+/*
+ * 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
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * 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.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
+ *
+ * Olivier MATZ <zer0@droids-corp.org>
+ */
+
+
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <math.h>
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+
+#include <ax12.h>
+#include <uart.h>
+#include <pwm_ng.h>
+#include <clock_time.h>
+#include <spi.h>
+
+#include <pid.h>
+#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>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#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_base.h"
+#include "strat_corn.h"
+#include "strat_db.h"
+#include "strat_utils.h"
+#include "sensor.h"
+#include "actuator.h"
+
+/* status of objects on area */
+struct strat_db strat_db;
+
+/* given an index, give the i coord */
+static const uint8_t corn_coord_i[CORN_NB] = {
+ 0, 0, 0, 2, 2, 2, 4, 4, 6,
+ 6, 8, 8, 10, 10, 10, 12, 12, 12,
+};
+
+/* given an index, give the j coord */
+static const uint8_t corn_coord_j[CORN_NB] = {
+ 2, 4, 6, 3, 5, 7, 4, 6, 5,
+ 7, 4, 6, 3, 5, 7, 2, 4, 6,
+};
+
+/* table to find the symetric idx */
+static const uint8_t corn_sym[] = {
+ 15, 16, 17, 12, 13, 14, 10, 11,
+ 8, 9, 6, 7, 3, 4, 5, 0, 1, 2
+};
+
+#if 0 /* XXX maybe useless */
+/* the 10 possible configurations for corn on the side */
+static const uint8_t corn_side_confs[9][2] = {
+ { 1, 4 },
+ { 0, 4 },
+ { 2, 4 },
+ { 2, 3 },
+ { 0, 3 },
+ { 1, 3 },
+ { 1, 6 },
+ { 0, 6 },
+ { 2, 6 },
+};
+
+/* the 4 possible configurations for corn on center */
+static const uint8_t corn_center_confs[4][2] = {
+ { 5, 8 },
+ { 7, 8 },
+ { 5, 9 },
+ { 7, 8 },
+};
+#endif
+
+/* in these groups, only one black cob */
+static const int8_t corn_group1[] = { 0, 1, 2, -1, };
+static const int8_t corn_group2[] = { 3, 4, 6, -1, };
+static const int8_t corn_group3[] = { 5, 7, -1, };
+static const int8_t corn_group4[] = { 8, 9, -1, };
+static const int8_t corn_group5[] = { 11, 14, -1, };
+static const int8_t corn_group6[] = { 10, 12, 13, -1, };
+static const int8_t corn_group7[] = { 15, 16, 17, -1, };
+
+static const int8_t *corn_groups[] = {
+ corn_group1,
+ corn_group2,
+ corn_group3,
+ corn_group4,
+ corn_group5,
+ corn_group6,
+ corn_group7,
+ NULL,
+};
+
+/* given an index, give the i coord */
+static const uint8_t tomato_coord_i[TOMATO_NB] = {
+ 0, 0, 2, 2, 4, 4, 6, 6,
+ 8, 8, 10, 10, 12, 12,
+};
+
+/* given an index, give the j coord */
+static const uint8_t tomato_coord_j[TOMATO_NB] = {
+ 3, 5, 4, 6, 5, 7, 4, 6, 5, 7, 4, 6, 3, 5,
+};
+
+/******** Generic waypoint */
+
+/* return the xy coords of a waypoint given its ij coords. */
+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 = (OFFSET_CORN_Y + j*STEP_CORN_Y);
+ return 0;
+}
+
+/******** CORN */
+
+/* return the index of a corn given its i,j coords. */
+int8_t ijcoord_to_corn_idx(uint8_t i, uint8_t j)
+{
+ uint8_t n;
+ for (n = 0; n < CORN_NB; n ++) {
+ if (i == corn_coord_i[n] &&
+ j == corn_coord_j[n])
+ return n;
+ }
+ return -1;
+}
+
+/* return the i,j coords of a corn given its index */
+int8_t corn_idx_to_ijcoord(uint8_t idx, uint8_t *i, uint8_t *j)
+{
+ if (idx >= CORN_NB)
+ return -1;
+ *i = corn_coord_i[idx];
+ *j = corn_coord_j[idx];
+ return 0;
+}
+
+/* return the index of a corn given its x,y coords. */
+int8_t corn_idx_to_xycoord(uint8_t idx, int16_t *x, int16_t *y)
+{
+ uint8_t i, j;
