#include <aversive.h>
#include <aversive/pgmspace.h>
+#include <aversive/error.h>
#include <ax12.h>
#include <uart.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"
-/* XXX TODO
-static
-const
-change x,y -> i,j to avoid confusion with coords
-could be optimized in mem space: it is not needed to store the x,y coord,
- we can process it from idx. however it will be less optimized for speed
-
-*/
-
-/* XXX enum possible ? else just rename */
-#define START 0
-#define UP 1
-#define UP_RIGHT 2
-#define DOWN_RIGHT 3
-#define DOWN 4
-#define DOWN_LEFT 5
-#define UP_LEFT 6
-#define END 7
-
-struct djpoint {
- uint16_t weight;
- struct djpoint *parent;
-
- uint8_t parent_pos:3;
- uint8_t updated:1;
- uint8_t todo:1;
- uint8_t reserved:3;
+//#define VERBOSE
+
+#ifdef VERBOSE
+#define DPR(fmt, ...) printf_P(PSTR(fmt), ##__VA_ARGS__)
+#else
+#define DPR(args...) do {} while (0)
+#endif
+
+struct circuit {
+ const char *name;
+ uint8_t len;
+ const struct wp_coord *path;
};
-/* database for dijkstra */
-static struct djpoint djpoints[WAYPOINTS_NBX][WAYPOINTS_NBY];
+const struct wp_coord butterfly_tab[] = {
+ { .i = 11, .j = 6, },
+ { .i = 10, .j = 6, },
+ { .i = 9, .j = 5, },
+ { .i = 8, .j = 5, },
+ { .i = 7, .j = 4, },
+ { .i = 6, .j = 4, },
+ { .i = 5, .j = 3, },
+ { .i = 4, .j = 3, },
+ { .i = 3, .j = 2, },
+ { .i = 2, .j = 2, },
+ { .i = 1, .j = 1, },
+ { .i = 1, .j = 2, },
+ { .i = 1, .j = 3, },
+ { .i = 1, .j = 4, },
+ { .i = 1, .j = 5, },
+ { .i = 1, .j = 6, },
+ { .i = 2, .j = 6, },
+ { .i = 3, .j = 5, },
+ { .i = 4, .j = 5, },
+ { .i = 5, .j = 4, },
+ { .i = 6, .j = 4, },
+ { .i = 7, .j = 3, },
+ { .i = 8, .j = 3, },
+ { .i = 9, .j = 2, },
+ { .i = 10, .j = 2, },
+ { .i = 11, .j = 1, },
+ { .i = 11, .j = 2, },
+ { .i = 11, .j = 3, },
+ { .i = 11, .j = 4, },
+ { .i = 11, .j = 5, },
+ { .i = 11, .j = 6, },
+};
-/* return index from neigh pointer */
-#define PT2IDX(neigh) ( ((void *)(neigh)-(void *)(&djpoints)) / sizeof(*neigh) )
+const struct circuit butterfly_circuit = {
+ .name = "butterfly",
+ .len = sizeof(butterfly_tab)/sizeof(struct wp_coord),
+ .path = butterfly_tab,
+};
-void dump(void)
-{
- int8_t i, j;
- struct djpoint *pt;
- struct waypoint_db *wp;
+const struct wp_coord losange_tab[] = {
+ { .i = 11, .j = 6, },
+ { .i = 10, .j = 6, },
+ { .i = 9, .j = 5, },
+ { .i = 9, .j = 4, },
+ { .i = 9, .j = 3, },
+ { .i = 10, .j = 4, },
+ { .i = 11, .j = 4, },
+ { .i = 11, .j = 5, },
+ { .i = 11, .j = 6, },
+};
- printf_P(PSTR(" "));
- for (i=0; i<WAYPOINTS_NBX; i++) {
- printf_P(PSTR(" %2d "), i);
- }
- printf_P(PSTR("\r\n"));
-
- for (j=WAYPOINTS_NBY*2-1; j>=0; j--) {
- printf_P(PSTR("%3d "), j/2);
-
- if ((j&1) == 0)
- printf_P(PSTR(" "));
-
- for (i=0; i<WAYPOINTS_NBX; i++) {
- pt = &djpoints[i][j/2];
- wp = &strat_db.wp_table[i][j/2];
-
- if (((i+j) & 1) == 0)
- continue;
-
- if (wp->type == WP_TYPE_OBSTACLE)
- printf_P(PSTR(" X "));
- else if (wp->dangerous)
- printf_P(PSTR(" D "));
- else if (wp->type == WP_TYPE_CORN &&
- wp->corn.color == I2C_COB_WHITE)
- printf_P(PSTR(" W "));
- else if (wp->type == WP_TYPE_CORN &&
- wp->corn.color == I2C_COB_BLACK)
- printf_P(PSTR(" B "));
- else if (wp->type == WP_TYPE_CORN &&
- wp->corn.color == I2C_COB_UNKNOWN)
- printf_P(PSTR(" U "));
- else if (wp->type == WP_TYPE_WAYPOINT ||
- wp->type == WP_TYPE_TOMATO)
- printf_P(PSTR(" %5d "), pt->weight);
- else
- printf_P(PSTR(" ? "));
- }
- printf_P(PSTR("\r\n"));
- }
-}
+const struct circuit losange_circuit = {
+ .name = "losange",
+ .len = sizeof(losange_tab)/sizeof(struct wp_coord),
+ .path = losange_tab,
+};
+
+const struct wp_coord triangle_tab[] = {
+ { .i = 11, .j = 6, },
+ { .i = 10, .j = 6, },
+ { .i = 9, .j = 5, },
+ { .i = 8, .j = 5, },
+ { .i = 7, .j = 4, },
+ { .i = 6, .j = 4, },
+ { .i = 7, .j = 3, },
+ { .i = 8, .j = 3, },
+ { .i = 9, .j = 2, },
+ { .i = 10, .j = 2, },
+ { .i = 11, .j = 1, },
+ { .i = 11, .j = 2, },
+ { .i = 11, .j = 3, },
