forbid strat_eject() when we are not on correct line

[aversive.git] / projects / microb2010 / mainboard / strat.c

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 152c173..ccd1f02 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -285,17 +285,37 @@ void strat_event(void *dummy)
        //strat_limit_speed();
 }
 
+/* check that we are on an eject line */
+static uint8_t robot_is_on_eject_line(void)
+{
+       int16_t x, y;
+       uint8_t i, j;
+
+       x = position_get_x_s16(&mainboard.pos);
+       y = position_get_y_s16(&mainboard.pos);
+
+       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+               return 0;
+
+       if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
+           !wp_belongs_to_line(i, j, 2, LINE_R_UP))
+               return 0;
+
+       return 1;
+}
 
 /* must be called from a terminal line */
 static uint8_t strat_eject(void)
 {
        uint8_t err;
 
-       /* XXX MUST be a on the line !! */
-       //XXX return vals
-
        DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
 
+       if (!robot_is_on_eject_line()) {
+               DEBUG(E_USER_STRAT, "%s() not on eject line", __FUNCTION__);
+               return END_ERROR;
+       }
+
        /* go to eject point */
        trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
        err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,