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authorNicolas Schodet2012-03-21 00:46:03 +0100
committerNicolas Schodet2012-03-21 18:56:51 +0100
commit1e7c8a8a9811c45091e6c471482086113f059f40 (patch)
treed7faa80dd162799c394ec23925cc53b6dbff008e
parent0feb542a8cf7630a5d442387727414f5251aad83 (diff)
parentdcb79f383269440ec2c5a54b6d7792fbb0110d5a (diff)
Merge branch 'master' into efrei-robotique
Conflicts: digital/mimot/src/dirty/aux.c digital/mimot/src/dirty/aux.h digital/mimot/src/dirty/contacts.h digital/mimot/src/dirty/main.c digital/mimot/src/dirty/models.host.c digital/mimot/src/dirty/twi_proto.c digital/mimot/tools/mimot/init.py
-rw-r--r--admin/logo/apbteam_logo.svg214
-rw-r--r--digital/ai/src/common/defs.h11
-rw-r--r--digital/ai/src/fsm/fsm.host.c56
-rw-r--r--digital/ai/src/fsm/init.c185
-rw-r--r--digital/ai/src/move/radar.c (renamed from digital/io/src/radar.c)87
-rw-r--r--digital/ai/src/move/radar.h (renamed from digital/io/src/radar.h)28
-rw-r--r--digital/ai/src/twi_master/asserv.c28
-rw-r--r--digital/ai/src/twi_master/asserv.h14
-rw-r--r--digital/ai/src/twi_master/mimot.c82
-rw-r--r--digital/ai/src/twi_master/mimot.h30
-rw-r--r--digital/ai/src/utils/chrono.c7
-rw-r--r--digital/ai/src/utils/chrono.h8
-rw-r--r--digital/ai/tools/marcel.py58
-rw-r--r--digital/ai/tools/robospierre.py60
-rw-r--r--digital/ai/tools/test_simu.py81
-rw-r--r--digital/ai/tools/test_simu_control_marcel.py7
-rw-r--r--digital/ai/tools/test_simu_control_robospierre.py63
-rw-r--r--digital/asserv/src/asserv/main.c21
-rw-r--r--digital/asserv/src/asserv/models.host.c65
-rw-r--r--digital/asserv/src/asserv/models.host.h7
-rw-r--r--digital/asserv/src/asserv/simu.host.c107
-rw-r--r--digital/asserv/src/asserv/simu.host.h3
-rw-r--r--digital/asserv/src/asserv/speed.c20
-rw-r--r--digital/asserv/src/asserv/test_motor_model.c6
-rw-r--r--digital/asserv/src/asserv/traj.c57
-rw-r--r--digital/asserv/src/asserv/traj.h4
-rw-r--r--digital/asserv/src/asserv/twi_proto.c18
-rw-r--r--digital/asserv/tools/asserv/asserv.py19
-rw-r--r--digital/asserv/tools/asserv/init.py26
-rw-r--r--digital/asserv/tools/inter_asserv.py2
-rw-r--r--digital/asserv/tools/test_goto.py33
-rw-r--r--digital/avr/doc/fuses.txt60
-rw-r--r--digital/avr/make/Makefile.avr7
-rw-r--r--digital/avr/modules/adc/adc.avr.c6
-rw-r--r--digital/avr/modules/devices/servo/Makefile.module1
-rw-r--r--digital/avr/modules/devices/servo/README23
-rw-r--r--digital/avr/modules/devices/servo/avrconfig.h33
-rw-r--r--digital/avr/modules/devices/servo/servo.avr.c (renamed from digital/io/src/servo.avr.c)51
-rw-r--r--digital/avr/modules/devices/servo/servo.h (renamed from digital/io/src/servo.h)20
-rw-r--r--digital/avr/modules/devices/servo/servo_pos.c (renamed from digital/io/src/servo_pos.c)4
-rw-r--r--digital/avr/modules/devices/servo/servo_pos.h (renamed from digital/io/src/servo_pos.h)4
-rw-r--r--digital/avr/modules/devices/servo/test/Makefile12
-rw-r--r--digital/avr/modules/devices/servo/test/avrconfig.h91
-rw-r--r--digital/avr/modules/devices/servo/test/test_servo.c86
-rw-r--r--digital/avr/modules/devices/usdist/Makefile.module1
-rw-r--r--digital/avr/modules/devices/usdist/README23
-rw-r--r--digital/avr/modules/devices/usdist/avrconfig.h40
-rw-r--r--digital/avr/modules/devices/usdist/usdist.c (renamed from digital/io/src/usdist.c)19
-rw-r--r--digital/avr/modules/devices/usdist/usdist.h (renamed from digital/io/src/usdist.h)17
-rw-r--r--digital/avr/modules/twi/twi_hard.avr.c1
-rw-r--r--digital/avr/modules/uart/uart.avr.c1
-rw-r--r--digital/beacon/simu/Makefile12
-rw-r--r--digital/beacon/simu/avrconfig.h39
-rw-r--r--digital/beacon/simu/beacon.c106
-rw-r--r--digital/beacon/simu/position.c103
-rw-r--r--digital/beacon/simu/position.h59
-rw-r--r--digital/beacon/simu/simulator.py322
-rw-r--r--digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GBL2556
-rw-r--r--digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GBO2103
-rw-r--r--digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GBS66
-rw-r--r--digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GTL3546
-rw-r--r--digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GTO244
-rw-r--r--digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GTS137
-rw-r--r--digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.TXT76
-rw-r--r--digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.brdbin0 -> 39187 bytes
-rw-r--r--digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.schbin0 -> 127669 bytes
-rw-r--r--digital/dev2/src/usb_gpio/avrconfig.h1
-rw-r--r--digital/dev2/src/usb_serial_isp/avrconfig.h1
-rw-r--r--digital/dev2/src/usb_twi/avrconfig.h1
-rw-r--r--digital/io-hub/src/common/contact.avr.c2
-rw-r--r--digital/io-hub/src/common/contact.host.c2
-rw-r--r--digital/io-hub/src/robospierre/Makefile16
-rw-r--r--digital/io-hub/src/robospierre/avrconfig.h26
-rw-r--r--digital/io-hub/src/robospierre/bot.h147
-rw-r--r--digital/io-hub/src/robospierre/clamp.c876
-rw-r--r--digital/io-hub/src/robospierre/clamp.h50
-rw-r--r--digital/io-hub/src/robospierre/codebar.avr.c64
-rw-r--r--digital/io-hub/src/robospierre/codebar.h36
-rw-r--r--digital/io-hub/src/robospierre/codebar.host.c56
-rw-r--r--digital/io-hub/src/robospierre/contact_defs.h24
-rw-r--r--digital/io-hub/src/robospierre/element.c828
-rw-r--r--digital/io-hub/src/robospierre/element.h213
-rw-r--r--digital/io-hub/src/robospierre/init_defs.h50
-rw-r--r--digital/io-hub/src/robospierre/logistic.c622
-rw-r--r--digital/io-hub/src/robospierre/logistic.h143
-rw-r--r--digital/io-hub/src/robospierre/main.c173
-rw-r--r--digital/io-hub/src/robospierre/main.h31
-rw-r--r--digital/io-hub/src/robospierre/move.c541
-rw-r--r--digital/io-hub/src/robospierre/move.h63
-rw-r--r--digital/io-hub/src/robospierre/path.c621
-rw-r--r--digital/io-hub/src/robospierre/path.h78
-rw-r--r--digital/io-hub/src/robospierre/pawn_sensor.c222
-rw-r--r--digital/io-hub/src/robospierre/pawn_sensor.h45
-rw-r--r--digital/io-hub/src/robospierre/playground_2011.h33
-rw-r--r--digital/io-hub/src/robospierre/radar_defs.c46
-rw-r--r--digital/io-hub/src/robospierre/radar_defs.h41
-rw-r--r--digital/io-hub/src/robospierre/simu.host.c45
-rw-r--r--digital/io-hub/src/robospierre/simu.host.h12
-rw-r--r--digital/io-hub/src/robospierre/test_element.c376
-rw-r--r--digital/io-hub/src/robospierre/top.c476
-rw-r--r--digital/io-hub/tools/io_hub/io_hub.py22
-rw-r--r--digital/io-hub/tools/io_hub/mex.py106
-rw-r--r--digital/io-serial/src/codebar/Makefile16
-rw-r--r--digital/io-serial/src/codebar/avrconfig.h100
-rw-r--r--digital/io-serial/src/codebar/codebar.c159
-rw-r--r--digital/io/src/Makefile9
-rw-r--r--digital/io/src/avrconfig.h17
-rw-r--r--digital/io/src/eeprom.avr.c4
-rw-r--r--digital/io/src/main.c6
-rw-r--r--digital/io/src/move.c6
-rw-r--r--digital/io/src/radar_defs.c54
-rw-r--r--digital/io/src/radar_defs.h41
-rw-r--r--digital/io/src/simu.host.c26
-rw-r--r--digital/mimot/src/dirty/pwm.h5
-rw-r--r--digital/mimot/src/dirty/pwm_ocr.avr.c8
-rw-r--r--digital/mimot/src/dirty/speed.c20
-rw-r--r--eurobot/2011/io-hub-cabling.svg1238
-rw-r--r--eurobot/2012/E2012_Rules-EN.pdfbin0 -> 1567643 bytes
-rw-r--r--eurobot/2012/planete-sciences/dossier_projet_2012.odtbin0 -> 577262 bytes
-rw-r--r--host/simu/model/distance_sensor_sensopart.py2
-rw-r--r--host/simu/model/rectangular_obstacle.py63
-rw-r--r--host/simu/model/round_obstacle.py17
-rw-r--r--host/simu/model/switch.py8
-rw-r--r--host/simu/model/table.py4
-rw-r--r--host/simu/model/table_eurobot2011.py13
-rw-r--r--host/simu/model/table_eurobot2012.py93
-rw-r--r--host/simu/model/test/test_table.py212
-rw-r--r--host/simu/robots/aquajim/link/bag.py6
-rw-r--r--host/simu/robots/giboulee/link/bag.py6
-rw-r--r--host/simu/robots/marcel/link/bag.py8
-rw-r--r--host/simu/robots/marcel/model/loader.py1
-rw-r--r--host/simu/robots/robospierre/link/bag.py8
-rw-r--r--host/simu/robots/robospierre/model/bag.py31
-rw-r--r--host/simu/robots/robospierre/model/clamp.py164
-rw-r--r--host/simu/robots/robospierre/view/bag.py4
-rw-r--r--host/simu/robots/robospierre/view/clamp.py41
-rw-r--r--host/simu/robots/robospierre/view/robot.py4
-rw-r--r--host/simu/utils/intersect.py103
-rw-r--r--host/simu/utils/vector.py267
-rw-r--r--host/simu/view/switch.py2
-rw-r--r--host/simu/view/table_eurobot2011.py41
-rw-r--r--host/simu/view/table_eurobot2012.py189
-rw-r--r--host/utils/init_proto.py76
143 files changed, 19853 insertions, 584 deletions
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style="fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:black;stroke-width:0.99999994px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -474,7 +609,7 @@
sodipodi:cy="132.78569"
sodipodi:rx="35.368328"
sodipodi:ry="23.130152"
- d="M 293.47145 132.78569 A 35.368328 23.130152 0 1 1 222.73479,132.78569 A 35.368328 23.130152 0 1 1 293.47145 132.78569 z"
+ d="m 293.47145,132.78569 c 0,12.77443 -15.83494,23.13015 -35.36833,23.13015 -19.53339,0 -35.36833,-10.35572 -35.36833,-23.13015 0,-12.77443 15.83494,-23.13015 35.36833,-23.13015 19.53339,0 35.36833,10.35572 35.36833,23.13015 z"
transform="translate(286.8068,156.3898)" />
<path
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@@ -518,11 +653,11 @@
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sodipodi:rx="8.9183369"
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+ d="m 151.37068,184.87318 c 0,10.25029 -3.99287,18.55979 -8.91833,18.55979 -4.92546,0 -8.91834,-8.3095 -8.91834,-18.55979 0,-10.25028 3.99288,-18.55978 8.91834,-18.55978 4.92546,0 8.91833,8.3095 8.91833,18.55978 z"
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<path
transform="matrix(0.365768,0.327341,0,0.355296,45.7601,589.4954)"
- d="M 151.37068 184.87318 A 8.9183369 18.559782 0 1 1 133.53401,184.87318 A 8.9183369 18.559782 0 1 1 151.37068 184.87318 z"
+ d="m 151.37068,184.87318 c 0,10.25029 -3.99287,18.55979 -8.91833,18.55979 -4.92546,0 -8.91834,-8.3095 -8.91834,-18.55979 0,-10.25028 3.99288,-18.55978 8.91834,-18.55978 4.92546,0 8.91833,8.3095 8.91833,18.55978 z"
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@@ -532,7 +667,7 @@
sodipodi:type="arc" />
<path
transform="matrix(0.67667,0.62343,0,0.67667,19.9018,491.8178)"
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+ d="m 151.37068,184.87318 c 0,10.25029 -3.99287,18.55979 -8.91833,18.55979 -4.92546,0 -8.91834,-8.3095 -8.91834,-18.55979 0,-10.25028 3.99288,-18.55978 8.91834,-18.55978 4.92546,0 8.91833,8.3095 8.91833,18.55978 z"
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@@ -548,7 +683,7 @@
sodipodi:cy="184.87318"
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+ d="m 151.37068,184.87318 c 0,10.25029 -3.99287,18.55979 -8.91833,18.55979 -4.92546,0 -8.91834,-8.3095 -8.91834,-18.55979 0,-10.25028 3.99288,-18.55978 8.91834,-18.55978 4.92546,0 8.91833,8.3095 8.91833,18.55978 z"
transform="matrix(0.365768,0.327341,0,0.355296,64.0275,596.6719)" />
<path
sodipodi:type="arc"
@@ -558,7 +693,7 @@
sodipodi:cy="221.99275"
sodipodi:rx="12.533878"
sodipodi:ry="15.667348"
- d="M 272.37082 221.99275 A 12.533878 15.667348 0 1 1 247.30307,221.99275 A 12.533878 15.667348 0 1 1 272.37082 221.99275 z"
+ d="m 272.37082,221.99275 c 0,8.65284 -5.61161,15.66735 -12.53388,15.66735 -6.92227,0 -12.53387,-7.01451 -12.53387,-15.66735 0,-8.65284 5.6116,-15.66735 12.53387,-15.66735 6.92227,0 12.53388,7.01451 12.53388,15.66735 z"
transform="matrix(1.128462,-0.21971,-9.464741e-2,0.91453,-83.38546,616.635)" />
<path
style="fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:black;stroke-width:0.99999994px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -717,7 +852,7 @@
sodipodi:cy="132.78569"
sodipodi:rx="35.368328"
sodipodi:ry="23.130152"
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+ d="m 293.47145,132.78569 c 0,12.77443 -15.83494,23.13015 -35.36833,23.13015 -19.53339,0 -35.36833,-10.35572 -35.36833,-23.13015 0,-12.77443 15.83494,-23.13015 35.36833,-23.13015 19.53339,0 35.36833,10.35572 35.36833,23.13015 z"
transform="translate(-9.8677,-23.91538)" />
<path
style="fill:#999;fill-opacity:1;fill-rule:evenodd;stroke:black;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -756,11 +891,11 @@
sodipodi:cy="184.87318"
sodipodi:rx="8.9183369"
sodipodi:ry="18.559782"
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+ d="m 151.37068,184.87318 c 0,10.25029 -3.99287,18.55979 -8.91833,18.55979 -4.92546,0 -8.91834,-8.3095 -8.91834,-18.55979 0,-10.25028 3.99288,-18.55978 8.91834,-18.55978 4.92546,0 8.91833,8.3095 8.91833,18.55978 z"
transform="matrix(0.67667,0.62343,0,0.67667,325.9106,-138.9804)" />
<path
transform="matrix(0.365768,0.327341,0,0.355296,370.0362,-34.12637)"
- d="M 151.37068 184.87318 A 8.9183369 18.559782 0 1 1 133.53401,184.87318 A 8.9183369 18.559782 0 1 1 151.37068 184.87318 z"
+ d="m 151.37068,184.87318 c 0,10.25029 -3.99287,18.55979 -8.91833,18.55979 -4.92546,0 -8.91834,-8.3095 -8.91834,-18.55979 0,-10.25028 3.99288,-18.55978 8.91834,-18.55978 4.92546,0 8.91833,8.3095 8.91833,18.55978 z"
sodipodi:ry="18.559782"
sodipodi:rx="8.9183369"
sodipodi:cy="184.87318"
@@ -770,7 +905,7 @@
sodipodi:type="arc" />
<path
transform="matrix(0.67667,0.62343,0,0.67667,344.178,-131.804)"
- d="M 151.37068 184.87318 A 8.9183369 18.559782 0 1 1 133.53401,184.87318 A 8.9183369 18.559782 0 1 1 151.37068 184.87318 z"
+ d="m 151.37068,184.87318 c 0,10.25029 -3.99287,18.55979 -8.91833,18.55979 -4.92546,0 -8.91834,-8.3095 -8.91834,-18.55979 0,-10.25028 3.99288,-18.55978 8.91834,-18.55978 4.92546,0 8.91833,8.3095 8.91833,18.55978 z"
sodipodi:ry="18.559782"
sodipodi:rx="8.9183369"
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@@ -786,7 +921,7 @@
sodipodi:cy="184.87318"
sodipodi:rx="8.9183369"
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+ d="m 151.37068,184.87318 c 0,10.25029 -3.99287,18.55979 -8.91833,18.55979 -4.92546,0 -8.91834,-8.3095 -8.91834,-18.55979 0,-10.25028 3.99288,-18.55978 8.91834,-18.55978 4.92546,0 8.91833,8.3095 8.91833,18.55978 z"
transform="matrix(0.365768,0.327341,0,0.355296,388.3036,-26.94989)" />
<path
sodipodi:type="arc"
@@ -796,7 +931,7 @@
sodipodi:cy="221.99275"
sodipodi:rx="12.533878"
sodipodi:ry="15.667348"
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+ d="m 272.37082,221.99275 c 0,8.65284 -5.61161,15.66735 -12.53388,15.66735 -6.92227,0 -12.53387,-7.01451 -12.53387,-15.66735 0,-8.65284 5.6116,-15.66735 12.53387,-15.66735 6.92227,0 12.53388,7.01451 12.53388,15.66735 z"
transform="matrix(1.128462,-0.21971,-9.464741e-2,0.91453,240.8907,-6.986752)" />
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style="fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:black;stroke-width:0.99999994px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -949,7 +1084,7 @@
sodipodi:cy="132.78569"
sodipodi:rx="35.368328"
sodipodi:ry="23.130152"
- d="M 293.47145 132.78569 A 35.368328 23.130152 0 1 1 222.73479,132.78569 A 35.368328 23.130152 0 1 1 293.47145 132.78569 z"
+ d="m 293.47145,132.78569 c 0,12.77443 -15.83494,23.13015 -35.36833,23.13015 -19.53339,0 -35.36833,-10.35572 -35.36833,-23.13015 0,-12.77443 15.83494,-23.13015 35.36833,-23.13015 19.53339,0 35.36833,10.35572 35.36833,23.13015 z"
transform="translate(229.5581,-60.60882)" />
<path
