/*
- * Copyright Droids Corporation, Microb Technology (2009)
+ * Copyright Droids, Microb Technology (2010)
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: strat_base.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
+ * Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
*
+ * Olivier MATZ <zer0@droids-corp.org>
*/
+
#include <stdio.h>
#include <stdlib.h>
-#include <string.h>
+#include <stdint.h>
#include <math.h>
+#include <aversive.h>
#include <aversive/pgmspace.h>
-#include <aversive/wait.h>
#include <aversive/error.h>
#include <ax12.h>
#include <quadramp.h>
#include <control_system_manager.h>
#include <trajectory_manager.h>
+#include <trajectory_manager_utils.h>
+#include <trajectory_manager_core.h>
#include <vect_base.h>
#include <lines.h>
#include <polygon.h>
#include <robot_system.h>
#include <position_manager.h>
+#include <diagnostic.h>
+
#include <rdline.h>
#include <parse.h>
#include "../common/i2c_commands.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_avoid.h"
+#include "strat_utils.h"
+#include "sensor.h"
+#include "actuator.h"
+
+
+const struct wp_coord circuit1[] = {
+ { .i = 11, .j = 6, .end = 0, },
+ { .i = 10, .j = 6, .end = 0, },
+ { .i = 9, .j = 5, .end = 0, },
+ { .i = 8, .j = 5, .end = 0, },
+ { .i = 7, .j = 4, .end = 0, },
+ { .i = 6, .j = 4, .end = 0, },
+ { .i = 5, .j = 4, .end = 0, },
+ { .i = 4, .j = 5, .end = 0, },
+ { .i = 3, .j = 5, .end = 0, },
+ { .i = 2, .j = 6, .end = 0, },
+ { .i = 1, .j = 6, .end = 0, },
+ { .i = 1, .j = 5, .end = 0, },
+ { .i = 1, .j = 4, .end = 0, },
+ { .i = 1, .j = 3, .end = 0, },
+ { .i = 1, .j = 2, .end = 0, },
+ { .i = 1, .j = 1, .end = 0, },
+ { .i = 2, .j = 2, .end = 0, },
+ { .i = 3, .j = 2, .end = 0, },
+ { .i = 4, .j = 3, .end = 0, },
+ { .i = 5, .j = 3, .end = 0, },
+ { .i = 6, .j = 4, .end = 0, },
+ { .i = 7, .j = 3, .end = 0, },
+ { .i = 8, .j = 3, .end = 0, },
+ { .i = 9, .j = 2, .end = 0, },
+ { .i = 10, .j = 2, .end = 0, },
+ { .i = 11, .j = 1, .end = 0, },
+ { .i = 11, .j = 2, .end = 0, },
+ { .i = 11, .j = 3, .end = 0, },
+ { .i = 11, .j = 4, .end = 0, },
+ { .i = 11, .j = 5, .end = 0, },
+ { .i = 11, .j = 6, .end = 1, },
+};
+
+const struct wp_coord circuit2[] = {
+ { .i = 11, .j = 6, .end = 0, },
+ { .i = 10, .j = 6, .end = 0, },
+ { .i = 9, .j = 5, .end = 0, },
+ { .i = 9, .j = 4, .end = 0, },
+ { .i = 9, .j = 3, .end = 0, },
+ { .i = 10, .j = 4, .end = 0, },
+ { .i = 11, .j = 4, .end = 0, },
+ { .i = 11, .j = 5, .end = 0, },
+ { .i = 11, .j = 6, .end = 1, },
+};
+
+/* list of all possible circuits */
+const struct wp_coord *circuits[] = {
+ circuit1,
+ circuit2,
+ NULL,
+};
+
+/* symetric neighbor position */
+static inline uint8_t opposite_position(uint8_t pos)
+{
+ pos += 3;
+ if (pos > LINE_L_UP)
+ pos -= 6;
+ return pos;
+}
+
+#if 0
+static uint8_t cc;
+uint8_t xget_cob_count(void)
+{
+ return cc;
+}
+
+static uint8_t bc;
+uint8_t xget_ball_count(void)
