#include <aversive.h>
#include <aversive/pgmspace.h>
+#include <aversive/error.h>
#include <ax12.h>
#include <uart.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"
-/* 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
-
-*/
-
-#define OFFSET_CORN_X 150
-#define OFFSET_CORN_Y 222
-#define STEP_CORN_X 225
-#define STEP_CORN_Y 250
-
-#define CORN_NB 18
-
-#define WAYPOINTS_NBX 13
-#define WAYPOINTS_NBY 8
-
-/* enum is better */
-#define TYPE_WAYPOINT 0
-#define TYPE_DANGEROUS 1
-#define TYPE_WHITE_CORN 2
-#define TYPE_BLACK_CORN 3
-#define TYPE_OBSTACLE 4
-#define TYPE_UNKNOWN 5
-
-/* 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 type:3;
- uint8_t parent_pos:3;
- uint8_t updated:1;
- uint8_t todo:1;
-};
-
-uint8_t corn_table[CORN_NB];
-
-static struct djpoint djpoints[WAYPOINTS_NBX][WAYPOINTS_NBY];
-
-/* return index from neigh pointer */
-#define PT2IDX(neigh) ( ((void *)(neigh)-(void *)(&djpoints)) / sizeof(*neigh) )
-void dump(void)
-{
- int8_t i, j;
- struct djpoint *pt;
-
- 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];
+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, },
+};
- if (((i+j) & 1) == 0)
- continue;
+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, },
+};
- if (pt->type == TYPE_OBSTACLE)
- printf_P(PSTR(" X "));
- else if (pt->type == TYPE_DANGEROUS)
- printf_P(PSTR(" D "));
- else if (pt->type == TYPE_WHITE_CORN)
- printf_P(PSTR(" W "));
- else if (pt->type == TYPE_BLACK_CORN)
- printf_P(PSTR(" B "));
- else if (pt->type == TYPE_WAYPOINT)
- printf_P(PSTR(" %5d "), pt->weight);
- else
- printf_P(PSTR(" ? "));
- }
- printf_P(PSTR("\r\n"));
- }
-}
+/* 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 > UP_LEFT)
+ if (pos > LINE_L_UP)
pos -= 6;
return pos;
}
-/* return coord of the entry in the table from the pointer */
-static void djpoint2ij(struct djpoint *pt, int8_t *x, int8_t *y)
+static uint8_t cc;
+uint8_t xget_cob_count(void)
+{
+ return cc;
+}
+
+static uint8_t bc;
+uint8_t xget_ball_count(void)
{
- int8_t idx = PT2IDX(pt);
- *x = idx / WAYPOINTS_NBY;
- *y = idx % WAYPOINTS_NBY;
+ return bc;
}
-/* get the neighbour of the point at specified position */
-static struct djpoint *get_neigh(struct djpoint *pt,
- uint8_t position)
+static uint32_t ts;
+uint8_t xtime_get_s(void)
{
- int8_t i,j;
- struct djpoint *neigh;
+ return ts;
+}
- djpoint2ij(pt, &i, &j);
+/* get the neighbour of the point at specified position, 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)
+{
switch (position) {
- case UP:
+ case LINE_UP:
j++;
break;
- case UP_RIGHT:
+ case LINE_R_UP:
if (!(i & 1)) j++;
i++;
break;
- case DOWN_RIGHT:
+ case LINE_R_DOWN:
if (i & 1) j--;
i++;
break;
- case DOWN:
+ case LINE_DOWN:
j--;
break;
- case DOWN_LEFT:
+ case LINE_L_DOWN:
if (i & 1) j--;
i--;
break;
- case UP_LEFT:
+ case LINE_L_UP:
if (!(i & 1)) j++;
i--;
break;
default:
- return NULL;
+ return -1;
}
- if (i < 0 || j < 0 || i >= WAYPOINTS_NBX || j >= WAYPOINTS_NBY)
- return NULL;
+ if (i >= WAYPOINTS_NBX || j >= WAYPOINTS_NBY)
+ return -1;
- neigh = &djpoints[i][j];
-
- if (neigh->type != TYPE_WAYPOINT)
- return NULL;
-
- return neigh;
+ *ni = i;
+ *nj = j;
+ return 0;
}
-static struct djpoint *get_next_neigh(struct djpoint *pt, uint8_t *position)
+static uint8_t get_line_num(int8_t i, int8_t j, uint8_t dir)
{
- struct djpoint *neigh = NULL;
- uint8_t pos = *position + 1;
-
- for (pos = *position + 1; pos < END; pos++) {
- neigh = get_neigh(pt, pos);
- if (neigh != NULL)
- break;
+ 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;
}
-
- *position = pos;
- return neigh;
}
-/* browse all points */
-#define POINT_FOREACH(cur) \
- for (cur = &djpoints[0][0]; \
- cur < &djpoints[WAYPOINTS_NBX][WAYPOINTS_NBY]; \
- cur ++)
-
-/* XXX comment */
-#define NEIGH_FOREACH(neigh, pos, point) \
- for (pos = START, neigh = get_next_neigh(point, &pos); \
- neigh; \
- neigh = get_next_neigh(point, &pos))
-
-int dijkstra_init(void)
+static uint8_t get_dir(uint8_t prev_i, uint8_t prev_j,
+ uint8_t i, uint8_t j)
{
- return 0;
-}
+ 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;
+ }
-static uint16_t dist(struct djpoint *p1, struct djpoint *p2)
-{
- double vx, vy;
- vx = p2->pos.x - p1->pos.x;
- vy = p2->pos.y - p1->pos.y;
- return sqrt(vx * vx + vy * vy);
+ /* invalid value */
+ return 0xFF;
}
-void dijkstra_process_neighs(struct djpoint *pt)
+
+int8_t get_path(const struct wp_coord *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;
- int8_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;
+ 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;
+
+ /* 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;