style="opacity:1;color:black;fill:black;fill-opacity:1;fill-rule:nonzero;stroke:black;stroke-width:1;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
@@ -1186,5 +1321,24 @@
x="540.2475"
y="507.5072" />
</g>
+ <use
+ x="0"
+ y="0"
+ xlink:href="#g13014"
+ id="use4193"
+ transform="translate(0,694.92863)"
+ width="744.09448"
+ height="1052.3622" />
+ <text
+ id="text3740"
+ y="890.0047"
+ x="-154.33344"
+ style="font-size:33.16980362px;font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;text-align:center;line-height:125%;writing-mode:lr-tb;text-anchor:middle;fill:#ff6600;fill-opacity:1;stroke:#f2f2f2;display:inline;font-family:FreeSans;-inkscape-font-specification:FreeSans Bold"
+ xml:space="preserve"
+ sodipodi:linespacing="125%"><tspan
+ y="890.0047"
+ x="-154.33344"
+ id="tspan3742"
+ sodipodi:role="line">Avatar</tspan></text>
</g>
</svg>
diff --git a/digital/ai/src/common/defs.h b/digital/ai/src/common/defs.h
index f16e9e52..12c47584 100644
--- a/digital/ai/src/common/defs.h
+++ b/digital/ai/src/common/defs.h
@@ -43,11 +43,18 @@ typedef struct position_t position_t;
/** Convert degrees to an angle usable in position_t. */
#define POSITION_A_DEG(a) G_ANGLE_UF016_DEG (a)
+/** No particular direction. */
+#define DIRECTION_NONE 0
+/** Forward direction, along the robot X axis. */
+#define DIRECTION_FORWARD 1
+/** Backward, opposite the robot X axis. */
+#define DIRECTION_BACKWARD 2
+
/** Team color, determine the start zone side. */
enum team_color_e
{
- TEAM_COLOR_LEFT = 0,
- TEAM_COLOR_RIGHT = 1
+ TEAM_COLOR_RIGHT = 0,
+ TEAM_COLOR_LEFT = 1
};
/** Current team color, to be read at start up. */
diff --git a/digital/ai/src/fsm/fsm.host.c b/digital/ai/src/fsm/fsm.host.c
index bf8b761d..50336722 100644
--- a/digital/ai/src/fsm/fsm.host.c
+++ b/digital/ai/src/fsm/fsm.host.c
@@ -1056,11 +1056,18 @@ fsm_build_gen_avr_h (fsm_build_t *fsm, uint embedded_strings)
/* Gen function table. */
fprintf (f, "typedef fsm_%s_branch_t (*fsm_%s_func_t)(void);\n", fsm->name,
fsm->name);
- fprintf (f, "extern const fsm_%s_func_t PROGMEM fsm_%s_trans_table[%u][%u];\n\n",
+ fprintf (f, "extern const fsm_%s_func_t PROGMEM fsm_%s_trans_table[%u][%u];\n",
fsm->name,
fsm->name,
fsm->event_nb,
fsm->state_nb);
+ /* Gen read function for trans table. */
+ fprintf (f, "fsm_%s_func_t fsm_%s_read_trans (fsm_%s_event_t event, "
+ "fsm_%s_state_t state);\n\n",
+ fsm->name,
+ fsm->name,
+ fsm->name,
+ fsm->name);
/* Gen active states array. */
fprintf (f, "extern fsm_%s_state_t fsm_%s_active_states[%u];\n\n",
@@ -1137,6 +1144,7 @@ fsm_build_gen_avr_c (fsm_build_t *fsm, uint embedded_strings)
/* Introduction. */
fprintf (f, "/* This file has been generated, do not edit. */\n\n");
fprintf (f, "#include \"fsm_%s_gen.h\"\n\n", fsm->name);
+ fprintf (f, "#include \"modules/proto/proto.h\"\n\n");
/* Gen state strings. */
if (embedded_strings)
@@ -1280,6 +1288,19 @@ fsm_build_gen_avr_c (fsm_build_t *fsm, uint embedded_strings)
}
fprintf (f, "};\n\n");
+ /* Gen read function for trans table. */
+ fprintf (f, "fsm_%s_func_t fsm_%s_read_trans (fsm_%s_event_t event, "
+ "fsm_%s_state_t state)\n{\n",
+ fsm->name,
+ fsm->name,
+ fsm->name,
+ fsm->name);
+ fprintf (f, "\treturn (fsm_%s_func_t) pgm_read_word "
+ "(&fsm_%s_trans_table[event][state]);\n",
+ fsm->name,
+ fsm->name);
+ fprintf (f, "}\n\n");
+
/* Gen active states array. */
fprintf (f, "fsm_%s_state_t fsm_%s_active_states[%u];\n\n",
fsm->name,
@@ -1324,19 +1345,23 @@ fsm_build_gen_avr_c (fsm_build_t *fsm, uint embedded_strings)
fprintf (f, "\tint handled = 0;\n");
fprintf (f, "\tfor (i = 0; i < fsm_%s_max_active_states; i++)\n\t{\n",
fsm->name);
- fprintf (f, "\t\tif (fsm_%s_trans_table[e][fsm_%s_active_states[i]])\n",
+ fprintf (f, "\t\tif (fsm_%s_read_trans (e, fsm_%s_active_states[i]))\n",
fsm->name,
fsm->name);
fprintf (f, "\t\t{\n");
- fprintf (f, "\t\t\tfsm_%s_active_states[i] = \
- fsm_%s_trans_table[e][fsm_%s_active_states[i]]();\n",
- fsm->name,
- fsm->name,
+ fprintf (f, "\t\t\tproto_send2b ('F', fsm_%s_active_states[i], e);\n",
fsm->name);
+ fprintf (f, "\t\t\tfsm_%s_active_states[i] = fsm_%s_read_trans (e, "
+ "fsm_%s_active_states[i])();\n",
+ fsm->name,
+ fsm->name,
+ fsm->name);
fprintf (f, "\t\t\thandled = 1;\n");
if (fsm->timeouts != NULL)
{
- fprintf (f, "\t\t\tfsm_%s_timeout_counters[i] = fsm_%s_timeout_values[e];\n",
+ fprintf (f, "\t\t\tfsm_%s_timeout_counters[i] = "
+ "fsm_%s_timeout_values[fsm_%s_active_states[i]];\n",
+ fsm->name,
fsm->name,
fsm->name);
}
@@ -1352,9 +1377,9 @@ fsm_build_gen_avr_c (fsm_build_t *fsm, uint embedded_strings)
fprintf (f, "\tuint16_t i;\n");
fprintf (f, "\tfor (i = 0; i < fsm_%s_max_active_states; i++)\n",
fsm->name);
- fprintf (f, "\t\tif (fsm_%s_trans_table[e][fsm_%s_active_states[i]])\n",
- fsm->name,
- fsm->name);
+ fprintf (f, "\t\tif (fsm_%s_read_trans (e, fsm_%s_active_states[i]))\n",
+ fsm->name,
+ fsm->name);
fprintf (f, "\t\t\treturn 1;\n");
fprintf (f, "\treturn 0;\n");
fprintf (f, "}\n\n");
@@ -1431,18 +1456,19 @@ fsm_build_gen_avr_c (fsm_build_t *fsm, uint embedded_strings)
fprintf (f, "\tint out = 0;\n");
fprintf (f, "\tfor (i = 0; i < fsm_%s_max_active_states; i++)\n\t{\n",
fsm->name);
- fprintf (f, "\t\tif (fsm_%s_timeout_counters[i] > 0)\n",
+ fprintf (f, "\t\tif (fsm_%s_timeout_counters[i] > 0)\n\t\t{\n",
fsm->name);
fprintf (f, "\t\t\tfsm_%s_timeout_counters[i]--;\n",
fsm->name);
- fprintf (f, "\t\tif (fsm_%s_timeout_counters[i] == 0)\n\t\t{\n",
+ fprintf (f, "\t\t\tif (fsm_%s_timeout_counters[i] == 0)\n\t\t\t{\n",
fsm->name);
- fprintf (f, "\t\t\tfsm_%s_handle (fsm_%s_timeout_events[fsm_%s_active_states[i]]);\n",
+ fprintf (f, "\t\t\t\tfsm_%s_handle (fsm_%s_timeout_events[fsm_%s_active_states[i]]);\n",
fsm->name,
fsm->name,
fsm->name);
- fprintf (f, "\t\t\tout = 1;\n");
- fprintf (f, "\t\t}\n\n");
+ fprintf (f, "\t\t\t\tout = 1;\n");
+ fprintf (f, "\t\t\t}\n");
+ fprintf (f, "\t\t}\n");
fprintf (f, "\t}\n");
fprintf (f, "\treturn out;\n");
fprintf (f, "}\n\n");
diff --git a/digital/ai/src/fsm/init.c b/digital/ai/src/fsm/init.c
new file mode 100644
index 00000000..51ba31ab
--- /dev/null
+++ b/digital/ai/src/fsm/init.c
@@ -0,0 +1,185 @@
+/* init.c */
+/* 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 "common.h"
+
+#include "asserv.h"
+#include "contact.h"
+#include "chrono.h"
+
+#define FSM_NAME AI
+#include "fsm.h"
+#include "fsm_queue.h"
+
+#include "bot.h"
+#include "init_defs.h"
+
+/*
+ * Initialise robot position with a calibration procedure.
+ */
+
+FSM_STATES (
+ /* Initial state, waiting for jack. */
+ INIT_START,
+ /* After first jack insertion, waiting for removal to initialise actuators. */
+ INIT_WAITING_FIRST_JACK_OUT,
+ /* Initialising actuators, then waiting for second jack insertion. */
+ INIT_INITIALISING_ACTUATORS,
+ /* After second jack insertion, waiting the operator remove its
+ * hand. */
+ INIT_WAITING_HANDS_OUT,
+ /* Finding the first wall. */
+ INIT_FINDING_FIRST_WALL,
+ /* Going away from the wall. */
+ INIT_GOING_AWAY_FIRST_WALL,
+ /* Turning to face the other wall. */
+ INIT_FACING_SECOND_WALL,
+ /* Waiting after rotation for robot to stabilize. */
+ INIT_WAITING_AFTER_FACING_SECOND_WALL,
+ /* Finding the second wall. */
+ INIT_FINDING_SECOND_WALL,
+ /* Going away from the wall. */
+ INIT_GOING_AWAY_SECOND_WALL,
+#ifdef INIT_START_POSITION_ANGLE
+ /* Facing the start position. */
+ INIT_FACING_START_POSITION,
+#endif
+ /* Going to start position. */
+ INIT_GOING_TO_START_POSITION,
+ /* Waiting for the round start (waiting for the jack). */
+ INIT_WAITING_SECOND_JACK_OUT,
+ /* Initialisation finished, nothing else to do. */
+ INIT_FINISHED)
+
+FSM_EVENTS (
+ /* Jack is inserted. */
+ jack_inserted,
+ /* Jack is removed. */
+ jack_removed,
+ /* Sent to initialise actuators. */
+ init_actuators,
+ /* Sent to start round. */
+ init_start_round)
+
+FSM_START_WITH (INIT_START)
+
+FSM_TRANS (INIT_START, jack_inserted, INIT_WAITING_FIRST_JACK_OUT)
+{
+ return FSM_NEXT (INIT_START, jack_inserted);
+}
+
+FSM_TRANS (INIT_WAITING_FIRST_JACK_OUT, jack_removed,
+ INIT_INITIALISING_ACTUATORS)
+{
+ fsm_queue_post_event (FSM_EVENT (AI, init_actuators));
+ return FSM_NEXT (INIT_WAITING_FIRST_JACK_OUT, jack_removed);
+}
+
+FSM_TRANS (INIT_INITIALISING_ACTUATORS, jack_inserted, INIT_WAITING_HANDS_OUT)
+{
+ team_color = contact_get_color ();
+ return FSM_NEXT (INIT_INITIALISING_ACTUATORS, jack_inserted);
+}
+
+FSM_TRANS_TIMEOUT (INIT_WAITING_HANDS_OUT, 225, INIT_FINDING_FIRST_WALL)
+{
+ asserv_set_speed (BOT_SPEED_INIT);
+ asserv_push_the_wall (INIT_FIRST_WALL_PUSH);
+ return FSM_NEXT_TIMEOUT (INIT_WAITING_HANDS_OUT);
+}
+
+FSM_TRANS (INIT_FINDING_FIRST_WALL, robot_move_success,
+ INIT_GOING_AWAY_FIRST_WALL)
+{
+ asserv_move_linearly (INIT_FIRST_WALL_AWAY);
+ return FSM_NEXT (INIT_FINDING_FIRST_WALL, robot_move_success);
+}
+
+FSM_TRANS (INIT_GOING_AWAY_FIRST_WALL, robot_move_success,
+ INIT_FACING_SECOND_WALL)
+{
+ asserv_goto_angle (INIT_SECOND_WALL_ANGLE);
+ return FSM_NEXT (INIT_GOING_AWAY_FIRST_WALL, robot_move_success);
+}
+
+FSM_TRANS (INIT_FACING_SECOND_WALL, robot_move_success,
+ INIT_WAITING_AFTER_FACING_SECOND_WALL)
+{
+ return FSM_NEXT (INIT_FACING_SECOND_WALL, robot_move_success);
+}
+
+FSM_TRANS_TIMEOUT (INIT_WAITING_AFTER_FACING_SECOND_WALL, 225 / 2,
+ INIT_FINDING_SECOND_WALL)
+{
+ asserv_push_the_wall (INIT_SECOND_WALL_PUSH);
+ return FSM_NEXT_TIMEOUT (INIT_WAITING_AFTER_FACING_SECOND_WALL);
+}
+
+FSM_TRANS (INIT_FINDING_SECOND_WALL, robot_move_success,
+ INIT_GOING_AWAY_SECOND_WALL)
+{
+ asserv_move_linearly (INIT_SECOND_WALL_AWAY);
+ return FSM_NEXT (INIT_FINDING_SECOND_WALL, robot_move_success);
+}
+
+#ifdef INIT_START_POSITION_ANGLE
+FSM_TRANS (INIT_GOING_AWAY_SECOND_WALL, robot_move_success,
+ INIT_FACING_START_POSITION)
+{
+ asserv_goto_angle (INIT_START_POSITION_ANGLE);
+ return FSM_NEXT (INIT_GOING_AWAY_SECOND_WALL, robot_move_success);
+}
+
+FSM_TRANS (INIT_FACING_START_POSITION, robot_move_success,
+ INIT_GOING_TO_START_POSITION)
+{
+ asserv_goto_xya (INIT_START_POSITION);
+ return FSM_NEXT (INIT_FACING_START_POSITION, robot_move_success);
+}
+
+#else
+
+FSM_TRANS (INIT_GOING_AWAY_SECOND_WALL, robot_move_success,
+ INIT_GOING_TO_START_POSITION)
+{
+ asserv_goto_xya (INIT_START_POSITION);
+ return FSM_NEXT (INIT_GOING_AWAY_SECOND_WALL, robot_move_success);
+}
+
+#endif
+
+FSM_TRANS (INIT_GOING_TO_START_POSITION, robot_move_success,
+ INIT_WAITING_SECOND_JACK_OUT)
+{
+ asserv_set_speed (BOT_SPEED_NORMAL);
+ return FSM_NEXT (INIT_GOING_TO_START_POSITION, robot_move_success);
+}
+
+FSM_TRANS (INIT_WAITING_SECOND_JACK_OUT, jack_removed, INIT_FINISHED)
+{
+ chrono_init ();
+ fsm_queue_post_event (FSM_EVENT (AI, init_start_round));
+ return FSM_NEXT (INIT_WAITING_SECOND_JACK_OUT, jack_removed);
+}
+
diff --git a/digital/io/src/radar.c b/digital/ai/src/move/radar.c
index 1ac982c7..a572afba 100644
--- a/digital/io/src/radar.c
+++ b/digital/ai/src/move/radar.c
@@ -25,55 +25,47 @@
#include "common.h"
#include "radar.h"
-#include "playground_2010.h"
#include "bot.h"
-#include "usdist.h"
#include "modules/math/geometry/geometry.h"
#include "modules/math/geometry/distance.h"
#include "modules/utils/utils.h"
-/** Margin to be considered inside the playground. An obstacle can not be
- * exactly at the playground edge. */
-#define RADAR_MARGIN_MM 150
-
/** Maximum distance for a sensor reading to be ignored if another sensor is
* nearer. */
#define RADAR_FAR_MM 250
-/** Describe a radar sensor. */
-struct radar_sensor_t
-{
- /** Distance updated by another module. */
- uint16_t *dist_mm;
- /** Position relative to the robot center. */
- vect_t pos;
- /** Angle relative to the robot X axis. */
- uint16_t a;
-};
-
/** Define radar configuration. */
-struct radar_sensor_t radar_sensors[] = {
-#define RADAR_SENSOR_FRONT 0
- { &usdist_mm[0], { 30 - 20, 0 }, G_ANGLE_UF016_DEG (0) },
-#define RADAR_SENSOR_LEFT 1
- { &usdist_mm[1], { 20 - 20, 20 }, G_ANGLE_UF016_DEG (30) },
-#define RADAR_SENSOR_RIGHT 2
- { &usdist_mm[2], { 20 - 20, -20 }, G_ANGLE_UF016_DEG (-30) },
-#define RADAR_SENSOR_BACK 3
- { &usdist_mm[3], { -30 - 20, 0 }, G_ANGLE_UF016_DEG (180) },
-};
+extern struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB];
-/** Define exclusion area (considered as invalid point). */
+uint8_t
+radar_valid (vect_t p);
+
+/** Compute the center position from several radars sensors, return 1 if
+ * any. */
static uint8_t
-radar_valid (vect_t p)
+radar_hit_center (uint8_t valid[], vect_t hit[], uint8_t sensor_nb,
+ vect_t *obs_pos)
{
- return p.x >= RADAR_MARGIN_MM && p.x < PG_WIDTH - RADAR_MARGIN_MM
- && p.y >= RADAR_MARGIN_MM && p.y < PG_LENGTH - RADAR_MARGIN_MM
- /* Ignore points on slope, no margin for the slope start. */
- && (p.x < PG_WIDTH / 2 - PG_SLOPE_WIDTH / 2
- || p.x >= PG_WIDTH / 2 + PG_SLOPE_WIDTH / 2
- || p.y < PG_LENGTH - PG_SLOPE_LENGTH - RADAR_MARGIN_MM / 2);
+ uint8_t i, hit_nb = 0;
+ vect_t hit_center = { 0, 0 };
+ for (i = 0; i < sensor_nb; i++)
+ {
+ if (valid[i])
+ {
+ vect_add (&hit_center, &hit[i]);
+ hit_nb++;
+ }
+ }
+ if (hit_nb > 1)
+ vect_scale_f824 (&hit_center, 0x1000000l / hit_nb);
+ if (hit_nb)
+ {
+ *obs_pos = hit_center;
+ return 1;
+ }
+ else
+ return 0;
}
uint8_t
@@ -82,8 +74,6 @@ radar_update (const position_t *robot_pos, vect_t *obs_pos)
uint8_t i, j;
vect_t ray;
uint8_t obs_nb = 0;
- uint8_t front_nb;
- vect_t front_center;
/* Compute hit points for each sensor and eliminate invalid ones. */
vect_t hit[UTILS_COUNT (radar_sensors)];
uint8_t valid[UTILS_COUNT (radar_sensors)];
@@ -122,23 +112,12 @@ radar_update (const position_t *robot_pos, vect_t *obs_pos)
}
}
/* Specific treatment about sensor topology. */
- if (valid[RADAR_SENSOR_BACK])
- obs_pos[obs_nb++] = hit[RADAR_SENSOR_BACK];
- front_nb = 0;
- front_center.x = 0; front_center.y = 0;
- for (i = RADAR_SENSOR_FRONT; i < RADAR_SENSOR_BACK; i++)
- {
- if (valid[i])
- {
- vect_add (&front_center, &hit[i]);
- front_nb++;
- }
- }
- if (front_nb)
- {
- vect_scale_f824 (&front_center, 0x1000000l / front_nb);
- obs_pos[obs_nb++] = front_center;
- }
+ obs_nb += radar_hit_center (valid + RADAR_SENSOR_FRONT_FIRST,
+ hit + RADAR_SENSOR_FRONT_FIRST,
+ RADAR_SENSOR_FRONT_NB, &obs_pos[obs_nb]);
+ obs_nb += radar_hit_center (valid + RADAR_SENSOR_BACK_FIRST,
+ hit + RADAR_SENSOR_BACK_FIRST,
+ RADAR_SENSOR_BACK_NB, &obs_pos[obs_nb]);
/* Done. */
return obs_nb;
}
diff --git a/digital/io/src/radar.h b/digital/ai/src/move/radar.h
index b4611ec7..2e37d11d 100644
--- a/digital/io/src/radar.h
+++ b/digital/ai/src/move/radar.h
@@ -37,15 +37,15 @@
/** Estimated obstacle edge radius. As the sensors detect obstacle edge, this is
* added to position obstacle center. */
-#define RADAR_OBSTACLE_EDGE_RADIUS_MM 40
+#undef RADAR_OBSTACLE_EDGE_RADIUS_MM
/** Estimated obstacle radius. The obstacle may be larger than at the
* detected edge. */
-#define RADAR_OBSTACLE_RADIUS_MM 150
+#undef RADAR_OBSTACLE_RADIUS_MM
/** Stop distance. Distance under which an obstacle is considered harmful when
* moving. */
-#define RADAR_STOP_MM 350
+#undef RADAR_STOP_MM
/** Clearance distance. Distance over which an obstacle should be to the side
* when moving.
@@ -59,10 +59,28 @@
* this reduce the rectangle length.
