#define CORNER_Y COLOR_Y(2100)
/*
- * /- line 0
- * | /- line 1
- * | | /- line 2
- * | | |
- * +---C1--------------------------C1---+
- * | z0a z1 z0b |
- * | . |
- * | . |
- * C3 0 1 2 ^ C3
- * y | 3 4 5 < > |
- * C2 6 7 8 v C2
- * |------ 9 10 11 . ------|
- * | | . | |
- * | red | . |green|
- * +-----+--L1--L2-------L2--L1---+-----+
+ *
+ *
+ *
+ *
+ * +------------------------------------+
+ * | |
+ * | |
+ * | |
+ * | |
+ * y | |
+ * | |
+ * |------ ------|
+ * | | | |
+ * | | | |
+ * +-----+------------------------+-----+
* x
*/
-/* static columns */
-#define LINE0_X 600
-#define LINE1_X 850
-#define LINE2_X 1100
-
-#define COL0_X 600
-#define COL0_Y COLOR_Y(1175)
-#define COL1_X 850
-#define COL1_Y COLOR_Y(1175)
-#define COL2_X 1100
-#define COL2_Y COLOR_Y(1175)
-
-#define COL3_X 600
-#define COL3_Y COLOR_Y(975)
-#define COL4_X 850
-#define COL4_Y COLOR_Y(975)
-#define COL5_X 1100
-#define COL5_Y COLOR_Y(975)
-
-#define COL6_X 600
-#define COL6_Y COLOR_Y(775)
-#define COL7_X 850
-#define COL7_Y COLOR_Y(775)
-#define COL8_X 1100
-#define COL8_Y COLOR_Y(775)
-
-#define COL9_X 600
-#define COL9_Y COLOR_Y(575)
-#define COL10_X 850
-#define COL10_Y COLOR_Y(575)
-#define COL11_X 1100
-#define COL11_Y COLOR_Y(575)
-
-/* distance to go backward before pickup in dispenser */
-#define DIST_BACK_DISPENSER 35
-
-/* diag of the pentagon (pentacle ?) */
-#define DISC_PENTA_DIAG 530
-
-#define COL_DISP_MAX_TRIES 5
-#define LIN_DISP_MAX_TRIES 3
-
/* useful traj flags */
#define TRAJ_SUCCESS(f) (f & (END_TRAJ|END_NEAR))
#define TRAJ_FLAGS_STD (END_TRAJ|END_BLOCKING|END_NEAR|END_OBSTACLE|END_INTR|END_TIMER)
};
struct conf {
-#define STRAT_CONF_ONLY_ONE_ON_DISC 0x01
-#define STRAT_CONF_BYPASS_STATIC2 0x02
-#define STRAT_CONF_TAKE_ONE_LINTEL 0x04
-#define STRAT_CONF_SKIP_WHEN_CHECK_FAILS 0x08
-#define STRAT_CONF_STORE_STATIC2 0x10
-#define STRAT_CONF_BIG_3_TEMPLE 0x20
-#define STRAT_CONF_EARLY_SCAN 0x40
-#define STRAT_CONF_PUSH_OPP_COLS 0x80
- uint8_t flags;
- uint8_t scan_opp_min_time;
- uint8_t delay_between_opp_scan;
- uint8_t scan_our_min_time;
- uint8_t delay_between_our_scan;
- uint8_t wait_opponent;
- uint8_t lintel_min_time;
- int16_t scan_opp_angle;
-};
-
-struct static_columns {
-#define STATIC_COL_LINE0_DONE 0x01
-#define STATIC_COL_LINE1_DONE 0x02
-#define STATIC_COL_LINE2_DONE 0x04
- uint8_t flags;
- uint8_t configuration;
-};
-
-struct column_dispenser {
- int8_t count;
- uint8_t last_try_time;
- uint8_t scan_left;
- int16_t checkpoint_x;
- int16_t checkpoint_y;
- int16_t scan_a;
- int16_t eject_a;
- int16_t pickup_a;
- int16_t recalib_x;
- int16_t recalib_y;
- char *name;
-};
-
-struct lintel_dispenser {
- int8_t count;
- uint8_t last_try_time;
- int16_t x;
- char *name;
-};
-
-struct temple {
-#define TEMPLE_F_VALID 0x01 /* structure is valid */
-#define TEMPLE_F_MONOCOL 0x02 /* temple has only one col */
-#define TEMPLE_F_ON_DISC 0x04 /* temple is on disc (else it's on other zone) */
-#define TEMPLE_F_OPPONENT 0x08 /* temple was originally built by opponent */
-#define TEMPLE_F_LINTEL 0x10 /* lintel on top (don't put another lintel) */
-
+#define STRAT_CONF_XXX 0x01
uint8_t flags;
- /* position of the robot when we built it */
- int16_t x;
- int16_t y;
- int16_t a;
-
