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_corn.h"
65 #include "strat_utils.h"
69 /* status of objects on area */
70 struct strat_db strat_db;
72 /* given an index, give the i coord */
73 static const uint8_t corn_coord_i[CORN_NB] = {
74 0, 0, 0, 2, 2, 2, 4, 4, 6,
75 6, 8, 8, 10, 10, 10, 12, 12, 12,
78 /* given an index, give the j coord */
79 static const uint8_t corn_coord_j[CORN_NB] = {
80 2, 4, 6, 3, 5, 7, 4, 6, 5,
81 7, 4, 6, 3, 5, 7, 2, 4, 6,
84 /* table to find the symetric idx */
85 static const uint8_t corn_sym[] = {
86 15, 16, 17, 12, 13, 14, 10, 11,
87 8, 9, 6, 7, 3, 4, 5, 0, 1, 2
90 #if 0 /* XXX maybe useless */
91 /* the 10 possible configurations for corn on the side */
92 static const uint8_t corn_side_confs[9][2] = {
104 /* the 4 possible configurations for corn on center */
105 static const uint8_t corn_center_confs[4][2] = {
113 /* in these groups, only one black cob */
114 static const int8_t corn_group1[] = { 0, 1, 2, -1, };
115 static const int8_t corn_group2[] = { 3, 4, 6, -1, };
116 static const int8_t corn_group3[] = { 5, 7, -1, };
117 static const int8_t corn_group4[] = { 8, 9, -1, };
118 static const int8_t corn_group5[] = { 11, 14, -1, };
119 static const int8_t corn_group6[] = { 10, 12, 13, -1, };
120 static const int8_t corn_group7[] = { 15, 16, 17, -1, };
122 static const int8_t *corn_groups[] = {
133 /* given an index, give the i coord */
134 static const uint8_t tomato_coord_i[TOMATO_NB] = {
135 0, 0, 2, 2, 4, 4, 6, 6,
136 8, 8, 10, 10, 12, 12,
139 /* given an index, give the j coord */
140 static const uint8_t tomato_coord_j[TOMATO_NB] = {
141 3, 5, 4, 6, 5, 7, 4, 6, 5, 7, 4, 6, 3, 5,
144 /******** Generic waypoint */
146 /* return the xy coords of a waypoint given its ij coords. */
147 int8_t ijcoord_to_xycoord(uint8_t i, uint8_t j, int16_t *x, int16_t *y)
149 if (i >= WAYPOINTS_NBX && j >= WAYPOINTS_NBY)
151 *x = (OFFSET_CORN_X + i*STEP_CORN_X);
152 *y = COLOR_Y(OFFSET_CORN_Y + j*STEP_CORN_Y);
156 /* return the nearest waypoint that is not a corn: xp and yp contains
157 * the input and output, and ip, jp are only outputs. return 0 on
159 int8_t xycoord_to_ijcoord(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
168 x += (STEP_CORN_X/2);
176 else if ((i & 3) == 0) {
177 j = y / (STEP_CORN_Y*2);
182 j = y / (STEP_CORN_Y*2);
186 if (ijcoord_to_xycoord(i, j, &x, &y) < 0)
189 if (strat_db.wp_table[i][j].type != WP_TYPE_WAYPOINT &&
190 strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
203 /* return the index of a corn given its i,j coords. */
204 int8_t ijcoord_to_corn_idx(uint8_t i, uint8_t j)
207 for (n = 0; n < CORN_NB; n ++) {
208 if (i == corn_coord_i[n] &&
209 j == corn_coord_j[n])
215 /* return the i,j coords of a corn given its index */
216 int8_t corn_idx_to_ijcoord(uint8_t idx, uint8_t *i, uint8_t *j)
220 *i = corn_coord_i[idx];
221 *j = corn_coord_j[idx];
225 /* return the index of a corn given its x,y coords. */
226 int8_t corn_idx_to_xycoord(uint8_t idx, int16_t *x, int16_t *y)