*
* If the destination is really near (< RADAR_EPSILON_MM), ignore all this. */
-#define RADAR_CLEARANCE_MM 100
+#undef RADAR_CLEARANCE_MM
/** Destination distance near enough so that obstacles could be ignored. */
-#define RADAR_EPSILON_MM 70
+#undef RADAR_EPSILON_MM
+
+/* All this in another file. */
+#include "radar_defs.h"
+
+/** Margin to be considered inside the playground. An obstacle can not be
+ * exactly at the playground edge. */
+#define RADAR_MARGIN_MM 150
+
+/** Describe a radar sensor. */
+struct radar_sensor_t
+{
+ /** Distance updated by another module. */
+ uint16_t *dist_mm;
+ /** Position relative to the robot center. */
+ vect_t pos;
+ /** Angle relative to the robot X axis. */
+ uint16_t a;
+};
/** Update radar view. Return the number of obstacles found. Obstacles
* positions are returned in obs_pos. */
diff --git a/digital/ai/src/twi_master/asserv.c b/digital/ai/src/twi_master/asserv.c
index d066737b..839b1d23 100644
--- a/digital/ai/src/twi_master/asserv.c
+++ b/digital/ai/src/twi_master/asserv.c
@@ -202,12 +202,12 @@ asserv_get_moving_direction (void)
{
/* Foward move? */
if (asserv_status.status & _BV (asserv_status_flag_move_forward))
- return 1;
+ return DIRECTION_FORWARD;
/* Backward move? */
if (asserv_status.status & _BV (asserv_status_flag_move_backward))
- return 2;
+ return DIRECTION_BACKWARD;
/* Not moving */
- return 0;
+ return DIRECTION_NONE;
}
uint8_t
@@ -301,6 +301,28 @@ asserv_go_to_the_wall (uint8_t backward)
}
void
+asserv_push_the_wall (uint8_t backward, uint32_t init_x, uint32_t init_y,
+ uint16_t init_a)
+{
+ if (init_x != (uint32_t) -1)
+ init_x = fixed_mul_f824 (init_x, asserv_scale_inv);
+ if (init_y != (uint32_t) -1)
+ init_y = fixed_mul_f824 (init_y, asserv_scale_inv);
+ uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE);
+ buffer[0] = 'G';
+ buffer[1] = backward;
+ buffer[2] = v32_to_v8 (init_x, 2);
+ buffer[3] = v32_to_v8 (init_x, 1);
+ buffer[4] = v32_to_v8 (init_x, 0);
+ buffer[5] = v32_to_v8 (init_y, 2);
+ buffer[6] = v32_to_v8 (init_y, 1);
+ buffer[7] = v32_to_v8 (init_y, 0);
+ buffer[8] = v16_to_v8 (init_a, 1);
+ buffer[9] = v16_to_v8 (init_a, 0);
+ twi_master_send_buffer (10);
+}
+
+void
asserv_move_motor0_absolute (uint16_t position, uint8_t speed)
{
uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE);
diff --git a/digital/ai/src/twi_master/asserv.h b/digital/ai/src/twi_master/asserv.h
index 0d29ba96..c9a52a11 100644
--- a/digital/ai/src/twi_master/asserv.h
+++ b/digital/ai/src/twi_master/asserv.h
@@ -121,16 +121,16 @@ asserv_get_motor1_position (void);
/**
* Are we moving forward/backward?
* @return
- * - 0 we are not moving;
- * - 1 we are moving forward;
- * - 2 we are moving backward.
+ * - DIRECTION_NONE we are not moving;
+ * - DIRECTION_FORWARD we are moving forward;
+ * - DIRECTION_BACKWARD we are moving backward.
*/
uint8_t
asserv_get_moving_direction (void);
/**
* Get the last moving direction of the bot.
- * @return 1 is forward, 2 is backward.
+ * @return DIRECTION_FORWARD or DIRECTION_BACKWARD.
*/
uint8_t
asserv_get_last_moving_direction (void);
@@ -198,6 +198,12 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward);
void
asserv_go_to_the_wall (uint8_t backward);
+/** Push the wall and initialise position. Use -1 for coordinates to keep
+ * unchanged. */
+void
+asserv_push_the_wall (uint8_t backward, uint32_t init_x, uint32_t init_y,
+ uint16_t init_a);
+
/**
* Move the motor0.
* Motor0 class command.
diff --git a/digital/ai/src/twi_master/mimot.c b/digital/ai/src/twi_master/mimot.c
index af6ff5f9..8df84538 100644
--- a/digital/ai/src/twi_master/mimot.c
+++ b/digital/ai/src/twi_master/mimot.c
@@ -97,6 +97,12 @@ mimot_motor1_cmd_status (void)
return none;
}
+uint8_t
+mimot_get_input (void)
+{
+ return mimot_status.input_port;
+}
+
uint16_t
mimot_get_motor0_position (void)
{
@@ -118,6 +124,30 @@ mimot_reset (void)
}
void
+mimot_set_motor0_position (uint16_t position)
+{
+ uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ buffer[0] = 'p';
+ buffer[1] = 'Y';
+ buffer[2] = 0;
+ buffer[3] = v16_to_v8 (position, 1);
+ buffer[4] = v16_to_v8 (position, 0);
+ twi_master_send_buffer (5);
+}
+
+void
+mimot_set_motor1_position (uint16_t position)
+{
+ uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ buffer[0] = 'p';
+ buffer[1] = 'Y';
+ buffer[2] = 1;
+ buffer[3] = v16_to_v8 (position, 1);
+ buffer[4] = v16_to_v8 (position, 0);
+ twi_master_send_buffer (5);
+}
+
+void
mimot_move_motor0_absolute (uint16_t position, uint8_t speed)
{
uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
@@ -142,19 +172,41 @@ mimot_move_motor1_absolute (uint16_t position, uint8_t speed)
void
mimot_motor0_zero_position (int8_t speed)
{
+ mimot_motor0_find_zero (speed, 0, 0);
+}
+
+void
+mimot_motor1_zero_position (int8_t speed)
+{
+ mimot_motor1_find_zero (speed, 0, 0);
+}
+
+void
+mimot_motor0_find_zero (int8_t speed, uint8_t use_switch,
+ uint16_t reset_position)
+{
uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
buffer[0] = 'B';
- buffer[1] = speed;
- twi_master_send_buffer (2);
+ buffer[1] = 0;
+ buffer[2] = speed;
+ buffer[3] = use_switch;
+ buffer[4] = v16_to_v8 (reset_position, 1);
+ buffer[5] = v16_to_v8 (reset_position, 0);
+ twi_master_send_buffer (6);
}
void
-mimot_motor1_zero_position (int8_t speed)
+mimot_motor1_find_zero (int8_t speed, uint8_t use_switch,
+ uint16_t reset_position)
{
uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
- buffer[0] = 'C';
- buffer[1] = speed;
- twi_master_send_buffer (2);
+ buffer[0] = 'B';
+ buffer[1] = 1;
+ buffer[2] = speed;
+ buffer[3] = use_switch;
+ buffer[4] = v16_to_v8 (reset_position, 1);
+ buffer[5] = v16_to_v8 (reset_position, 0);
+ twi_master_send_buffer (6);
}
void
@@ -181,3 +233,21 @@ mimot_motor1_clamp (int8_t speed, int16_t pwm)
twi_master_send_buffer (5);
}
+void
+mimot_motor0_free (void)
+{
+ uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ buffer[0] = 'w';
+ buffer[1] = 0;
+ twi_master_send_buffer (2);
+}
+
+void
+mimot_motor1_free (void)
+{
+ uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ buffer[0] = 'w';
+ buffer[1] = 1;
+ twi_master_send_buffer (2);
+}
+
diff --git a/digital/ai/src/twi_master/mimot.h b/digital/ai/src/twi_master/mimot.h
index 60811c10..c9de7090 100644
--- a/digital/ai/src/twi_master/mimot.h
+++ b/digital/ai/src/twi_master/mimot.h
@@ -56,6 +56,10 @@ mimot_motor0_cmd_status (void);
asserv_status_e
mimot_motor1_cmd_status (void);
+/** Return input port state. */
+uint8_t
+mimot_get_input (void);
+
/** Get motor0 position in steps. */
uint16_t
mimot_get_motor0_position (void);
@@ -68,6 +72,14 @@ mimot_get_motor1_position (void);
void
mimot_reset (void);
+/** Set motor0 position in steps. */
+void
+mimot_set_motor0_position (uint16_t position);
+
+/** Set motor1 position in steps. */
+void
+mimot_set_motor1_position (uint16_t position);
+
/** Move motor0 to absolute position in steps. */
void
mimot_move_motor0_absolute (uint16_t position, uint8_t speed);
@@ -84,6 +96,16 @@ mimot_motor0_zero_position (int8_t speed);
void
mimot_motor1_zero_position (int8_t speed);
+/** Find zero position. */
+void
+mimot_motor0_find_zero (int8_t speed, uint8_t use_switch,
+ uint16_t reset_position);
+
+/** Find zero position. */
+void
+mimot_motor1_find_zero (int8_t speed, uint8_t use_switch,
+ uint16_t reset_position);
+
/** Clamp motor0. */
void
mimot_motor0_clamp (int8_t speed, int16_t pwm);
@@ -92,4 +114,12 @@ mimot_motor0_clamp (int8_t speed, int16_t pwm);
void
mimot_motor1_clamp (int8_t speed, int16_t pwm);
+/** Free motor0. */
+void
+mimot_motor0_free (void);
+
+/** Free motor1. */
+void
+mimot_motor1_free (void);
+
#endif /* mimot_h */
diff --git a/digital/ai/src/utils/chrono.c b/digital/ai/src/utils/chrono.c
index a1212e19..85851547 100644
--- a/digital/ai/src/utils/chrono.c
+++ b/digital/ai/src/utils/chrono.c
@@ -148,3 +148,10 @@ chrono_end_match (uint8_t block)
;
#endif
}
+
+void
+chrono_set_timer (uint32_t elapsed_time)
+{
+ if (chrono_enabled_)
+ chrono_ov_count_ = elapsed_time / TIMER_PERIOD_MS;
+}
diff --git a/digital/ai/src/utils/chrono.h b/digital/ai/src/utils/chrono.h
index 38bf3d61..580529cf 100644
--- a/digital/ai/src/utils/chrono.h
+++ b/digital/ai/src/utils/chrono.h
@@ -96,4 +96,12 @@ chrono_remaining_time (void);
void
chrono_end_match (uint8_t block);
+/**
+ * Set timer at desired value.
+ * This function should be used for tests purpose only.
+ * @param elapsed_time elapsed time since beginning.
+ */
+void
+chrono_set_timer (uint32_t elapsed_time);
+
#endif /* chrono_h */
diff --git a/digital/ai/tools/marcel.py b/digital/ai/tools/marcel.py
index 08314ca3..001eca5e 100644
--- a/digital/ai/tools/marcel.py
+++ b/digital/ai/tools/marcel.py
@@ -1,10 +1,3 @@
-import simu.model.table_eurobot2010
-import simu.view.table_eurobot2010
-
-import simu.robots.marcel.link.bag
-import simu.robots.marcel.model.bag
-import simu.robots.marcel.view.bag
-
import asserv
import asserv.init
import mimot
@@ -16,24 +9,37 @@ from proto.popen_io import PopenIO
import math
class Robot:
+ """Marcel robot instance."""
+
+ import simu.model.table_eurobot2010 as table_model
+ import simu.view.table_eurobot2010 as table_view
+
+ import simu.robots.marcel.link.bag as robot_link
+ import simu.robots.marcel.model.bag as robot_model
+ import simu.robots.marcel.view.bag as robot_view
+
+ robot_start_pos = {
+ False: (300, 2100 - 305, math.radians (-270)),
+ True: (3000 - 300, 2100 - 305, math.radians (-270))
+ }
+
+ client_nb = 3
- def __init__ (self, proto_time):
- self.table_model = simu.model.table_eurobot2010
- self.table_view = simu.view.table_eurobot2010
- self.robot_link = simu.robots.marcel.link.bag
- self.robot_model = simu.robots.marcel.model.bag
- self.robot_view = simu.robots.marcel.view.bag
- asserv_cmd = ('../../asserv/src/asserv/asserv.host', '-m9', 'marcel')
- mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel')
- io_cmd = ('../../io/src/io.host')
- self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time,
- **asserv.init.host['marcel'])
- self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time,
- **mimot.init.host['marcel'])
- self.io = io.Proto (PopenIO (io_cmd), proto_time,
- **io.init.host['marcel'])
- self.robot_start_pos = {
- False: (300, 2100 - 305, math.radians (-270)),
- True: (3000 - 300, 2100 - 305, math.radians (-270))
- }
+ def __init__ (self, proto_time, instance = 'robot0'):
+ self.instance = instance
+ def proto (proto_class, cmd, init):
+ cmd = [ s.format (instance = instance) for s in cmd ]
+ return proto_class (PopenIO (cmd), proto_time, **init)
+ asserv_cmd = ('../../asserv/src/asserv/asserv.host',
+ '-i{instance}:asserv0', '-m9', 'marcel')
+ mimot_cmd = ('../../mimot/src/dirty/dirty.host',
+ '-i{instance}:mimot0', '-m9', 'marcel')
+ io_cmd = ('../../io/src/io.host', '-i{instance}:io0')
+ self.asserv = proto (asserv.Proto, asserv_cmd,
+ asserv.init.host['marcel'])
+ self.mimot = proto (mimot.Proto, mimot_cmd,
+ mimot.init.host['marcel'])
+ self.io = proto (io.Proto, io_cmd,
+ io.init.host['marcel'])
+ self.protos = (self.asserv, self.mimot, self.io)
diff --git a/digital/ai/tools/robospierre.py b/digital/ai/tools/robospierre.py
index 09be4bea..0d258b34 100644
--- a/digital/ai/tools/robospierre.py
+++ b/digital/ai/tools/robospierre.py
@@ -1,10 +1,3 @@
-import simu.model.table_eurobot2011
-import simu.view.table_eurobot2011
-
-import simu.robots.robospierre.link.bag
-import simu.robots.robospierre.model.bag
-import simu.robots.robospierre.view.bag
-
import asserv
import asserv.init
import mimot
@@ -16,24 +9,39 @@ from proto.popen_io import PopenIO
import math
class Robot:
+ """Robospierre robot instance."""
+
+ import simu.model.table_eurobot2011 as table_model
+ import simu.view.table_eurobot2011 as table_view
+
+ import simu.robots.robospierre.link.bag as robot_link
+ import simu.robots.robospierre.model.bag as robot_model
+ import simu.robots.robospierre.view.bag as robot_view
+
+ robot_start_pos = {
+ # In real life, better place the robot in green zone.
+ False: (300, 2100 - 200, math.radians (180)),
+ True: (3000 - 300, 2100 - 200, math.radians (0))
+ }
+
+ client_nb = 3
- def __init__ (self, proto_time):
- self.table_model = simu.model.table_eurobot2011
- self.table_view = simu.view.table_eurobot2011
- self.robot_link = simu.robots.robospierre.link.bag
- self.robot_model = simu.robots.robospierre.model.bag
- self.robot_view = simu.robots.robospierre.view.bag
- asserv_cmd = ('../../asserv/src/asserv/asserv.host', '-m9', 'marcel')
- mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel')
- io_hub_cmd = ('../../io-hub/src/robospierre/io_hub.host')
- self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time,
- **asserv.init.host['robospierre'])
- self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time,
- **mimot.init.host['robospierre'])
- self.io = io_hub.Proto (PopenIO (io_hub_cmd), proto_time,
- **io_hub.init.host['robospierre'])
- self.robot_start_pos = {
- False: (700, 2100 - 250, math.radians (-270)),
- True: (3000 - 700, 2100 - 250, math.radians (-270))
- }
+ def __init__ (self, proto_time, instance = 'robot0'):
+ self.instance = instance
+ def proto (proto_class, cmd, init):
+ cmd = [ s.format (instance = instance) for s in cmd ]
+ return proto_class (PopenIO (cmd), proto_time, **init)
+ asserv_cmd = ('../../asserv/src/asserv/asserv.host',
+ '-i{instance}:asserv0', '-m9', 'robospierre')
+ mimot_cmd = ('../../mimot/src/dirty/dirty.host',
+ '-i{instance}:mimot0', '-m9', 'robospierre')
+ io_hub_cmd = ('../../io-hub/src/robospierre/io_hub.host',
+ '-i{instance}:io0')
+ self.asserv = proto (asserv.Proto, asserv_cmd,
+ asserv.init.host['robospierre'])
+ self.mimot = proto (mimot.Proto, mimot_cmd,
+ mimot.init.host['robospierre'])
+ self.io = proto (io_hub.Proto, io_hub_cmd,
+ io_hub.init.host['robospierre'])
+ self.protos = (self.asserv, self.mimot, self.io)
diff --git a/digital/ai/tools/test_simu.py b/digital/ai/tools/test_simu.py
index 80008bb9..1b804e22 100644
--- a/digital/ai/tools/test_simu.py
+++ b/digital/ai/tools/test_simu.py
@@ -49,32 +49,29 @@ class ObstacleWithBeacon (obstacle_view.RoundObstacle):
class TestSimu (InterNode):
"""Interface, with simulated programs."""
- def __init__ (self, robot_class):
+ def __init__ (self, robot_class, robot_nb = 1, color_switch = True):
# Hub.
- self.hub = mex.hub.Hub (min_clients = 4)
+ self.hub = mex.hub.Hub (min_clients = 1 + robot_class.client_nb
+ * robot_nb)
self.forked_hub = utils.forked.Forked (self.hub.wait)
# InterNode.
InterNode.__init__ (self)
def proto_time ():
return self.node.date / self.node.tick
- # Robot parameters.
- robot = robot_class (proto_time)
- self.robot = robot
- # Asserv.
- self.asserv = robot.asserv
- self.asserv.async = True
- self.tk.createfilehandler (self.asserv, READABLE, self.asserv_read)
- # Mimot.
- self.mimot = robot.mimot
- self.mimot.async = True
- self.tk.createfilehandler (self.mimot, READABLE, self.mimot_read)
- # Io.
- self.io = robot.io
- self.io.async = True
- self.tk.createfilehandler (self.io, READABLE, self.io_read)
+ # Robot instances.
+ self.robots = [ robot_class (proto_time, 'robot%d' % i)
+ for i in xrange (robot_nb) ]
+ for r in self.robots:
+ for prog in r.protos:
+ prog.async = True
+ def prog_read (f, mask, prog = prog):
+ prog.proto.read ()
+ prog.proto.sync ()
+ self.tk.createfilehandler (prog, READABLE, prog_read)
# Add table.
- self.table_model = robot.table_model.Table ()
- self.table = robot.table_view.Table (self.table_view, self.table_model)
+ self.table_model = robot_class.table_model.Table ()
+ self.table = robot_class.table_view.Table (self.table_view,
+ self.table_model)
self.obstacle = obstacle_model.RoundObstacle (150)
self.table_model.obstacles.append (self.obstacle)
self.obstacle_beacon = obstacle_model.RoundObstacle (40, 2)
@@ -82,43 +79,31 @@ class TestSimu (InterNode):
self.obstacle_view = ObstacleWithBeacon (self.table, self.obstacle,
self.obstacle_beacon)
self.table_view.bind ('<2>', self.place_obstacle)
- # Add robot.
- self.robot_link = robot.robot_link.Bag (self.node)
- self.robot_model = robot.robot_model.Bag (self.node, self.table_model,
- self.robot_link)
- self.robot_view = robot.robot_view.Bag (self.table,
- self.actuator_view, self.sensor_frame, self.robot_model)
- # Color switch.
- self.robot_model.color_switch.register (self.change_color)
+ # Add robots.
+ for r in self.robots:
+ r.link = r.robot_link.Bag (self.node, r.instance)
+ r.model = r.robot_model.Bag (self.node, self.table_model, r.link)
+ r.view = r.robot_view.Bag (self.table, self.actuator_view,
+ self.sensor_frame, r.model)
+ # Color switch.
+ if color_switch:
+ def change_color (r = r):
+ i = r.model.color_switch.state
+ r.asserv.set_simu_pos (*r.robot_start_pos[i])
+ r.model.color_switch.register (change_color)
def close (self):
self.forked_hub.kill ()
import time
time.sleep (1)
- def asserv_read (self, file, mask):
- self.asserv.proto.read ()
- self.asserv.proto.sync ()
-
- def mimot_read (self, file, mask):
- self.mimot.proto.read ()
- self.mimot.proto.sync ()
-
- def io_read (self, file, mask):
- self.io.proto.read ()
- self.io.proto.sync ()
-
def step (self):
"""Overide step to handle retransmissions, could be made cleaner using
simulated time."""