+ { .i = 11, .j = 4, },
+ { .i = 11, .j = 5, },
+ { .i = 11, .j = 6, },
+};
+
+const struct circuit triangle_circuit = {
+ .name = "triangle",
+ .len = sizeof(triangle_tab)/sizeof(struct wp_coord),
+ .path = triangle_tab,
+};
+
+const struct wp_coord answer_d_tab[] = {
+ { .i = 11, .j = 6, },
+ { .i = 11, .j = 5, },
+ { .i = 11, .j = 4, },
+ { .i = 11, .j = 3, },
+ { .i = 11, .j = 2, },
+ { .i = 11, .j = 1, },
+ { .i = 10, .j = 2, },
+ { .i = 9, .j = 2, },
+ { .i = 8, .j = 3, },
+ { .i = 9, .j = 3, },
+ { .i = 10, .j = 4, },
+ { .i = 11, .j = 4, },
+ { .i = 11, .j = 5, },
+ { .i = 11, .j = 6, },
+};
+
+const struct circuit answer_d_circuit = {
+ .name = "answer_d",
+ .len = sizeof(answer_d_tab)/sizeof(struct wp_coord),
+ .path = answer_d_tab,
+};
+
+const struct wp_coord h_lambda_tab[] = {
+ { .i = 11, .j = 6, },
+ { .i = 10, .j = 6, },
+ { .i = 9, .j = 5, },
+ { .i = 8, .j = 5, },
+ { .i = 7, .j = 4, },
+ { .i = 6, .j = 4, },
+ { .i = 5, .j = 3, },
+ { .i = 5, .j = 4, },
+ { .i = 5, .j = 5, },
+ { .i = 5, .j = 6, },
+ { .i = 6, .j = 6, },
+ { .i = 7, .j = 5, },
+ { .i = 8, .j = 5, },
+ { .i = 9, .j = 5, },
+ { .i = 10, .j = 6, },
+ { .i = 11, .j = 6, },
+};
+
+const struct circuit h_lambda_circuit = {
+ .name = "h_lambda",
+ .len = sizeof(h_lambda_tab)/sizeof(struct wp_coord),
+ .path = h_lambda_tab,
+};
+
+const struct wp_coord asym_butterfly_tab[] = {
+ { .i = 11, .j = 6, },
+ { .i = 10, .j = 6, },
+ { .i = 9, .j = 5, },
+ { .i = 8, .j = 5, },
+ { .i = 7, .j = 4, },
+ { .i = 6, .j = 4, },
+ { .i = 5, .j = 3, },
+ { .i = 4, .j = 3, },
+ { .i = 3, .j = 2, },
+ { .i = 3, .j = 3, },
+ { .i = 3, .j = 4, },
+ { .i = 3, .j = 5, },
+ { .i = 4, .j = 5, },
+ { .i = 5, .j = 4, },
+ { .i = 6, .j = 4, },
+ { .i = 7, .j = 3, },
+ { .i = 8, .j = 3, },
+ { .i = 9, .j = 2, },
+ { .i = 10, .j = 2, },
+ { .i = 11, .j = 1, },
+ { .i = 11, .j = 2, },
+ { .i = 11, .j = 3, },
+ { .i = 11, .j = 4, },
+ { .i = 11, .j = 5, },
+ { .i = 11, .j = 6, },
+};
+
+const struct circuit asym_butterfly_circuit = {
+ .name = "asym_butterfly",
+ .len = sizeof(asym_butterfly_tab)/sizeof(struct wp_coord),
+ .path = asym_butterfly_tab,
+};
+
+const struct wp_coord big_h_lambda_tab[] = {
+ { .i = 11, .j = 6, },
+ { .i = 10, .j = 6, },
+ { .i = 9, .j = 5, },
+ { .i = 8, .j = 5, },
+ { .i = 7, .j = 4, },
+ { .i = 6, .j = 4, },
+ { .i = 5, .j = 4, },
+ { .i = 4, .j = 5, },
+ { .i = 3, .j = 5, },
+ { .i = 2, .j = 6, },
+ { .i = 1, .j = 6, },
+ { .i = 1, .j = 5, },
+ { .i = 1, .j = 4, },
+ { .i = 1, .j = 3, },
+ { .i = 1, .j = 2, },
+ { .i = 1, .j = 1, },
+ { .i = 2, .j = 2, },
+ { .i = 3, .j = 2, },
+ { .i = 4, .j = 3, },
+ { .i = 5, .j = 3, },
+ { .i = 6, .j = 4, },
+ { .i = 7, .j = 4, },
+ { .i = 8, .j = 5, },
+ { .i = 9, .j = 5, },
+ { .i = 10, .j = 6, },
+ { .i = 11, .j = 6, },
+};
+const struct circuit big_h_lambda_circuit = {
+ .name = "big_h_lambda",
+ .len = sizeof(big_h_lambda_tab)/sizeof(struct wp_coord),
+ .path = big_h_lambda_tab,
+};
+
+const struct wp_coord letter_v_tab[] = {
+ { .i = 11, .j = 6, },
+ { .i = 10, .j = 6, },
+ { .i = 9, .j = 5, },
+ { .i = 8, .j = 5, },
+ { .i = 7, .j = 4, },
+ { .i = 6, .j = 4, },
+ { .i = 5, .j = 4, },
+ { .i = 4, .j = 5, },
+ { .i = 3, .j = 5, },
+ { .i = 2, .j = 6, },
+ { .i = 1, .j = 6, },
+ { .i = 1, .j = 5, },
+ { .i = 1, .j = 4, },
+ { .i = 2, .j = 4, },
+ { .i = 3, .j = 3, },
+ { .i = 4, .j = 3, },
+ { .i = 5, .j = 2, },
+ { .i = 6, .j = 2, },
+ { .i = 7, .j = 2, },
+ { .i = 8, .j = 3, },
+ { .i = 9, .j = 3, },
+ { .i = 10, .j = 4, },
+ { .i = 11, .j = 4, },
+ { .i = 11, .j = 5, },
+ { .i = 11, .j = 6, },
+};
+
+const struct circuit letter_v_circuit = {
+ .name = "letter_v",
+ .len = sizeof(letter_v_tab)/sizeof(struct wp_coord),
+ .path = letter_v_tab,
+};
+
+const struct wp_coord sperma_tab[] = {
+ { .i = 11, .j = 6, },
+ { .i = 10, .j = 6, },
+ { .i = 9, .j = 5, },
+ { .i = 8, .j = 5, },
+ { .i = 7, .j = 5, },
+ { .i = 6, .j = 6, },
