track opponent

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index dd7b23c43cc48be4557e6b8c8171cd29f01afc66..dd067514ee0d171e6df215cc888069938b36cd5d 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -336,6 +336,38 @@ static void check_corn(void)
        }
 }
 
+/* check opponent position */
+void check_opponent(void)
+{
+       int16_t x, y;
+       uint8_t i, j;
+
+       if (get_opponent_xy(&x, &y) < 0)
+               return;
+
+       /* check for oranges after 5 seconds */
+       if (time_get_s() > 5) {
+               if (mainboard.our_color == I2C_COLOR_YELLOW) {
+                       if (y < 500 && x < 500)
+                               strat_db.our_oranges_count = 0;
+                       if (y < 500 && x > AREA_X - 500)
+                               strat_db.opp_oranges_count = 0;
+               }
+               else {
+                       if (y > AREA_Y - 500 && x < 500)
+                               strat_db.our_oranges_count = 0;
+                       if (y > AREA_Y - 500 && x > AREA_X - 500)
+                               strat_db.opp_oranges_count = 0;
+               }
+       }
+
+       /* malus for some tomatoes and cobs, visited by opponent */
+       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+               return;
+
+       strat_db.wp_table[i][j].opp_visited = 1;
+}
+
 /* called periodically (10ms) */
 void strat_event(void *dummy)
 {
@@ -345,6 +377,7 @@ void strat_event(void *dummy)
 
        check_tomato();
        check_corn();
+       check_opponent();
 
        /* limit speed when opponent is near */
        /* disabled for 2010, we are already slow :) */
@@ -360,7 +393,7 @@ static uint8_t robot_is_on_eject_line(void)
        x = position_get_x_s16(&mainboard.pos);
        y = position_get_y_s16(&mainboard.pos);
 
-       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+       if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
                return 0;
 
        if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
@@ -384,7 +417,7 @@ static uint8_t eject_select_speed(void)
                return 0; /* fast */
        }
 
-       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+       if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
                DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
                      __FUNCTION__, x, y);
                return 1; /* slow */
@@ -566,7 +599,7 @@ uint8_t get_opp_oranges(void)
        x = position_get_x_s16(&mainboard.pos);
        y = position_get_y_s16(&mainboard.pos);
 
-       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+       if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
                return END_ERROR;
 
        /* not on eject point */
@@ -623,7 +656,7 @@ uint8_t get_orphan_tomatoes(void)
        x = position_get_x_s16(&mainboard.pos);
        y = position_get_y_s16(&mainboard.pos);
 
-       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+       if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
                return END_ERROR;
 
        /* not on eject point */

diff --git a/projects/microb2010/mainboard/strat_avoid.c b/projects/microb2010/mainboard/strat_avoid.c
index de85e30972c015a6d17816467ec45866e6da09cd..3d5218823d2f27a1e69e019bb608776aff8ee027 100644 (file)
--- a/projects/microb2010/mainboard/strat_avoid.c
+++ b/projects/microb2010/mainboard/strat_avoid.c
@@ -665,6 +665,7 @@ static int8_t get_path(const struct circuit *circuit,
 static int16_t get_score(uint32_t wcorn_retrieved,
                         uint32_t ucorn_retrieved,
                         uint16_t tomato_retrieved,
+                        uint16_t utomato_retrieved,
                         uint8_t len, uint8_t opp_on_path)
 {
        int16_t score = 0;
@@ -763,11 +764,12 @@ static int8_t evaluate_one_face(const struct circuit *circuit,
        uint32_t wcorn_retrieved = 0; /* bit mask */
        uint32_t ucorn_retrieved = 0; /* bit mask */
        uint16_t tomato_retrieved = 0; /* bit mask */
+       uint16_t utomato_retrieved = 0; /* bit mask */
        uint8_t opponent_on_path = 0;
        uint8_t len = 0, found = 0;
        uint8_t i, j, prev_i, prev_j;
        uint8_t ni = 0, nj = 0;
-       uint8_t dir, color, idx;
+       uint8_t dir, color, idx, visited;
        int8_t step = faceA ? 1 : -1;
        int16_t x, y;
        int32_t d, prev_d = 0;
@@ -840,18 +842,29 @@ static int8_t evaluate_one_face(const struct circuit *circuit,
                /* is there a tomato ? */
                if (strat_db.wp_table[i][j].type == WP_TYPE_TOMATO &&
                    strat_db.wp_table[i][j].present) {
-                       DPR("  TOMATO\n");
-                       tomato_retrieved |= (1UL << strat_db.wp_table[i][j].tomato.idx);
+                       if (strat_db.wp_table[i][j].opp_visited) {
+                               DPR("  TOMATO (opp visited)\n");
+                               utomato_retrieved |= (1UL << strat_db.wp_table[i][j].tomato.idx);
+                       }
+                       else {
+                               DPR("  TOMATO\n");
+                               tomato_retrieved |= (1UL << strat_db.wp_table[i][j].tomato.idx);
+                       }
                }
 
