summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/move.h
blob: 6078a1e3ca87dda9095889e2e4a7e2b778763fce (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
#ifndef move_h
#define move_h
/* move.h */
/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
 *
 * Copyright (C) 2008 NĂ©lio Laranjeiro
 *
 * 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 "defs.h"

/** Real radius of an obstacle. */
#define MOVE_REAL_OBSTACLE_RADIUS 150

/** Obstacle radius for the path module.
 * It corresponds to the real radius of the obstacle plus the distance you
 * want to add to avoid it. */
#define MOVE_OBSTACLE_RADIUS (MOVE_REAL_OBSTACLE_RADIUS \
			      + RADAR_CLEARANCE_MM \
			      + BOT_SIZE_SIDE)

/** Obstacle validity time (in term of number of cycles). */
#define MOVE_OBSTACLE_VALIDITY (3 * 225)

/**
 * Move FSM associated data.
 */
struct move_data_t
{
    /** Final position. */
    position_t final;
    /** Use angle consign for final point. */
    uint8_t with_angle;
    /** Next step. */
    vect_t step;
    /** Next step angle. */
    uint16_t step_angle;
    /** Next step with_angle. */
    uint8_t step_with_angle;
    /** Next step backward. */
    uint8_t step_backward;
    /** Non zero means this is a tricky move, slow down, and minimize
     * turns. */
    uint8_t slow;
    /** Backward direction allowed flag. */
    uint8_t backward_movement_allowed;
    /** Try again counter. */
    uint8_t try_again_counter;
    /** Dirty fix to know this is the final move. */
    uint8_t final_move;
    /** Distance to remove from path. */
    int16_t shorten;
    /** Loader unblocking retry counter. */
    uint8_t loader_unblocking_retry;
};

/**
 * Move global data.
 */
extern struct move_data_t move_data;

/**
 * Go to a position with the start FSM.
 * @param position the destination position.
 * @param backward_movement_allowed 0, no backward, 1 backward is allowed, 2
 * backward is compulsary.
 */
void
move_start (position_t position, uint8_t backward);

/** Go to a position, with no angle consign. */
void
move_start_noangle (vect_t position, uint8_t backward, int16_t shorten);

/** To be called when obstacles positions are computed. */
void
move_obstacles_update (void);

/** Check for blocking obstacles, return non zero if an event is handled. */
uint8_t
move_check_obstacles (void);

#endif /* move_h */