+{
+ return bc;
+}
+
+static uint32_t ts;
+uint8_t xtime_get_s(void)
+{
+ return ts;
+}
+#else
+#define xget_cob_count() get_cob_count()
+#define xget_ball_count() get_ball_count()
+#define xtime_get_s() time_get_s()
+#endif
+
+/* get the neighbour of the point at specified dir, return -1 if
+ * there is no neighbor */
+int8_t wp_get_neigh(uint8_t i, uint8_t j, uint8_t *ni, uint8_t *nj,
+ uint8_t dir)
+{
+ switch (dir) {
+ case LINE_UP:
+ j++;
+ break;
+ case LINE_R_UP:
+ if ((i & 1)) j++;
+ i++;
+ break;
+ case LINE_R_DOWN:
+ if (!(i & 1)) j--;
+ i++;
+ break;
+ case LINE_DOWN:
+ j--;
+ break;
+ case LINE_L_DOWN:
+ if (!(i & 1)) j--;
+ i--;
+ break;
+ case LINE_L_UP:
+ if ((i & 1)) j++;
+ i--;
+ break;
+ default:
+ return -1;
+ }
+ if (i >= WAYPOINTS_NBX || j >= WAYPOINTS_NBY)
+ return -1;
+
+ *ni = i;
+ *nj = j;
+ return 0;
+}
+
+static uint8_t get_line_num(int8_t i, int8_t j, uint8_t dir)
+{
+ switch (dir) {
+ case LINE_UP:
+ case LINE_DOWN:
+ return i/2;
+ case LINE_R_UP:
+ case LINE_L_DOWN:
+ i &= 0xfe;
+ j -= i/2;
+ return (5-j)/2;
+ case LINE_R_DOWN:
+ case LINE_L_UP:
+ i &= 0xfe;
+ j += i/2;
+ return (11-j)/2;
+ default:
+ return -1;
+ }
+}
+
+static uint8_t get_dir(uint8_t prev_i, uint8_t prev_j,
+ uint8_t i, uint8_t j)
+{
+ int8_t diff_i, diff_j;
+
+ diff_i = i - prev_i;
+ diff_j = j - prev_j;
+
+ if (diff_i == 0 && diff_j == 1)
+ return LINE_UP;
+ if (diff_i == 0 && diff_j == -1)
+ return LINE_DOWN;
+
+ if ((prev_i & 1) == 0) {
+ if (diff_i == 1 && diff_j == 0)
+ return LINE_R_UP;
+ if (diff_i == 1 && diff_j == -1)
+ return LINE_R_DOWN;
+ if (diff_i == -1 && diff_j == 0)
+ return LINE_L_UP;
+ if (diff_i == -1 && diff_j == -1)
+ return LINE_L_DOWN;
+ }
+ else {
+ if (diff_i == 1 && diff_j == 1)
+ return LINE_R_UP;
+ if (diff_i == 1 && diff_j == 0)
+ return LINE_R_DOWN;
+ if (diff_i == -1 && diff_j == 1)
+ return LINE_L_UP;
+ if (diff_i == -1 && diff_j == 0)
+ return LINE_L_DOWN;
+ }
+
+ /* invalid value */
+ return 0xFF;
+}
+
+/* return true if a waypoint belongs to a line */
+uint8_t wp_belongs_to_line(uint8_t i, uint8_t j, uint8_t linenum, uint8_t dir)
+{
+ uint8_t ln;
+ ln = get_line_num(i, j, dir);
+ if (ln == linenum)
+ return 1;
+ return 0;
+}
+
+/* count the number of non-black corns which are neighbors of
+ * specified cob */
+uint8_t corn_count_neigh(uint8_t i, uint8_t j)
+{
+ uint8_t dir, n = 0;
+ uint8_t ni, nj;
+
+ for (dir = LINE_UP; dir <= LINE_R_DOWN; dir++) {
+ if (wp_get_neigh(i, j, &ni, &nj, dir) < 0)
+ continue;
+
+ //printf("i,j=%d,%d dir=%d, ni,nj=%d,%d\r\n",
+ // i, j, dir, ni, nj);
+
+ /* is there a corn cob ? */
+ if (strat_db.wp_table[ni][nj].type == WP_TYPE_CORN &&
+ strat_db.wp_table[ni][nj].present &&
+ strat_db.wp_table[ni][nj].corn.color != I2C_COB_BLACK)
+ n ++;
+ }
+
+ return n;
+}
+
+
+int8_t get_path(const struct wp_coord *circuit,
+ uint8_t starti, uint8_t startj, uint8_t faceA,