+ { .i = 5, .j = 5, },
+ { .i = 4, .j = 5, },
+ { .i = 3, .j = 4, },
+ { .i = 2, .j = 4, },
+ { .i = 1, .j = 3, },
+ { .i = 1, .j = 4, },
+ { .i = 1, .j = 5, },
+ { .i = 1, .j = 6, },
+ { .i = 2, .j = 6, },
+ { .i = 3, .j = 5, },
+ { .i = 4, .j = 5, },
+ { .i = 5, .j = 5, },
+ { .i = 6, .j = 6, },
+ { .i = 7, .j = 5, },
+ { .i = 8, .j = 5, },
+ { .i = 9, .j = 5, },
+ { .i = 10, .j = 6, },
+ { .i = 11, .j = 6, },
+};
+
+const struct circuit sperma_circuit = {
+ .name = "sperma",
+ .len = sizeof(sperma_tab)/sizeof(struct wp_coord),
+ .path = sperma_tab,
+};
+
+/* list of all possible circuits */
+const struct circuit *circuits[] = {
+ &butterfly_circuit,
+ &losange_circuit,
+ &triangle_circuit,
+ &answer_d_circuit,
+ &h_lambda_circuit,
+ &asym_butterfly_circuit,
+ &big_h_lambda_circuit,
+ &letter_v_circuit,
+ &sperma_circuit,
+ NULL,
+};
+
+/* symetric neighbor position */
static inline uint8_t opposite_position(uint8_t pos)
{
pos += 3;
- if (pos > UP_LEFT)
+ if (pos > LINE_L_UP)
pos -= 6;
return pos;
}
-/* is point reachable by the robot ? */
-static uint8_t is_reachable(uint8_t i, uint8_t j)
+#ifdef HOST_VERSION
+//#define TEST_STRAT_AVOID
+#endif
+
+#ifdef TEST_STRAT_AVOID
+static uint8_t cc;
+uint8_t xget_cob_count(void)
{
- struct waypoint_db *wp;
+ return cc;
+}
- wp = &strat_db.wp_table[i][j];
- if (wp->type == WP_TYPE_WAYPOINT)
- return 1;
- if (wp->type == WP_TYPE_TOMATO)
+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
+
+/* return true if turn is at 60 deg */
+uint8_t is_60deg(uint8_t dir1, uint8_t dir2)
+{
+ int8_t turn;
+
+ turn = dir2-dir1;
+ if (turn < 0)
+ turn += 6;
+ if (turn == 1)
return 1;
- if (wp->type == WP_TYPE_CORN &&
- wp->present == 0)
+ if (turn == 5)
return 1;
return 0;
}
-/* return coord of the entry in the table from the pointer */
-static void djpoint2ij(struct djpoint *pt, uint8_t *i, uint8_t *j)
+/* return true if turn is at 60 deg */
+uint8_t is_120deg(uint8_t dir1, uint8_t dir2)
{
- int8_t idx = PT2IDX(pt);
- *i = idx / WAYPOINTS_NBY;
- *j = idx % WAYPOINTS_NBY;
+ int8_t turn;
+
+ turn = dir2-dir1;
+ if (turn < 0)
+ turn += 6;
+ if (turn == 2)
+ return 1;
+ if (turn == 4)
+ return 1;
+ return 0;
}
-/* get the neighbour of the point at specified position */
-static struct djpoint *get_neigh(struct djpoint *pt,
- uint8_t position)
+/* 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)
{
- uint8_t i,j;
- struct djpoint *neigh;
-
- djpoint2ij(pt, &i, &j);
-
- switch (position) {
- case UP:
+ switch (dir) {
+ case LINE_UP:
j++;
break;
- case UP_RIGHT:
- if (!(i & 1)) j++;
+ case LINE_R_UP:
+ if ((i & 1)) j++;
i++;
break;
- case DOWN_RIGHT:
- if (i & 1) j--;
+ case LINE_R_DOWN:
+ if (!(i & 1)) j--;
i++;
break;
- case DOWN:
+ case LINE_DOWN:
j--;
break;
- case DOWN_LEFT:
- if (i & 1) j--;
+ case LINE_L_DOWN:
+ if (!(i & 1)) j--;
i--;
break;
- case UP_LEFT:
- if (!(i & 1)) j++;
+ case LINE_L_UP:
+ if ((i & 1)) j++;
i--;
break;
default:
- return NULL;
+ return -1;
}
if (i >= WAYPOINTS_NBX || j >= WAYPOINTS_NBY)
- return NULL;
+ return -1;
- if (is_reachable(i, j) == 0)
- return NULL;
+ *ni = i;
+ *nj = j;
+ return 0;
+}
+
+static int8_t get_line_num(int8_t i, int8_t j, uint8_t dir)
+{
+ uint8_t mod;
- neigh = &djpoints[i][j];
- return neigh;
+ switch (dir) {
+ case LINE_UP:
+ case LINE_DOWN:
+ if ((i & 1) == 0)
+ return -1;
+ return i/2;
+ case LINE_R_UP:
+ case LINE_L_DOWN:
+ mod = i & 3;
+ if ((mod == 0 || mod == 1) && ((j & 1) == 0))
+ return -1;
+ if ((mod == 2 || mod == 3) && ((j & 1) == 1))
+ return -1;
+ i &= 0xfe;
+ j -= i/2;
+ return (5-j)/2;
+ case LINE_R_DOWN:
+ case LINE_L_UP:
+ mod = i & 3;
+ if ((mod == 0 || mod == 3) && ((j & 1) == 0))
+ return -1;
+ if ((mod == 1 || mod == 2) && ((j & 1) == 1))
+ return -1;
+ i &= 0xfe;
+ j += i/2;
+ return (11-j)/2;
+ default:
+ return -1;
+ }
}
-static struct djpoint *get_next_neigh(struct djpoint *pt, uint8_t *position)
+static uint8_t get_dir(uint8_t prev_i, uint8_t prev_j,
