#include <math.h>
#include <aversive.h>
+#include <aversive/error.h>
#include <aversive/pgmspace.h>
#include <ax12.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_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 point {
- int32_t x;
- int32_t y;
-};
-
-struct djpoint {
- struct point pos;
- 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];
-
-const uint8_t corn_coord_i[CORN_NB] = {
- 0, 0, 0, 2, 2, 2, 4, 4, 6,
- 6, 8, 8, 10, 10, 10, 12, 12, 12,
-};
-
-const uint8_t corn_coord_j[CORN_NB] = {
- 2, 4, 6, 3, 5, 7, 4, 6, 5,
- 7, 4, 6, 3, 5, 7, 2, 4, 6,
-};
-
-static struct djpoint djpoints[WAYPOINTS_NBX][WAYPOINTS_NBY];
-
-/* table to find the symetric idx */
-uint8_t corn_sym[] = {
- 15, 16, 17, 12, 13, 14, 10, 11, 8, 9, 6, 7, 3, 4, 5, 0, 1, 2
-};
-
-uint8_t corn_side_confs[9][2] = {
- { 1, 4 },
- { 0, 4 },
- { 2, 4 },
- { 2, 3 },
- { 0, 3 },
- { 1, 3 },
- { 1, 6 },
- { 0, 6 },
- { 2, 6 },
-};
-uint8_t corn_center_confs[4][2] = {
- { 5, 8 },
- { 7, 8 },
- { 5, 9 },
- { 7, 8 },
-};
-
-
-/* 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];
-
- if (((i+j) & 1) == 0)
- continue;
-
- 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"));
- }
-}
-
-static inline uint8_t opposite_position(uint8_t pos)
-{
- pos += 3;
- if (pos > UP_LEFT)
- 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)
-{
- int8_t idx = PT2IDX(pt);
- *x = idx / WAYPOINTS_NBY;
- *y = idx % WAYPOINTS_NBY;
-}
-
-/* get the neighbour of the point at specified position */
-static struct djpoint *get_neigh(struct djpoint *pt,
- uint8_t position)
-{
- int8_t i,j;
- struct djpoint *neigh;
-
- djpoint2ij(pt, &i, &j);
-
- switch (position) {
- case UP:
- j++;
- break;
- case UP_RIGHT:
- if (!(i & 1)) j++;
- i++;
- break;
- case DOWN_RIGHT:
- if (i & 1) j--;
- i++;
- break;
- case DOWN:
- j--;
- break;
- case DOWN_LEFT:
- if (i & 1) j--;
- i--;
- break;
- case UP_LEFT:
- if (!(i & 1)) j++;
- i--;
- break;
- default:
- return NULL;
- }
- if (i < 0 || j < 0 || i >= WAYPOINTS_NBX || j >= WAYPOINTS_NBY)
- return NULL;
-
- neigh = &djpoints[i][j];
-
- if (neigh->type != TYPE_WAYPOINT)
- return NULL;
-
- return neigh;
-}
-
-static struct djpoint *get_next_neigh(struct djpoint *pt, uint8_t *position)
-{
- 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;
- }
-
- *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)
-{
- return 0;
-}
-
-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);
-}
-
-void dijkstra_process_neighs(struct djpoint *pt)
-{
- 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;
- }
- }
-}
-
-int dijkstra(struct djpoint *start)
-{
- 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;
- }
-
- /* convert updated list in todo list */
- todolist = 0;
- POINT_FOREACH(cur) {
- if (!cur->updated)
- continue;
- todolist = 1;
- cur->todo = 1;
- cur->updated = 0;
- }
- }
- return 0; /* XXX */
-}
-
-int8_t ijcoord_to_corn_idx(uint8_t i, uint8_t j)
-{
- uint8_t n;
- for (n = 0; n < CORN_NB; n ++) {
- if (i == corn_coord_i[n] &&
- j == corn_coord_j[n])
- return n;
- }
- return -1;
-}
-
-int8_t corn_idx_to_coordij(uint8_t idx, uint8_t *i, uint8_t *j)
-{
- if (idx >= CORN_NB)
- return -1;
- *i = corn_coord_i[idx];
- *j = corn_coord_j[idx];
- return 0;
-}
-
-/* return the index of the closest corn at these coordinates. If the
