strat db
[aversive.git] / projects / microb2010 / mainboard / strat.c
index c253e5f..a5a952c 100644 (file)
@@ -57,6 +57,7 @@
 #include "i2c_protocol.h"
 #include "main.h"
 #include "strat.h"
 #include "i2c_protocol.h"
 #include "main.h"
 #include "strat.h"
+#include "strat_db.h"
 #include "strat_base.h"
 #include "strat_corn.h"
 #include "strat_utils.h"
 #include "strat_base.h"
 #include "strat_corn.h"
 #include "strat_utils.h"
 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
 #define COL_SCAN_PRE_MARGIN 250
 
 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
 #define COL_SCAN_PRE_MARGIN 250
 
-struct strat_infos strat_infos = {
-       /* conf */
-       .conf = {
-               .flags = 0,
-       },
-       /* status */
-       .status = {
-               .flags = 0,
-       },
-};
+struct strat_conf strat_conf;
 
 /*************************************************************/
 
 
 /*************************************************************/
 
@@ -83,27 +75,6 @@ struct strat_infos strat_infos = {
 
 /*************************************************************/
 
 
 /*************************************************************/
 
-void strat_set_bounding_box(void)
-{
-       if (get_color() == I2C_COLOR_YELLOW) {
-               strat_infos.area_bbox.x1 = 300;
-               strat_infos.area_bbox.y1 = 200;
-               strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
-               strat_infos.area_bbox.y2 = 1800;
-       }
-       else {
-               strat_infos.area_bbox.x1 = 200;
-               strat_infos.area_bbox.y1 = 300;
-               strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
-               strat_infos.area_bbox.y2 = 1900;
-       }
-
-       polygon_set_boundingbox(strat_infos.area_bbox.x1,
-                               strat_infos.area_bbox.y1,
-                               strat_infos.area_bbox.x2,
-                               strat_infos.area_bbox.y2);
-}
-
 /* called before each strat, and before the start switch */
 void strat_preinit(void)
 {
 /* called before each strat, and before the start switch */
 void strat_preinit(void)
 {
@@ -113,41 +84,25 @@ void strat_preinit(void)
                DO_POS | DO_BD | DO_POWER;
 
        //i2c_cobboard_mode_init();
                DO_POS | DO_BD | DO_POWER;
 
        //i2c_cobboard_mode_init();
-       strat_dump_conf();
-       strat_dump_infos(__FUNCTION__);
+       strat_conf_dump(__FUNCTION__);
+       strat_db_dump(__FUNCTION__);
 }
 
 }
 
-void strat_dump_conf(void)
+void strat_conf_dump(const char *caller)
 {
 {
-       if (!strat_infos.dump_enabled)
+       if (!strat_conf.dump_enabled)
                return;
 
        printf_P(PSTR("-- conf --\r\n"));
 
 }
 
                return;
 
        printf_P(PSTR("-- conf --\r\n"));
 
 }
 
-/* display current information about the state of the game */
-void strat_dump_infos(const char *caller)
-{
-       if (!strat_infos.dump_enabled)
-               return;
-
-       printf_P(PSTR("%s() dump strat infos:\r\n"), caller);
-}
-
-/* init current area state before a match. Dump update user conf
- * here */
-void strat_reset_infos(void)
-{
-       init_corn_table(-1, -1);
-}
-
 /* call it just before launching the strat */
 void strat_init(void)
 {
        /* XXX init rollers, .. */
 
 /* call it just before launching the strat */
 void strat_init(void)
 {
        /* XXX init rollers, .. */
 
-       strat_reset_infos();
+       strat_db_init();
 
        /* we consider that the color is correctly set */
 
 
        /* we consider that the color is correctly set */
 
@@ -168,17 +123,21 @@ void strat_init(void)
 /* call it after each strat */
 void strat_exit(void)
 {
 /* call it after each strat */
 void strat_exit(void)
 {
+#ifndef HOST_VERSION
        uint8_t flags;
        uint8_t flags;
+#endif
 
        mainboard.flags &= ~(DO_TIMER);
        strat_hardstop();
        time_reset();
 
        mainboard.flags &= ~(DO_TIMER);
        strat_hardstop();
        time_reset();
-       wait_ms(1000);
+       wait_ms(100);
+#ifndef HOST_VERSION
        IRQ_LOCK(flags);
        mainboard.flags &= ~(DO_CS);
        IRQ_LOCK(flags);
        mainboard.flags &= ~(DO_CS);
+       IRQ_UNLOCK(flags);
        pwm_ng_set(LEFT_PWM, 0);
        pwm_ng_set(RIGHT_PWM, 0);
        pwm_ng_set(LEFT_PWM, 0);
        pwm_ng_set(RIGHT_PWM, 0);
-       IRQ_UNLOCK(flags);
+#endif
 }
 
 /* called periodically */
 }
 
 /* called periodically */
@@ -204,11 +163,31 @@ static uint8_t strat_beginning(void)
        uint8_t err;
 
        strat_set_speed(250, SPEED_ANGLE_FAST);
        uint8_t err;
 
        strat_set_speed(250, SPEED_ANGLE_FAST);
-       //init_corn_table(0, 0);
 
 
+ l1:
        err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
        err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
+       if (!TRAJ_SUCCESS(err)) {
+               trajectory_hardstop(&mainboard.traj);
+               time_wait_ms(2000);
+               goto l1;
+       }
+
+ l2:
        err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
        err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
+       if (!TRAJ_SUCCESS(err)) {
+               trajectory_hardstop(&mainboard.traj);
+               time_wait_ms(2000);
+               goto l2;
+       }
+
+ l3:
        err = line2line(LINE_R_UP, 2, LINE_UP, 5);
        err = line2line(LINE_R_UP, 2, LINE_UP, 5);
+       if (!TRAJ_SUCCESS(err)) {
+               trajectory_hardstop(&mainboard.traj);
+               time_wait_ms(2000);
+               goto l3;
+       }
+
        trajectory_hardstop(&mainboard.traj);
 
        /* ball ejection */
        trajectory_hardstop(&mainboard.traj);
 
        /* ball ejection */
@@ -230,6 +209,7 @@ static uint8_t strat_beginning(void)
        i2c_cobboard_mode_eject();
        time_wait_ms(2000);
 
        i2c_cobboard_mode_eject();
        time_wait_ms(2000);
 
+       trajectory_hardstop(&mainboard.traj);
        return END_TRAJ;
 }
 
        return END_TRAJ;
 }