projects/microb2010/mainboard/strat_utils.h

   1 /*
   2  *  Copyright Droids Corporation, 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_utils.h,v 1.5 2009-11-08 17:24:33 zer0 Exp $
  19  *
  20  */
  21
  22
  23 struct xy_point {
  24         int16_t x;
  25         int16_t y;
  26 };
  27
  28 /* wait traj end flag or cond. return 0 if cond become true, else
  29  * return the traj flag */
  30 #define WAIT_COND_OR_TRAJ_END(cond, mask)                               \
  31         ({                                                              \
  32                 uint8_t __err = 0;                                      \
  33                 while ( (! (cond)) && (__err == 0)) {                   \
  34                         __err = test_traj_end(mask);                    \
  35                 }                                                       \
  36                 if (!__err)                                             \
  37                         DEBUG(E_USER_STRAT, "cond is true at line %d",  \
  38                               __LINE__);                                \
  39                 else                                                    \
  40                         DEBUG(E_USER_STRAT, "got %s at line %d",        \
  41                               get_err(__err), __LINE__);                \
  42                 __err;                                                  \
  43         })                                                              \
  44
  45 #define WAIT_COND_OR_TE_TO(cond, mask, timeout)                         \
  46         ({                                                              \
  47                 microseconds __us = time_get_us2();                     \
  48                 uint8_t __ret = 0;                                      \
  49                 while ( (! (cond)) && (__ret == 0)) {                   \
  50                         __ret = test_traj_end(mask);                    \
  51                         if (time_get_us2() - __us > (timeout)*1000L) {  \
  52                                 __ret = 0;                              \
  53                                 break;                                  \
  54                         }                                               \
  55                 }                                                       \
  56                 if (!__ret)                                             \
  57                         DEBUG(E_USER_STRAT, "cond / timeout at line %d", \
  58                               __LINE__);                                \
  59                 else                                                    \
  60                         DEBUG(E_USER_STRAT, "got %s (%d) at line %d",   \
  61                               get_err(__ret), __ret, __LINE__);         \
  62                                                                         \
  63                 __ret;                                                  \
  64         })
  65
  66 int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
  67 int32_t quad_distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
  68 int16_t distance_from_robot(int16_t x, int16_t y);
  69 int16_t simple_modulo_360(int16_t a);
  70 int16_t angle_abs_to_rel(int16_t a_abs);
  71 void rel_da_to_abs_xy(double d_rel, double a_rel_rad, double *x_abs, double *y_abs);
  72 double norm(double x, double y);
  73 void rel_xy_to_abs_xy(double x_rel, double y_rel, double *x_abs, double *y_abs);
  74 void abs_xy_to_rel_da(double x_abs, double y_abs, double *d_rel, double *a_rel_rad);
  75 void rotate(double *x, double *y, double rot);
  76 uint8_t is_in_area(int16_t x, int16_t y, int16_t margin);
  77 uint8_t robot_is_in_area(int16_t margin);
  78 uint8_t robot_is_near_disc(void);
  79 uint8_t y_is_more_than(int16_t y);
  80 uint8_t x_is_more_than(int16_t x);
  81 int16_t fast_sin(int16_t deg);
  82 int16_t fast_cos(int16_t deg);
  83 uint8_t get_color(void);
  84 uint8_t get_opponent_color(void);
  85 int8_t get_opponent_xy(int16_t *x, int16_t *y);
  86 int8_t get_opponent_da(int16_t *d, int16_t *a);
  87 int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a);
  88 int16_t distance_from_opponent(int16_t x, int16_t y);
  89
  90 uint8_t get_ball_count(void);
  91 uint8_t get_cob_count(void);