X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_utils.h;h=5c7b8e998d36c1322e8d66e037e5e16991980484;hp=986b6016dc7386b8876d9361871df9ccf92af621;hb=HEAD;hpb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae

diff --git a/projects/microb2010/mainboard/strat_utils.h b/projects/microb2010/mainboard/strat_utils.h
index 986b601..5c7b8e9 100644
--- a/projects/microb2010/mainboard/strat_utils.h
+++ b/projects/microb2010/mainboard/strat_utils.h
@@ -20,10 +20,6 @@
  */
 
 
-#define DEG(x) (((double)(x)) * (180.0 / M_PI))
-#define RAD(x) (((double)(x)) * (M_PI / 180.0))
-#define M_2PI (2*M_PI)
-
 struct xy_point {
 	int16_t x;
 	int16_t y;
@@ -35,15 +31,42 @@ struct xy_point {
 	({								\
 		uint8_t __err = 0;					\
 		while ( (! (cond)) && (__err == 0)) {			\
-			__err = test_traj_end(TRAJ_FLAGS_NO_NEAR);	\
+			__err = test_traj_end(mask);			\
 		}							\
+		if (!__err)						\
+			DEBUG(E_USER_STRAT, "cond is true at line %d",	\
+			      __LINE__);				\
+		else							\
+			DEBUG(E_USER_STRAT, "got %s at line %d",	\
+			      get_err(__err), __LINE__);		\
 		__err;							\
 	})								\
 
+#define WAIT_COND_OR_TE_TO(cond, mask, timeout)				\
+	({								\
+		microseconds __us = time_get_us2();			\
+		uint8_t __ret = 0;					\
+		while ( (! (cond)) && (__ret == 0)) {			\
+			__ret = test_traj_end(mask);			\
+			if (time_get_us2() - __us > (timeout)*1000L) {	\
+				__ret = 0;				\
+				break;					\
+			}						\
+		}							\
+		if (!__ret)						\
+			DEBUG(E_USER_STRAT, "cond / timeout at line %d", \
+			      __LINE__);				\
+		else							\
+			DEBUG(E_USER_STRAT, "got %s (%d) at line %d",	\
+			      get_err(__ret), __ret, __LINE__);		\
+									\
+		__ret;							\
+	})
+
 int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
+int32_t quad_distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
 int16_t distance_from_robot(int16_t x, int16_t y);
 int16_t simple_modulo_360(int16_t a);
-double simple_modulo_2pi(double a);
 int16_t angle_abs_to_rel(int16_t a_abs);
 void rel_da_to_abs_xy(double d_rel, double a_rel_rad, double *x_abs, double *y_abs);
 double norm(double x, double y);
@@ -55,6 +78,8 @@ uint8_t robot_is_in_area(int16_t margin);
 uint8_t robot_is_near_disc(void);
 uint8_t y_is_more_than(int16_t y);
 uint8_t x_is_more_than(int16_t x);
+uint8_t __y_is_more_than(int16_t posy, int16_t y);
+uint8_t __x_is_more_than(int16_t posx, int16_t x);
 int16_t fast_sin(int16_t deg);
 int16_t fast_cos(int16_t deg);
 uint8_t get_color(void);
@@ -62,15 +87,7 @@ uint8_t get_opponent_color(void);
 int8_t get_opponent_xy(int16_t *x, int16_t *y);
 int8_t get_opponent_da(int16_t *d, int16_t *a);
 int8_t get_opponent_xyda(int16_t *x, int16_t *y, int16_t *d, int16_t *a);
-uint8_t get_column_count(void);
-uint8_t get_column_count_right(void);
-uint8_t get_column_count_left(void);
-uint8_t get_lintel_count(void);
-uint8_t get_mechboard_mode(void);
-uint8_t pump_left1_is_full(void);
-uint8_t pump_left2_is_full(void);
-uint8_t pump_right1_is_full(void);
-uint8_t pump_right2_is_full(void);
-uint8_t get_scanner_status(void);
-uint8_t wait_scan_done(uint16_t timeout);
-uint8_t opponent_is_behind(void);
+int16_t distance_from_opponent(int16_t x, int16_t y);
+
+uint8_t get_ball_count(void);
+uint8_t get_cob_count(void);