InterNode.step (self)
- self.asserv.proto.sync ()
- self.mimot.proto.sync ()
- self.io.proto.sync ()
-
- def change_color (self, *dummy):
- i = self.robot_model.color_switch.state
- self.asserv.set_simu_pos (*self.robot.robot_start_pos[i]);
+ for r in self.robots:
+ for prog in r.protos:
+ prog.proto.sync ()
def place_obstacle (self, ev):
pos = self.table_view.screen_coord ((ev.x, ev.y))
@@ -132,6 +117,8 @@ def run (default_robot, test_class = TestSimu):
parser = optparse.OptionParser ()
parser.add_option ('-r', '--robot', help = "use specified robot",
metavar = 'NAME', default = default_robot)
+ parser.add_option ('-n', '--robot-nb', help = "number of robots",
+ type = 'int', metavar = 'NB', default = 1)
(options, args) = parser.parse_args ()
if args:
parser.error ("too many arguments")
@@ -143,7 +130,7 @@ def run (default_robot, test_class = TestSimu):
robot = robospierre.Robot
else:
parser.error ("unknown robot")
- app = test_class (robot)
+ app = test_class (robot, options.robot_nb)
app.mainloop ()
app.close ()
diff --git a/digital/ai/tools/test_simu_control_marcel.py b/digital/ai/tools/test_simu_control_marcel.py
index 2a43b7bb..1d5563e0 100644
--- a/digital/ai/tools/test_simu_control_marcel.py
+++ b/digital/ai/tools/test_simu_control_marcel.py
@@ -28,8 +28,11 @@ import math
class TestSimuControl (TestSimu):
"""Interface with extra control."""
- def __init__ (self, robot_class):
- TestSimu.__init__ (self, robot_class)
+ def __init__ (self, robot_class, *args):
+ TestSimu.__init__ (self, robot_class, *args, color_switch = False)
+ self.io = self.robots[0].io
+ self.asserv = self.robots[0].asserv
+ self.mimot = self.robots[0].mimot
def create_widgets (self):
TestSimu.create_widgets (self)
diff --git a/digital/ai/tools/test_simu_control_robospierre.py b/digital/ai/tools/test_simu_control_robospierre.py
index b1cccf4b..c1a16c3c 100644
--- a/digital/ai/tools/test_simu_control_robospierre.py
+++ b/digital/ai/tools/test_simu_control_robospierre.py
@@ -30,10 +30,13 @@ class TestSimuControl (TestSimu):
ELEVATION_STROKE = 0x3b0b
- ROTATION_STROKE = 0x11c6
+ ROTATION_STROKE = 0x233e
- def __init__ (self, robot_class):
- TestSimu.__init__ (self, robot_class)
+ def __init__ (self, robot_class, *args):
+ TestSimu.__init__ (self, robot_class, *args, color_switch = False)
+ self.io = self.robots[0].io
+ self.asserv = self.robots[0].asserv
+ self.mimot = self.robots[0].mimot
def create_widgets (self):
TestSimu.create_widgets (self)
@@ -46,6 +49,12 @@ class TestSimuControl (TestSimu):
indicatoron = False,
variable = self.clamp_var, command = self.clamp_command)
self.clamp_button.pack ()
+ self.doors_var = IntVar ()
+ self.doors_var.set (1)
+ self.doors_button = Checkbutton (self.control_frame, text = 'Doors',
+ indicatoron = False,
+ variable = self.doors_var, command = self.doors_command)
+ self.doors_button.pack ()
self.elevation_up_button = Button (self.control_frame,
text = 'Elevation up', padx = 0, pady = 0,
command = self.elevation_up_command)
@@ -69,12 +78,35 @@ class TestSimuControl (TestSimu):
text = 'Move clamp', padx = 0, pady = 0,
command = self.clamp_move_command)
self.clamp_move_button.pack ()
+ self.clamp_to_scale = Scale (self.control_frame, orient = HORIZONTAL,
+ from_ = 0, to = 6)
+ self.clamp_to_scale.pack ()
+ self.clamp_element_move_button = Button (self.control_frame,
+ text = 'Move element', padx = 0, pady = 0,
+ command = self.clamp_move_element_command)
+ self.clamp_element_move_button.pack ()
+ self.drop_var = IntVar ()
+ self.drop_button = Checkbutton (self.control_frame, text = 'Drop',
+ indicatoron = False,
+ variable = self.drop_var, command = self.drop_command)
+ self.drop_button.pack ()
+ self.backward_var = IntVar ()
+ self.backward_button = Checkbutton (self.control_frame,
+ text = 'Backward', variable = self.backward_var)
+ self.backward_button.pack ()
+ self.goto_var = IntVar ()
+ self.goto_button = Checkbutton (self.control_frame,
+ text = 'Goto FSM', variable = self.goto_var)
+ self.goto_button.pack ()
self.table_view.bind ('<1>', self.move)
self.table_view.bind ('<3>', self.orient)
def move (self, ev):
pos = self.table_view.screen_coord ((ev.x, ev.y))
- self.asserv.goto (pos[0], pos[1])
+ if self.goto_var.get ():
+ self.io.goto (pos[0], pos[1], self.backward_var.get ())
+ else:
+ self.asserv.goto (pos[0], pos[1], self.backward_var.get ())
def orient (self, ev):
x, y = self.table_view.screen_coord ((ev.x, ev.y))
@@ -84,10 +116,7 @@ class TestSimuControl (TestSimu):
self.asserv.goto_angle (a)
def clamp_command (self):
- if self.clamp_var.get ():
- self.io.pwm_set_timed (0, -0x3ff, 255, 0)
- else:
- self.io.pwm_set_timed (0, 0x3ff, 255, 0)
+ self.io.clamp_openclose (not self.clamp_var.get ())
def elevation_up_command (self):
self.mimot.speed_pos ('a0', self.ELEVATION_STROKE / 2)
@@ -104,6 +133,24 @@ class TestSimuControl (TestSimu):
def clamp_move_command (self):
self.io.clamp_move (self.clamp_pos_scale.get ())
+ def clamp_move_element_command (self):
+ self.io.clamp_move_element (self.clamp_pos_scale.get (),
+ self.clamp_to_scale.get ())
+
+ def doors_command (self):
+ for i in (0, 2, 3, 5):
+ self.io.door (i, not self.doors_var.get ())
+
+ def drop_command (self):
+ if self.drop_var.get ():
+ if self.backward_var.get ():
+ order = 'drop_backward'
+ else:
+ order = 'drop_forward'
+ else:
+ order = 'drop_clear'
+ self.io.drop (order)
+
def change_color (self, *dummy):
pass
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 2d53e2fa..677fea84 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -400,6 +400,27 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
break;
traj_ftw_start_center (args[0], args[1], args[2]);
break;
+ case c ('f', 12):
+ /* Push the wall.
+ * - b: 0: forward, 1: backward.
+ * - d: init_x, f24.8.
+ * - d: init_y, f24.8.
+ * - w: init_a, f0.16.
+ * - b: sequence number. */
+ {
+ if (args[11] == state_main.sequence)
+ break;
+ int32_t angle;
+ if (args[9] == 0xff && args[10] == 0xff)
+ angle = -1;
+ else
+ angle = v8_to_v32 (0, args[9], args[10], 0);
+ traj_ptw_start (args[0],
+ v8_to_v32 (args[1], args[2], args[3], args[4]),
+ v8_to_v32 (args[5], args[6], args[7], args[8]),
+ angle, args[11]);
+ }
+ break;
case c ('F', 1):
/* Go to the dispenser.
* - b: sequence number. */
diff --git a/digital/asserv/src/asserv/models.host.c b/digital/asserv/src/asserv/models.host.c
index f4d8ca5a..3839af1e 100644
--- a/digital/asserv/src/asserv/models.host.c
+++ b/digital/asserv/src/asserv/models.host.c
@@ -32,6 +32,8 @@
#include <math.h>
#include <string.h>
+#define NO_CORNER { { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 } }
+
/* RE25CLL with 1:10 gearbox model. */
static const struct motor_def_t re25cll_model =
{
@@ -89,6 +91,25 @@ static const struct motor_def_t amax32ghp_model =
-INFINITY, +INFINITY,
};
+/* Faulhaber 2657 and a 1:9.7 ratio gearbox. */
+static const struct motor_def_t faulhaber_2657_model =
+{
+ /* Motor characteristics. */
+ 274 * (2*M_PI) / 60,/* Speed constant ((rad/s)/V). */
+ 34.8 / 1000, /* Torque constant (N.m/A). */
+ 0, /* Bearing friction (N.m/(rad/s)). */
+ 2.84, /* Terminal resistance (Ohm). */
+ 0.380 / 1000, /* Terminal inductance (H). */
+ 24.0, /* Maximum voltage (V). */
+ /* Gearbox characteristics. */
+ 9.7, /* Gearbox ratio. */
+ 0.80, /* Gearbox efficiency. */
+ /* Load characteristics. */
+ 0.0, /* Load (kg.m^2). */
+ /* Hardware limits. */
+ -INFINITY, +INFINITY,
+};
+
/* Gloubi, Efrei 2006. */
static const struct robot_t gloubi_robot =
{
@@ -106,7 +127,7 @@ static const struct robot_t gloubi_robot =
13.0, // approx
/* Whether the encoder is mounted on the main motor (false) or not (true). */
0,
- 0.0, 0.0, { NULL, NULL }, { 0, 0 }, NULL
+ 0.0, 0.0, { NULL, NULL }, { 0, 0 }, NULL, NULL, NO_CORNER
};
/* Taz, APBTeam/Efrei 2005. */
@@ -126,7 +147,7 @@ static const struct robot_t taz_robot =
0.0,
/* Whether the encoder is mounted on the main motor (false) or not (true). */
0,
- 0.0, 0.0, { NULL, NULL }, { 0, 0 }, NULL
+ 0.0, 0.0, { NULL, NULL }, { 0, 0 }, NULL, NULL, NO_CORNER
};
/* TazG, Taz with RE25G motors. */
@@ -146,7 +167,7 @@ static const struct robot_t tazg_robot =
0.0,
/* Whether the encoder is mounted on the main motor (false) or not (true). */
0,
- 0.0, 0.0, { NULL, NULL }, { 0, 0 }, NULL
+ 0.0, 0.0, { NULL, NULL }, { 0, 0 }, NULL, NULL, NO_CORNER
};
/* Giboulée arm model, with a RE25CLL and a 1:10 ratio gearbox. */
@@ -197,6 +218,7 @@ static const struct robot_t giboulee_robot =
{ 500, 0 },
/** Sensor update function. */
simu_sensor_update_giboulee,
+ NULL, NO_CORNER,
};
/* AquaJim arm model, with a RE40G and a 1:4 + 15:80 ratio gearbox. */
@@ -267,6 +289,7 @@ static const struct robot_t aquajim_robot =
{ 250, 250 },
/** Sensor update function. */
simu_sensor_update_aquajim,
+ NULL, NO_CORNER,
};
/* Marcel elevator model, with a Faulhaber 2657 and a 1:9.7 ratio gearbox. */
@@ -338,6 +361,41 @@ static const struct robot_t marcel_robot =
{ 256, 250 },
/** Sensor update function. */
simu_sensor_update_marcel,
+ NULL, NO_CORNER,
+};
+
+/* Robospierre, APBTeam 2011. */
+static const struct robot_t robospierre_robot =
+{
+ /* Main motors. */
+ &faulhaber_2657_model,
+ /* Number of steps on the main motors encoders. */
+ 2500,
+ /* Wheel radius (m). */
+ 0.065 / 2,
+ /* Distance between the wheels (m). */
+ 0.16,
+ /* Weight of the robot (kg). */
+ 10.0,
+ /* Distance of the gravity center from the center of motors axis (m). */
+ 0.0,
+ /* Whether the encoder is mounted on the main motor (false) or not (true). */
+ 1,
+ /** Encoder wheel radius (m). */
+ 0.063 / 2,
+ /** Distance between the encoders wheels (m). */
+ 0.28,
+ /** Auxiliary motors, NULL if not present. */
+ { NULL, NULL },
+ /** Number of steps for each auxiliary motor encoder. */
+ { 0, 0 },
+ /** Sensor update function. */
+ NULL,
+ /** Table test function, return false if given robot point is not in
+ * table. */
+ simu_table_test_robospierre,
+ /** Robot corners, from front left, then clockwise. */
+ { { 150, 110 }, { 150, -110 }, { -150, -110 }, { -150, 110 } },
};
/* Table of models. */
@@ -352,6 +410,7 @@ static const struct
{ "giboulee", &giboulee_robot },
{ "aquajim", &aquajim_robot },
{ "marcel", &marcel_robot },
+ { "robospierre", &robospierre_robot },
{ 0, 0 }
};
diff --git a/digital/asserv/src/asserv/models.host.h b/digital/asserv/src/asserv/models.host.h
index 403e9cd9..d8f1dcb8 100644
--- a/digital/asserv/src/asserv/models.host.h
+++ b/digital/asserv/src/asserv/models.host.h
@@ -27,6 +27,8 @@
#define ECHANT_PERIOD (1.0 / (14745600.0 / 256 / 256))
+#define CORNERS_NB 4
+
/** Define a robot and its peripherals.
* Encoder characteristics are defined at gearbox output. */
struct robot_t
@@ -55,6 +57,11 @@ struct robot_t
int aux_encoder_steps[AC_ASSERV_AUX_NB];
/** Sensor update function. */
void (*sensor_update) (void);
+ /** Table test function, return false if given robot point is not in
+ * table. */
+ int (*table_test) (double p_x, double p_y);
+ /** Robot corners, from front left, then clockwise. */
+ double corners[CORNERS_NB][2];
};
/** Get a pointer to a model by name, or return 0. */
diff --git a/digital/asserv/src/asserv/simu.host.c b/digital/asserv/src/asserv/simu.host.c
index 10cef711..7053ae60 100644
--- a/digital/asserv/src/asserv/simu.host.c
+++ b/digital/asserv/src/asserv/simu.host.c
@@ -36,6 +36,8 @@
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
+#include <time.h>
+#include <sys/time.h>
#include "pwm.h"
#include "aux.h"
@@ -87,6 +89,9 @@ double simu_counter_left_th, simu_counter_right_th;
/** Use mex. */
int simu_mex;
+/** Do not sleep. */
+int simu_fast;
+
/** Mex message types. */
uint8_t simu_mex_position;
uint8_t simu_mex_pwm;
@@ -115,6 +120,7 @@ simu_init (void)
simu_mex_pwm = mex_node_reservef ("%s:pwm", mex_instance);
simu_mex_aux = mex_node_reservef ("%s:aux", mex_instance);
}
+ simu_fast = simu_mex;
if (argc != 1)
{
fprintf (stderr, "Syntax: asserv.host [-m[interval]] model\n");
@@ -154,6 +160,16 @@ simu_pos_update (double dl, double dr, double footing)
simu_pos_a = na;
}
+/** Compute a robot point absolute position. */
+static void
+simu_compute_absolute_position (double p_x, double p_y, double *x, double *y)
+{
+ double c = cos (simu_pos_a);
+ double s = sin (simu_pos_a);
+ *x = simu_pos_x + c * p_x - s * p_y;
+ *y = simu_pos_y + s * p_x + c * p_y;
+}
+
/** Update sensors for Giboulee. */
void
simu_sensor_update_giboulee (void)
@@ -175,10 +191,7 @@ simu_sensor_update_giboulee (void)
for (i = 0; i < UTILS_COUNT (sensors); i++)
{
/* Compute absolute position. */
- x = simu_pos_x + cos (simu_pos_a) * sensors[i][0]
- - sin (simu_pos_a) * sensors[i][1];
- y = simu_pos_y + sin (simu_pos_a) * sensors[i][0]
- + cos (simu_pos_a) * sensors[i][1];
+ simu_compute_absolute_position (sensors[i][0], sensors[i][1], &x, &y);
if (x >= 0.0 && x < table_width && y >= 0.0 && y < table_height)
PINC |= sensors_bit[i];
}
@@ -217,10 +230,7 @@ simu_sensor_update_aquajim (void)
for (i = 0; i < UTILS_COUNT (sensors); i++)
{
/* Compute absolute position. */
- x = simu_pos_x + cos (simu_pos_a) * sensors[i][0]
- - sin (simu_pos_a) * sensors[i][1];
- y = simu_pos_y + sin (simu_pos_a) * sensors[i][0]
- + cos (simu_pos_a) * sensors[i][1];
+ simu_compute_absolute_position (sensors[i][0], sensors[i][1], &x, &y);
cx = table_width / 2 - x;
cy = table_height / 2 - y;
ds = cx * cx + cy * cy;
@@ -268,10 +278,7 @@ simu_sensor_update_marcel (void)
for (i = 0; i < UTILS_COUNT (sensors); i++)
{
/* Compute absolute position. */
- x = simu_pos_x + cos (simu_pos_a) * sensors[i][0]
- - sin (simu_pos_a) * sensors[i][1];
- y = simu_pos_y + sin (simu_pos_a) * sensors[i][0]
- + cos (simu_pos_a) * sensors[i][1];
+ simu_compute_absolute_position (sensors[i][0], sensors[i][1], &x, &y);
if (x >= 0.0 && x < table_width && y >= 0.0 && y < table_height
&& (x < stand_x_min || x >= stand_x_max || y < stand_y))
PINC |= sensors_bit[i];
@@ -281,6 +288,18 @@ simu_sensor_update_marcel (void)
PINC |= IO_BV (CONTACT_AUX1_ZERO_IO);
}
+/* Table test for Robospierre. */
+int
+simu_table_test_robospierre (double p_x, double p_y)
+{
+ static const double table_width = 3000.0, table_height = 2100.0;
+ double x, y;
+ simu_compute_absolute_position (p_x, p_y, &x, &y);
+ if (x < 0 || y < 0 || x >= table_width || y >= table_height)
+ return 0;
+ return 1;
+}
+
/** Do a simulation step. */
static void
simu_step (void)
@@ -306,6 +325,39 @@ simu_step (void)
if (simu_robot->aux_motor[i])
motor_model_step (&simu_aux_model[i]);
}
+ /* Update position. */
+ double old_pos_x = simu_pos_x, old_pos_y = simu_pos_y,
+ old_pos_a = simu_pos_a;
+ simu_pos_update ((simu_left_model.th - old_left_th)
+ / simu_left_model.m.i_G * simu_robot->wheel_r * 1000,
+ (simu_right_model.th - old_right_th)
+ / simu_right_model.m.i_G * simu_robot->wheel_r * 1000,
+ simu_robot->footing * 1000);
+ /* Check robot is still on the table. */
+ if (simu_robot->table_test)
+ {
+ static int old_out = 1;
+ int out = 0;
+ for (i = 0; i < CORNERS_NB; i++)
+ {
+ if (!simu_robot->table_test (simu_robot->corners[i][0],
+ simu_robot->corners[i][1]))
+ out = 1;
+ }
+ /* If out, cancel movement. */
+ if (out && !old_out)
+ {
+ simu_pos_x = old_pos_x;
+ simu_pos_y = old_pos_y;
+ simu_pos_a = old_pos_a;
+ simu_left_model.th = old_left_th;
+ simu_right_model.th = old_right_th;
+ }
+ else
+ {
+ old_out = out;
+ }
+ }
/* Modify counters. */
uint32_t counter_left_new;
uint32_t counter_right_new;
@@ -364,12 +416,6 @@ simu_step (void)
simu_counter_aux[i] = 0;
}
}
- /* Update position. */
- simu_pos_update ((simu_left_model.th - old_left_th)
- / simu_left_model.m.i_G * simu_robot->wheel_r * 1000,
- (simu_right_model.th - old_right_th)
- / simu_right_model.m.i_G * simu_robot->wheel_r * 1000,
- simu_robot->footing * 1000);
/* Update sensors. */
if (simu_robot->sensor_update)
simu_robot->sensor_update ();
@@ -450,12 +496,37 @@ timer_init (void)
simu_init ();
}
+/** Slow down program execution. */