- * corn is really too far (~20cm), return -1. The x and y pointer are
- * updated with the real position of the corn */
-int8_t xycoord_to_corn_idx(int16_t *x, int16_t *y)
-{
- uint8_t idx = -1, n, i, j;
- int16_t d, x_corn, y_corn;
- int16_t x_corn_min = 0, y_corn_min = 0;
- int16_t d_min = 0;
-
- for (n = 0; n < CORN_NB; n ++) {
- corn_idx_to_coordij(n, &i, &j);
- x_corn = (OFFSET_CORN_X + i*STEP_CORN_X);
- y_corn = (OFFSET_CORN_Y + j*STEP_CORN_Y);
- d = xy_norm(x_corn, y_corn, *x, *y);
- if (d < 200 && (d_min == 0 || d < d_min)) {
- d_min = d;
- idx = n;
- x_corn_min = x_corn;
- y_corn_min = y_corn;
- }
- }
- if (d_min == 0)
- return -1;
-
- *x = x_corn_min;
- *y = y_corn_min;
-
- return idx;
-}
-
-int8_t corn_get_sym(int8_t i)
-{
- if (i >= CORN_NB)
- return -1;
- return corn_sym[i];
-}
-
-void init_corn_table(int8_t conf_side, int8_t conf_center)
-{
- int8_t sym, i;
-
- /* before match */
- if (conf_side == -1) {
- for (i=0; i<CORN_NB; i++)
- corn_table[i] = TYPE_UNKNOWN;
- return;
- }
-
- /* for test */
- printf_P(PSTR("confs = %d, %d\r\n"), conf_side, conf_center);
- for (i=0; i<CORN_NB; i++) {
- if (i == corn_side_confs[conf_side][0] ||
- i == corn_side_confs[conf_side][1]) {
- corn_table[i] = TYPE_BLACK_CORN;
- continue;
- }
- sym = corn_get_sym(i);
- if (sym == corn_side_confs[conf_side][0] ||
- sym == corn_side_confs[conf_side][1]) {
- corn_table[i] = TYPE_BLACK_CORN;
- continue;
- }
- if (i == corn_center_confs[conf_center][0] ||
- i == corn_center_confs[conf_center][1]) {
- corn_table[i] = TYPE_BLACK_CORN;
- continue;
- }
- sym = corn_get_sym(i);
- if (sym == corn_center_confs[conf_center][0] ||
- sym == corn_center_confs[conf_center][1]) {
- corn_table[i] = TYPE_BLACK_CORN;
- continue;
- }
- corn_table[i] = TYPE_WHITE_CORN;
- }
-}
-
-/* init waypoints position */
-void init_waypoints(void)
-{
- int8_t i, j;
- int32_t x, y;
- struct djpoint *pt;
-
- x = OFFSET_CORN_X;
- for (i=0; i<WAYPOINTS_NBX; i++) {
-
- if (i & 1)
- y = OFFSET_CORN_Y - STEP_CORN_Y/2;
- else
- y = OFFSET_CORN_Y;
-
- for (j=0; j<WAYPOINTS_NBY; j++) {
- pt = &djpoints[i][j];
-
- pt->pos.x = x;
- pt->pos.y = y;
-
- pt->type = TYPE_WAYPOINT;
- pt->parent_pos = END;
- pt->updated = 0;
- pt->todo = 0;
-
- y += STEP_CORN_Y;
- }
-
- x += STEP_CORN_X;
- }
-}
-
-/* update the type and weight of waypoints, before starting
- * dijkstra */
-void update_waypoints(void)
-{
- int8_t i, j, c;
- struct djpoint *pt;
-
- for (i=0; i<WAYPOINTS_NBX; i++) {
-
- for (j=0; j<WAYPOINTS_NBY; j++) {
- pt = &djpoints[i][j];
-
- pt->weight = 0;
-
- /* 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;
- continue;
- }
- pt->type = TYPE_WAYPOINT;
- }
- }
-}
-
-int get_path(struct djpoint *start, struct djpoint *end)
-{
- struct djpoint *cur;
- uint8_t prev_direction = 0;
-
- for (cur=start;
- cur != NULL && cur->parent_pos != END && cur != end;
- cur = get_neigh(cur, cur->parent_pos)) {
- if (prev_direction != cur->parent_pos) {
- printf_P(PSTR("%d %d (%d)\r\n"),
- cur->pos.x, cur->pos.y,
- cur->parent_pos);
- }
- prev_direction = cur->parent_pos;
- }
- printf_P(PSTR("%d %d\r\n"), end->pos.x, end->pos.y);
-
- return 0; /* XXX */
-}
-
/* return 1 if there is a corn near, and fill the index ptr */
-static uint8_t corn_is_near(int8_t *corn_idx, uint8_t side)