+ struct wp_line *circuit_wpline)
+{
+ const struct wp_coord *curcircuit;
+ uint8_t prev_i, prev_j;
+ uint8_t dir, prev_dir = 0xFF;
+ uint8_t found = 0, i = 0, j = 0;
+ uint8_t linenum;
+ int8_t step = faceA ? 1 : -1;
+ int8_t skipfirst=0;
+ int8_t path_len = 0;
+
+ printf_P(PSTR("face: %d\r\n"), faceA);
+ if ( !faceA && circuit->i == 11 && circuit->j == 6)
+ skipfirst=1;
+
+ /* check that the point is present in the circuit */
+ for (curcircuit = circuit + skipfirst; curcircuit->end == 0; curcircuit ++) {
+ if (curcircuit->i == starti && curcircuit->j == startj) {
+ found = 1;
+ break;
+ }
+ }
+
+ if ( !faceA && curcircuit->i == 11 && curcircuit->j == 6)
+ found = 1;
+ if (found == 0)
+ return -1;
+
+ /* XXX len must be >= 1 */
+ /* XXX start = 11,6 */
+
+ prev_i = starti;
+ prev_j = startj;
+
+ curcircuit = curcircuit;
+ while (1) {
+ if (faceA && curcircuit->end)
+ break;
+ else if (!faceA && curcircuit == circuit)
+ break;
+ i = curcircuit->i;
+ j = curcircuit->j;
+
+ dir = get_dir(prev_i, prev_j, i, j);
+
+ if (prev_dir != dir) {
+ linenum = get_line_num(prev_i, prev_j, dir);
+ /* printf_P(PSTR("COIN %d, %d, dir=%d linenum=%d\r\n"), */
+ /* prev_i, prev_j, dir, linenum); */
+ circuit_wpline[path_len].line_num = linenum;
+ circuit_wpline[path_len].dir = dir;
+ path_len++;
+ }
+ prev_dir = dir;
+ prev_i = i;
+ prev_j = j;
+ curcircuit += step;
+ }
+
+/* printf_P(PSTR("COIN %d, %d\r\n"), curcircuit->i, curcircuit->j); */
+
+ return path_len; /* XXX */
+}
+
+int16_t get_score(uint32_t wcorn_retrieved, uint32_t ucorn_retrieved,
+ uint16_t tomato_retrieved, uint8_t len)
+{
+ int16_t score = 0;
+ uint8_t i;
+ uint32_t mask = 1;
+ uint8_t n;
+
+ /* score with corn */
+ n = xget_cob_count() * 2;
+ for (i = 0; i<CORN_NB; i++) {
+ if (n >= 10)
+ break;
+ if (wcorn_retrieved & mask) {
+ score += 250;
+ n += 2;
+ }
+ if (n >= 10)
+ break;
+ if (ucorn_retrieved & mask) {
+ score += 125;
+ n += 1;
+ }
+ mask <<= 1UL;
+ }
+
+ printf_P(PSTR("get score: cob %d \r\n"), n);
+ /* score with tomato */
+ n = xget_ball_count();
+ mask = 1;
+ for (i = 0; i<TOMATO_NB; i++) {
+ if (n >= 4)
+ break;
+ if (tomato_retrieved & mask) {
+ score += 150;
+ n += 1;
+ }
+ mask <<= 1UL;
+ }
+
+ printf_P(PSTR("get score: ball %d \r\n"), n);
+ /* malus for long circuits */
+ score -= (len * 20);
+
+ /* double malus for long circuits if we don't have much
+ * time */
+#define WP_SPEED 1
+ if (len * WP_SPEED > (MATCH_TIME - xtime_get_s())) {
+ uint16_t extra;
+ extra = (len * WP_SPEED) - (MATCH_TIME - xtime_get_s());
+ score -= (200 * extra);
+ }
+
+ /* XXX use direction of robot */
+
+ return score;
+}
+
+/* i,j: starting position */
+int8_t browse_one_circuit(const struct wp_coord *circuit,
+ uint8_t starti, uint8_t startj,
+ int16_t *scoreA, int16_t *scoreB)
+{
+ const struct wp_coord *curcircuit;
+ uint32_t wcorn_retrieved = 0; /* bit mask */
+ uint32_t ucorn_retrieved = 0; /* bit mask */