+void
+simu_wait (int freq)
+{
+#define ONE_SEC_NS 1000000000ll
+ struct timeval tv;
+ static long long int last_ns = 0;
+ long long int now_ns;
+ gettimeofday (&tv, NULL);
+ now_ns = tv.tv_sec * ONE_SEC_NS + tv.tv_usec * 1000;
+ if (last_ns == 0 || now_ns - last_ns > ONE_SEC_NS)
+ last_ns = now_ns;
+ last_ns = last_ns + ONE_SEC_NS / freq;
+ long long int diff_ns = last_ns - now_ns;
+ if (diff_ns > 0)
+ {
+ struct timespec ts;
+ ts.tv_sec = diff_ns / ONE_SEC_NS;
+ ts.tv_nsec = diff_ns % ONE_SEC_NS;
+ nanosleep (&ts, &ts);
+ }
+}
+
/** Wait for timer overflow. */
void
timer_wait (void)
{
if (simu_mex)
mex_node_wait_date (mex_node_date () + 4);
+ if (!simu_fast)
+ simu_wait (225);
simu_step ();
if (simu_mex && !--simu_send_cpt)
{
diff --git a/digital/asserv/src/asserv/simu.host.h b/digital/asserv/src/asserv/simu.host.h
index 143d3430..93785186 100644
--- a/digital/asserv/src/asserv/simu.host.h
+++ b/digital/asserv/src/asserv/simu.host.h
@@ -47,4 +47,7 @@ simu_sensor_update_aquajim (void);
void
simu_sensor_update_marcel (void);
+int
+simu_table_test_robospierre (double p_x, double p_y);
+
#endif /* simu_host_h */
diff --git a/digital/asserv/src/asserv/speed.c b/digital/asserv/src/asserv/speed.c
index 5c221b7e..32102177 100644
--- a/digital/asserv/src/asserv/speed.c
+++ b/digital/asserv/src/asserv/speed.c
@@ -58,13 +58,21 @@ speed_init (void)
static void
speed_update_by_speed (struct speed_t *speed)
{
- /* Update current speed. */
- if (UTILS_ABS (speed->cons - speed->cur) < speed->acc)
- speed->cur = speed->cons;
- else if (speed->cons > speed->cur)
- speed->cur += speed->acc;
+ /* Update current speed (be careful of overflow!). */
+ if (speed->cons > speed->cur)
+ {
+ if ((uint16_t) (speed->cons - speed->cur) < (uint16_t) speed->acc)
+ speed->cur = speed->cons;
+ else
+ speed->cur += speed->acc;
+ }
else
- speed->cur -= speed->acc;
+ {
+ if ((uint16_t) (speed->cur - speed->cons) < (uint16_t) speed->acc)
+ speed->cur = speed->cons;
+ else
+ speed->cur -= speed->acc;
+ }
}
/** Compute maximum allowed speed according to: distance left, maximum speed,
diff --git a/digital/asserv/src/asserv/test_motor_model.c b/digital/asserv/src/asserv/test_motor_model.c
index 706aa31b..044bab2e 100644
--- a/digital/asserv/src/asserv/test_motor_model.c
+++ b/digital/asserv/src/asserv/test_motor_model.c
@@ -84,3 +84,9 @@ simu_sensor_update_marcel (void)
{
}
+int
+simu_table_test_robospierre (double p_x, double p_y)
+{
+ return 0;
+}
+
diff --git a/digital/asserv/src/asserv/traj.c b/digital/asserv/src/asserv/traj.c
index 11618eca..e147ad5d 100644
--- a/digital/asserv/src/asserv/traj.c
+++ b/digital/asserv/src/asserv/traj.c
@@ -37,6 +37,7 @@
#include "pos.h"
#include "speed.h"
#include "postrack.h"
+#include "pwm.h"
#include "contacts.h"
@@ -59,6 +60,8 @@ enum
TRAJ_FTW,
/* Go to the dispenser. */
TRAJ_GTD,
+ /* Push the wall. */
+ TRAJ_PTW,
/* Go to position. */
TRAJ_GOTO,
/* Go to angle. */
@@ -99,6 +102,9 @@ static uint8_t traj_use_center;
/** Center sensor delay. */
static uint8_t traj_center_delay;
+/** Initial values for x, y and angle, or -1. */
+static int32_t traj_init_x, traj_init_y, traj_init_a;
+
/** Initialise computed factors. */
void
traj_init (void)
@@ -210,6 +216,54 @@ traj_ftw_start_center (uint8_t backward, uint8_t center_delay, uint8_t seq)
state_start (&state_main, MODE_TRAJ, seq);
}
+/** Push the wall mode. */
+static void
+traj_ptw (void)
+{
+ /* If blocking, the wall was found. */
+ if (pos_theta.blocked_counter >= pos_theta.blocked_counter_limit)
+ {
+ /* Initialise position. */
+ if (traj_init_x != -1)
+ postrack_x = traj_init_x;
+ if (traj_init_y != -1)
+ postrack_y = traj_init_y;
+ if (traj_init_a != -1)
+ postrack_a = traj_init_a;
+ /* Stop motor control. */
+ pos_reset (&pos_theta);
+ pos_reset (&pos_alpha);
+ state_main.variant = 0;
+ state_main.mode = MODE_PWM;
+ pwm_set (&pwm_left, 0);
+ pwm_set (&pwm_right, 0);
+ state_finish (&state_main);
+ traj_mode = TRAJ_DONE;
+ }
+}
+
+/** Start push the wall mode. Position is initialised unless -1. */
+void
+traj_ptw_start (uint8_t backward, int32_t init_x, int32_t init_y,
+ int32_t init_a, uint8_t seq)
+{
+ int16_t speed;
+ traj_mode = TRAJ_PTW;
+ traj_init_x = init_x;
+ traj_init_y = init_y;
+ traj_init_a = init_a;
+ state_start (&state_main, MODE_TRAJ, seq);
+ /* Use slow speed, without alpha control. */
+ speed = speed_theta.slow;
+ speed *= 256;
+ if (backward)
+ speed = -speed;
+ speed_theta.use_pos = speed_alpha.use_pos = 0;
+ speed_theta.cons = speed;
+ speed_alpha.cons = 0;
+ state_main.variant = 2;
+}
+
/** Go to the dispenser mode. */
static void
traj_gtd (void)
@@ -392,6 +446,9 @@ traj_update (void)
case TRAJ_FTW:
traj_ftw ();
break;
+ case TRAJ_PTW:
+ traj_ptw ();
+ break;
case TRAJ_GTD:
traj_gtd ();
break;
diff --git a/digital/asserv/src/asserv/traj.h b/digital/asserv/src/asserv/traj.h
index 706fbdaf..ec345d0c 100644
--- a/digital/asserv/src/asserv/traj.h
+++ b/digital/asserv/src/asserv/traj.h
@@ -49,6 +49,10 @@ void
traj_ftw_start_center (uint8_t backward, uint8_t center_delay, uint8_t seq);
void
+traj_ptw_start (uint8_t backward, int32_t init_x, int32_t init_y,
+ int32_t init_a, uint8_t seq);
+
+void
traj_gtd_start (uint8_t seq);
void
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index ff15c82f..fcf0a9cc 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -168,6 +168,24 @@ twi_proto_callback (u8 *buf, u8 size)
* - b: 0: forward, 1: backward. */
traj_ftw_start (buf[2], 0);
break;
+ case c ('G', 9):
+ /* Push the wall.
+ * - b: 0: forward, 1: backward.
+ * - 3b: init_x.
+ * - 3b: init_y.
+ * - w: init_a. */
+ {
+ int32_t angle;
+ if (buf[9] == 0xff && buf[10] == 0xff)
+ angle = -1;
+ else
+ angle = v8_to_v32 (0, buf[9], buf[10], 0);
+ traj_ptw_start (buf[2],
+ v8_to_v32 (buf[3], buf[4], buf[5], 0xff),
+ v8_to_v32 (buf[6], buf[7], buf[8], 0xff),
+ angle, 0);
+ }
+ break;
case c ('g', 2):
/* Go to the wall using center sensor with delay.
* - b: 0: forward, 1: backward.
diff --git a/digital/asserv/tools/asserv/asserv.py b/digital/asserv/tools/asserv/asserv.py
index 997b05fb..4f386d7a 100644
--- a/digital/asserv/tools/asserv/asserv.py
+++ b/digital/asserv/tools/asserv/asserv.py
@@ -269,6 +269,15 @@ class Proto:
self.proto.send ('f', 'BB', backward and 1 or 0, self.mseq)
self.wait (self.finished, auto = True)
+ def ptw (self, backward = True, init_x = None, init_y = None,
+ init_a = None):
+ """Push the wall."""
+ self.mseq += 1
+ self.proto.send ('f', 'BllHB', backward and 1 or 0,
+ self._dist_f248 (init_x), self._dist_f248 (init_y),
+ self._angle_f16 (init_a), self.mseq)
+ self.wait (self.finished, auto = True)
+
def set_simu_pos (self, x, y, a):
"""Set simulated position."""
self.proto.send ('h', 'chhh', 'X', int (round (x)), int (round (y)),
@@ -381,10 +390,16 @@ class Proto:
return int (round (d / self.param['scale']))
def _dist_f248 (self, d):
- return int (round ((1 << 8) * d / self.param['scale']))
+ if d is None:
+ return -1
+ else:
+ return int (round ((1 << 8) * d / self.param['scale']))
def _angle_f16 (self, a):
- return int (round ((1 << 16) * a / (2 * math.pi))) & 0xffff
+ if a is None:
+ return 0xffff
+ else:
+ return int (round ((1 << 16) * a / (2 * math.pi))) & 0xffff
def _angle_f824 (self, a):
return int (round ((1 << 24) * a / (2 * math.pi)))
diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py
index 3f0afa36..c845af03 100644
--- a/digital/asserv/tools/asserv/init.py
+++ b/digital/asserv/tools/asserv/init.py
@@ -12,10 +12,19 @@ host_marcel = dict (
E = 0x3ff, D = 0x1ff,
l = 0x1000,
)
+host_robospierre = dict (
+ scale = 0.0395840674352314, f = 0xdd1,
+ tkp = 1, tkd = 16,
+ ta = 0.75, tsm = 0x60, tss = 0x10,
+ akp = 2, akd = 16,
+ aa = 0.25, asm = 0x60, ass = 0x10,
+ E = 0x3ff, D = 0x1ff,
+ l = 0x1000,
+ )
host = {
'giboulee': host_marcel,
'marcel': host_marcel,
- 'robospierre': host_marcel,
+ 'robospierre': host_robospierre,
}
target_marcel = dict (
scale = 0.0415178942124, f = 0xcef,
@@ -34,8 +43,21 @@ target_marcel = dict (
l = 0x1000,
w = 0x09,
)
+target_robospierre = dict (
+ scale = 0.0317975134344, f = 0x134e,
+ c = float (0xffa897) / (1 << 24),
+ tkp = 1, tkd = 16,
+ ta = 0.75, tsm = 0x60, tss = 0x10,
+ tbe = 256, tbs = 0x08, tbc = 40,
+ akp = 2, akd = 16,
+ aa = 0.5, asm = 0x60, ass = 0x10,
+ abe = 128, abs = 0x08, abc = 40,
+ E = 0x3ff, D = 0x1ff,
+ l = 0x1000,
+ w = 0x00,
+ )
target = {
'giboulee': target_marcel,
'marcel': target_marcel,
- 'robospierre': target_marcel,
+ 'robospierre': target_robospierre,
}
diff --git a/digital/asserv/tools/inter_asserv.py b/digital/asserv/tools/inter_asserv.py
index 82a92c32..72e31f60 100644
--- a/digital/asserv/tools/inter_asserv.py
+++ b/digital/asserv/tools/inter_asserv.py
@@ -43,7 +43,7 @@ class InterAsserv (Inter):
self.tk.createfilehandler (self.a, READABLE, self.read)
self.timeout ()
# Query position.
- self.a.register_pos ()
+ self.a.register_pos (interval = 225 / 20)
self.a.position.register (self.pos)
def createWidgets (self):
diff --git a/digital/asserv/tools/test_goto.py b/digital/asserv/tools/test_goto.py
index 2cbbb350..f2aa2535 100644
--- a/digital/asserv/tools/test_goto.py
+++ b/digital/asserv/tools/test_goto.py
@@ -3,14 +3,29 @@ import math
import asserv
import asserv.init
-from utils.init_proto import init_proto
+from utils.init_proto import InitProto
-a = init_proto (None, asserv.Proto, asserv.init)
-for i in xrange (10):
- x = random.randrange (2000)
- y = random.randrange (1100)
- a.goto (x, y)
- a.goto_angle (math.radians (random.randrange (360)))
-a.goto (0, 0)
-a.goto_angle (0)
+ip = InitProto (None, asserv.Proto, asserv.init)
+ip.parser.add_option ('-i', '--iterations',
+ help = "number of test iterations", metavar = 'NB', default = 10)
+ip.parser.add_option ('-t', '--type',
+ help = "test type, one of random or linear", metavar = 'TYPE',
+ default = 'random')
+ip.parse_args ()
+a = ip.get_proto ()
+try:
+ if ip.options.type == 'random':
+ for i in xrange (ip.options.iterations):
+ x = random.randrange (2000)
+ y = random.randrange (1100)
+ a.goto (x, y)
+ a.goto_angle (math.radians (random.randrange (360)))
+ a.goto (0, 0)
+ a.goto_angle (0)
+ elif ip.options.type == 'linear':
+ for i in xrange (ip.options.iterations):
+ a.speed_pos ('t', 1000)
+ a.speed_pos ('t', -1000)
+except:
+ pass
a.close ()
diff --git a/digital/avr/doc/fuses.txt b/digital/avr/doc/fuses.txt
index 3f353fcd..1345c0ef 100644
--- a/digital/avr/doc/fuses.txt
+++ b/digital/avr/doc/fuses.txt
@@ -19,36 +19,44 @@ m16 0xff 0xc1 --
m32 0xff 0xc1 --
m64 0xff 0xc1 0xff
m128 0xff 0xc1 0xff
+usb128 0xff 0xd1 0xf3
====== ===== ===== =====
This correspond to ('!' means unprogrammed, i.e. '1'):
-=== === === === ==== =======
-m8 m16 m32 m64 m128 Meaning
-=== === === === ==== =======
-l7 l7 l7 l7 l7 !BODLEVEL (BOD trigger level)
-l6 l6 l6 l6 l6 !BODEN (BOD enabled)
-l5 l5 l5 l5 l5 !SUT1 (start up time)
-l4 l4 l4 l4 l4 !SUT0 (start up time)
-l3 l3 l3 l3 l3 !CKSEL3 (clock source select)
-l2 l2 l2 l2 l2 !CKSEL2 (clock source select)
-l1 l1 l1 l1 l1 !CKSEL1 (clock source select)
-l0 l0 l0 l0 l0 !CKSEL0 (clock source select)
---- --- --- --- ---- -------
-h7 .. .. .. .. !RSTDISBL (no reset pin disabled)
-.. h7 h7 h7 h7 !OCDEN (OCD enabled)
-h6 .. .. .. .. !WDTON (no watchdog always on)
-.. h6 h6 h6 h6 !JTAGEN (JTAG enabled)
-h5 h5 h5 h5 h5 SPIEN (spi programming enabled)
-h4 h4 h4 h4 h4 CKOPT (clock option)
-h3 h3 h3 h3 h3 EESAVE (eeprom preserved on chip erase)
-h2 h2 h2 h2 h2 BOOTSZ1 (boot size)
-h1 h1 h1 h1 h1 BOOTSZ0 (boot size)
-h0 h0 h0 h0 h0 !BOOTRST (use boot reset vector)
---- --- --- --- ---- -------
-.. .. .. e1 e1 !M103C (ATmega103 compatibility)
-.. .. .. e0 e0 !WDTON (watchdog always on)
-=== === === === ==== =======
+=== === === === ==== ====== =======
+m8 m16 m32 m64 m128 usb128 Meaning
+=== === === === ==== ====== =======
+l7 l7 l7 l7 l7 .. !BODLEVEL (BOD trigger level)
+l6 l6 l6 l6 l6 .. !BODEN (BOD enabled)
+.. .. .. .. .. l7 !CKDIV8 (divide clock by 8)
+.. .. .. .. .. l6 !CKOUT (clock output)
+l5 l5 l5 l5 l5 l5 !SUT1 (start up time)
+l4 l4 l4 l4 l4 l4 !SUT0 (start up time)
+l3 l3 l3 l3 l3 l3 !CKSEL3 (clock source select)
+l2 l2 l2 l2 l2 l2 !CKSEL2 (clock source select)
+l1 l1 l1 l1 l1 l1 !CKSEL1 (clock source select)
+l0 l0 l0 l0 l0 l0 !CKSEL0 (clock source select)
+--- --- --- --- ---- ------ -------
+h7 .. .. .. .. .. !RSTDISBL (no reset pin disabled)
+.. h7 h7 h7 h7 h7 !OCDEN (OCD enabled)
+h6 .. .. .. .. .. !WDTON (no watchdog always on)
+.. h6 h6 h6 h6 h6 !JTAGEN (JTAG enabled)
+h5 h5 h5 h5 h5 h5 SPIEN (spi programming enabled)
+h4 h4 h4 h4 h4 .. CKOPT (clock option)
+.. .. .. .. .. h4 !WDTON (watchdog always on)
+h3 h3 h3 h3 h3 h3 EESAVE (eeprom preserved on chip erase)
+h2 h2 h2 h2 h2 h2 BOOTSZ1 (boot size)
+h1 h1 h1 h1 h1 h1 BOOTSZ0 (boot size)
+h0 h0 h0 h0 h0 h0 !BOOTRST (use boot reset vector)
+--- --- --- --- ---- ------ -------
+.. .. .. e1 e1 !M103C (ATmega103 compatibility)
+.. .. .. e0 e0 !WDTON (watchdog always on)
+.. .. .. .. .. e3 HWBE (hardware boot enable)
+.. .. .. .. .. e2 BODLEVEL2 (brown-out detector select)
+.. .. .. .. .. e1 !BODLEVEL1 (brown-out detector select)
+.. .. .. .. .. e0 !BODLEVEL0 (brown-out detector select)
+=== === === === ==== ====== =======
- CKSEL321 = 111, CKOPT = 0 corresponds to external crystal, more than 1 MHz.
- CKSEL0 = 1, SUT10 = 11 corresponds to crystal, slowly rising power, this is
diff --git a/digital/avr/make/Makefile.avr b/digital/avr/make/Makefile.avr
index bffca25a..1fe5ff31 100644
--- a/digital/avr/make/Makefile.avr
+++ b/digital/avr/make/Makefile.avr
@@ -11,6 +11,7 @@ AVR_LDLIBS := $(LDLIBS) $(AVR_LIBS)
AVR_CC := avr-gcc
AVR_OBJCOPY := avr-objcopy
AVR_OBJDUMP := avr-objdump
+AVR_SIZE := avr-size --mcu=$(AVR_MCU) -C
AVR_COMPILE.c = $(AVR_CC) $(AVR_CFLAGS) $(AVR_CPPFLAGS) -c
ifdef L
AVR_COMPILE.c += -Wa,-adhlns=$(@:%.avr.o=%.c.avr.lst)
@@ -20,7 +21,7 @@ AVR_LINK.o := $(AVR_CC) $(AVR_CFLAGS) $(AVR_LDFLAGS)
# Main rules.
-avr: elf lst hex
+avr: elf lst hex size
simu: simuelf
@@ -90,6 +91,7 @@ text: hex
hex: $(AVR_PROGS:%=%.hex)
bin: $(AVR_PROGS:%=%.bin)
srec: $(AVR_PROGS:%=%.srec)
+size: $(AVR_PROGS:%=%.size)
%.hex: %.avr.elf
$(AVR_OBJCOPY) -j .text -j .data -O ihex $< $@
@@ -100,6 +102,9 @@ srec: $(AVR_PROGS:%=%.srec)
%.bin: %.avr.elf
$(AVR_OBJCOPY) -j .text -j .data -O binary $< $@
+%.size: %.avr.elf
+ $(AVR_SIZE) $< | grep Full
+
# Rules for building the .eeprom rom images.
EEPROMS := $(AVR_PROGS:%=%_eeprom.hex) $(AVR_PROGS:%=%_eeprom.bin) \
diff --git a/digital/avr/modules/adc/adc.avr.c b/digital/avr/modules/adc/adc.avr.c
index 3bfdefa9..96392a86 100644
--- a/digital/avr/modules/adc/adc.avr.c
+++ b/digital/avr/modules/adc/adc.avr.c
@@ -32,6 +32,10 @@
#elif defined (__AVR_ATmega128__)
#elif defined (__AVR_ATmega64__)
#elif defined (__AVR_ATmega16__)
+# elif defined (__AVR_AT90USB646__)
+# elif defined (__AVR_AT90USB647__)
+# elif defined (__AVR_AT90USB1286__)
+# elif defined (__AVR_AT90USB1287__)
#else
# warning "adc: not tested on this chip."
#endif
@@ -48,7 +52,7 @@
* 11: Internal 2.56V Voltage Reference with external capacitor
* at AREF pin. */
#define ADMUX_CFG (regv (REFS1, REFS0, ADLAR, MUX4, MUX3, MUX2, MUX1, MUX0, \
- 1, 1, 0, 0, 0, 0, 0, 0))
+ 0, 1, 0, 0, 0, 0, 0, 0))
#define ADCSR_CFG (regv (ADEN, ADSC, ADFR, ADIF, ADIE, ADPS2, ADPS1, ADPS0, \
1, 0, 0, 1, 0, 0, 0, 0))
#define ADCSR_CFG_115200 7
diff --git a/digital/avr/modules/devices/servo/Makefile.module b/digital/avr/modules/devices/servo/Makefile.module
new file mode 100644
index 00000000..bf82ffac
--- /dev/null
+++ b/digital/avr/modules/devices/servo/Makefile.module
@@ -0,0 +1 @@
+devices_servo_SOURCES = servo_pos.c servo.avr.c
diff --git a/digital/avr/modules/devices/servo/README b/digital/avr/modules/devices/servo/README
new file mode 100644
index 00000000..4981de17
--- /dev/null
+++ b/digital/avr/modules/devices/servo/README
@@ -0,0 +1,23 @@
+avr.devices.servo - Servo AVR module.