+ uint8_t i, uint8_t j)
{
- struct djpoint *neigh = NULL;
- uint8_t pos = *position + 1;
+ int8_t diff_i, diff_j;
- for (pos = *position + 1; pos < END; pos++) {
- neigh = get_neigh(pt, pos);
- if (neigh != NULL)
- break;
+ 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;
}
- *position = pos;
- return neigh;
+ /* invalid value */
+ return 0xFF;
}
-/* browse all points */
-#define POINT_FOREACH(cur) \
- for (cur = &djpoints[0][0]; \
- cur < &djpoints[WAYPOINTS_NBX][WAYPOINTS_NBY]; \
- cur ++)
+/* return approximative angle of line */
+int16_t linedir2angle(uint8_t dir)
+{
+ switch (dir) {
+ case LINE_UP:
+ return COLOR_A(90);
+ case LINE_DOWN:
+ return COLOR_A(-90);
+ case LINE_R_UP:
+ return COLOR_A(30);
+ case LINE_R_DOWN:
+ return COLOR_A(-30);
+ case LINE_L_UP:
+ return COLOR_A(150);
+ case LINE_L_DOWN:
+ return COLOR_A(-150);
+ default:
+ return 0;
+ }
+}
-/* XXX comment */
-#define NEIGH_FOREACH(neigh, pos, point) \
- for (pos = START, neigh = get_next_neigh(point, &pos); \
- neigh; \
- neigh = get_next_neigh(point, &pos))
+int16_t get_nearest_dir_angle(int16_t a)
+{
+ uint8_t dir, min_dir = 0;
+ int16_t min_diff = 0x7FFF, diff;
-int dijkstra_init(void)
+ for (dir = LINE_UP; dir <= LINE_R_UP; dir++) {
+ diff = abs(linedir2angle(dir) - a);
+ if (diff > 360)
+ diff -= 360;
+ if (diff > 360)
+ diff -= 360;
+ if (diff < min_diff) {
+ min_diff = diff;
+ min_dir = dir;
+ }
+ }
+ return linedir2angle(min_dir);
+}
+
+/* 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)
{
+ int8_t ln;
+ ln = get_line_num(i, j, dir);
+ if (ln == -1)
+ return 0;
+ if (ln == linenum)
+ return 1;
return 0;
}
-/* return distance between p1 and p2 */
-static uint16_t dist(struct djpoint *p1, struct djpoint *p2)
+/* count the number of non-black corns which are neighbors of
+ * specified cob */
+uint8_t corn_count_neigh(uint8_t i, uint8_t j)
{
- int16_t x1, y1, x2, y2;
- double vx, vy;
- uint8_t i, j;
+ uint8_t dir, n = 0;
+ uint8_t ni, nj;
- djpoint2ij(p1, &i, &j);
- ijcoord_to_xycoord(i, j, &x1, &y1);
+ for (dir = LINE_UP; dir <= LINE_R_UP; dir++) {
+ if (wp_get_neigh(i, j, &ni, &nj, dir) < 0)
+ continue;
- djpoint2ij(p2, &i, &j);
- ijcoord_to_xycoord(i, j, &x2, &y2);
+ /* is there a corn cob removed for more than 2 secs ? */
+ if (strat_db.wp_table[ni][nj].type == WP_TYPE_CORN &&
+ strat_db.wp_table[ni][nj].corn.color != I2C_COB_BLACK &&
+ (strat_db.wp_table[ni][nj].present ||
+ strat_db.wp_table[ni][nj].time_removed + 2 > time_get_s()))
+ n ++;
+ }
- vx = x2 - x1;
- vy = y2 - y1;
- return sqrt(vx * vx + vy * vy);
+ return n;
}
-void dijkstra_process_neighs(struct djpoint *pt)
+
+/* fill circuit_wpline table with waypoints from circuit starting at
+ * i,j and using selected face */
+static int8_t get_path(const struct circuit *circuit,
+ uint8_t starti, uint8_t startj, uint8_t faceA,
+ struct wp_line *circuit_wpline)
{
- struct djpoint *neigh;
- uint8_t pos, parent_pos;
- uint16_t weight;
- uint8_t i,j;
-
- djpoint2ij(pt, &i, &j);
- printf_P(PSTR("at %d %d:\r\n"), i, j);
-
- NEIGH_FOREACH(neigh, pos, pt) {
- weight = pt->weight + dist(pt, neigh);
- parent_pos = opposite_position(pos);
-
- /* bonus if we keep the same direction */
- if (parent_pos == pt->parent_pos ||
- pt->parent_pos == END)
- weight = weight - 1;
-
- printf_P(PSTR(" pos=%d: ppos=%d opos=%d nw=%d w=%d\r\n"), pos,
- pt->parent_pos, parent_pos,
- neigh->weight, weight);
- if (neigh->weight == 0 || weight < neigh->weight) {
- djpoint2ij(neigh, &i, &j);
- //printf_P(PSTR(" %d,%d updated\r\n"), i, j);
- neigh->weight = weight;
- neigh->parent_pos = parent_pos;
- neigh->updated = 1;
+ const struct wp_coord *curcircuit;
+ const struct wp_coord *start;
+ const struct wp_coord *end;
+ 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 path_len = 0;
+
+ /* start and end of circuit */
+ if (faceA) {
+ start = &circuit->path[0];
+ end = start + circuit->len - 1;
+ }
+ else {
