track opponent

[aversive.git] / projects / microb2010 / mainboard / strat_avoid.c

diff --git a/projects/microb2010/mainboard/strat_avoid.c b/projects/microb2010/mainboard/strat_avoid.c
index de85e30..3d52188 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,
 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;
                         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 */
        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 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;
        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) {
                /* 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;
                }
 
                /* 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);
                        }
                                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);
                        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 (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);
                        }
                                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);
                        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,
 
        /* 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;
 }
 
        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);
 
        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;
                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;
 
        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;
                x = -1;
        else if (strat_db.wp_table[i][j].on_circuit == 0)
                x = -1;