+
+Servo module for AVR. See modules README for more details about AVR modules.
+
+Copyright (C) 2011 Maxime Hadjinlian
+
+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.
diff --git a/digital/avr/modules/devices/servo/avrconfig.h b/digital/avr/modules/devices/servo/avrconfig.h
new file mode 100644
index 00000000..d192598a
--- /dev/null
+++ b/digital/avr/modules/devices/servo/avrconfig.h
@@ -0,0 +1,33 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.devices.servo - Servo AVR module. {{{
+ *
+ * Copyright (C) 2011 Maxime Hadjinlian
+ *
+ * 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.
+ *
+ * }}} */
+
+/* servo - Servo module. */
+/** All servos are currently connected to the same port. */
+#define AC_SERVO_PORT PORTA
+#define AC_SERVO_DDR DDRA
+
+#endif /* avrconfig_h */
diff --git a/digital/io/src/servo.avr.c b/digital/avr/modules/devices/servo/servo.avr.c
index de50c819..fc5adc78 100644
--- a/digital/io/src/servo.avr.c
+++ b/digital/avr/modules/devices/servo/servo.avr.c
@@ -1,5 +1,5 @@
/* servo.avr.c */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+/* avr.devices.servo - Servo AVR module. {{{
*
* Copyright (C) 2008 Dufour Jérémy
*
@@ -22,7 +22,6 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* }}} */
-
#include "common.h"
#include "servo.h"
@@ -36,12 +35,6 @@
*/
/**
- * All servos are connected to the PORTA.
- */
-#define SERVO_PORT PORTA
-#define SERVO_DDR DDRA
-
-/**
* TOP of the timer/counter.
*/
#define SERVO_TCNT_TOP 0xFF
@@ -76,7 +69,7 @@ volatile int8_t servo_updating_id_;
/**
* A table for the time spent by each servo in high state.
*/
-volatile uint8_t servo_high_time_[SERVO_NUMBER];
+volatile uint8_t servo_position_[SERVO_NUMBER];
/**
* Overflow of timer/counter 2 handler.
@@ -90,13 +83,13 @@ void
servo_init (void)
{
/* Set-up all the pins of the servo to out direction */
- SERVO_DDR = 0xff;
+ AC_SERVO_DDR = 0xff;
/* All pins are at low state by default */
/* Set-up the timer/counter 2:
- prescaler 256 => 4.44 ms TOP */
TCCR2 = regv (FOC2, WGM20, COM21, COM20, WGM21, CS22, CS21, CS20,
- 0, 0, 0, 0, 0, 1, 0, 0);
+ 0, 0, 0, 0, 0, 1, 0, 0);
/* The state machine start with the first servo */
servo_updating_id_ = 0;
@@ -107,29 +100,29 @@ servo_init (void)
/* By default, servo init disable all servo. */
uint8_t i;
for (i = 0; i < SERVO_NUMBER; i++)
- servo_set_high_time (i, 0);
+ servo_set_position (i, 0);
}
-/* Set the high time of the input signal of a servo (and its position). */
+/* Set the duration of the input signal at the high state of a servo. */
void
-servo_set_high_time (uint8_t servo, uint8_t high_time)
+servo_set_position (uint8_t servo, uint8_t position)
{
- uint8_t filtered = high_time;
+ uint8_t filtered = position;
if (filtered != 0)
UTILS_BOUND (filtered, SERVO_HIGH_TIME_MIN, SERVO_HIGH_TIME_MAX);
/* Sanity check */
if (servo < SERVO_NUMBER)
/* Set new desired position (high value time) */
- servo_high_time_[servo] = filtered;
+ servo_position_[servo] = filtered;
}
-/* Get the high time of the servo. */
+/* Get the duration of the servo's input signal at high state. */
uint8_t
-servo_get_high_time (uint8_t servo)
+servo_get_position (uint8_t servo)
{
/* Sanity check */
if (servo < SERVO_NUMBER)
- return servo_high_time_[servo];
+ return servo_position_[servo];
return 0;
}
@@ -141,7 +134,7 @@ SIGNAL (SIG_OVERFLOW2)
overflow */
static int8_t servo_overflow_count = -1;
/* Time spent by each servo motor at high state during a whole cycle */
- static uint16_t servo_high_time_cycle = servo_tic_cycle_;
+ static uint16_t servo_position_cycle = servo_tic_cycle_;
/* State machine actions */
if (servo_updating_id_ >= 0)
@@ -151,16 +144,16 @@ SIGNAL (SIG_OVERFLOW2)
/* Set to low state the previous servo motor pin if needed (not for
* the first one) */
if (servo_updating_id_ != 0)
- SERVO_PORT &= ~_BV (servo_updating_id_ - 1);
+ AC_SERVO_PORT &= ~_BV (servo_updating_id_ - 1);
/* Set to high state the current servo motor pin, unless is zero */
- if (servo_high_time_[servo_updating_id_])
- set_bit (SERVO_PORT, servo_updating_id_);
+ if (servo_position_[servo_updating_id_])
+ set_bit (AC_SERVO_PORT, servo_updating_id_);
/* Plan next timer overflow to the TOP minus the current configuration
* of the servo motor */
- TCNT2 = SERVO_TCNT_TOP - servo_high_time_[servo_updating_id_];
+ TCNT2 = SERVO_TCNT_TOP - servo_position_[servo_updating_id_];
/* Update the time spent at high state by all servo motors for this
* cycle */
- servo_high_time_cycle += servo_high_time_[servo_updating_id_];
+ servo_position_cycle += servo_position_[servo_updating_id_];
/* Update the identifier of the current servo motor (and manage when
* we are at the last one) */
if (++servo_updating_id_ == SERVO_NUMBER)
@@ -174,13 +167,13 @@ SIGNAL (SIG_OVERFLOW2)
if (servo_overflow_count == -1)
{
/* Set to low state the previous servo motor pin */
- SERVO_PORT &= ~_BV (SERVO_NUMBER - 1);
+ AC_SERVO_PORT &= ~_BV (SERVO_NUMBER - 1);
/* Number of full overflow (from 0 to SERVO_TCNT_TOP) we need to
* wait (division by SERVO_TCNT_TOP or >> 8) */
- servo_overflow_count = servo_high_time_cycle >> 8;
+ servo_overflow_count = servo_position_cycle >> 8;
/* Restart the counter from remaining TIC that are left and can
* not be used to make a full overflow */
- TCNT2 = SERVO_TCNT_TOP - v16_to_v8 (servo_high_time_cycle, 0);
+ TCNT2 = SERVO_TCNT_TOP - v16_to_v8 (servo_position_cycle, 0);
}
else
{
@@ -193,7 +186,7 @@ SIGNAL (SIG_OVERFLOW2)
servo_updating_id_ = 0;
/* Re-initialize the counter of time spent by each servo motor
* at high state */
- servo_high_time_cycle = servo_tic_cycle_;
+ servo_position_cycle = servo_tic_cycle_;
}
}
}
diff --git a/digital/io/src/servo.h b/digital/avr/modules/devices/servo/servo.h
index b9f7e3ea..59d35907 100644
--- a/digital/io/src/servo.h
+++ b/digital/avr/modules/devices/servo/servo.h
@@ -1,7 +1,7 @@
#ifndef servo_h
#define servo_h
/* servo.h */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+/* avr.devices.servo - Servo AVR module. {{{
*
* Copyright (C) 2008 Dufour Jérémy
*
@@ -24,7 +24,6 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* }}} */
-
#include "common.h" // uint8_t
/**
@@ -48,7 +47,7 @@
* set-up the timer to overflow a certain number of times to wait before
* restarting the whole cycle.
*
- * All servos are connected to the PORTA of the ATmega.
+ * All servos are connected to AC_SERVO_PORT defined in avrconfig.h
*/
/**
@@ -76,21 +75,22 @@ void
servo_init (void);
/**
- * Set the high time of the input signal of a servo (and its position).
+ * Set the duration of the input signal of a servo at high state
+ * and thus its position.
* @param servo the servo to change the position.
- * @param high_time the high time we want the input signal to spend at the
- * high state to set the servo motor to a position. A zero will let the servo
- * floating.
+ * @param position the duration while the input signal will be at the
+ * high state. The servo will then move to a position.
+ * A zero will let the servo floating.
*/
void
-servo_set_high_time (uint8_t servo, uint8_t high_time);
+servo_set_position (uint8_t servo, uint8_t position);
/**
- * Get the high time of the servo.
+ * Get the duration of the servo's input signal at high state.
* @param servo the servo to get the position of.
* @return the current position of the servo.
*/
uint8_t
-servo_get_high_time (uint8_t servo);
+servo_get_position (uint8_t servo);
#endif /* servo_h */
diff --git a/digital/io/src/servo_pos.c b/digital/avr/modules/devices/servo/servo_pos.c
index d04077fd..6308ceaf 100644
--- a/digital/io/src/servo_pos.c
+++ b/digital/avr/modules/devices/servo/servo_pos.c
@@ -1,5 +1,5 @@
/* servo_pos.c */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+/* avr.devices.servo - Servo AVR module. {{{
*
* Copyright (C) 2009 Dufour Jérémy
*
@@ -56,5 +56,5 @@ servo_pos_set_high_time (uint8_t servo_id,
void
servo_pos_move_to (uint8_t servo_id, uint8_t position)
{
- servo_set_high_time (servo_id, servo_pos_high_time[servo_id][position]);
+ servo_set_position (servo_id, servo_pos_high_time[servo_id][position]);
}
diff --git a/digital/io/src/servo_pos.h b/digital/avr/modules/devices/servo/servo_pos.h
index c8e56d2b..e173ab6d 100644
--- a/digital/io/src/servo_pos.h
+++ b/digital/avr/modules/devices/servo/servo_pos.h
@@ -1,7 +1,7 @@
#ifndef servo_pos_h
#define servo_pos_h
-/* servo_pos.h */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+/* servo.pos.h */
+/* avr.devices.servo - Servo AVR module. {{{
*
* Copyright (C) 2009 Dufour Jérémy
*
diff --git a/digital/avr/modules/devices/servo/test/Makefile b/digital/avr/modules/devices/servo/test/Makefile
new file mode 100644
index 00000000..a0ad639f
--- /dev/null
+++ b/digital/avr/modules/devices/servo/test/Makefile
@@ -0,0 +1,12 @@
+BASE = ../../../..
+AVR_PROGS = test_servo
+test_servo_SOURCES = test_servo.c
+MODULES = proto devices/servo uart utils
+CONFIGFILE = avrconfig.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega128
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/avr/modules/devices/servo/test/avrconfig.h b/digital/avr/modules/devices/servo/test/avrconfig.h
new file mode 100644
index 00000000..6ee81392
--- /dev/null
+++ b/digital/avr/modules/devices/servo/test/avrconfig.h
@@ -0,0 +1,91 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.devices.servo - Servo AVR module. {{{
+ *
+ * Copyright (C) 2011 Maxime Hadjinlian
+ *
+ * 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.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* servo - Servo module. */
+/** All servos are currently connected to the same port. */
+#define AC_SERVO_PORT PORTA
+#define AC_SERVO_DDR DDRA
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 1
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 38400
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL DROP
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER PTS
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 8
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+#endif /* avrconfig_h */
diff --git a/digital/avr/modules/devices/servo/test/test_servo.c b/digital/avr/modules/devices/servo/test/test_servo.c
new file mode 100644
index 00000000..924fae1c
--- /dev/null
+++ b/digital/avr/modules/devices/servo/test/test_servo.c
@@ -0,0 +1,86 @@
+/* test_servo.c. */
+/* avr.servo - Servo AVR module. {{{
+ *
+ * Copyright (C) 2011 Maxime Hadjinlian
+ *
+ * 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 "common.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+#include "modules/devices/servo/servo.h"
+#include "modules/utils/utils.h"
+#include "modules/utils/byte.h"
+#include "io.h"
+
+/* proto_callback is called by proto
+ * when a command is complete and valid.
+ * proto act as an intelligent buffer for us.
+*/
+void
+proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+ /* This macro combine command and size in one integer. */
+#define c(cmd, size) (cmd << 8 | size)
+ switch (c (cmd, size))
+ {
+ case c ('z', 0):
+ /* This should be generaly implemented. */
+ utils_reset ();
+ break;
+ case c ('s', 3):
+ /* We are looking to receive a command in the form !sxxyyyy
+ * where xx is the servo id and yyyy is the command itself.
+ * For the size, please read digital/avr/modules/proto/proto.txt
+ */
+ servo_set_position (args[0], v8_to_v16 (args[1], args[2]));
+ break;
+ default:
+ /* This is to handle default commands, return an error. */
+ proto_send0 ('?');
+ return;
+ }
+ /* When no error acknoledge. */
+ proto_send (cmd, size, args);
+#undef c
+}
+
+int
+main (int argc, char **argv)
+{
+ avr_init (argc, argv);
+ sei ();
+ uart0_init ();
+ servo_init ();
+
+ /* This command should be generaly sent on reset. */
+ proto_send0 ('z');
+ /* This is to accept commands. */
+ while (1)
+ {
+ uint8_t c = uart0_getc ();
+ proto_accept (c);
+ /* once the command is complete according to
+ * proto's state machine, proto_callback will
+ * be called with the full command.
+ */
+ }
+}
diff --git a/digital/avr/modules/devices/usdist/Makefile.module b/digital/avr/modules/devices/usdist/Makefile.module
new file mode 100644
index 00000000..61691300
--- /dev/null
+++ b/digital/avr/modules/devices/usdist/Makefile.module
@@ -0,0 +1 @@
+devices_usdist_SOURCES = usdist.c
diff --git a/digital/avr/modules/devices/usdist/README b/digital/avr/modules/devices/usdist/README
new file mode 100644
index 00000000..5ddb8aa6
--- /dev/null
+++ b/digital/avr/modules/devices/usdist/README
@@ -0,0 +1,23 @@
+usdist - Analog US distance sensor support.
+
+Used with Sensopart UT20-700.
+
+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.
diff --git a/digital/avr/modules/devices/usdist/avrconfig.h b/digital/avr/modules/devices/usdist/avrconfig.h
new file mode 100644
index 00000000..2a908794
--- /dev/null
+++ b/digital/avr/modules/devices/usdist/avrconfig.h
@@ -0,0 +1,40 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h - TWI module configuration template. */
+/* usdist - Analog US distance sensor support. {{{
+ *
+ * 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.
+ *
+ * }}} */
+
+/* usdist - Analog US distance sensor. */
+/** Number of sensors. */
+#define AC_USDIST_NB 4
+/** Measuring period, in number of update call. */
+#define AC_USDIST_PERIOD 2
+/** List of space separated sensor definition, see usdist.h. */
+#define AC_USDIST_SENSORS \
+ USDIST_SENSOR (0, G, 3) \
+ USDIST_SENSOR (1, G, 1) \
+ USDIST_SENSOR (2, C, 7) \
+ USDIST_SENSOR (3, D, 4)
+
+#endif /* avrconfig_h */
diff --git a/digital/io/src/usdist.c b/digital/avr/modules/devices/usdist/usdist.c
index d6fd9730..75c7899b 100644
--- a/digital/io/src/usdist.c
+++ b/digital/avr/modules/devices/usdist/usdist.c
@@ -24,15 +24,15 @@
* }}} */
#include "common.h"
#include "usdist.h"
-#include "timer.h"
#include "modules/adc/adc.h"
#include "modules/utils/utils.h"
#include "io.h"
+/* This include is to be defined by user program. */
#include "simu.host.h"
-uint16_t usdist_mm[USDIST_NB];
+uint16_t usdist_mm[AC_USDIST_NB];
/** Describe a sensor. */
struct usdist_sensor_t
@@ -49,12 +49,9 @@ struct usdist_sensor_t
/** Define sensors configuration. */
#define USDIST_SENSOR(adc, p, n) \
- { adc, &IO_PORT_ (p, n), &IO_DDR_ (p, n), IO_BV_ (p, n) }
-struct usdist_sensor_t usdist_sensors[USDIST_NB] = {
- USDIST_SENSOR (0, G, 3),
- USDIST_SENSOR (1, G, 1),
- USDIST_SENSOR (2, C, 7),
- USDIST_SENSOR (3, D, 4),
+ { adc, &IO_PORT_ (p, n), &IO_DDR_ (p, n), IO_BV_ (p, n) },
+struct usdist_sensor_t usdist_sensors[AC_USDIST_NB] = {
+ AC_USDIST_SENSORS
};
void
@@ -62,7 +59,7 @@ usdist_init (void)
{
uint8_t i;
adc_init ();
- for (i = 0; i < USDIST_NB; i++)
+ for (i = 0; i < AC_USDIST_NB; i++)
{
usdist_mm[i] = 0xffff;
*usdist_sensors[i].sync_port &= ~usdist_sensors[i].sync_bv;
@@ -106,13 +103,13 @@ usdist_update (void)
if (usdist_mm[current] >= USDIST_MM_TOO_FAR)
usdist_mm[current] = 0xffff;
/* Next. */
- current = (current + 1) % USDIST_NB;
+ current = (current + 1) % AC_USDIST_NB;
}
init = 1;
/* Prepare next measure. */
*usdist_sensors[current].sync_port |=
usdist_sensors[current].sync_bv;
- wait = USDIST_PERIOD_CYCLE;
+ wait = AC_USDIST_PERIOD;
/* New mesure done. */
return 1;
}
diff --git a/digital/io/src/usdist.h b/digital/avr/modules/devices/usdist/usdist.h
index 9a4a6646..37683091 100644
--- a/digital/io/src/usdist.h
+++ b/digital/avr/modules/devices/usdist/usdist.h
@@ -1,9 +1,9 @@
#ifndef usdist_h
#define usdist_h
/* usdist.h */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+/* usdist - Analog US distance sensor support. {{{
*
- * Copyright (C) 2010 Nicolas Schodet
+ * Copyright (C) 2011 Nicolas Schodet
*
* APBTeam:
* Web: http://apbteam.org/
@@ -27,11 +27,13 @@
/*
* Manage ultrasonic distance sensors using analog to digital converter.
