X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_base.c;h=90762a635d72a7066f8b0011eeaa04e4517fa3f6;hp=d68f5a608c65a2979e2ea835d8fa34f7e05a6d78;hb=HEAD;hpb=f1fab48d45873bc23dccbae5db393afd2942570c

diff --git a/projects/microb2010/mainboard/strat_base.c b/projects/microb2010/mainboard/strat_base.c
index d68f5a6..90762a6 100644
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -59,10 +59,14 @@
 #include "strat.h"
 #include "sensor.h"
 #include "i2c_protocol.h"
+#include "robotsim.h"
 
 /* true if we want to interrupt a trajectory */
 static uint8_t traj_intr=0;
 
+/* to debug state of strat_obstacle() */
+static uint8_t strat_obstacle_debug = 0;
+
 /* filled when a END_OBSTACLE is returned */
 struct opponent_obstacle opponent_obstacle;
 
@@ -382,6 +386,7 @@ void strat_start(void)
 	strat_exit();
 }
 
+
 /* return true if we have to brake due to an obstacle */
 uint8_t strat_obstacle(void)
 {
@@ -389,12 +394,22 @@ uint8_t strat_obstacle(void)
 	int16_t opp_x, opp_y, opp_d, opp_a;
 
 	/* too slow */
-	if (ABS(mainboard.speed_d) < 150)
+	if (ABS(mainboard.speed_d) < 100) {
+		if (strat_obstacle_debug != 1) {
+			DEBUG(E_USER_STRAT, "disable opp, too slow");
+			strat_obstacle_debug = 1;
+		}
 		return 0;
+	}
 
 	/* no opponent detected */
-	if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a))
+	if (get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a) < 0) {
+		if (strat_obstacle_debug != 2) {
+			DEBUG(E_USER_STRAT, "no opponent found");
+			strat_obstacle_debug = 2;
+		}
 		return 0;
+	}
 
 	/* save obstacle position */
 	opponent_obstacle.x = opp_x;
@@ -402,23 +417,47 @@ uint8_t strat_obstacle(void)
 	opponent_obstacle.d = opp_d;
 	opponent_obstacle.a = opp_a;
 
-	if (!is_in_area(opp_x, opp_y, 250))
+	if (!is_in_area(opp_x, opp_y, 250)) {
+		if (strat_obstacle_debug != 3) {
+			DEBUG(E_USER_STRAT,
+			      "opponent not in area : d=%d, a=%d "
+			      "x=%d y=%d (speed_d=%d)",
+			      opp_d, opp_a, opp_x, opp_y, mainboard.speed_d);
+			strat_obstacle_debug = 3;
+		}
 		return 0;
+	}
 
 	/* sensor are temporarily disabled */
-	if (sensor_obstacle_is_disabled())
+	if (sensor_obstacle_is_disabled()) {
+		if (strat_obstacle_debug != 4) {
+			DEBUG(E_USER_STRAT,
+			      "sensor are disabled: opponent d=%d, a=%d "
+			      "x=%d y=%d (speed_d=%d)",
+			      opp_d, opp_a, opp_x, opp_y, mainboard.speed_d);
+			strat_obstacle_debug = 4;
+		}
 		return 0;
+	}
 
 	/* relative position */
 	x_rel = cos(RAD(opp_a)) * (double)opp_d;
 	y_rel = sin(RAD(opp_a)) * (double)opp_d;
 
 	/* opponent too far */
-	if (opp_d > 500)
+	if (opp_d > 650) {
+		if (strat_obstacle_debug != 5) {
+			DEBUG(E_USER_STRAT, "opponent too far d=%d, a=%d "
+			      "x=%d y=%d (speed_d=%d)",
+			      opp_d, opp_a, opp_x, opp_y, mainboard.speed_d);
+			strat_obstacle_debug = 5;
+		}
 		return 0;
+	}
 
 	/* opponent is in front of us */
-	if (mainboard.speed_d > 0 && (opp_a > 325 || opp_a < 35)) {
+	if ((mainboard.speed_d >= 0 && opp_d < 600 && (opp_a > 315 || opp_a < 45)) ||
+	    (mainboard.speed_d >= 0 && opp_d < 800 && (opp_a > 330 || opp_a < 30))) {
 		DEBUG(E_USER_STRAT, "opponent front d=%d, a=%d "
 		      "xrel=%d yrel=%d (speed_d=%d)",
 		      opp_d, opp_a, x_rel, y_rel, mainboard.speed_d);
@@ -426,13 +465,21 @@ uint8_t strat_obstacle(void)
 		return 1;
 	}
 	/* opponent is behind us */
-	if (mainboard.speed_d < 0 && (opp_a < 215 && opp_a > 145)) {
+	if ((mainboard.speed_d < 0 && opp_d < 600 && (opp_a < 225 && opp_a > 135)) ||
+	    (mainboard.speed_d < 0 && opp_d < 800 && (opp_a < 210 && opp_a > 150))) {
 		DEBUG(E_USER_STRAT, "opponent behind d=%d, a=%d xrel=%d yrel=%d",
 		      opp_d, opp_a, x_rel, y_rel);
 		sensor_obstacle_disable();
 		return 1;
 	}
 
+	if (strat_obstacle_debug != 6) {
+		DEBUG(E_USER_STRAT, "opponent not in cone d=%d, a=%d "
+		      "x=%d y=%d (speed_d=%d)",
+		      opp_d, opp_a, opp_x, opp_y, mainboard.speed_d);
+		strat_obstacle_debug = 6;
+	}
+
 	return 0;
 }
 
@@ -500,6 +547,12 @@ uint8_t test_traj_end(uint8_t why)
 		return END_OBSTACLE;
 	}
 
+#ifdef HOST_VERSION
+	if (robotsim_blocking) {
+		robotsim_blocking = 0;
+		return END_BLOCKING;
+	}
+#endif
 	return 0;
 }