+ uint16_t tomato_retrieved = 0; /* bit mask */
+ uint8_t len = 0, found = 0, i, j;
+ uint8_t ni = 0, nj = 0, pos, color;
+
+ /* check that the point is present in the circuit */
+ for (curcircuit = circuit; curcircuit->end == 0; curcircuit ++) {
+ if (curcircuit->i == starti && curcircuit->j == startj) {
+ found = 1;
+ break;
+ }
+ }
+
+ if (found == 0)
+ return -1;
+
+ for (curcircuit = circuit; curcircuit->end == 0; curcircuit ++, len ++) {
+ i = curcircuit->i;
+ j = curcircuit->j;
+
+/* printf("cur:%d,%d %x %x %x %d\n", i, j, */
+/* wcorn_retrieved, ucorn_retrieved, tomato_retrieved, len); */
+
+ /* face A completed */
+ if (i == starti && j == startj) {
+ *scoreA = get_score(wcorn_retrieved, ucorn_retrieved,
+ tomato_retrieved, len);
+ wcorn_retrieved = 0; /* bit mask */
+ ucorn_retrieved = 0; /* bit mask */
+ tomato_retrieved = 0; /* bit mask */
+ len = 0;
+ }
+
+ /* is there a tomato ? */
+ if (strat_db.wp_table[i][j].type == WP_TYPE_TOMATO &&
+ strat_db.wp_table[i][j].present) {
+ tomato_retrieved |= (1UL << strat_db.wp_table[i][j].tomato.idx);
+ }
+
+ /* browse all neighbours to see if there is cobs */
+ for (pos = LINE_UP; pos <= LINE_R_DOWN; pos++) {
+ if (wp_get_neigh(i, j, &ni, &nj, pos) < 0)
+ continue;
+
+ /* is there a corn cob ? */
+ if (strat_db.wp_table[ni][nj].type == WP_TYPE_CORN &&
+ strat_db.wp_table[ni][nj].present) {
+ color = strat_db.wp_table[ni][nj].corn.color;
+ if (color == I2C_COB_WHITE)
+ wcorn_retrieved |= (1UL << strat_db.wp_table[ni][nj].corn.idx);
+ else if (color == I2C_COB_UNKNOWN)
+ ucorn_retrieved |= (1UL << strat_db.wp_table[ni][nj].corn.idx);
+ }
+ }
+ };
+
+ *scoreB = get_score(wcorn_retrieved, ucorn_retrieved,
+ tomato_retrieved, len);
+ if (circuit->i == starti && circuit->j == startj)
+ *scoreA = *scoreB;
+
+ return 0;
+}
+
+/* i,j starting position */
+int8_t browse_circuits(uint8_t i, uint8_t j,
+ const struct wp_coord **selected_circuit,
+ int8_t *selected_face)
+{
+ const struct wp_coord **circuit;
+ int16_t scoreA, scoreB;
+ int16_t selected_score = 0x8000; /* ~-int_max */
+ int8_t found = -1;
+
+ *selected_face = 0;
+ *selected_circuit = circuits[0] ;
+ for (circuit = &circuits[0]; *circuit; circuit++) {
+ if (browse_one_circuit(*circuit, i, j, &scoreA, &scoreB) < 0)
+ continue;
+ found = 0;
+ printf_P(PSTR("Circuit: %d %d\r\n"), scoreA, scoreB);
+ if (scoreA > selected_score) {
+ *selected_circuit = *circuit;
+ selected_score = scoreA;
+ *selected_face = 0;
+ }
+ if (scoreB > selected_score) {
+ *selected_circuit = *circuit;
+ selected_score = scoreB;
+ *selected_face = 1;
+ }
+ }
+ return found;
+}
+
+static void dump_circuit_wp(struct wp_line *circuit_wpline, int8_t len)
+{
+ int8_t i;
+ if (len <= 0)
+ return;
+ for (i = 0; i < len; i ++) {
+ printf_P(PSTR("linenum %d dir %d\r\n"), circuit_wpline[i].line_num,
+ circuit_wpline[i].dir);
+ }
+
+}
+
+uint8_t strat_harvest_circuit(void)
