hostsim enhancements

[aversive.git] / projects / microb2010 / tests / hostsim / strat_base.h

diff --git a/projects/microb2010/tests/hostsim/strat_base.h b/projects/microb2010/tests/hostsim/strat_base.h
new file mode 100644 (file)
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+++ b/projects/microb2010/tests/hostsim/strat_base.h
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+/*  
+ *  Copyright Droids Corporation, Microb Technology (2009)
+ * 
+ *  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_base.h,v 1.5 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+/* return values for strats and sub trajs */
+#define END_TRAJ       1 /* traj successful */
+#define END_BLOCKING   2 /* blocking during traj */
+#define END_NEAR       4 /* we are near destination */
+#define END_OBSTACLE   8 /* There is an obstacle in front of us */
+#define END_ERROR     16 /* Cannot do the command */
+#define END_INTR      32 /* interrupted by user */
+#define END_TIMER     64 /* we don't a lot of time */
+#define END_RESERVED 128 /* reserved */
+
+/* only valid after a END_OBSTACLE */
+struct opponent_obstacle {
+       int16_t x;
+       int16_t y;
+       int16_t a;
+       int16_t d;
+};
+extern struct opponent_obstacle opponent_obstacle;
+
+/* stop as fast as possible, without ramp */
+void strat_hardstop(void);
+
+#define DO_NOT_SET_POS -1000
+/* Reset position. If arg == DO_NOT_SET_POS, don't update value for
+ * it. */
+void strat_reset_pos(int16_t x, int16_t y, int16_t a);
+
+/* decrease gain on angle PID, and go forward until we reach the
+ * border. */
+uint8_t strat_calib(int16_t d, uint8_t flags);
+
+/* launch start procedure */
+void strat_start(void);
+
+/* go to an x,y point without checking for obstacle or blocking. It
+ * should be used for very small dist only. Return END_TRAJ if we
+ * reach destination, or END_BLOCKING if the robot blocked more than 3
+ * times. */
+uint8_t strat_goto_xy_force(int16_t x, int16_t y);
+
+/* escape from disc polygon or another zone */
+struct build_zone;
+uint8_t strat_escape(struct build_zone *zone, uint8_t flags);
+
+/* return true if we have to brake due to an obstacle */
+uint8_t strat_obstacle(void);
+
+/* set/get user strat speed */
+void strat_set_speed(uint16_t d, uint16_t a);
+void strat_get_speed(uint16_t *d, uint16_t *a);
+
+/* when user type ctrl-c we can interrupt traj */
+void interrupt_traj(void);
+void interrupt_traj_reset(void);
+
+/* limit speed when we are close of opponent */
+void strat_limit_speed_enable(void);
+void strat_limit_speed_disable(void);
+void strat_limit_speed(void);
+
+/* get name of traj error with its number */
+const char *get_err(uint8_t err);
+
+/* test trajectory end condition */
+uint8_t test_traj_end(uint8_t why);
+
+/* loop until test_traj_end() is true */
+#define wait_traj_end(why) __wait_traj_end_debug(why, __LINE__)
+uint8_t __wait_traj_end_debug(uint8_t why, uint16_t line);