+/*
+ * 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>
+ */
+
+#define WAYPOINTS_NBX 13
+#define WAYPOINTS_NBY 8
+
+struct corn_db {
+ /* I2C_COB_UNKNOWN, I2C_COB_WHITE, I2C_COB_BLACK */
+ uint8_t color:2;
+ uint8_t reserved:6;
+
+ /* index in corn table */
+ uint8_t idx;
+};
+
+struct tomato_db {
+ /* nothing for now */
+};
+
+/* structure describing the status of a waypoint */
+struct waypoint_db {
+ /* type of the waypoint */
+#define WP_TYPE_WAYPOINT 0 /* no object on it */
+#define WP_TYPE_OBSTACLE 1 /* cannot reach this point */
+#define WP_TYPE_TOMATO 2 /* place for a tomato */
+#define WP_TYPE_CORN 3 /* place for a corn */
+ uint8_t type:2;
+
+ /* true if point is near the border */
+ uint8_t dangerous:1;
+
+ /* true if element is present */
+ uint8_t present:1;
+
+ /* visited by opponent */
+ uint8_t opp_visited:1;
+
+ uint8_t reserved:3;
+
+ /* absolute position of the waypoint */
+/* int16_t x; */
+/* int16_t y; */
+
+ union {
+ struct corn_db corn;
+ struct tomato_db tomato;
+ };
+};
+
+/* database reflecting the status of objects on area */
+struct strat_db {
+ uint8_t dump_enabled;
+
+ /* table of waypoints */
+ struct waypoint_db wp_table[WAYPOINTS_NBX][WAYPOINTS_NBY];
+
+ /* corn_table: pointers to waypoints */
+ struct waypoint_db *corn_table[CORN_NB];
+
+ /* tomato_table: pointers to waypoints */
+ struct waypoint_db *tomato_table[TOMATO_NB];
+
+ /* number of oranges remaining */
+ uint8_t our_oranges_count;
+ uint8_t opp_oranges_count;
+};
+
+/* global structure storing the database */
+extern struct strat_db strat_db;
+
+/* 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);
+
+/* return the index of a corn given its i,j coords. */
+int8_t ijcoord_to_corn_idx(uint8_t i, uint8_t j);
+
+/* 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);
+
+/* 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);
+
+/* 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);
+
+/* 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);
+
+/* return the idx of the symetric corn */
+int8_t corn_get_sym_idx(int8_t 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);
+
+/* 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);
+
+/* 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);
+
+/* 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);
+
+/*
+ * Init internal database. The initialization is done with UNKNOWN
+ * corn with all objects present
+ */
+void strat_db_init(void);
+
+/* dump infos about area and objects */
+void strat_db_dump(const char *caller);
git.droids-corp.org / aversive.git / blobdiff