From 366eeaccdca0ce784415a7b1bbc7e75f7c889af7 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 14 May 2011 01:36:57 +0200 Subject: digital/io-hub: add first element handling in clamp --- digital/io-hub/src/robospierre/logistic.h | 68 +++++++++++++++++++++++++++++++ 1 file changed, 68 insertions(+) create mode 100644 digital/io-hub/src/robospierre/logistic.h (limited to 'digital/io-hub/src/robospierre/logistic.h') diff --git a/digital/io-hub/src/robospierre/logistic.h b/digital/io-hub/src/robospierre/logistic.h new file mode 100644 index 00000000..75b49d53 --- /dev/null +++ b/digital/io-hub/src/robospierre/logistic.h @@ -0,0 +1,68 @@ +#ifndef logistic_h +#define logistic_h +/* logistic.h */ +/* robospierre - Eurobot 2011 AI. {{{ + * + * Copyright (C) 2011 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * 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. + * + * }}} */ +#include "element.h" +#include "clamp.h" + +/** Logistic context. */ +struct logistic_t +{ + /** Current robot content. + * + * Elements are fully specified (pawn, queen or king). An exception can + * occurs when a codebar is read but does not correspond to a valid word. + * + * When a movement is outgoing, the element is kept in the source slot. */ + uint8_t slots[CLAMP_SLOT_NB]; + /** Current element movement source and destination, CLAMP_SLOT_NB if no + * current movement. */ + uint8_t moving_from, moving_to; + /** Best collect direction. */ + uint8_t collect_direction; + /** Idle clamp position, depend on collect direction. */ + uint8_t clamp_pos_idle; +}; + +/** Global context. */ +extern struct logistic_t logistic_global; + +/** Initialise module. */ +void +logistic_init (void); + +/** To be called at regular interval to check for bad robot state. */ +void +logistic_update (void); + +/** To be called when a new element is entering the robot. */ +void +logistic_element_new (uint8_t pos, uint8_t element); + +/** To be called when a element movement is done. */ +void +logistic_element_move_done (void); + +#endif /* logistic_h */ -- cgit v1.2.3