229 if (corn_idx_to_ijcoord(idx, &i, &j) < 0)
231 if (ijcoord_to_xycoord(i, j, x, y) < 0)
236 #define CORN_MARGIN 200
237 /* return the index of the closest corn at these coordinates. If the
238 * corn is really too far (~20cm), return NULL. The x and y pointer are
239 * updated with the real position of the corn */
240 struct waypoint_db *xycoord_to_corn_idx(int16_t *xp, int16_t *yp)
251 x /= (STEP_CORN_X*2);
258 y /= (STEP_CORN_Y*2);
261 j = (y * 2) + (x & 1);
263 if (ijcoord_to_xycoord(i, j, &x, &y) < 0)
266 if (strat_db.wp_table[i][j].type != WP_TYPE_CORN)
269 d = xy_norm(*xp, *yp, x, y);
277 return &strat_db.wp_table[i][j];
280 /* return true if 'idx' is in group */
281 static uint8_t is_in_group(const int8_t *group, uint8_t idx)
284 for (pidx = group; *pidx != -1; pidx++) {
292 /* return the number of cob of that color in the group */
293 static uint8_t count_in_group(const int8_t *group, uint8_t color)
296 struct waypoint_db *wp;
299 for (pidx = &group[0]; *pidx != -1; pidx++) {
300 wp = strat_db.corn_table[*pidx];
301 if (wp->corn.color == color)
307 /* set all unkown cobs to specified color */
308 static void set_unknown_in_group(const int8_t *group, uint8_t color)
311 struct waypoint_db *wp;
313 for (pidx = &group[0]; *pidx != -1; pidx++) {
314 wp = strat_db.corn_table[*pidx];
315 if (wp->corn.color == I2C_COB_UNKNOWN)
316 wp->corn.color = color;
320 /* depending on which cob is set (and its color), set the color of
322 static void corn_deduct_other(uint8_t idx, uint8_t color)
324 const int8_t **pgroup;
326 for (pgroup = &corn_groups[0]; *pgroup; pgroup++) {
327 if (!is_in_group(*pgroup, idx))
329 if (color == I2C_COB_BLACK) {
330 set_unknown_in_group(*pgroup, I2C_COB_WHITE);
332 else if (color == I2C_COB_WHITE) {
333 if (count_in_group(*pgroup, I2C_COB_UNKNOWN) == 1)
334 set_unknown_in_group(*pgroup, I2C_COB_BLACK);
339 /* set color of a corn
340 * type is I2C_COB_BLACK, I2C_COB_WHITE, I2C_COB_UNKNOWN
341 * it will update the symetric corn if != UNKOWN
342 * it will also deduct color of some other cobs */
343 void corn_set_color(struct waypoint_db *wp, uint8_t color)
347 if (wp->corn.color != I2C_COB_UNKNOWN)
349 wp->corn.color = color;
350 if (color == I2C_COB_UNKNOWN)
352 corn_deduct_other(wp->corn.idx, color);
353 symidx = corn_get_sym_idx(wp->corn.idx);
354 strat_db.corn_table[symidx]->corn.color = color;
355 corn_deduct_other(symidx, color);
359 /* return the idx of the symetric corn */
360 int8_t corn_get_sym_idx(int8_t i)
367 /*********** TOMATO */
369 /* return the index of a tomato given its i,j coords. */
370 int8_t ijcoord_to_tomato_idx(uint8_t i, uint8_t j)
373 for (n = 0; n < TOMATO_NB; n ++) {
374 if (i == tomato_coord_i[n] &&
375 j == tomato_coord_j[n])
381 /* return the i,j coords of a tomato given its index */
382 int8_t tomato_idx_to_ijcoord(uint8_t idx, uint8_t *i, uint8_t *j)
384 if (idx >= TOMATO_NB)
386 *i = tomato_coord_i[idx];
387 *j = tomato_coord_j[idx];
