CORN;
501 if (idx == corn_side_confs[SIDE_CONF][0] ||
502 idx == corn_side_confs[SIDE_CONF][1] ||
503 corn_get_sym_idx(idx) == corn_side_confs[SIDE_CONF][0] ||
504 corn_get_sym_idx(idx) == corn_side_confs[SIDE_CONF][1] ||
505 idx == corn_center_confs[CENTER_CONF][0] ||
506 idx == corn_center_confs[CENTER_CONF][1] ||
507 corn_get_sym_idx(idx) == corn_center_confs[CENTER_CONF][0] ||
508 corn_get_sym_idx(idx) == corn_center_confs[CENTER_CONF][1])
509 wp->corn.color = I2C_COB_BLACK;
511 wp->corn.color = I2C_COB_WHITE;
513 wp->corn.color = I2C_COB_UNKNOWN;
519 idx = ijcoord_to_tomato_idx(i, j);
521 wp->type = WP_TYPE_TOMATO;
523 wp->tomato.idx = idx;
530 /* dump infos about area and objects */
531 void strat_db_dump(const char *caller)
534 struct waypoint_db *wp;
536 if (strat_db.dump_enabled == 0)
539 printf_P(PSTR("DB dump from <%s>\r\n"), caller);
540 for (i=0; i<CORN_NB; i++) {
541 wp = strat_db.corn_table[i];
542 printf_P(PSTR("corn%d: present=%d opp=%d "),
543 i, wp->present, wp->opp_visited);
544 if (wp->corn.color == I2C_COB_UNKNOWN)
545 printf_P(PSTR("unknown"));
546 else if (wp->corn.color == I2C_COB_BLACK)
547 printf_P(PSTR("black"));
548 else if (wp->corn.color == I2C_COB_WHITE)
549 printf_P(PSTR("white"));
550 printf_P(PSTR("\r\n"));
553 for (i=0; i<TOMATO_NB; i++) {
554 wp = strat_db.tomato_table[i];
555 printf_P(PSTR("tomato%d: present=%d opp=%d\r\n"),
556 i, wp->present, wp->opp_visited);
559 /* fill circuit infos */