+ end = &circuit->path[0];
+ start = end + circuit->len - 1;
+ }
+
+ DPR("%s(): %s face=%d\r\n", __FUNCTION__, circuit->name, faceA);
+
+ /* check that the point is present in the circuit */
+ for (curcircuit = start; curcircuit != end; curcircuit += step) {
+ if (curcircuit->i == starti && curcircuit->j == startj) {
+ found = 1;
+ break;
}
}
+ if (found == 0)
+ return -1;
+
+
+ /* browse the circuit from starti, startj in the specified
+ * direction, and fill the table when direction changes */
+ prev_i = starti;
+ prev_j = startj;
+ for ( ; curcircuit != end;
+ curcircuit += step, prev_dir = dir, prev_i = i, prev_j = j) {
+
+ 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);
+ circuit_wpline[path_len].line_num = linenum;
+ circuit_wpline[path_len].dir = dir;
+ DPR("%s(): %d %d -> %d %d / len=%d num=%d dir=%d\r\n",
+ __FUNCTION__, prev_i, prev_j, i, j, path_len, linenum, dir);
+ path_len++;
+ }
+ }
+
+ return path_len;
+}
+
+/* process score from retrieved objects number, and circuit len */
+static int16_t get_score(uint32_t wcorn_retrieved,
+ uint32_t ucorn_retrieved,
+ uint16_t tomato_retrieved,
+ uint16_t utomato_retrieved,
+ uint8_t len, uint8_t opp_on_path)
+{
+ 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;
+ }
+
+ DPR("get score: cob %d (->%d)\r\n", n, n/2);
+
+ /* 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;
+ }
+
+ DPR("get score: ball %d\r\n", n);
+
+ /* malus for long circuits */
+ score -= (len * 20);
+ DPR("malus for length: %d\r\n", 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())) {
+ int32_t extra;
+ extra = (len * WP_SPEED) - (MATCH_TIME - xtime_get_s());
+ extra = (200 * extra);
+ if (extra < 0) /* should not happen */
+ extra = 0;
+ if (extra > 10000)
+ extra = 10000;
+ score -= extra;
+ DPR("malus for length + time: %d\r\n", extra);
+ }
+
+ /* malus if there is opponent on the path */
+ if (opp_on_path) {
+ DPR("malus for opponent: %d\r\n", (500 * opp_on_path));
+ score -= (500 * opp_on_path);
+ }
+
+ return score;
+}
+
+/* return the corn type of specified coords: I2C_COB_WHITE,
+ * I2C_COB_UNKNOWN, or I2C_COB_NONE if it is black or not present */
+static uint8_t get_corn_type(uint8_t i, uint8_t j)
+{
+ uint8_t color;
+ /* is there a corn cob ? */
+ if (strat_db.wp_table[i][j].type == WP_TYPE_CORN &&
+ strat_db.wp_table[i][j].present) {
+ color = strat_db.wp_table[i][j].corn.color;
+ if (color == I2C_COB_WHITE)
+ return I2C_COB_WHITE;
+ else if (color == I2C_COB_UNKNOWN)
+ return I2C_COB_UNKNOWN;
+ }
+ return I2C_COB_NONE;
}
-int dijkstra(struct djpoint *start)
+/* i,j: starting position */
+static int8_t evaluate_one_face(const struct circuit *circuit,
+ uint8_t starti, uint8_t startj,
+ uint8_t faceA, int16_t *score)
{
- struct djpoint *cur;
- uint8_t todolist = 1;
-
- start->todo = 1;
-
- while (todolist) {
- printf_P(PSTR("\r\n"));
- dump();
- /* process all neighbours of todo list */
- POINT_FOREACH(cur) {
- if (!cur->todo)
- continue;
- dijkstra_process_neighs(cur);
- cur->todo = 0;
+ const struct wp_coord *curcircuit;
+ const struct wp_coord *start;
+ const struct wp_coord *end;
+ uint32_t wcorn_retrieved = 0; /* bit mask */
+ uint32_t ucorn_retrieved = 0; /* bit mask */
+ uint16_t tomato_retrieved = 0; /* bit mask */
+ uint16_t utomato_retrieved = 0; /* bit mask */
+ uint8_t opponent_on_path = 0;
+ uint8_t len = 0, found = 0;
+ uint8_t i, j, prev_i, prev_j;
+ uint8_t ni = 0, nj = 0;
+ uint8_t dir, color, idx, visited;
+ int8_t step = faceA ? 1 : -1;
+ int16_t x, y;
+ int32_t d, prev_d = 0;
+ int16_t oppx, oppy;
+
+ *score = 0x8000; /* -int_max */
+
+ /* start and end of circuit */
+ if (faceA) {
+ start = &circuit->path[0];
+ end = start + circuit->len - 1;
+ }
+ else {
+ end = &circuit->path[0];
+ start = end + circuit->len - 1;
+ }
+
+ DPR("%s() face: %s %d\r\n", __FUNCTION__, circuit->name, faceA);
+
+ /* check that the point is present in the circuit */
