X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_avoid.c;h=e661ac11e0c919bdb496023e3b703e63ae193a71;hp=60dead344ba67bd3efa68857d806418ea2674176;hb=06813a0566192d90e1ad8c891dfb7cc55dedd525;hpb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d

diff --git a/projects/microb2010/mainboard/strat_avoid.c b/projects/microb2010/mainboard/strat_avoid.c
index 60dead3..e661ac1 100644
--- a/projects/microb2010/mainboard/strat_avoid.c
+++ b/projects/microb2010/mainboard/strat_avoid.c
@@ -1,5 +1,5 @@
 /*
- *  Copyright Droids Corporation, Microb Technology (2009)
+ *  Copyright Droids, Microb Technology (2010)
  *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
@@ -15,18 +15,19 @@
  *  along with this program; if not, write to the Free Software
  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  *
- *  Revision : $Id: strat_base.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
+ *  Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
  *
+ *  Olivier MATZ <zer0@droids-corp.org>
  */
 
+
 #include <stdio.h>
 #include <stdlib.h>
-#include <string.h>
+#include <stdint.h>
 #include <math.h>
 
+#include <aversive.h>
 #include <aversive/pgmspace.h>
-#include <aversive/wait.h>
-#include <aversive/error.h>
 
 #include <ax12.h>
 #include <uart.h>
@@ -38,6 +39,8 @@
 #include <quadramp.h>
 #include <control_system_manager.h>
 #include <trajectory_manager.h>
+#include <trajectory_manager_utils.h>
+#include <trajectory_manager_core.h>
 #include <vect_base.h>
 #include <lines.h>
 #include <polygon.h>
@@ -46,10 +49,334 @@
 #include <robot_system.h>
 #include <position_manager.h>
 
+#include <diagnostic.h>
+
 #include <rdline.h>
 #include <parse.h>
 
 #include "../common/i2c_commands.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
+
+*/
+
+/* 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;
+};
+
+/* database for dijkstra */
+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;
+	struct waypoint_db *wp;
+
+	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"));
+	}
+}
+
+static inline uint8_t opposite_position(uint8_t pos)
+{
+	pos += 3;
+	if (pos > UP_LEFT)
+		pos -= 6;
+	return pos;
+}
+
+/* is point reachable by the robot ? */
+static uint8_t is_reachable(uint8_t i, uint8_t j)
+{
+	struct waypoint_db *wp;
+
+	wp = &strat_db.wp_table[i][j];
+	if (wp->type == WP_TYPE_WAYPOINT)
+		return 1;
+	if (wp->type == WP_TYPE_TOMATO)
+		return 1;
+	if (wp->type == WP_TYPE_CORN &&
+	    wp->present == 0)
+		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)
+{
+	int8_t idx = PT2IDX(pt);
+	*i = idx / WAYPOINTS_NBY;
+	*j = idx % WAYPOINTS_NBY;
+}
+
+/* get the neighbour of the point at specified position */
+static struct djpoint *get_neigh(struct djpoint *pt,
+				 uint8_t position)
+{
+	uint8_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;
+
+	if (is_reachable(i, j) == 0)
+		return NULL;
+
+	neigh = &djpoints[i][j];
+	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;
+}
+
+/* return distance between p1 and p2 */
+static uint16_t dist(struct djpoint *p1, struct djpoint *p2)
+{
+	int16_t x1, y1, x2, y2;
+	double vx, vy;
+	uint8_t i, j;
+
+	djpoint2ij(p1, &i, &j);
+	ijcoord_to_xycoord(i, j, &x1, &y1);
+
+	djpoint2ij(p2, &i, &j);
+	ijcoord_to_xycoord(i, j, &x2, &y2);
+
+	vx = x2 - x1;
+	vy = y2 - y1;
+	return sqrt(vx * vx + vy * vy);
+}
+
+void dijkstra_process_neighs(struct djpoint *pt)
+{
+ 	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;
+		}
+	}
+}
+
+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 */
+}
+
+/* init waypoints position */
+void init_djpoints(void)
+{
+	int8_t i, j;
+	struct djpoint *pt;
+
+	for (i=0; i<WAYPOINTS_NBX; i++) {
+
+		for (j=0; j<WAYPOINTS_NBY; j++) {
+			pt = &djpoints[i][j];
+			pt->parent_pos = END;
+			pt->updated = 0;
+			pt->todo = 0;
+			pt->weight = 0;
+		}
+	}
+}
+
+int get_path(struct djpoint *start, struct djpoint *end)
+{
+ 	struct djpoint *cur;
+	uint8_t prev_direction = 0;
+	int8_t idx;
+	int16_t x, y;
+
+	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);
+		}
+		prev_direction = cur->parent_pos;
+	}
+	idx = PT2IDX(end);
+	corn_idx_to_xycoord(idx, &x, &y);
+	printf_P(PSTR("%d %d\r\n"), x, y);
 
+	return 0; /* XXX */
+}