update and reliabilize strats

[aversive.git] / projects / microb2010 / mainboard / strat_db.c

diff --git a/projects/microb2010/mainboard/strat_db.c b/projects/microb2010/mainboard/strat_db.c
index d2835fe..c3608d6 100644 (file)
--- a/projects/microb2010/mainboard/strat_db.c
+++ b/projects/microb2010/mainboard/strat_db.c
@@ -60,6 +60,7 @@
 #include "main.h"
 #include "strat.h"
 #include "strat_base.h"
+#include "strat_avoid.h"
 #include "strat_corn.h"
 #include "strat_db.h"
 #include "strat_utils.h"
@@ -87,7 +88,9 @@ static const uint8_t corn_sym[] = {
        8, 9, 6, 7, 3, 4, 5, 0, 1, 2
 };
 
-#if 0 /* XXX maybe useless */
+#ifdef HOST_VERSION
+#define SIDE_CONF 0
+#define CENTER_CONF 0
 /* the 10 possible configurations for corn on the side */
 static const uint8_t corn_side_confs[9][2] = {
        { 1, 4 },
@@ -149,7 +152,10 @@ int8_t ijcoord_to_xycoord(uint8_t i, uint8_t j, int16_t *x, int16_t *y)
        if (i >= WAYPOINTS_NBX && j >= WAYPOINTS_NBY)
                return -1;
        *x = (OFFSET_CORN_X + i*STEP_CORN_X);
-       *y = COLOR_Y(OFFSET_CORN_Y + j*STEP_CORN_Y);
+       if (i&1)
+               *y = COLOR_Y(OFFSET_CORN_Y + j*STEP_CORN_Y + STEP_CORN_Y/2);
+       else
+               *y = COLOR_Y(OFFSET_CORN_Y + j*STEP_CORN_Y);
        return 0;
 }
 
@@ -173,10 +179,14 @@ int8_t xycoord_to_ijcoord(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
        if ((i & 1) == 1) {
                j = y / STEP_CORN_Y;
        }
+       else if ((i & 3) == 0) {
+               j = y / (STEP_CORN_Y*2);
+               j = j*2 + 1;
+       }
        else {
-               y += (STEP_CORN_Y/2);
-               y /= (STEP_CORN_Y*2);
-               j = (y * 2) + 1;
+               y += (STEP_CORN_Y);
+               j = y / (STEP_CORN_Y*2);
+               j = j*2;
        }
 
        if (ijcoord_to_xycoord(i, j, &x, &y) < 0)
@@ -194,7 +204,6 @@ int8_t xycoord_to_ijcoord(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
        return 0;
 }
 
-
 /******** CORN */
 
 /* return the index of a corn given its i,j coords. */
@@ -461,6 +470,9 @@ void strat_db_init(void)
                        /* default type */
                        wp->type = WP_TYPE_WAYPOINT;
 
+                       /* */
+                       wp->time_removed = -1;
+
                        /* mark dangerous points */
                        if (i == 0 || i == (WAYPOINTS_NBX-1))
                                wp->dangerous = 1;
@@ -485,14 +497,27 @@ void strat_db_init(void)
                                wp->type = WP_TYPE_CORN;
                                wp->present = 1;
                                wp->corn.idx = idx;
+#ifdef HOST_VERSION
+                               if (idx == corn_side_confs[SIDE_CONF][0] ||
+                                   idx == corn_side_confs[SIDE_CONF][1] ||
+                                   corn_get_sym_idx(idx) == corn_side_confs[SIDE_CONF][0] ||
+                                   corn_get_sym_idx(idx) == corn_side_confs[SIDE_CONF][1] ||
+                                   idx == corn_center_confs[CENTER_CONF][0] ||
+                                   idx == corn_center_confs[CENTER_CONF][1] ||
+                                   corn_get_sym_idx(idx) == corn_center_confs[CENTER_CONF][0] ||
+                                   corn_get_sym_idx(idx) == corn_center_confs[CENTER_CONF][1])
+                                       wp->corn.color = I2C_COB_BLACK;
+                               else
+                                       wp->corn.color = I2C_COB_WHITE;
+#else
                                wp->corn.color = I2C_COB_UNKNOWN;
+#endif
                                continue;
                        }
 
                        /* tomato */
                        idx = ijcoord_to_tomato_idx(i, j);
                        if (idx >= 0) {
-                               printf("%d %d\n", i, j);
                                wp->type = WP_TYPE_TOMATO;
                                wp->present = 1;
                                wp->tomato.idx = idx;
@@ -530,4 +555,7 @@ void strat_db_dump(const char *caller)
                printf_P(PSTR("tomato%d: present=%d opp=%d\r\n"),
                         i, wp->present, wp->opp_visited);
        }
+
+       /* fill circuit infos */
+       strat_avoid_init();
 }