+ if (corn_idx_to_ijcoord(idx, &i, &j) < 0)
+ return -1;
+ if (ijcoord_to_xycoord(i, j, x, y) < 0)
+ return -1;
+ return 0;
+}
+
+/* return the index of the closest corn at these coordinates. If the
+ * corn is really too far (~20cm), return NULL. The x and y pointer are
+ * updated with the real position of the corn */
+struct waypoint_db *xycoord_to_corn_idx(int16_t *x, int16_t *y)
+{
+ uint8_t idx = -1, n;
+ int16_t d, x_corn, y_corn;
+ int16_t x_corn_min = 0, y_corn_min = 0;
+ int16_t d_min = 0;
+
+ /* XXX does it work when we are blue ? */
+ for (n = 0; n < CORN_NB; n ++) {
+ corn_idx_to_xycoord(n, &x_corn, &y_corn);
+ d = xy_norm(x_corn, y_corn, *x, *y);
+ /* XXX 200 -> constant */
+ if (d < 200 && (d_min == 0 || d < d_min)) {
+ d_min = d;
+ idx = n;
+ x_corn_min = x_corn;
+ y_corn_min = y_corn;
+ }
+ }
+ if (d_min == 0)
+ return NULL;
+
+ *x = x_corn_min;
+ *y = y_corn_min;
+
+ return strat_db.corn_table[idx];
+}
+
+/* return true if 'idx' is in group */
+static uint8_t is_in_group(const int8_t *group, uint8_t idx)
+{
+ const int8_t *pidx;
+ for (pidx = group; *pidx != -1; pidx++) {
+ if (*pidx == idx) {
+ return 1;
+ }
+ }
+ return 0;
+}
+
+/* return the number of cob of that color in the group */
+static uint8_t count_in_group(const int8_t *group, uint8_t color)
+{
+ const int8_t *pidx;
+ struct waypoint_db *wp;
+ uint8_t count = 0;
+
+ for (pidx = &group[0]; *pidx != -1; pidx++) {
+ wp = strat_db.corn_table[*pidx];
+ if (wp->corn.color == color)
+ count ++;
+ }
+ return count;
+}
+
+/* set all unkown cobs to specified color */
+static void set_unknown_in_group(const int8_t *group, uint8_t color)
+{
+ const int8_t *pidx;
+ struct waypoint_db *wp;
+
+ for (pidx = &group[0]; *pidx != -1; pidx++) {
+ wp = strat_db.corn_table[*pidx];
+ if (wp->corn.color == I2C_COB_UNKNOWN)
+ wp->corn.color = color;
+ }
+}
+
+/* depending on which cob is set (and its color), set the color of
+ * other cobs */
+static void corn_deduct_other(uint8_t idx, uint8_t color)
+{
+ const int8_t **pgroup;
+
+ for (pgroup = &corn_groups[0]; *pgroup; pgroup++) {
+ if (!is_in_group(*pgroup, idx))
+ continue;
+ if (color == I2C_COB_BLACK) {
+ set_unknown_in_group(*pgroup, I2C_COB_WHITE);
+ }
+ else if (color == I2C_COB_WHITE) {
+ if (count_in_group(*pgroup, I2C_COB_UNKNOWN) == 1)
+ set_unknown_in_group(*pgroup, I2C_COB_BLACK);
+ }
+ }
+}
+
+/* set color of a corn
+ * type is I2C_COB_BLACK, I2C_COB_WHITE, I2C_COB_UNKNOWN
+ * it will update the symetric corn if != UNKOWN
+ * it will also deduct color of some other cobs */
+void corn_set_color(struct waypoint_db *wp, uint8_t color)
+{
+ uint8_t symidx;
+
+ wp->corn.color = color;
+ if (color == I2C_COB_UNKNOWN)
+ return;
+ corn_deduct_other(wp->corn.idx, color);
+ symidx = corn_get_sym_idx(wp->corn.idx);
+ strat_db.corn_table[symidx]->corn.color = color;
+ corn_deduct_other(symidx, color);
+}
+
+
+/* return the idx of the symetric corn */
+int8_t corn_get_sym_idx(int8_t i)
+{
+ if (i >= CORN_NB)
+ return -1;
+ return corn_sym[i];
+}
+
+/*********** TOMATO */
+
+/* return the index of a tomato given its i,j coords. */
+int8_t ijcoord_to_tomato_idx(uint8_t i, uint8_t j)
+{
+ uint8_t n;
+ for (n = 0; n < TOMATO_NB; n ++) {
+ if (i == tomato_coord_i[n] &&
+ j == tomato_coord_j[n])
+ return n;
+ }
+ return -1;
+}
+
+/* return the i,j coords of a tomato given its index */
+int8_t tomato_idx_to_ijcoord(uint8_t idx, uint8_t *i, uint8_t *j)
+{
+ if (idx >= TOMATO_NB)
+ return -1;
+ *i = tomato_coord_i[idx];
