From d776dc0dab6dd3ddf92041f1ad42e521847ea9cf Mon Sep 17 00:00:00 2001
From: zer0 <zer0@carbon.local>
Date: Wed, 28 Apr 2010 00:03:28 +0200
Subject: [PATCH] optim cobboard

---
 .../microb2010/mainboard/commands_mainboard.c |  2 +-
 projects/microb2010/mainboard/i2c_protocol.c  |  2 +-
 projects/microb2010/mainboard/i2c_protocol.h  |  2 +-
 projects/microb2010/mainboard/strat.c         | 63 ++++++++++++++-----
 projects/microb2010/mainboard/strat_corn.c    |  7 +--
 projects/microb2010/mainboard/strat_corn.h    |  2 +
 projects/microb2010/mainboard/strat_db.c      |  2 +
 7 files changed, 57 insertions(+), 23 deletions(-)

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index 7c58bb9..ee0ffa4 100644
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -779,7 +779,7 @@ static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
 	}
 	else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
 		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
-		i2c_cobboard_harvest(side);
+		i2c_cobboard_autoharvest(side);
 	}
 	else if (!strcmp_P(res->arg1, PSTR("pack"))) {
 		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index d264622..9908f1a 100644
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -426,7 +426,7 @@ int8_t i2c_cobboard_pack(uint8_t side)
 	return i2c_cobboard_set_spickle(side, 0);
 }
 
-int8_t i2c_cobboard_harvest(uint8_t side)
+int8_t i2c_cobboard_autoharvest(uint8_t side)
 {
 	return i2c_cobboard_set_spickle(side,
 					I2C_COBBOARD_SPK_DEPLOY |
diff --git a/projects/microb2010/mainboard/i2c_protocol.h b/projects/microb2010/mainboard/i2c_protocol.h
index 20c8ada..b107c44 100644
--- a/projects/microb2010/mainboard/i2c_protocol.h
+++ b/projects/microb2010/mainboard/i2c_protocol.h
@@ -37,7 +37,7 @@ int8_t i2c_led_control(uint8_t addr, uint8_t led, uint8_t state);
 
 int8_t i2c_cobboard_set_mode(uint8_t mode);
 int8_t i2c_cobboard_pack(uint8_t side);
-int8_t i2c_cobboard_harvest(uint8_t side);
+int8_t i2c_cobboard_autoharvest(uint8_t side);
 int8_t i2c_cobboard_deploy(uint8_t side);
 int8_t i2c_ballboard_set_mode(uint8_t mode);
 
diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 2c60428..3839738 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -67,6 +67,7 @@
 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
 #define COL_SCAN_PRE_MARGIN 250
 
+static uint8_t strat_running = 0;
 struct strat_conf strat_conf;
 
 /*************************************************************/
@@ -100,22 +101,19 @@ void strat_conf_dump(const char *caller)
 /* call it just before launching the strat */
 void strat_init(void)
 {
+#ifdef HOST_VERSION
 	position_set(&mainboard.pos, 298.16,
 		     COLOR_Y(308.78), COLOR_A(70.00));
-
-	/* XXX init rollers, .. */
-
-	strat_db_init();
+#endif
 
 	/* we consider that the color is correctly set */
-
+	strat_running = 1;
+	strat_db_init();
 	strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 	time_reset();
 	interrupt_traj_reset();
 
 	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
-	i2c_cobboard_harvest(I2C_LEFT_SIDE);
-	i2c_cobboard_harvest(I2C_RIGHT_SIDE);
 	i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 
 	/* used in strat_base for END_TIMER */
@@ -131,6 +129,7 @@ void strat_exit(void)
 	uint8_t flags;
 #endif
 
+	strat_running = 0;
 	mainboard.flags &= ~(DO_TIMER);
 	strat_hardstop();
 	time_reset();
@@ -144,11 +143,16 @@ void strat_exit(void)
 #endif
 }
 
-/* called periodically */
+/* called periodically (10ms) */
 void strat_event(void *dummy)
 {
 	uint8_t flags;
 	uint8_t lcob, rcob;
+	uint8_t lidx, ridx;
+
+	/* ignore when strat is not running */
+	if (strat_running == 0)
+		return;
 
 	IRQ_LOCK(flags);
 	lcob = ballboard.lcob;
@@ -157,14 +161,41 @@ void strat_event(void *dummy)
 	ballboard.rcob = I2C_COB_NONE;
 	IRQ_UNLOCK(flags);
 