+ for (curcircuit = start; curcircuit != end; curcircuit += step) {
+ if (curcircuit->i == starti && curcircuit->j == startj) {
+ found = 1;
+ break;
}
+ }
+ if (found == 0)
+ return -1;
+
+ /* get opponent coords */
+ if (get_opponent_xy(&oppx, &oppy) < 0)
+ oppx = I2C_OPPONENT_NOT_THERE;
+ else
+ DPR("%s() opponent: %d, %d\r\n", __FUNCTION__, oppx, oppy);
+
+ /* silent the compiler */
+ prev_i = 0xff;
+ prev_j = 0xff;
+
+ /* browse all points and calculate the score */
+ for (; /* start at starti,startj */
+ curcircuit != end;
+ curcircuit += step, len ++, prev_i = i, prev_j = j) {
+ i = curcircuit->i;
+ j = curcircuit->j;
+
+ /* is opponent near the point ? */
+ ijcoord_to_xycoord(i, j, &x, &y);
+ if (oppx != I2C_OPPONENT_NOT_THERE) {
+ d = quad_distance_between(oppx, oppy, x, y);
+ DPR("%s(): opp at %d mm (ij=%d,%d opp=%d,%d pos=%d,%d)\r\n",
+ __FUNCTION__, d, i, j, oppx, oppy, x, y);
+ if (d < (250L*250L) && d < prev_d)
+ opponent_on_path += 3;
+ else if (d < (500L*500L) && d < prev_d)
+ opponent_on_path ++;
+ prev_d = d;
+ }
+
+ /* don't try to look cobs/tomato for first point */
+ if (curcircuit == start)
+ continue;
+
+ /* get current direction, we wil check cobs behind us
+ * on left and right */
+ dir = get_dir(prev_i, prev_j, i, j);
+
+ DPR("%d %d -> %d %d (%d)\n", prev_i, prev_j, i, j, dir);
+
+ /* is there a tomato ? */
+ if (strat_db.wp_table[i][j].type == WP_TYPE_TOMATO &&
+ strat_db.wp_table[i][j].present) {
+ if (strat_db.wp_table[i][j].opp_visited) {
+ DPR(" TOMATO (opp visited)\n");
+ utomato_retrieved |= (1UL << strat_db.wp_table[i][j].tomato.idx);
+ }
+ else {
+ DPR(" TOMATO\n");
+ tomato_retrieved |= (1UL << strat_db.wp_table[i][j].tomato.idx);
+ }
+ }
+
+ /* behind left */
+ if (wp_get_neigh(i, j, &ni, &nj, (dir + 2) % 6) == 0) {
+ color = get_corn_type(ni, nj);
+ idx = strat_db.wp_table[ni][nj].corn.idx;
+ visited = strat_db.wp_table[ni][nj].opp_visited;
+ if (color == I2C_COB_WHITE && !visited) {
+ DPR(" LEFT WCORN (%d)\n", idx);
+ wcorn_retrieved |= (1UL << idx);
+ }
+ else if (color == I2C_COB_WHITE && visited) {
+ DPR(" LEFT CORN visited (%d)\n", idx);
+ ucorn_retrieved |= (1UL << idx);
+ }
+ else if (color == I2C_COB_UNKNOWN) {
+ DPR(" LEFT UCORN (%d)\n", idx);
+ ucorn_retrieved |= (1UL << idx);
+ }
+ }
+
+ /* behind right */
+ if (wp_get_neigh(i, j, &ni, &nj, (dir + 4) % 6) == 0) {
+ color = get_corn_type(ni, nj);
+ idx = strat_db.wp_table[ni][nj].corn.idx;
+ visited = strat_db.wp_table[ni][nj].opp_visited;
+ if (color == I2C_COB_WHITE && !visited) {
+ DPR(" RIGHT WCORN (%d)\n", idx);
+ wcorn_retrieved |= (1UL << idx);
+ }
+ else if (color == I2C_COB_WHITE && visited) {
+ DPR(" RIGHT CORN visited (%d)\n", idx);
+ ucorn_retrieved |= (1UL << idx);
+ }
+ else if (color == I2C_COB_UNKNOWN) {
+ DPR(" RIGHT UCORN (%d)\n", idx);
+ ucorn_retrieved |= (1UL << idx);
+ }
+ }
+
+ /* prev_i, prev_j, len and curcircuit are updated in
+ * for (;;) */
+ }
+
+ /* write score and exit */
+ *score = get_score(wcorn_retrieved, ucorn_retrieved,
+ tomato_retrieved, utomato_retrieved,
+ len, opponent_on_path);
+ return 0;
+}
+
+/* i,j: starting position */
+static int8_t evaluate_one_circuit(const struct circuit *circuit,
+ uint8_t starti, uint8_t startj,
+ int16_t *scoreA, int16_t *scoreB)
+{
+ if (evaluate_one_face(circuit, starti, startj, 1, scoreA) < 0)
+ return -1;
+
+ /* we are on eject point, scoreB is the same */
+ if (starti == 11 && startj == 6) {
+ *scoreB = *scoreA;
+ return 0;
+ }
- /* convert updated list in todo list */
- todolist = 0;
- POINT_FOREACH(cur) {
- if (!cur->updated)
- continue;
- todolist = 1;
- cur->todo = 1;
- cur->updated = 0;
+ if (evaluate_one_face(circuit, starti, startj, 0, scoreB) < 0)
+ return -1;
+ return 0;
+}
+
+/* i,j starting position */
+static int8_t find_best_circuit(uint8_t i, uint8_t j,
+ const struct circuit **selected_circuit,
+ int8_t *selected_face)
+{