+ *j = tomato_coord_j[idx];
+ return 0;
+}
+
+/* return the index of a tomato given its x,y coords. */
+int8_t tomato_idx_to_xycoord(uint8_t idx, int16_t *x, int16_t *y)
+{
+ uint8_t i, j;
+ if (tomato_idx_to_ijcoord(idx, &i, &j) < 0)
+ return -1;
+ if (ijcoord_to_xycoord(i, j, x, y) < 0)
+ return -1;
+ return 0;
+}
+
+/* return the index of the closest tomato at these coordinates. If the
+ * tomato is really too far (~20cm), return NULL. The x and y pointer are
+ * updated with the real position of the tomato */
+struct waypoint_db *xycoord_to_tomato_idx(int16_t *x, int16_t *y)
+{
+ uint8_t idx = -1, n;
+ int16_t d, x_tomato, y_tomato;
+ int16_t x_tomato_min = 0, y_tomato_min = 0;
+ int16_t d_min = 0;
+
+ /* XXX does it work when we are blue ? */
+ for (n = 0; n < TOMATO_NB; n ++) {
+ tomato_idx_to_xycoord(n, &x_tomato, &y_tomato);
+ d = xy_norm(x_tomato, y_tomato, *x, *y);
+ /* XXX 200 -> constant */
+ if (d < 200 && (d_min == 0 || d < d_min)) {
+ d_min = d;
+ idx = n;
+ x_tomato_min = x_tomato;
+ y_tomato_min = y_tomato;
+ }
+ }
+ if (d_min == 0)
+ return NULL;
+
+ *x = x_tomato_min;
+ *y = y_tomato_min;
+
+ return strat_db.tomato_table[idx];
+}
+
+/*
+ * Init internal database. The initialization is done with UNKNOWN
+ * corn with all objects present
+ */
+void strat_db_init(void)
+{
+ struct waypoint_db *wp;
+ int8_t idx;
+ int8_t i, j;
+
+ memset(&strat_db, 0, sizeof(strat_db));
+
+ /* corn table */
+ for (i=0; i<CORN_NB; i++) {
+ strat_db.corn_table[i] =
+ &strat_db.wp_table[corn_coord_i[i]][corn_coord_j[i]];
+ }
+ /* tomato table */
+ for (i=0; i<TOMATO_NB; i++) {
+ strat_db.tomato_table[i] =
+ &strat_db.wp_table[tomato_coord_i[i]][tomato_coord_j[i]];
+ }
+
+ strat_db.our_oranges_count = 6;
+ strat_db.opp_oranges_count = 6;
+
+ for (i=0; i<WAYPOINTS_NBX; i++) {
+
+ for (j=0; j<WAYPOINTS_NBY; j++) {
+ wp = &strat_db.wp_table[i][j];
+
+ /* default type */
+ wp->type = WP_TYPE_WAYPOINT;
+
+ /* mark dangerous points */
+ if (i == 0 || i == (WAYPOINTS_NBX-1))
+ wp->dangerous = 1;
+ if ((i&1) == 0 && j == (WAYPOINTS_NBY-1))
+ wp->dangerous = 1;
+
+ /* too close of border, unreachable wp */
+ if ((i & 1) == 1 && j == (WAYPOINTS_NBY-1)) {
+ wp->type = WP_TYPE_OBSTACLE;
+ continue;
+ }
+
+ /* hill */
+ if (i >= 2 && i < (WAYPOINTS_NBX-2) && j < 2) {
+ wp->type = WP_TYPE_OBSTACLE;
+ continue;
+ }
+
+ /* corn */
+ idx = ijcoord_to_corn_idx(i, j);
+ if (idx >= 0) {
+ wp->type = WP_TYPE_CORN;
+ wp->present = 1;
+ wp->corn.idx = idx;
+ wp->corn.color = I2C_COB_UNKNOWN;
+ continue;
+ }
+
+ /* tomato */
+ idx = ijcoord_to_tomato_idx(i, j);
+ if (idx >= 0) {
+ wp->type = WP_TYPE_TOMATO;
+ wp->present = 1;
+ continue;
+ }
+ }
+ }
+}
+
+/* dump infos about area and objects */
+void strat_db_dump(const char *caller)
+{
+ uint8_t i;
+ struct waypoint_db *wp;
+
+ if (strat_db.dump_enabled == 0)
+ return;
+
+ printf_P(PSTR("DB dump from <%s>\r\n"), caller);
+ for (i=0; i<CORN_NB; i++) {
+ wp = strat_db.corn_table[i];
+ printf_P(PSTR("corn%d: present=%d opp=%d "),
+ i, wp->present, wp->opp_visited);
+ if (wp->corn.color == I2C_COB_UNKNOWN)
+ printf_P(PSTR("unknown"));
+ else if (wp->corn.color == I2C_COB_BLACK)
+ printf_P(PSTR("black"));
+ else if (wp->corn.color == I2C_COB_WHITE)
+ printf_P(PSTR("white"));
+ printf_P(PSTR("\r\n"));
+ }
+
+ for (i=0; i<TOMATO_NB; i++) {
+ wp = strat_db.tomato_table[i];
+ printf_P(PSTR("tomato%d: present=%d opp=%d\r\n"),
+ i, wp->present, wp->opp_visited);
+ }
+}
git.droids-corp.org / aversive.git / commitdiff