                /* behind left */
                if (wp_get_neigh(i, j, &ni, &nj, (dir + 2) % 6) == 0) {
                        color = get_corn_type(ni, nj);
                        idx = strat_db.wp_table[ni][nj].corn.idx;
-                       if (color == I2C_COB_WHITE) {
+                       visited = strat_db.wp_table[ni][nj].opp_visited;
+                       if (color == I2C_COB_WHITE && !visited) {
                                DPR("  LEFT WCORN (%d)\n", idx);
                                wcorn_retrieved |= (1UL << idx);
                        }
+                       else if (color == I2C_COB_WHITE && visited) {
+                               DPR("  LEFT CORN visited (%d)\n", idx);
+                               ucorn_retrieved |= (1UL << idx);
+                       }
                        else if (color == I2C_COB_UNKNOWN) {
                                DPR("  LEFT UCORN (%d)\n", idx);
                                ucorn_retrieved |= (1UL << idx);
@@ -862,10 +875,15 @@ static int8_t evaluate_one_face(const struct circuit *circuit,
                if (wp_get_neigh(i, j, &ni, &nj, (dir + 4) % 6) == 0) {
                        color = get_corn_type(ni, nj);
                        idx = strat_db.wp_table[ni][nj].corn.idx;
-                       if (color == I2C_COB_WHITE) {
+                       visited = strat_db.wp_table[ni][nj].opp_visited;
+                       if (color == I2C_COB_WHITE && !visited) {
                                DPR("  RIGHT WCORN (%d)\n", idx);
                                wcorn_retrieved |= (1UL << idx);
                        }
+                       else if (color == I2C_COB_WHITE && visited) {
+                               DPR("  RIGHT CORN visited (%d)\n", idx);
+                               ucorn_retrieved |= (1UL << idx);
+                       }
                        else if (color == I2C_COB_UNKNOWN) {
                                DPR("  RIGHT UCORN (%d)\n", idx);
                                ucorn_retrieved |= (1UL << idx);
@@ -878,7 +896,8 @@ static int8_t evaluate_one_face(const struct circuit *circuit,
 
        /* write score and exit */
        *score = get_score(wcorn_retrieved, ucorn_retrieved,
-                          tomato_retrieved, len, opponent_on_path);
+                          tomato_retrieved, utomato_retrieved,
+                          len, opponent_on_path);
        return 0;
 }
 
@@ -1004,7 +1023,7 @@ uint8_t strat_harvest_circuit(void)
        x = position_get_x_s16(&mainboard.pos);
        y = position_get_y_s16(&mainboard.pos);
 
-       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+       if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
                DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
                      __FUNCTION__, x, y);
                err = END_ERROR;
@@ -1096,7 +1115,7 @@ uint8_t strat_unblock(void)
        x = posx;
        y = posy;
 
-       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+       if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0)
                x = -1;
        else if (strat_db.wp_table[i][j].on_circuit == 0)
                x = -1;

diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index e64871e2b226e9f24a2833b57d111c04bb9f6b2d..db672bf67f1e3bb2271e8ff245f74bb844124205 100644 (file)
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -162,7 +162,7 @@ static uint8_t clitoid_select_speed(uint8_t num1, uint8_t dir1,
        if (get_cob_count() >= 5)
                return 0; /* fast */
 
-       if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+       if (xycoord_to_ijcoord_not_corn(&x, &y, &i, &j) < 0) {
                DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
                      __FUNCTION__, x, y);
                return 1;

diff --git a/projects/microb2010/mainboard/strat_db.c b/projects/microb2010/mainboard/strat_db.c
index 015379488b6ddfb61899ffb5486da207aae9bc5c..dfc56938a381459f44af2be808f6cca848c8a65a 100644 (file)
--- a/projects/microb2010/mainboard/strat_db.c
+++ b/projects/microb2010/mainboard/strat_db.c
@@ -160,10 +160,42 @@ int8_t ijcoord_to_xycoord(uint8_t i, uint8_t j, int16_t *x, int16_t *y)
        return 0;
 }
 
+/* return the nearest waypoint (any type) */
+int8_t xycoord_to_ijcoord(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
+{
+       int16_t x, y;
+       uint8_t i, j;
+
+       x = *xp;
+       y = *yp;
+
+       x -= OFFSET_CORN_X;
+       x += (STEP_CORN_X/2);
+       i = x / STEP_CORN_X;
+
+       y = COLOR_Y(y); /* Y depends on color */
+       y -= OFFSET_CORN_Y;
+       y += STEP_CORN_Y/2;
+
+       if ((i & 1) == 1)
+               y -= STEP_CORN_Y/2;
+       j = y / STEP_CORN_Y;
+
+       if (ijcoord_to_xycoord(i, j, &x, &y) < 0)
+               return -1;
+
+       *xp = x;
+       *yp = y;
+       *ip = i;
+       *jp = j;
+
+       return 0;
+}
+
 /* 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(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
+int8_t xycoord_to_ijcoord_not_corn(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp)
 {
        int16_t x, y;
        uint8_t i, j;

diff --git a/projects/microb2010/mainboard/strat_db.h b/projects/microb2010/mainboard/strat_db.h
index 61ee6bf2137ad501ff39a4c65377b439f55be9a4..e377ceb03753485fff7975f42d51c436d83698fb 100644 (file)
--- a/projects/microb2010/mainboard/strat_db.h
+++ b/projects/microb2010/mainboard/strat_db.h
@@ -90,10 +90,13 @@ 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(int16_t *xp, int16_t *yp, uint8_t *ip, uint8_t *jp);
+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);