X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_db.h;h=e377ceb03753485fff7975f42d51c436d83698fb;hp=1b5314f836be6e5b7e78726691232360d31169c2;hb=HEAD;hpb=06813a0566192d90e1ad8c891dfb7cc55dedd525

diff --git a/projects/microb2010/mainboard/strat_db.h b/projects/microb2010/mainboard/strat_db.h
index 1b5314f..e377ceb 100644
--- a/projects/microb2010/mainboard/strat_db.h
+++ b/projects/microb2010/mainboard/strat_db.h
@@ -33,7 +33,7 @@ struct corn_db {
 };
 
 struct tomato_db {
-	/* nothing for now */
+	uint8_t idx;
 };
 
 /* structure describing the status of a waypoint */
@@ -54,16 +54,19 @@ struct waypoint_db {
 	/* visited by opponent */
 	uint8_t opp_visited:1;
 
-	uint8_t reserved:3;
+	/* true if the wp is on a circuit */
+	uint8_t on_circuit:1;
 
-	/* absolute position of the waypoint */
-/* 	int16_t x; */
-/* 	int16_t y; */
+	uint8_t reserved:2;
 
 	union {
 		struct corn_db corn;
 		struct tomato_db tomato;
 	};
+
+	/* to monitor time when corn/ball was removed */
+	/* not optimal... but... we have enough ram */
+	int8_t time_removed;
 };
 
 /* database reflecting the status of objects on area */
@@ -87,6 +90,14 @@ struct strat_db {
 /* global structure storing the database */
 extern struct strat_db strat_db;
 
+/* return the nearest waypoint */
+int8_t xycoord_to_ijcoord(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp);
+
+/* return the nearest waypoint that is not a corn: xp and yp contains
+ * the input and output, and ip, jp are only outputs. return 0 on
+ * success. */
+int8_t xycoord_to_ijcoord_not_corn(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp);
+
 /* convert i,j coords to x,y coords */
 int8_t ijcoord_to_xycoord(uint8_t i, uint8_t j, int16_t *x, int16_t *y);