+int8_t corn_is_near(uint8_t *corn_idx, uint8_t side)
{
#define SENSOR_CORN_DIST 225
#define SENSOR_CORN_ANGLE 90
double a_rad = position_get_a_rad_double(&mainboard.pos);
double x_corn, y_corn;
int16_t x_corn_int, y_corn_int;
+ struct waypoint_db *wp;
if (side == I2C_LEFT_SIDE) {
x_corn = x + cos(a_rad + RAD(SENSOR_CORN_ANGLE)) * SENSOR_CORN_DIST;
x_corn_int = x_corn;
y_corn_int = y_corn;
- *corn_idx = xycoord_to_corn_idx(&x_corn_int, &y_corn_int);
- if (*corn_idx < 0)
+ wp = xycoord_to_corn_idx(&x_corn_int, &y_corn_int);
+ if (wp == NULL)
return 0;
+ *corn_idx = wp->corn.idx;
return 1;
}
*/
static uint8_t handle_spickles(void)
{
- int8_t corn_idx;
-
return 0;
+#if 0
+ int8_t corn_idx;
if (!corn_is_near(&corn_idx, I2C_LEFT_SIDE))
i2c_cobboard_mode_deploy(I2C_LEFT_SIDE);
}
return 0;
+#endif
}
uint8_t line2line(uint8_t dir1, uint8_t num1,
line_t ll1, ll2;
point_t p;
uint8_t err;
+ uint16_t a_speed, d_speed;
/* convert to 2 points */
num2line(&l1, dir1, num1);
num2line(&l2, dir2, num2);
- printf_P(PSTR("A2 (%2.2f, %2.2f) -> (%2.2f, %2.2f)\r\n"),
- l1.p1.x, l1.p1.y, l1.p2.x, l1.p2.y);
- printf_P(PSTR("B2 (%2.2f, %2.2f) -> (%2.2f, %2.2f)\r\n"),
- l2.p1.x, l2.p1.y, l2.p2.x, l2.p2.y);
+ DEBUG(E_USER_STRAT, "line1: (%2.2f, %2.2f) -> (%2.2f, %2.2f)",
+ l1.p1.x, l1.p1.y, l1.p2.x, l1.p2.y);
+ DEBUG(E_USER_STRAT, "line2: (%2.2f, %2.2f) -> (%2.2f, %2.2f)",
+ l2.p1.x, l2.p1.y, l2.p2.x, l2.p2.y);
/* convert to line eq and find intersection */
pts2line(&l1.p1, &l1.p2, &ll1);
line2_a_rad = atan2(l2.p2.y - l2.p1.y,
l2.p2.x - l2.p1.x);
diff_a_deg = DEG(line2_a_rad - line1_a_rad);
+ if (diff_a_deg < -180) {
+ diff_a_deg += 360;
+ }
+ else if (diff_a_deg > 180) {
+ diff_a_deg -= 360;
+ }
diff_a_deg_abs = fabs(diff_a_deg);
+/* printf_P(PSTR("diff_a_deg=%2.2f\r\n"), diff_a_deg_abs); */
+/* printf_P(PSTR("inter=%2.2f,%2.2f\r\n"), p.x, p.y); */
+
if (diff_a_deg_abs < 70.) {
radius = 200;
if (diff_a_deg > 0)
beta_deg = -60;
}
+ /* XXX check return value !! */
trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
line1_a_deg, 150., diff_a_deg, beta_deg,
radius, xy_norm(l1.p1.x, l1.p1.y,
p.x, p.y));
- err = 0;
- while (err == 0) {
- err = WAIT_COND_OR_TRAJ_END(handle_spickles(), 0xFF);
- if (err == 0) {
- /* cobboard is stucked */
- trajectory_hardstop(&mainboard.traj);
- return err; /* XXX do something */
+ /* disabled */
+ if (0) {
+ err = 0;
+ while (err == 0) {
+ err = WAIT_COND_OR_TRAJ_END(handle_spickles(), 0xFF);
+ if (err == 0) {
+ /* cobboard is stucked */
+ trajectory_hardstop(&mainboard.traj);
+ return err; /* XXX do something */
+ }
+ err = test_traj_end(0xFF);
}
- err = test_traj_end(0xFF);
}
+
+ err = WAIT_COND_OR_TRAJ_END(get_cob_count() == 5, 0xFF);
+ strat_get_speed(&d_speed, &a_speed);
+
+ /* XXX 600 -> cste */
+/* if (err == 0 && d_speed < 600 && */
+/* mainboard.traj.state == RUNNING_CLITOID_LINE) */
+/* strat_set_speed(600, SPEED_ANGLE_FAST); */
+
+ err = wait_traj_end(0xFF);
+
return err;
}
break;
}
}
-
-
-#if 0
-int main(void)
-{
- struct djpoint *start;
- struct djpoint *end;
-
- start = &djpoints[1][1];
- end = &djpoints[12][1];
-
- init_corn_table(0, 0);
- init_waypoints();
- update_waypoints();
-
- dijkstra(end);
- dump();
-
- get_path(start, end);
-
- return 0;
-}
-#endif
git.droids-corp.org / aversive.git / blobdiff