+ const struct circuit **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 (evaluate_one_circuit(*circuit, i, j, &scoreA, &scoreB) < 0)
+ continue;
+ found = 0;
+ DEBUG(E_USER_STRAT, "Scores for %s are: faceA=%d, faceB=%d",
+ (*circuit)->name, scoreA, scoreB);
+ if (scoreA > selected_score) {
+ *selected_circuit = *circuit;
+ selected_score = scoreA;
+ *selected_face = 1;
+ }
+ if (scoreB > selected_score) {
+ *selected_circuit = *circuit;
+ selected_score = scoreB;
+ *selected_face = 0;
}
}
- return 0; /* XXX */
+
+ if (found == -1)
+ DEBUG(E_USER_STRAT, "no circuit found");
+ else
+ DEBUG(E_USER_STRAT, "circuit found: %s, %s",
+ (*selected_circuit)->name,
+ (*selected_face) ? "faceA":"faceB");
+ return found;
}
-/* init waypoints position */
-void init_djpoints(void)
+static void init_all_circuits(void)
{
- int8_t i, j;
- struct djpoint *pt;
+ const struct circuit **circuit;
+ const struct wp_coord *cur;
+ const struct wp_coord *start;
+ const struct wp_coord *end;
+ uint8_t prev_i, prev_j, i, j, dir;
- for (i=0; i<WAYPOINTS_NBX; i++) {
+ for (circuit = &circuits[0]; *circuit; circuit++) {
+ start = &(*circuit)->path[0];
+ end = start + (*circuit)->len - 1;
- for (j=0; j<WAYPOINTS_NBY; j++) {
- pt = &djpoints[i][j];
- pt->parent_pos = END;
- pt->updated = 0;
- pt->todo = 0;
- pt->weight = 0;
+ prev_i = start->i;
+ prev_j = start->j;
+ start ++;
+
+ for (cur = start; cur != end;
+ cur ++, prev_i = i, prev_j = j) {
+
+ i = cur->i;
+ j = cur->j;
+
+ strat_db.wp_table[i][j].on_circuit = 1;
+
+ dir = get_dir(prev_i, prev_j, i, j);
+ if (dir == 0xFF)
+ printf_P("Bad circuit %s %d %d\r\n", (*circuit)->name, i, j);
}
}
}
-int get_path(struct djpoint *start, struct djpoint *end)
+
+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 ++) {
+ DEBUG(E_USER_STRAT, "linenum %d dir %d",
+ circuit_wpline[i].line_num,
+ circuit_wpline[i].dir);
+ }
+
+}
+
+/* choose a circuit, then harvest on this circuit */
+uint8_t strat_harvest_circuit(void)
{
- struct djpoint *cur;
- uint8_t prev_direction = 0;
- int8_t idx;
+ const struct circuit *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;
+
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+ strat_want_pack = 1;
+
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
+ DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
+ __FUNCTION__, x, y);
+ err = END_ERROR;
+ goto fail;
+ }
- for (cur = start;
- cur != NULL && cur->parent_pos != END && cur != end;
- cur = get_neigh(cur, cur->parent_pos)) {
- if (prev_direction != cur->parent_pos) {
- idx = PT2IDX(cur);
- corn_idx_to_xycoord(idx, &x, &y);
- printf_P(PSTR("%d %d (%d)\r\n"),
- x, y, cur->parent_pos);
+ if (find_best_circuit(i, j, &selected_circuit, &selected_face) < 0) {
+ DEBUG(E_USER_STRAT, "%s(): cannot find a good circuit",
+ __FUNCTION__);
+ err = END_ERROR;
+ goto fail;
+ }
+
+ len = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ if (len < 0) {
+ DEBUG(E_USER_STRAT, "%s(): cannot find a path",
+ __FUNCTION__);
+ err = END_ERROR;
+ goto fail;
+ }
+
+ dump_circuit_wp(circuit_wpline, len);
+
+ prev_linenum = circuit_wpline[0].line_num;
+ prev_dir = circuit_wpline[0].dir;
+
+ /* fix orientation first */
+ trajectory_a_abs(&mainboard.traj, linedir2angle(prev_dir));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ strat_want_pack = 0;
+
+ /* do all lines of circuit */
+ for (idx = 1; idx < len; idx ++) {
+ retry:
+ linenum = circuit_wpline[idx].line_num;
+ dir = circuit_wpline[idx].dir;
+
+ 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);
+
+ /* in some cases it is better to wait that obstacle is
+ * gone before starting to avoid it */
+ if (err == END_OBSTACLE &&
+ strat_conf.flags & STRAT_CONF_WAIT_OBSTACLE &&
+ time_get_s() > strat_conf.prev_wait_obstacle + 5) {
+ strat_conf.prev_wait_obstacle = time_get_s();
+ time_wait_ms(2000);
+ goto retry;
}
- prev_direction = cur->parent_pos;
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ prev_linenum = linenum;
+ prev_dir = dir;
}
- idx = PT2IDX(end);
