#include "sensor.h"
#include "actuator.h"
+//#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;
+};
+
+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, },
+};
+
+const struct circuit butterfly_circuit = {
+ .name = "butterfly",
+ .len = sizeof(butterfly_tab)/sizeof(struct wp_coord),
+ .path = butterfly_tab,
+};
+
+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, },
+};
+
+const struct circuit losange_circuit = {
+ .name = "losange",
+ .len = sizeof(losange_tab)/sizeof(struct wp_coord),
+ .path = losange_tab,
+};
-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 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 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, },
+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,
};
/* list of all possible circuits */
-const struct wp_coord *circuits[] = {
- circuit1,
- circuit2,
+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,
NULL,
};
return pos;
}
+#ifdef HOST_VERSION
+//#define TEST_STRAT_AVOID
+#endif
+
+#ifdef TEST_STRAT_AVOID
static uint8_t cc;
uint8_t xget_cob_count(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 (turn == 5)
+ return 1;
+ return 0;
+}
+/* return true if turn is at 60 deg */
+uint8_t is_120deg(uint8_t dir1, uint8_t dir2)
+{
+ 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, return -1 if
+/* get the neighbour of the point at specified dir, return -1 if
* there is no neighbor */
-static int8_t get_neigh(uint8_t i, uint8_t j,
- uint8_t *ni, uint8_t *nj,
- uint8_t position)
+int8_t wp_get_neigh(uint8_t i, uint8_t j, uint8_t *ni, uint8_t *nj,
+ uint8_t dir)
{
- switch (position) {
+ switch (dir) {
case LINE_UP:
j++;
break;
case LINE_R_UP:
- if (!(i & 1)) j++;
+ if ((i & 1)) j++;
i++;
break;
case LINE_R_DOWN:
- if (i & 1) j--;
+ if (!(i & 1)) j--;
i++;
break;
case LINE_DOWN:
j--;
break;
case LINE_L_DOWN:
- if (i & 1) j--;
+ if (!(i & 1)) j--;
i--;
break;
case LINE_L_UP:
- if (!(i & 1)) j++;
+ if ((i & 1)) j++;
i--;
break;
default:
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_UP; dir++) {
+ if (wp_get_neigh(i, j, &ni, &nj, dir) < 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 &&
+ 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)
+/* 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)
{
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 skipfirst=0;
int8_t path_len = 0;
- printf("face: %d\n", faceA);
- if ( !faceA && circuit->i == 11 && circuit->j == 6)
- skipfirst=1;
+ /* 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 = circuit + skipfirst; curcircuit->end == 0; curcircuit ++) {
+ for (curcircuit = start; curcircuit != end; curcircuit += step) {
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 */
+ /* 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) {
- curcircuit = curcircuit;
- while (1) {
- if (faceA && curcircuit->end)
- break;
- else if (!faceA && curcircuit == circuit)
- break;
i = curcircuit->i;
j = curcircuit->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;
+ 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++;
}
- 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 */
+ return path_len;
}
-int16_t get_score(uint32_t wcorn_retrieved, uint32_t ucorn_retrieved,
- uint16_t tomato_retrieved, uint8_t 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,
+ uint8_t len, uint8_t opp_on_path)
{
int16_t score = 0;
uint8_t i;
mask <<= 1UL;
}
- printf("get score: cob %d \n", n);
+ DPR("get score: cob %d (->%d)\r\n", n, n/2);
+
/* score with tomato */
n = xget_ball_count();
mask = 1;
mask <<= 1UL;
}
- printf("get score: ball %d \n", n);
+ 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())) {
- uint16_t extra;
+ int32_t extra;
extra = (len * WP_SPEED) - (MATCH_TIME - xtime_get_s());
- score -= (200 * extra);
+ 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);
}
- /* XXX use direction of robot */
+ /* malus if there is opponent on the path */
+ if (opp_on_path) {
+ DPR("malus for opponent: 1000\r\n");
+ score -= 2000;
+ }
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;
+}
+
/* 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)
+static int8_t evaluate_one_face(const struct circuit *circuit,
+ uint8_t starti, uint8_t startj,
+ uint8_t faceA, int16_t *score)
{
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 */
- uint8_t len = 0, found = 0, i, j;
- uint8_t ni = 0, nj = 0, pos, color;
+ 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;
+ int8_t step = faceA ? 1 : -1;
+ int16_t x, y, 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 = circuit; curcircuit->end == 0; curcircuit ++) {
+ for (curcircuit = start; curcircuit != end; curcircuit += step) {
if (curcircuit->i == starti && curcircuit->j == startj) {
found = 1;
break;
}
}
-
if (found == 0)
return -1;
- for (curcircuit = circuit; curcircuit->end == 0; curcircuit ++, len ++) {
+ /* 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;
-/* 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 opponent near the point ? */
+ ijcoord_to_xycoord(i, j, &x, &y);
+ if (oppx != I2C_OPPONENT_NOT_THERE) {
+ d = 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 < 600 && d < prev_d)
+ opponent_on_path = 1;
+ 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) {
+ DPR(" TOMATO\n");
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 (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);
+ /* 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;
+ if (color == I2C_COB_WHITE) {
+ DPR(" LEFT WCORN (%d)\n", idx);
+ wcorn_retrieved |= (1UL << idx);
+ }
+ else if (color == I2C_COB_UNKNOWN) {
+ DPR(" LEFT UCORN (%d)\n", idx);
+ ucorn_retrieved |= (1UL << idx);
}
}
- };
- *scoreB = get_score(wcorn_retrieved, ucorn_retrieved,