}
}
-}
-int dijkstra(struct djpoint *start)
-{
- struct djpoint *cur;
- uint8_t todolist = 1;
+ if ( !faceA && curcircuit->i == 11 && curcircuit->j == 6)
+ found = 1;
+ if (found == 0)
+ return -1;
- start->todo = 1;
+ /* XXX len must be >= 1 */
+ /* XXX start = 11,6 */
- 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;
- }
+ prev_i = starti;
+ prev_j = startj;
- /* convert updated list in todo list */
- todolist = 0;
- POINT_FOREACH(cur) {
- if (!cur->updated)
- continue;
- todolist = 1;
- cur->todo = 1;
- cur->updated = 0;
+ 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;
}
- return 0; /* XXX */
-}
-/* init waypoints position */
-void init_djpoints(void)
-{
- int8_t i, j;
- struct djpoint *pt;
+/* printf_P(PSTR("COIN %d, %d\r\n"), curcircuit->i, curcircuit->j); */
- for (i=0; i<WAYPOINTS_NBX; i++) {
+ return path_len; /* XXX */
+}
- for (j=0; j<WAYPOINTS_NBY; j++) {
- pt = &djpoints[i][j];
+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;
+ }
- pt->type = TYPE_WAYPOINT;
- pt->parent_pos = END;
- pt->updated = 0;
- pt->todo = 0;
+ printf("get score: cob %d \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("get score: ball %d \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;
}
-/* update the type and weight of waypoints, before starting
- * dijkstra */
-void update_djpoints(void)
+/* 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)
{
- int8_t i, j, c;
- struct djpoint *pt;
+ 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;
+ }
+ }
- for (i=0; i<WAYPOINTS_NBX; i++) {
+ if (found == 0)
+ return -1;
- for (j=0; j<WAYPOINTS_NBY; j++) {
- pt = &djpoints[i][j];
+ for (curcircuit = circuit; curcircuit->end == 0; curcircuit ++, len ++) {
+ i = curcircuit->i;
+ j = curcircuit->j;
- pt->weight = 0;
+/* printf("cur:%d,%d %x %x %x %d\n", i, j, */
+/* wcorn_retrieved, ucorn_retrieved, tomato_retrieved, len); */
- /* corn */
- c = ijcoord_to_corn_idx(i, j);
- if (c >= 0) {
- pt->type = corn_table[c];
- continue;
- }
- /* too close of border */
- if ((i & 1) == 1 && j == (WAYPOINTS_NBY-1)) {
- pt->type = TYPE_OBSTACLE;
- continue;
- }
- /* hill */
- if (i >= 2 && i < (WAYPOINTS_NBX-2) && j < 2) {
- pt->type = TYPE_OBSTACLE;
- continue;
- }
- /* dangerous points */
- if (i == 0 || i == (WAYPOINTS_NBX-1)) {
- pt->type = TYPE_DANGEROUS;
- continue;
- }
- if ( (i&1) == 0 && j == (WAYPOINTS_NBY-1)) {
- pt->type = TYPE_DANGEROUS;
+ /* 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 (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);
}
- pt->type = TYPE_WAYPOINT;
}
+ };
+
+ *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(PSTR("linenum %d dir %d\r\n"), circuit_wpline[i].line_num,
+ circuit_wpline[i].dir);
}
+
}
-int get_path(struct djpoint *start, struct djpoint *end)
+uint8_t strat_harvest_circuit(void)
{
- struct djpoint *cur;
- uint8_t prev_direction = 0;
- int8_t idx;
+ 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;
+ }
- 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_coordxy(idx, &x, &y);
- printf_P(PSTR("%d %d (%d)\r\n"),
- x, y, cur->parent_pos);
+ 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:
+ if (get_cob_count() >= 5)
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ 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;
}
- prev_direction = cur->parent_pos;
+
+ prev_linenum = linenum;
+ prev_dir = dir;
}
- idx = PT2IDX(end);
- corn_idx_to_coordxy(idx, &x, &y);
- printf_P(PSTR("%d %d\r\n"), x, y);
- return 0; /* XXX */
+ return END_TRAJ; // XXX
+}
+
+void test_strat_avoid(void)
+{
+ 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("========= 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);
+ 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);
+ 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);
+ 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);
+ 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);
+ 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);
+ 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);
+
+ 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);
+ 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);
+ 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);
+ 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);
+
+ 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);
+ 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);
+ 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);
+ ret = get_path(selected_circuit, i, j, selected_face, circuit_wpline);
+ dump_circuit_wp(circuit_wpline, ret);
+
}
git.droids-corp.org / aversive.git / blobdiff