- corn_idx_to_xycoord(idx, &x, &y);
- printf_P(PSTR("%d %d\r\n"), x, y);
+ err = END_TRAJ;
+
+ fail:
+ strat_want_pack = 0;
+ return err;
+}
+
+/* list of waypoints when we are not on a circuit */
+const struct xy_point unblock_pts[] = {
+ { .x = 375, .y = 597 }, /* 1,1 */
+ { .x = 2625, .y = 597 }, /* 11,1 */
+ { .x = 1500, .y = 722 }, /* 6,2 */
+ { .x = 375, .y = 1097 }, /* 1,3 */
+ { .x = 375, .y = 1597 }, /* 1,5 */
+ { .x = 2625, .y = 1097 }, /* 11,3 */
+ { .x = 2625, .y = 1597 }, /* 11,5 */
+ { .x = 1500, .y = 1722 }, /* 6,6 */
+};
+
+
+/* try to unblock in any situation */
+uint8_t strat_unblock(void)
+{
+ int16_t x, y, posx, posy, posa;
+ uint8_t i, j, k, cpt;
+ uint16_t old_dspeed, old_aspeed;
+ uint8_t err;
+ uint16_t d_min = 0x7FFF, d;
+ const struct xy_point *pt;
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ strat_want_pack = 1;
+ strat_get_speed(&old_dspeed, &old_aspeed);
+
+ strat_hardstop();
+ posa = position_get_a_deg_s16(&mainboard.pos);
+
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+ posx = position_get_x_s16(&mainboard.pos);
+ posy = position_get_y_s16(&mainboard.pos);
+ x = posx;
+ y = posy;
+
+ if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
+ x = -1;
+ else if (strat_db.wp_table[i][j].on_circuit == 0)
+ x = -1;
+
+ /* find the nearest unblock point */
+ if (x == -1) {
+
+ /* browse all points and find the nearest */
+ for (k = 0; k < sizeof(unblock_pts)/sizeof(*unblock_pts); k++) {
+ pt = &unblock_pts[k];
+ d = distance_between(posx, posy, pt->x, COLOR_Y(pt->y));
+ if (d < d_min) {
+ d_min = d;
+ x = pt->x;
+ y = COLOR_Y(pt->y);
+ }
+ }
+ }
+ DEBUG(E_USER_STRAT, "%s() unblock point is %d,%d",
+ __FUNCTION__, x, y);
+
+ for (cpt = 0; cpt < 2; cpt++) {
+
+ /* go to nearest waypoint */
+ trajectory_goto_xy_abs(&mainboard.traj, x, y);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (err == END_TIMER)
+ return err;
+
+ if (TRAJ_SUCCESS(err))
+ break;
+
+ if (cpt == 1)
+ break;
+
+ /* aie... do a S */
+ trajectory_d_a_rel(&mainboard.traj, 100, 20);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ trajectory_d_a_rel(&mainboard.traj, 100, -20);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ trajectory_d_a_rel(&mainboard.traj, -100, -20);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ trajectory_d_a_rel(&mainboard.traj, -100, 20);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ }
+
+ trajectory_a_abs(&mainboard.traj, get_nearest_dir_angle(posa));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (err == END_TIMER)
+ return err;
+
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ strat_set_speed(old_dspeed, old_aspeed);
+ return END_TRAJ;
+}
+
+void strat_avoid_init(void)
+{
+ init_all_circuits();
+
+#ifdef TEST_STRAT_AVOID
+ uint8_t i, j;
+ const struct circuit *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);
+ find_best_circuit(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);
+ find_best_circuit(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);
+ find_best_circuit(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);
+ find_best_circuit(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);
+ find_best_circuit(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);
+ find_best_circuit(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);
+ find_best_circuit(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);
+ find_best_circuit(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);
+ find_best_circuit(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);
+ find_best_circuit(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);
+ find_best_circuit(i, j, &selected_circuit, &selected_face);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
- return 0; /* XXX */
+ ts = 80; bc = 0; cc = 0;
+ printf_P(PSTR("=== time=%"PRIu32", ball=%d, corn=%d\r\n"), ts, bc, cc);
+ find_best_circuit(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