- /* position of the robot checkpoint */
- int16_t checkpoint_x;
- int16_t checkpoint_y;
-
- /* position and level of each col */
- uint8_t level_l;
- uint8_t dist_l;
- uint8_t angle_l;
-
- uint8_t level_r;
- uint8_t dist_r;
- uint8_t angle_r;
-
-#define TEMPLE_DISABLE_TIME 5
- uint8_t last_try_time;
-
- struct build_zone *zone;
};
-struct build_zone {
-#define ZONE_F_VALID 0x01 /* zone is valid */
-#define ZONE_F_DISC 0x02 /* specific disc zone */
-#define ZONE_F_ZONE1 0x04 /* specific zone 1 */
-#define ZONE_F_ZONE0 0x08 /* specific zone 0 */
-#define ZONE_F_BUSY 0x10 /* this zone is busy */
- uint8_t flags;
- uint8_t level;
- int16_t checkpoint_x;
- int16_t checkpoint_y;
-
-#define ZONE_DISABLE_TIME 5
- uint8_t last_try_time;
- char *name;
-};
-
-#define MAX_TEMPLE 5
-#define MAX_ZONE 5
-
/* all infos related to strat */
struct strat_infos {
uint8_t dump_enabled;
struct conf conf;
struct bbox area_bbox;
- uint8_t taken_lintel;
- uint8_t col_in_boobs;
- uint8_t lazy_pickup_done;
- uint8_t i2c_loaded_skipped;
- struct static_columns s_cols;
- struct column_dispenser c1;
- struct column_dispenser c2;
- struct column_dispenser c3;
- struct lintel_dispenser l1;
- struct lintel_dispenser l2;
- struct build_zone zone_list[MAX_ZONE];
- struct temple temple_list[MAX_TEMPLE];
};
extern struct strat_infos strat_infos;
/* in strat.c */
void strat_dump_infos(const char *caller); /* show current known state
of area */
-void strat_dump_temple(struct temple *temple);
void strat_dump_conf(void);
void strat_reset_infos(void); /* reset current known state */
void strat_preinit(void);
uint8_t strat_main(void);
void strat_event(void *dummy);
-/* in strat_static_columns.c */
-uint8_t strat_static_columns(uint8_t configuration);
-uint8_t strat_static_columns_pass2(void);
-
-/* in strat_lintel.c */
-uint8_t strat_goto_lintel_disp(struct lintel_dispenser *disp);
-uint8_t strat_pickup_lintels(void);
-
-/* in strat_column_disp.c */
-uint8_t strat_eject_col(int16_t eject_a, int16_t pickup_a);
-uint8_t strat_pickup_columns(void);
-uint8_t strat_goto_col_disp(struct column_dispenser **disp);
-
-/* in strat_building.c */
-uint8_t strat_goto_disc(int8_t level);
-uint8_t strat_goto_build_zone(struct build_zone *build_zone, uint8_t level);
-uint8_t strat_build_new_temple(struct build_zone *build_zone);
-uint8_t strat_goto_temple(struct temple *temple);
-uint8_t strat_grow_temple(struct temple *temple);
-uint8_t strat_grow_temple_column(struct temple *temple);
-struct temple *strat_get_best_temple(void);
-struct temple *strat_get_our_temple_on_disc(uint8_t valid);
-struct build_zone *strat_get_best_zone(void);
-struct temple *strat_get_free_temple(void);
-
-/* in strat_scan.c */
-struct scan_disc_result;
-void scanner_dump_state(void);
-int8_t strat_scan_get_checkpoint(uint8_t mode, int16_t *ckpt_rel_x,
- int16_t *ckpt_rel_y, int16_t *back_mm);
-uint8_t strat_scan_disc(int16_t angle, uint8_t mode,
- struct scan_disc_result *result);
-uint8_t strat_goto_disc_angle(int16_t a_deg, int8_t level);
-int16_t strat_get_temple_angle(struct temple *temple);
-int16_t strat_temple_angle_to_scan_angle(int16_t temple_angle);
-uint8_t strat_build_on_opponent_temple(void);
-uint8_t strat_check_temple_and_build(void);
-
#endif