391 /* return the index of a tomato given its x,y coords. */
392 int8_t tomato_idx_to_xycoord(uint8_t idx, int16_t *x, int16_t *y)
395 if (tomato_idx_to_ijcoord(idx, &i, &j) < 0)
397 if (ijcoord_to_xycoord(i, j, x, y) < 0)
402 #define TOMATO_MARGIN 200
403 /* return the index of the closest tomato at these coordinates. If the
404 * tomato is really too far (~20cm), return NULL. The x and y pointer are
405 * updated with the real position of the tomato */
406 struct waypoint_db *xycoord_to_tomato_idx(int16_t *x, int16_t *y)
409 int16_t d, x_tomato, y_tomato;
410 int16_t x_tomato_min = 0, y_tomato_min = 0;
413 /* XXX does it work when we are blue ? */
414 for (n = 0; n < TOMATO_NB; n ++) {
415 tomato_idx_to_xycoord(n, &x_tomato, &y_tomato);
416 d = xy_norm(x_tomato, y_tomato, *x, *y);
417 if (d < TOMATO_MARGIN && (d_min == 0 || d < d_min)) {
420 x_tomato_min = x_tomato;
421 y_tomato_min = y_tomato;
430 return strat_db.tomato_table[idx];
434 * Init internal database. The initialization is done with UNKNOWN
435 * corn with all objects present
437 void strat_db_init(void)
439 struct waypoint_db *wp;
443 memset(&strat_db.wp_table, 0, sizeof(strat_db.wp_table));
446 for (i=0; i<CORN_NB; i++) {
447 strat_db.corn_table[i] =
448 &strat_db.wp_table[corn_coord_i[i]][corn_coord_j[i]];
451 for (i=0; i<TOMATO_NB; i++) {
452 strat_db.tomato_table[i] =
453 &strat_db.wp_table[tomato_coord_i[i]][tomato_coord_j[i]];
456 strat_db.our_oranges_count = 6;
457 strat_db.opp_oranges_count = 6;
459 for (i=0; i<WAYPOINTS_NBX; i++) {
461 for (j=0; j<WAYPOINTS_NBY; j++) {
462 wp = &strat_db.wp_table[i][j];
465 wp->type = WP_TYPE_WAYPOINT;
467 /* mark dangerous points */
468 if (i == 0 || i == (WAYPOINTS_NBX-1))
470 if ((i & 1) == 0 && j == (WAYPOINTS_NBY-1))
473 /* on border, unreachable wp */
474 if ((i & 1) == 1 && j == (WAYPOINTS_NBY-1)) {
475 wp->type = WP_TYPE_OBSTACLE;
480 if (i >= 2 && i < (WAYPOINTS_NBX-2) && j < 2) {
481 wp->type = WP_TYPE_OBSTACLE;
486 idx = ijcoord_to_corn_idx(i, j);
488 wp->type = WP_TYPE_CORN;
491 wp->corn.color = I2C_COB_UNKNOWN;
496 idx = ijcoord_to_tomato_idx(i, j);
498 printf("%d %d\n", i, j);
499 wp->type = WP_TYPE_TOMATO;
501 wp->tomato.idx = idx;
508 /* dump infos about area and objects */
509 void strat_db_dump(const char *caller)
512 struct waypoint_db *wp;
514 if (strat_db.dump_enabled == 0)
517 printf_P(PSTR("DB dump from <%s>\r\n"), caller);
518 for (i=0; i<CORN_NB; i++) {
519 wp = strat_db.corn_table[i];
520 printf_P(PSTR("corn%d: present=%d opp=%d "),
521 i, wp->present, wp->opp_visited);
522 if (wp->corn.color == I2C_COB_UNKNOWN)
523 printf_P(PSTR("unknown"));
524 else if (wp->corn.color == I2C_COB_BLACK)
525 printf_P(PSTR("black"));
526 else if (wp->corn.color == I2C_COB_WHITE)
527 printf_P(PSTR("white"));
528 printf_P(PSTR("\r\n"));
531 for (i=0; i<TOMATO_NB; i++) {
532 wp = strat_db.tomato_table[i];
533 printf_P(PSTR("tomato%d: present=%d opp=%d\r\n"),
534 i, wp->present, wp->opp_visited);