-	if (lcob == I2C_COB_WHITE)
-		DEBUG(E_USER_STRAT, "lcob white");
-	if (lcob == I2C_COB_BLACK)
-		DEBUG(E_USER_STRAT, "lcob black");
-	if (rcob == I2C_COB_WHITE)
-		DEBUG(E_USER_STRAT, "rcob white");
-	if (rcob == I2C_COB_BLACK)
-		DEBUG(E_USER_STRAT, "rcob black");
+	/* XXX take opponent position into account */
+
+
+	/* detect cob on left side */
+	if (corn_is_near(&lidx, I2C_LEFT_SIDE)) {
+		if (lcob != I2C_COB_NONE) {
+			corn_set_color(strat_db.corn_table[lidx], lcob);
+			DEBUG(E_USER_STRAT, "lcob %s %d",
+			      lcob == I2C_COB_WHITE ? "white" : "black", lidx);
+		}
+		if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE)
+			i2c_cobboard_autoharvest(I2C_LEFT_SIDE);
+		else
+			i2c_cobboard_deploy(I2C_LEFT_SIDE);
+	}
+	else {
+		i2c_cobboard_deploy(I2C_LEFT_SIDE);
+	}
+
+	/* detect cob on right side */
+	if (corn_is_near(&ridx, I2C_RIGHT_SIDE)) {
+		if (rcob != I2C_COB_NONE) {
+			corn_set_color(strat_db.corn_table[ridx], rcob);
+			DEBUG(E_USER_STRAT, "rcob %s %d",
+			      rcob == I2C_COB_WHITE ? "white" : "black", ridx);
+		}
+		if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE)
+			i2c_cobboard_autoharvest(I2C_RIGHT_SIDE);
+		else
+			i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+	}
+	else {
+		i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+	}
+
 
 	/* limit speed when opponent is close */
 	strat_limit_speed();
diff --git a/projects/microb2010/mainboard/strat_corn.c b/projects/microb2010/mainboard/strat_corn.c
index 5224787..7fa64c4 100644
--- a/projects/microb2010/mainboard/strat_corn.c
+++ b/projects/microb2010/mainboard/strat_corn.c
@@ -66,9 +66,8 @@
 #include "sensor.h"
 #include "actuator.h"
 
-#if 0
 /* return 1 if there is a corn near, and fill the index ptr */
-uint8_t corn_is_near(int8_t *corn_idx, uint8_t side)
+int8_t corn_is_near(uint8_t *corn_idx, uint8_t side)
 {
 #define SENSOR_CORN_DIST  225
 #define SENSOR_CORN_ANGLE 90
@@ -91,11 +90,11 @@ uint8_t corn_is_near(int8_t *corn_idx, uint8_t side)
 	y_corn_int = y_corn;
 
 	wp = xycoord_to_corn_idx(&x_corn_int, &y_corn_int);
-	if (wp->corn.idx < 0)
+	if (wp == NULL)
 		return 0;
+	*corn_idx = wp->corn.idx;
 	return 1;
 }
-#endif
 
 /*
  * - send the correct commands to the spickles
diff --git a/projects/microb2010/mainboard/strat_corn.h b/projects/microb2010/mainboard/strat_corn.h
index ca4a7d6..ac806d3 100644
--- a/projects/microb2010/mainboard/strat_corn.h
+++ b/projects/microb2010/mainboard/strat_corn.h
@@ -32,6 +32,8 @@ struct line_2pts {
 	point_t p2;
 };
 
+int8_t corn_is_near(uint8_t *corn_idx, uint8_t side);
+
 void num2line(struct line_2pts *l, uint8_t dir, uint8_t num);
 
 uint8_t line2line(uint8_t dir1, uint8_t num1,
diff --git a/projects/microb2010/mainboard/strat_db.c b/projects/microb2010/mainboard/strat_db.c
index 57c20ba..18db6ea 100644
--- a/projects/microb2010/mainboard/strat_db.c
+++ b/projects/microb2010/mainboard/strat_db.c
@@ -289,6 +289,8 @@ void corn_set_color(struct waypoint_db *wp, uint8_t color)
 	wp->corn.color = color;
 	if (color == I2C_COB_UNKNOWN)
 		return;
+	if (wp->corn.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;
-- 
2.39.5