- tomato_retrieved, len);
- if (circuit->i == starti && circuit->j == startj)
- *scoreA = *scoreB;
+ /* 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;
+ if (color == I2C_COB_WHITE) {
+ DPR(" RIGHT WCORN (%d)\n", idx);
+ wcorn_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, 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;
+ }
+
+ if (evaluate_one_face(circuit, starti, startj, 0, scoreB) < 0)
+ return -1;
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)
+static int8_t find_best_circuit(uint8_t i, uint8_t j,
+ const struct circuit **selected_circuit,
+ int8_t *selected_face)
{
- const struct wp_coord **circuit;
+ 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 (browse_one_circuit(*circuit, i, j, &scoreA, &scoreB) < 0)
+ if (evaluate_one_circuit(*circuit, i, j, &scoreA, &scoreB) < 0)
continue;
found = 0;
- printf_P(PSTR("Circuit: %d %d\r\n"), scoreA, scoreB);
+ 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 = 0;
+ *selected_face = 1;
}
if (scoreB > selected_score) {
*selected_circuit = *circuit;
selected_score = scoreB;
- *selected_face = 1;
+ *selected_face = 0;
}
}
+
+ 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;
}
+static void test_all_circuits(void)
+{
+ 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 (circuit = &circuits[0]; *circuit; circuit++) {
+ start = &(*circuit)->path[0];
+ end = start + (*circuit)->len - 1;
+
+ 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;
+
+ 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);
+ }
+ }
+}
+
+
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(PSTR("linenum %d dir %d\r\n"), circuit_wpline[i].line_num,
+ 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)
{
- const struct wp_coord *selected_circuit;
+ const struct circuit *selected_circuit;
int8_t selected_face;
struct wp_line circuit_wpline[MAX_CIRCUIT_WPLINE];
int8_t len;
uint8_t dir, prev_dir;
uint8_t err;
+ strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+
x = position_get_x_s16(&mainboard.pos);
y = position_get_y_s16(&mainboard.pos);
return END_ERROR;
}
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ if (find_best_circuit(i, j, &selected_circuit, &selected_face) < 0) {
+ DEBUG(E_USER_STRAT, "%s(): cannot find a good circuit",
+ __FUNCTION__);
+ return END_ERROR;
+ }
+
len = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
if (len < 0) {
DEBUG(E_USER_STRAT, "%s(): cannot find a path",
prev_linenum = circuit_wpline[0].line_num;
prev_dir = circuit_wpline[0].dir;
- for (idx = 1; idx < len; idx ++) {
- retry:
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
+ /* do all lines of circuit */
+ for (idx = 1; idx < len; idx ++) {
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);
- if (!TRAJ_SUCCESS(err)) {
- strat_hardstop();
- time_wait_ms(2000);
- goto retry;
- }
+ err = line2line(prev_linenum, prev_dir, linenum, dir,
+ TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ return err;
prev_linenum = linenum;
prev_dir = dir;
}
- return END_TRAJ; // XXX
+ return END_TRAJ;
+}
+
+/* try to unblock in any situation */
+uint8_t strat_unblock(void)
+{
+ int16_t x, y;
+ uint8_t i, j;
+ uint16_t old_dspeed, old_aspeed;
+ uint8_t err;
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ strat_want_pack = 1;
+ strat_get_speed(&old_dspeed, &old_aspeed);
+
+ strat_hardstop();
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+ if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+ /* aie... go to center... but it's really a bad
+ * idea */
+ x = CENTER_X;
+ y = CENTER_Y;
+ }
+
+ /* XXX if opponent is too close, go back, or wait ? */
+
+ /* 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))
+ return err;
+
+ strat_set_speed(old_dspeed, old_aspeed);
+ strat_want_pack = 0;
+ return END_TRAJ;
}
void test_strat_avoid(void)
{
+ test_all_circuits();
+
+#ifdef TEST_STRAT_AVOID
uint8_t i, j;
- const struct wp_coord *selected_circuit;
+ 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("========= i=%d, j=%d\r\n", i, j);
+ printf_P(PSTR("========= i=%d, j=%d\r\n"), i, j);
ts = 0; bc = 0; cc = 0;
- printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ 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("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ 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("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ 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("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ 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("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ 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("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ 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("========= i=%d, j=%d\r\n", i, j);
+ printf_P(PSTR("========= i=%d, j=%d\r\n"), i, j);
ts = 0; bc = 0; cc = 0;
- printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ 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("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ 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("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ 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("========= i=%d, j=%d\r\n", i, j);
+ printf_P(PSTR("========= i=%d, j=%d\r\n"), i, j);
ts = 0; bc = 0; cc = 0;
- printf("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ 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("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ 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("=== time=%"PRIu32", ball=%d, corn=%d\r\n", ts, bc, cc);
- browse_circuits(i, j, &selected_circuit, &selected_face);
+ 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