+{
+ const struct wp_coord *selected_circuit;
+ int8_t selected_face;
+ struct wp_line circuit_wpline[MAX_CIRCUIT_WPLINE];
+ int8_t len;
+ uint8_t i, j, idx;
+ int16_t x, y;
+ uint8_t linenum, prev_linenum;
+ uint8_t dir, prev_dir;
+ uint8_t err;
+
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+
+ if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+ DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
+ __FUNCTION__, x, y);
+ return END_ERROR;
+ }
+
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ len = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ if (len < 0) {
+ DEBUG(E_USER_STRAT, "%s(): cannot find a path",
+ __FUNCTION__);
+ return END_ERROR;
+ }
+
+ dump_circuit_wp(circuit_wpline, len);
+
+ prev_linenum = circuit_wpline[0].line_num;
+ prev_dir = circuit_wpline[0].dir;
+ for (idx = 1; idx < len; idx ++) {
+ retry:
+ linenum = circuit_wpline[idx].line_num;
+ dir = circuit_wpline[idx].dir;
+
+ /* XXX basic opponent management */
+ DEBUG(E_USER_STRAT, "%s(): line %d dir %d -> line %d dir %d",
+ __FUNCTION__, prev_linenum, prev_dir, linenum, dir);
+ err = line2line(prev_linenum, prev_dir, linenum, dir,
+ TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err)) {
+ strat_hardstop();
+ time_wait_ms(2000);
+ goto retry;
+ }
+
+ prev_linenum = linenum;
+ prev_dir = dir;
+ }
+
+ return END_TRAJ; // XXX
+}
+
+void test_strat_avoid(void)
+{
+
+ //corn_count_neigh(1, 3);
+
+
+#if 0
+ uint8_t i, j;
+ const struct wp_coord *selected_circuit;
+ int8_t selected_face;
+ struct wp_line circuit_wpline[MAX_CIRCUIT_WPLINE];
+ int8_t ret;
+
+ i = 1; j = 1;
+ printf_P(PSTR("========= i=%d, j=%d\r\n"), i, j);
+
+ ts = 0; bc = 0; cc = 0;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+
+ ts = 0; bc = 3; cc = 0;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+
+ ts = 0; bc = 4; cc = 0;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+
+ ts = 0; bc = 3; cc = 5;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+
+ ts = 0; bc = 4; cc = 5;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+
+ ts = 80; bc = 0; cc = 0;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+
+ i = 4; j = 3;
+ printf_P(PSTR("========= i=%d, j=%d\r\n"), i, j);
+
+ ts = 0; bc = 0; cc = 0;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+
+ ts = 0; bc = 3; cc = 0;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+
+ ts = 80; bc = 0; cc = 0;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+
+ i = 11; j = 6;
+ printf_P(PSTR("========= i=%d, j=%d\r\n"), i, j);
+
+ ts = 0; bc = 0; cc = 0;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+
+ ts = 0; bc = 3; cc = 0;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+ ts = 80; bc = 0; cc = 0;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ browse_circuits(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+#endif
+}
git.droids-corp.org / aversive.git / blobdiff