+ *
+ * AC_USDIST_SENSORS should be set to a list of space separated USDIST_SENSOR
+ * macro calls:
+ *
+ * USDIST_SENSOR (adc_number, synchro_io_port, synchro_io_n)
*/
-/** Number of sensors. */
-#define USDIST_NB 4
-
/** Minimal calibrated distance. */
#define USDIST_MM_MIN 100
@@ -41,11 +43,8 @@
/** Distance considered as too far to be true. */
#define USDIST_MM_TOO_FAR 650
-/** Measuring period in cycles. */
-#define USDIST_PERIOD_CYCLE (uint8_t) (8.0 / TIMER_PERIOD_MS)
-
/** Array containing the last measures in millimeters. */
-extern uint16_t usdist_mm[USDIST_NB];
+extern uint16_t usdist_mm[AC_USDIST_NB];
/** Initialise module. */
void
diff --git a/digital/avr/modules/twi/twi_hard.avr.c b/digital/avr/modules/twi/twi_hard.avr.c
index 8bd18d34..71483ecb 100644
--- a/digital/avr/modules/twi/twi_hard.avr.c
+++ b/digital/avr/modules/twi/twi_hard.avr.c
@@ -56,6 +56,7 @@
# if defined (__AVR_ATmega32__)
# elif defined (__AVR_ATmega64__)
# elif defined (__AVR_ATmega128__)
+# elif defined (__AVR_ATmega164P__)
# elif defined (__AVR_AT90USB646__)
# elif defined (__AVR_AT90USB647__)
# elif defined (__AVR_AT90USB1286__)
diff --git a/digital/avr/modules/uart/uart.avr.c b/digital/avr/modules/uart/uart.avr.c
index 689866ae..0b0ab107 100644
--- a/digital/avr/modules/uart/uart.avr.c
+++ b/digital/avr/modules/uart/uart.avr.c
@@ -35,6 +35,7 @@
#if defined (__AVR_ATmega8__)
#elif defined (__AVR_ATmega8535__)
#elif defined (__AVR_ATmega16__)
+#elif defined (__AVR_ATmega164P__)
#elif defined (__AVR_ATmega32__)
#elif defined (__AVR_ATmega64__)
#elif defined (__AVR_ATmega128__)
diff --git a/digital/beacon/simu/Makefile b/digital/beacon/simu/Makefile
new file mode 100644
index 00000000..132f0b2e
--- /dev/null
+++ b/digital/beacon/simu/Makefile
@@ -0,0 +1,12 @@
+BASE = ../../avr
+HOST_PROGS = beacon
+beacon_SOURCES = beacon.c position.c
+MODULES = math/fixed utils
+CONFIGFILE = avrconfig.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega128
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2 -lm
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/beacon/simu/avrconfig.h b/digital/beacon/simu/avrconfig.h
new file mode 100644
index 00000000..8da6dbc6
--- /dev/null
+++ b/digital/beacon/simu/avrconfig.h
@@ -0,0 +1,39 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h - Path module configuration template. */
+/* avr.path - Path finding module. {{{
+ *
+ * Copyright (C) 2008 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.
+ *
+ * }}} */
+
+/* path - Path finding module. */
+/** Report path found for debug. */
+#define AC_PATH_REPORT defined (HOST)
+/** Report function name. */
+#define AC_PATH_REPORT_CALLBACK path_report
+/** Number of possible obstacles. */
+#define AC_PATH_OBSTACLES_NB 10
+/** Number of points per obstacle. */
+#define AC_PATH_OBSTACLES_POINTS_NB 8
+
+
+#endif /* avrconfig_h */
diff --git a/digital/beacon/simu/beacon.c b/digital/beacon/simu/beacon.c
new file mode 100644
index 00000000..5ea8a263
--- /dev/null
+++ b/digital/beacon/simu/beacon.c
@@ -0,0 +1,106 @@
+/* beacon.c */
+/* Beacon Simulator Interface. {{{
+ *
+ * Copyright (C) 2011 Florent Duchon
+ *
+ * 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 <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include "position.h"
+#include "common.h"
+
+/* Globals Declaration */
+beacon_value_s beacon;
+opponent_s opponent;
+
+void syntax (void)
+{
+ fprintf (stderr,
+ "beacon sources_number source1 angle1 ... sourceX angleX\n"
+ "example: beacon 2,1,3.2,3,0.82\n"
+ );
+ exit (1);
+}
+
+void read_tab (const char *s, double *tab, int n)
+{
+ assert (n > 0);
+ while (n)
+ {
+ char *sp;
+ double v;
+ v = strtod (s, &sp);
+ if (sp == s)
+ syntax ();
+ if ((n > 1 && *sp != ',')
+ || (n == 1 && *sp != '\0'))
+ syntax ();
+ s = sp + 1;
+ *tab++ = v;
+ n--;
+ }
+}
+
+int main (int argc, char **argv)
+{
+ if (argc < 8 || argc > 10)
+ syntax ();
+
+ double input[7] = {0};
+ /* Init global structures */
+ init_struct();
+
+
+ /* Read Beacon num */
+ read_tab (argv[2], input, 1);
+
+ /* Read Beacon angle */
+ read_tab (argv[3], input+1, 1);
+
+ /* Read Beacon num */
+ read_tab (argv[4], input+2, 1);
+
+ /* Read Beacon angle */
+ read_tab (argv[5], input+3, 1);
+
+ /* Read Activate filter */
+ read_tab (argv[6],input+4, 1);
+
+ /* Read last x */
+ read_tab (argv[7],input+5, 1);
+
+ /* Read last y */
+ read_tab (argv[8],input+6, 1);
+
+// printf("Balise %d --- Angle %f\n",(int)input[0],input[1]);
+// printf("Balise %d --- Angle %f\n",(int)input[2],input[3]);
+
+ /* Compute position */
+ update_position(input[0],input[1]);
+ update_position(input[2],input[3]);
+
+ /* Return position to the simulator */
+ printf("%d\n",(int)opponent.x);
+ printf("%d\n",(int)opponent.y);
+
+ return 0;
+}
diff --git a/digital/beacon/simu/position.c b/digital/beacon/simu/position.c
new file mode 100644
index 00000000..5bc4a8f8
--- /dev/null
+++ b/digital/beacon/simu/position.c
@@ -0,0 +1,103 @@
+/* position.c */
+/* Beacon triangulation algorithms. {{{
+ *
+ * Copyright (C) 2011 Florent Duchon
+ *
+ * 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 <stdio.h>
+#include "position.h"
+
+extern beacon_value_s beacon;
+extern opponent_s opponent;
+
+void init_struct(void)
+{
+ beacon.angle[0]=0;
+ beacon.angle[1]=0;
+ beacon.angle[2]=0;
+ beacon.angle[3]=0;
+ beacon.last_updated_beacon = 0;
+ beacon.before_last_updated_beacon = 0;
+ opponent.x = 0;
+ opponent.y = 0;
+}
+
+float degree_to_radian(int value)
+{
+ float temp = 0;
+ temp = (value * 2 * M_PI) / 360;
+ return temp;
+}
+
+void update_position(int beacon_number,double angle)
+{
+ int which_formula = 0;
+ if(beacon_number == beacon.last_updated_beacon)
+ {
+ beacon.last_updated_beacon = beacon_number;
+ }
+ else
+ {
+ beacon.before_last_updated_beacon = beacon.last_updated_beacon;
+ beacon.last_updated_beacon = beacon_number;
+ }
+ which_formula = beacon.before_last_updated_beacon + beacon.last_updated_beacon;
+// printf("[position.c] => Update_position beacon_number = %d angle = %f\n",(int)beacon_number,(double)angle);
+ beacon.angle[beacon_number] = angle;
+
+ switch(which_formula)
+ {
+ case 3:
+// printf("[position.c] => Formula 3\r\n");
+// printf("[position.c] => angle[1] = %f angle[2] = %f\n",beacon.angle[1],beacon.angle[2]);
+ opponent.x = LARGEUR_TABLE * tan(beacon.angle[2]) * tan(beacon.angle[1]) / (tan(beacon.angle[2])+tan(beacon.angle[1]));
+ opponent.y = LARGEUR_TABLE * tan(beacon.angle[1]) / (tan(beacon.angle[2])+tan(beacon.angle[1]));
+ break;
+ case 4:
+// printf("[position.c] => Formula 4\r\n");
+ if(beacon.angle[3] > M_PI/2)
+ {
+ opponent.y = (LARGEUR_DEMI_TABLE*tan(M_PI - beacon.angle[3]) - LARGEUR_TABLE*tan(beacon.angle[1]) + LONGUEUR_TABLE) / (tan(M_PI - beacon.angle[3]) - tan(beacon.angle[1]));
+ }
+ else
+ {
+ opponent.y = (LARGEUR_DEMI_TABLE*tan(beacon.angle[3]) + LARGEUR_TABLE*tan(beacon.angle[1])-LONGUEUR_TABLE) / (tan(beacon.angle[1]) + tan(beacon.angle[3]));
+ }
+ opponent.x = (LARGEUR_TABLE - opponent.y)*tan(beacon.angle[1]);
+ break;
+ case 5:
+// printf("[position.c] => formula 5\r\n");
+ if(beacon.angle[3] > M_PI/2)
+ {
+ opponent.y = (LONGUEUR_TABLE + LARGEUR_DEMI_TABLE * tan(M_PI - beacon.angle[3])) / (tan(beacon.angle[2]) + tan(M_PI - beacon.angle[3]));
+ }
+ else
+ {
+ opponent.y = (LARGEUR_DEMI_TABLE*tan(beacon.angle[3]) - LONGUEUR_TABLE) / (tan(beacon.angle[3]) - tan(beacon.angle[2]));
+ }
+ opponent.x = tan(beacon.angle[2]) * opponent.y;
+ break;
+ default:
+// printf("[position.c] => Unknown Formula\r\n");
+ break;
+ }
+} \ No newline at end of file
diff --git a/digital/beacon/simu/position.h b/digital/beacon/simu/position.h
new file mode 100644
index 00000000..de962e5a
--- /dev/null
+++ b/digital/beacon/simu/position.h
@@ -0,0 +1,59 @@
+/* position.h */
+/* Beacon triangulation algorithms. {{{
+ *
+ * Copyright (C) 2011 Florent Duchon
+ *
+ * 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.
+ *
+ * }}} */
+
+#ifndef _POSITION_H
+#define _POSITION_H
+
+#define LARGEUR_TABLE 2000
+#define LONGUEUR_TABLE 3000
+#define LARGEUR_DEMI_TABLE LARGEUR_TABLE/2
+#define M_PI 3.14
+
+typedef struct
+{
+ float angle[4];
+ int last_updated_beacon;
+ int before_last_updated_beacon;
+
+}beacon_value_s;
+
+typedef struct
+{
+ int x;
+ int y;
+ int old_x;
+ int old_y;
+}opponent_s;
+
+typedef struct
+{
+ int lost_beacon;
+}status_s;
+
+void init_struct(void);
+void update_position(int beacon_number,double angle);
+void distance_filter(void);
+
+#endif \ No newline at end of file
diff --git a/digital/beacon/simu/simulator.py b/digital/beacon/simu/simulator.py
new file mode 100644
index 00000000..4284b3d0
--- /dev/null
+++ b/digital/beacon/simu/simulator.py
@@ -0,0 +1,322 @@
+# simu - Beacon simulation. {{{
+#
+# Copyright (C) 2011 Florent DUCHON
+#
+# 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.
+#
+# }}}
+
+"""Graphic interface for beacon simulator."""
+
+import re
+from Tkinter import *
+from simu.inter.drawable import *
+from subprocess import Popen, PIPE
+from math import pi
+import math
+import random
+import decimal
+
+class Obstacle:
+ def __init__ (self, pos, radius, factor):
+ self.pos = pos
+ self.radius = radius
+ self.factor = factor
+
+ def move (self, pos):
+ self.pos = pos
+
+
+class Beacon (Drawable):
+ def __init__ (self,onto, num, pos, orientation, size):
+ Drawable.__init__ (self, onto)
+ self.id = num # ID
+ self.pos = pos # position (x,y)
+ self.orientation = orientation # orientation in degrees
+ self.size = size # side size
+ self.angle = 0 # obstacles angle
+ self.mode = 0 # 0 = deactivated
+ # 1 = activated
+ def draw_beacon (self):
+ # Color depends of the beacon mode
+ if self.mode is 1:
+ color = 'black'
+ else:
+ color = 'red'
+ # Draw it
+ self.draw_rectangle ((self.pos[0]-self.size/2,self.pos[1]-self.size/2),(self.pos[0]+self.size/2,self.pos[1]+self.size/2), fill = color)
+
+ def draw_axes (self):
+ self.draw_line (self.pos,(self.pos[0]+(300)*math.cos(math.radians(self.orientation)),self.pos[1]+300*math.sin(math.radians(self.orientation))),fill='red', arrow = LAST)
+ self.draw_line (self.pos,(self.pos[0]+(300)*math.cos(math.radians(self.orientation+90)),self.pos[1]+300*math.sin(math.radians(self.orientation+90))),fill='red', arrow = LAST)
+
+ def toogle_mode (self):
+ if self.mode is 0:
+ self.mode = 1
+ else:
+ self.mode = 0
+
+
+class Area (Drawable):
+ def __init__ (self, onto, border_min, border_max):
+ Drawable.__init__ (self, onto)
+ self.border_min = border_min
+ self.border_max = border_max
+ self.border = None
+ self.phantoms_counter = 0
+ self.obstacles = [ ]
+ self.beacons = [ ]
+ self.phantoms = [ ] # virtual obstacles computed by the beacon module.
+
+ def draw (self):
+ self.reset ()
+ self.draw_rectangle (self.border_min, self.border_max, fill = 'grey')
+ self.draw_rectangle ((self.border_min[0],self.border_max[1]-500),(self.border_min[0]+500,self.border_max[1]), fill = 'blue')
+ self.draw_rectangle ((self.border_max[0]-500,self.border_max[1]-500), self.border_max, fill = 'red')
+ self.draw_line ((0,0),(150,0),fill='black', arrow = LAST)
+ self.draw_line ((0,0),(0,150),fill='black', arrow = LAST)
+
+ for b in self.beacons:
+ if b.pos is not None:
+ b.draw_beacon ()
+ for o in self.obstacles:
+ if o.pos is not None:
+ self.draw_circle (o.pos, o.radius,fill = o.factor and 'gray50' or 'gray25')
+ for p in self.phantoms:
+ if p is not None:
+ self.draw_circle (p, 20,fill = 0 and 'gray50' or 'red')
+
+ def show_angles (self):
+ for b in self.beacons:
+ for o in self.obstacles:
+ self.draw_line ((b.pos[0],b.pos[1]),(o.pos[0],o.pos[1]),fill='cyan', arrow = NONE)
+
+ def populate (self):
+ self.obstacles.append (Obstacle ((500, 500), 200, 0))
+ self.beacons.append (Beacon (self, 1, (-40,2040), 270,80))
+ self.beacons.append (Beacon (self, 2, (-40,-40),0,80))
+ self.beacons.append (Beacon (self, 3, (3040,1000), 180,80))
+
+ def add_phantom (self,center):
+ # Only take care of the 100 latest value. Delete previous one.
+ if self.phantoms_counter is 100:
+ del self.phantoms[0]
+ else:
+ self.phantoms_counter += 1
+ self.phantoms.append(center)
+
+
+class AreaView (DrawableCanvas):
+ def __init__ (self, border_min, border_max, master = None):
+ self.border_min = border_min
+ self.border_max = border_max
+ width = border_max[0] - border_min[0]
+ height = border_max[1] - border_min[0]
+ DrawableCanvas.__init__ (self, width * 1.3, height * 1.3, -width / 2,-height / 2,master, borderwidth = 1, relief = 'sunken', background = 'white')
+ self.area = Area (self, border_min, border_max)
+ self.area.populate ()
+
+ def draw (self):
+ self.area.draw ()
+
+ def add_phantom (self,center):
+ self.area.add_phantom(center)
+
+
+class beacon_simu (Frame):
+ def __init__ (self, border_min, border_max, master = None):
+ Frame.__init__ (self, master)
+ self.pack (expand = 1, fill = 'both')
+ self.createWidgets (border_min, border_max)
+ self.robot_pos.set("Robot position = (0 , 0)")
+ self.phantom_pos.set("Last phantom position = ")
+
+ def createWidgets (self, border_min, border_max):
+ # Bottom Panel
+ self.bottomFrame = Frame (self)
+ self.bottomFrame.pack (side = 'bottom', fill = 'both')
+
+ # First subPanel for display options
+ self.subPanel1 = Frame (self.bottomFrame)
+ self.subPanel1.pack (side = 'left', fill = 'both')
+ self.display_axes = IntVar ()
+ self.axesButton = Checkbutton (self.subPanel1,variable = self.display_axes, command = self.update,text = 'Display axes', indicatoron = True)
+ self.axesButton.pack (anchor='w')
+ self.display_angles = IntVar ()
+ self.anglesButton = Checkbutton (self.subPanel1,variable = self.display_angles, command = self.update,text = 'Display angles', indicatoron = True)
+ self.anglesButton.pack (anchor='w')
+
+ # Second subPanel for simulator options
+ self.subPanel2 = Frame (self.bottomFrame)
+ self.subPanel2.pack (side = 'left', fill = 'both')
+ self.mode = StringVar()
+ self.manualRadioButton = Radiobutton (self.subPanel2, text = 'Manual', variable = self.mode, value='manual').pack(anchor='w')
+ self.autoRadioButton = Radiobutton (self.subPanel2, text = 'Auto', variable = self.mode, value='auto').pack(anchor='w')
+
+ # Third subPanel for simulator options
+ self.subPanel3 = Frame (self.bottomFrame)
+ self.subPanel3.pack (side = 'left', fill = 'both')
+ self.precisionScale = Scale (self.subPanel3, label = 'Precision', orient = 'horizontal', from_ = 1, to = 3)
+ self.precisionScale.pack ()
+
+ # Fourth subPanel for buttons
+ self.subPanel4 = Frame (self.bottomFrame)
+ self.subPanel4.pack (side = 'left', fill = 'both')
+ self.clearPhantomsButton = Button (self.subPanel4, text = 'Clear', command = self.clear_phantoms)
+ self.clearPhantomsButton.pack (side = 'bottom')
+ self.startButton = Button (self.subPanel4, text = 'Start', command = self.start)
+ self.startButton.pack (side = 'top')
+
+ # Fifth subPanel for Label
+ self.subPanel5 = Frame (self.bottomFrame)
+ self.subPanel5.pack (side = 'left', fill = 'both')
+ self.robot_pos = StringVar()
+ self.label = Label(self.subPanel5, textvariable=self.robot_pos).pack(anchor='w')
+ self.phantom_pos = StringVar()
+ self.label = Label(self.subPanel5, textvariable=self.phantom_pos).pack(anchor='w')
+
+ # Sixth subPanel for Exit button
+ self.subPanel6 = Frame (self.bottomFrame)
+ self.subPanel6.pack (side = 'right', fill = 'both')
+ self.quitButton = Button (self.subPanel6, text = 'Quit', command = self.quit)
+ self.quitButton.pack (side = 'right', fill = 'both')
+
+ self.areaview = AreaView (border_min, border_max, self)
+ self.areaview.pack (expand = True, fill = 'both')
+ self.areaview.bind ('<1>', self.click)
+
+ def clear (self):
+ self.areaview.area.draw ()
+
+ def clear_phantoms (self):
+ del self.areaview.area.phantoms[:]
+ self.areaview.area.phantoms_counter = 0
+ self.update()
+
+ def update (self):
+ self.areaview.area.update ()
+ self.areaview.area.draw ()
+ if self.display_angles.get() is 1:
+ self.areaview.area.show_angles()
+ if self.display_axes.get() is 1:
+ for b in self.areaview.area.beacons:
+ b.draw_axes()
+
+ def click (self, ev):
+ pos = self.areaview.screen_coord ((ev.x, ev.y))
+
+ # Update obstacles position
+ for o in self.areaview.area.obstacles:
+ if self.areaview.area.border_min[0] < pos[0] < self.areaview.area.border_max[0] and self.areaview.area.border_min[1] < pos[1] < self.areaview.area.border_max[1]:
+ o.pos = pos
+ self.robot_pos.set("Robot position = (%.0f , %.0f)" % pos)
+
+ # Check beacon mode
+ for b in self.areaview.area.beacons:
+ dx = abs(b.pos[0] - pos[0])
+ dy = abs(b.pos[1] - pos[1])
+ if dx < b.size and dy < b.size:
+ b.toogle_mode ()
+ # Update area
+ self.update ()
+
+ def call_algorithm (self,num1,num2):
+ args = [0,0,0,0,0,0,0,0]
+ for b in self.areaview.area.beacons:
+ if b.id is num1:
+ args[1]=num1
+ args[2]=b.angle
+ if b.id is num2:
+ args[3]=num2
+ args[4]=b.angle
+ args = [repr(a) for a in args]
+ args[0:0] = [ './beacon.host' ]
+ p = Popen (args, stdout = PIPE)
+ output = p.communicate ()[0]
+ del p
+ output = output.split ('\n')
+ return output
+
+ def rotate_beacons (self): # Simulate a rotation for a all beacons, ie set beacon.angles.
+ # Set the requested imprecision
+ imprecision = self.precisionScale.get () #1 to 3 degrees
+ imprecision = int (math.radians(imprecision)*1000)
+ imprecision = decimal.Decimal(random.randrange(-imprecision,imprecision))/1000
+ # Compute angles for every beaconss
+ for o in self.areaview.area.obstacles:
+ for b in self.areaview.area.beacons:
+ if b.id is 1:
+ b.angle = math.atan(o.pos[0]/(2000-o.pos[1]))+float(imprecision)
+ if b.id is 2:
+ b.angle = math.atan(o.pos[0]/o.pos[1])+float(imprecision)
+ if b.id is 3:
+ b.angle = math.atan((3000-o.pos[0])/(1000-o.pos[1]))+float(imprecision)
+ if b.angle < 0:
+ b.angle = pi - abs(b.angle)
+
+ def manual_mode (self):
+ # Manual mode : warning : two beacons must already be activated
+ self.rotate_beacons ()
+ temp = [0,0,0]
+ i = 0
+ for b in self.areaview.area.beacons:
+ if b.mode is 1:
+ temp[i] = b.id
+ i=i+1
+ phantom_pos = self.call_algorithm(temp[0],temp[1])
+ self.areaview.add_phantom((int (phantom_pos[0]),int (phantom_pos[1])))
+ self.phantom_pos.set("Last phantom position = (%.0f , %.0f)" %(float(phantom_pos[0]),float(phantom_pos[1])))
+ self.update ()
+
+ def automatic_mode (self):
+ # Automatic mode : all beacons are used
+ self.rotate_beacons ()
+
+ # Randomly select two beacons and update obstacles position
+ exclude = random.randrange(1,4)
+ if exclude is 1:
+ phantom_pos = self.call_algorithm(2,3)
+ if exclude is 2:
+ phantom_pos = self.call_algorithm(1,3)
+ if exclude is 3:
+ phantom_pos = self.call_algorithm(1,2)
+
+ # Draw the computed position
+ self.areaview.add_phantom((int (phantom_pos[0]),int (phantom_pos[1])))
+ self.phantom_pos.set("Last phantom position = (%.0f , %.0f)" %(float(phantom_pos[0]),float(phantom_pos[1])))
+
+ def start (self) :
+ if self.mode.get() == "manual":
+ self.manual_mode()
+ return
+ if self.mode.get() == "auto":
+ #for o in self.areaview.area.obstacles:
+ #x = o.pos[0] + float (decimal.Decimal(random.randrange(-5,40)))
+ #y = o.pos[1] + float (decimal.Decimal(random.randrange(-25,25)))
+ #o.pos = (x,y)
+ self.automatic_mode()
+ self.after (30,self.start)
+ self.update()
+ else:
+ print "No mode selected"
+ return
+
+if __name__ == '__main__':
+ app = beacon_simu ((0, 0), (3000, 2000))
+ app.mainloop ()
diff --git a/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GBL b/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GBL
new file mode 100644
index 00000000..b0ed3258
--- /dev/null
+++ b/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GBL
@@ -0,0 +1,2556 @@
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diff --git a/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GBO b/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GBO
new file mode 100644
index 00000000..fa114b37
--- /dev/null
+++ b/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GBO
@@ -0,0 +1,2103 @@
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new file mode 100644
index 00000000..4d72b614
--- /dev/null
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new file mode 100644
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new file mode 100644
index 00000000..58dee794
--- /dev/null
+++ b/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.GTO
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new file mode 100644
index 00000000..69dc6d3c
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new file mode 100644
index 00000000..7723a9ac
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+X10651Y11568
+X11651Y11568
+X12651Y11568
+X13651Y11568
+X14651Y11568
+M30
diff --git a/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.brd b/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.brd
new file mode 100644
index 00000000..164d5e8c
--- /dev/null
+++ b/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.brd
Binary files differ
diff --git a/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.sch b/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.sch
new file mode 100644
index 00000000..e051c246
--- /dev/null
+++ b/digital/cms-intro/pcb/orders/eurocircuits_2011-05-11/cms_intro.sch
Binary files differ
diff --git a/digital/dev2/src/usb_gpio/avrconfig.h b/digital/dev2/src/usb_gpio/avrconfig.h
index 0a90876d..eb780e77 100644
--- a/digital/dev2/src/usb_gpio/avrconfig.h
+++ b/digital/dev2/src/usb_gpio/avrconfig.h
@@ -28,6 +28,7 @@
/* utils */
/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
* 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#error "please check frequency"
#define AC_FREQ 8000000
/* usb */
diff --git a/digital/dev2/src/usb_serial_isp/avrconfig.h b/digital/dev2/src/usb_serial_isp/avrconfig.h
index 1dfd63d2..60ddf99b 100644
--- a/digital/dev2/src/usb_serial_isp/avrconfig.h
+++ b/digital/dev2/src/usb_serial_isp/avrconfig.h
@@ -28,6 +28,7 @@
/* utils */
/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
* 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#error "please check frequency"
#define AC_FREQ 8000000
/* uart - UART module. */
diff --git a/digital/dev2/src/usb_twi/avrconfig.h b/digital/dev2/src/usb_twi/avrconfig.h
index 5c2d92ce..83482f75 100644
--- a/digital/dev2/src/usb_twi/avrconfig.h
+++ b/digital/dev2/src/usb_twi/avrconfig.h
@@ -28,6 +28,7 @@
/* utils */
/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
* 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#error "please check frequency"
#define AC_FREQ 8000000
/* twi - TWI module. */
diff --git a/digital/io-hub/src/common/contact.avr.c b/digital/io-hub/src/common/contact.avr.c
index 9f6869b4..d6692566 100644
--- a/digital/io-hub/src/common/contact.avr.c
+++ b/digital/io-hub/src/common/contact.avr.c
@@ -73,7 +73,7 @@ contact_update (void)
enum team_color_e
contact_get_color (void)
{
- return !IO_GET (CONTACT_COLOR) ? TEAM_COLOR_LEFT : TEAM_COLOR_RIGHT;
+ return IO_GET (CONTACT_COLOR) ? TEAM_COLOR_LEFT : TEAM_COLOR_RIGHT;
}
uint8_t
diff --git a/digital/io-hub/src/common/contact.host.c b/digital/io-hub/src/common/contact.host.c
index 5e2309c4..cc302f46 100644
--- a/digital/io-hub/src/common/contact.host.c
+++ b/digital/io-hub/src/common/contact.host.c
@@ -49,7 +49,7 @@ contact_handle (void *user, mex_msg_t *msg)
uint32_t contacts;
mex_msg_pop (msg, "L", &contacts);
ctx.all = contacts;
- ctx.color_state = !(contacts & 1) ? TEAM_COLOR_LEFT : TEAM_COLOR_RIGHT;
+ ctx.color_state = (contacts & 1) ? TEAM_COLOR_LEFT : TEAM_COLOR_RIGHT;
ctx.jack_state = (contacts & 2) ? 1 : 0;
contacts >>= 2;
#define CONTACT(io) do { \
diff --git a/digital/io-hub/src/robospierre/Makefile b/digital/io-hub/src/robospierre/Makefile
index 21411631..88e6c79e 100644
--- a/digital/io-hub/src/robospierre/Makefile
+++ b/digital/io-hub/src/robospierre/Makefile
@@ -2,18 +2,24 @@
BASE = ../../../avr
# Name of the program to build.
PROGS = io_hub
+HOST_PROGS = test_element
# Sources to compile.
-io_hub_SOURCES = main.c \
- clamp.c \
- fsm.host.c fsm_AI_gen.avr.c \
+io_hub_SOURCES = main.c top.c \
+ clamp.c logistic.c element.c pawn_sensor.c \
+ codebar.avr.c codebar.host.c \
+ radar_defs.c radar.c path.c move.c \
+ init.c fsm.host.c fsm_AI_gen.avr.c fsm_queue.c \
pwm.avr.c pwm.host.c \
contact.avr.c contact.host.c \
twi_master.c asserv.c mimot.c \
chrono.c timer.avr.c simu.host.c
+test_element_SOURCES = test_element.c logistic.c element.c
# Modules needed for IO.
MODULES = proto uart twi utils \
- math/fixed math/geometry
-AI_MODULES = twi_master common utils fsm
+ adc devices/usdist \
+ math/fixed math/geometry path/astar
+AI_MODULES = twi_master common utils fsm move
+test_element_MODULES = host math/fixed math/geometry
# Configuration file.
CONFIGFILE = avrconfig.h
AVR_MCU = at90usb1287
diff --git a/digital/io-hub/src/robospierre/avrconfig.h b/digital/io-hub/src/robospierre/avrconfig.h
index 0fc2f11d..581fa136 100644
--- a/digital/io-hub/src/robospierre/avrconfig.h
+++ b/digital/io-hub/src/robospierre/avrconfig.h
@@ -100,6 +100,32 @@
/** Use internal pull up. */
#define AC_TWI_PULL_UP 0
+/* usdist - Analog US distance sensor. */
+/** Number of sensors. */
+#define AC_USDIST_NB 4
+/** Measuring period, in number of update call. */
+#define AC_USDIST_PERIOD 1
+/** List of space separated sensor definition, see usdist.h. */
+#define AC_USDIST_SENSORS \
+ USDIST_SENSOR (0, A, 0) \
+ USDIST_SENSOR (1, A, 1) \
+ USDIST_SENSOR (2, A, 2) \
+ USDIST_SENSOR (3, A, 3)
+
+/* path - Path finding module. */
+/** Report path found for debug. */
+#define AC_PATH_REPORT defined (HOST)
+/** Report function name. */
+#define AC_PATH_REPORT_CALLBACK simu_send_path
+/** Number of possible obstacles. */
+#define AC_PATH_OBSTACLES_NB 2
+
+/* astar - A* path finding module. */
+/** Neighbor callback. */
+#define AC_ASTAR_NEIGHBOR_CALLBACK path_astar_neighbor_callback
+/** Heuristic callback. */
+#define AC_ASTAR_HEURISTIC_CALLBACK path_astar_heuristic_callback
+
/* io-hub - io/ai board. */
/** TWI address of the io board. */
#define AC_IO_TWI_ADDRESS 10
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index 9043a62c..499046e2 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -31,9 +31,46 @@
#ifdef HOST
# define BOT_SCALE 0.0395840674352314
#else
-# define BOT_SCALE 0.0415178942124
+# define BOT_SCALE 0.0317975134344
#endif
+/** Distance from the robot axis to the front. */
+#define BOT_SIZE_FRONT 150
+/** Distance from the robot axis to the back. */
+#define BOT_SIZE_BACK 150
+/** Distance from the robot axis to the side. */
+#define BOT_SIZE_SIDE 190
+
+/** Radius of an element. */
+#define BOT_ELEMENT_RADIUS 100
+
+/** Distance between the front contact point and the robot center. */
+#define BOT_FRONT_CONTACT_DIST_MM 150
+/** Angle error at the front contact point. */
+#define BOT_FRONT_CONTACT_ANGLE_ERROR_DEG 0
+
+/** Distance from robot center to front pawn detection threshold. */
+#define BOT_PAWN_FRONT_DETECTION_THRESHOLD_MM 190
+/** Distance from robot center to back pawn detection threshold. */
+#define BOT_PAWN_BACK_DETECTION_THRESHOLD_MM -190
+/** Distance from robot center to an element near enough to be taken. */
+#define BOT_PAWN_TAKING_DISTANCE_MM 150
+
+/** Distance from border to position in front of a green element. */
+#define BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM 600
+/** Distance from border to go to capture a green element. */
+#define BOT_GREEN_ELEMENT_DISTANCE_MM \
+ (BOT_ELEMENT_RADIUS + BOT_SIZE_FRONT + 10)
+
+/** Speed used for initialisation. */
+#ifdef HOST
+# define BOT_SPEED_INIT 0x20, 0x20, 0x20, 0x20
+#else
+# define BOT_SPEED_INIT 0x10, 0x10, 0x10, 0x10
+#endif
+/** Normal cruise speed. */
+#define BOT_SPEED_NORMAL 0x50, 0x60, 0x20, 0x20
+
#ifdef HOST
# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP 0
@@ -43,34 +80,106 @@
# define BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP (0x3b0b / 2)
# define BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP 0x3b0b
# define BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP 0x3b0b
-# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP (0x3b0b / 2)
-# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP (0x3b0b / 2)
+# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP (0x3b0b / 2 + 1000)
+# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP (0x3b0b / 2 + 1000)
# define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP (0x3b0b / 2)
+#define BOT_CLAMP_INIT_ELEVATION_SWITCH_STEP \
+ BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP
+
+# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 0
+# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 0
+# define BOT_CLAMP_SLOT_FRONT_TOP_ROTATION_STEP 0
+# define BOT_CLAMP_SLOT_BACK_BOTTOM_ROTATION_STEP 0x233e
+# define BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP 0x233e
+# define BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP 0x233e
-# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP 0
-# define BOT_CLAMP_BAY_BACK_ROTATION_STEP 0x11c6
-# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP (0x11c6 / 2)
+# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP \
+ BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP
+# define BOT_CLAMP_BAY_BACK_ROTATION_STEP \
+ BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP
+# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP \
+ (BOT_CLAMP_BAY_BACK_ROTATION_STEP / 2)
+# define BOT_CLAMP_BAY_SIDE_MARGIN_ROTATION_STEP 1000
+
+#define BOT_CLAMP_CLOSED_FRONT_ROTATION_OFFSET 0
+#define BOT_CLAMP_CLOSED_BACK_ROTATION_OFFSET 0
+#define BOT_CLAMP_CLOSED_SIDE_ROTATION_OFFSET 0
#else /* !HOST */
# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP 0
-# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP 0x1d83
-# define BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP 0x3288
-# define BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP 0
-# define BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP 0x1d83
-# define BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP 0x3288
-# define BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP 0x3288
-# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP 0x1d83
-# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP 0x1d83
-# define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP 0x1d83
+# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP (0x1da7 - 250)
+# define BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP 0x35e2
+# define BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP 0x0169
+# define BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP (0x1f03 - 250)
+# define BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP 0x3610
+# define BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP (0x3596 + 3 * 0x72)
+# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP 0x1da7
+# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP 0x1f03
+# define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP ((0x1da7 + 0x1f03) / 2)
+#define BOT_CLAMP_INIT_ELEVATION_SWITCH_STEP 0x363f
+
+# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 92
+# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 92
+# define BOT_CLAMP_SLOT_FRONT_TOP_ROTATION_STEP 92
+# define BOT_CLAMP_SLOT_BACK_BOTTOM_ROTATION_STEP 0x2433
+# define BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP 0x2433
+# define BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP 0x2433
-# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP 0
-# define BOT_CLAMP_BAY_BACK_ROTATION_STEP 0x10e2
-# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP 0x820
+# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP \
+ BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP
+# define BOT_CLAMP_BAY_BACK_ROTATION_STEP \
+ BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP
+# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP (0x1183 + 120)
+# define BOT_CLAMP_BAY_SIDE_MARGIN_ROTATION_STEP 1000
+
+#define BOT_CLAMP_CLOSED_FRONT_ROTATION_OFFSET -129
+#define BOT_CLAMP_CLOSED_BACK_ROTATION_OFFSET -60
+#define BOT_CLAMP_CLOSED_SIDE_ROTATION_OFFSET -120
#endif /* !HOST */
+#define BOT_CLAMP_INIT_ELEVATION_STEP \
+ (BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP + 10 * 0x72)
+
+#define BOT_CLAMP_CLOSED_ROTATION_OFFSET(pos) \
+ (CLAMP_IS_SLOT_IN_FRONT_BAY (pos) \
+ ? BOT_CLAMP_CLOSED_FRONT_ROTATION_OFFSET \
+ : (CLAMP_IS_SLOT_IN_BACK_BAY (pos) \
+ ? BOT_CLAMP_CLOSED_BACK_ROTATION_OFFSET \
+ : BOT_CLAMP_CLOSED_SIDE_ROTATION_OFFSET))
+
+#define BOT_CLAMP_INIT_ELEVATION_SPEED 0x10
+#define BOT_CLAMP_INIT_ROTATION_SPEED -0x04
#define BOT_CLAMP_ELEVATION_SPEED 0x60
-#define BOT_CLAMP_ROTATION_SPEED 0x30
+#define BOT_CLAMP_ROTATION_SPEED 0x60
+#define BOT_CLAMP_ROTATION_OFFSET_SPEED 1
+
+#define BOT_PWM_CLAMP 2
+#define BOT_PWM_DOOR_FRONT_BOTTOM 0
+#define BOT_PWM_DOOR_FRONT_TOP 1
+#define BOT_PWM_DOOR_BACK_BOTTOM 3
+#define BOT_PWM_DOOR_BACK_TOP 4
+
+#define BOT_PWM_CLAMP_OPEN_TIME 150
+#define BOT_PWM_CLAMP_OPEN 0x1ff, 150, 0
+#define BOT_PWM_CLAMP_CLOSE_TIME 150
+#define BOT_PWM_CLAMP_CLOSE -0x1ff, 150, 0
+
+#define BOT_PWM_DOOR_OPEN_TIME 12
+#define BOT_PWM_DOOR_OPEN(slot) \
+ 0x1ff, (((slot) == CLAMP_SLOT_FRONT_BOTTOM \
+ || (slot) == CLAMP_SLOT_BACK_BOTTOM) ? 80 : 62), 0x55
+#define BOT_PWM_DOOR_CLOSE_TIME 100
+#define BOT_PWM_DOOR_CLOSE(slot) \
+ -0x1ff, (((slot) == CLAMP_SLOT_FRONT_BOTTOM \
+ || (slot) == CLAMP_SLOT_BACK_BOTTOM) ? 80 : 62), \
+ (((slot) == CLAMP_SLOT_FRONT_BOTTOM \
+ || (slot) == CLAMP_SLOT_BACK_BOTTOM) ? -0x100 : -0x200)
+
+#define BOT_PWM_CLAMP_INIT 0x1ff, 150, 0
+#define BOT_PWM_DOOR_INIT 0x100, 160, 0
+#define BOT_PWM_DOOR_INIT_START 0x55
+#define BOT_PWM_CLAMP_DOOR_INIT 250
#endif /* bot_h */
diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c
index 2f1b2471..84b2771c 100644
--- a/digital/io-hub/src/robospierre/clamp.c
+++ b/digital/io-hub/src/robospierre/clamp.c
@@ -25,39 +25,145 @@
#include "common.h"
#include "clamp.h"
+#include "mimot.h"
+#include "pwm.h"
+#include "contact.h"
+#include "bot.h"
+#include "element.h"
+#include "playground.h"
+
#define FSM_NAME AI
#include "fsm.h"
+#include "fsm_queue.h"
-#include "mimot.h"
-#include "bot.h"
+#include "logistic.h"
+#include "pawn_sensor.h"
-FSM_INIT
+/*
+ * There is two FSM in this file.
+ *
+ * The clamp FSM handles high level clamp behaviour, new elements, drop, and
+ * gives orders to the clamp move FSM.
+ *
+ * The clamp move FSM only handle moving the clamp without load or moving an
+ * element from a slot to another one.
+ */
FSM_STATES (
- /* Wait order. */
+ /* Initial state. */
+ CLAMP_START,
+ /* Initialisation sequence: opening everything. */
+ CLAMP_INIT_OPENING,
+ /* Initialisation sequence: going to the middle level. */
+ CLAMP_INIT_GOING_MIDDLE,
+ /* Initialisation sequence: finding front right edge. */
+ CLAMP_INIT_FINDING_ROTATION_EDGE,
+ /* Initialisation sequence: finding top switch. */
+ CLAMP_INIT_FINDING_TOP,
+ /* Initialisation sequence: going to rest position. */
+ CLAMP_INIT_GOING_REST,
+ /* Clamp ready, waiting in rest position. */
+ CLAMP_INIT_READY,
+
+ /* Returning to idle position. */
+ CLAMP_GOING_IDLE,
+ /* Waiting external events, clamp at middle level. */
CLAMP_IDLE,
+ /* Taking an element at bottom slots. */
+ CLAMP_TAKING_DOOR_CLOSING,
+ /* Moving elements around. */
+ CLAMP_MOVING_ELEMENT,
+ /* Droping a tower. */
+ CLAMP_DROPING_DOOR_OPENING,
+ /* Droping a tower, waiting for robot to advance. */
+ CLAMP_DROPING_WAITING_ROBOT,
+ /* Clamp locked in a bay. */
+ CLAMP_LOCKED,
+ /* Clamp blocked. */
+ CLAMP_BLOCKED,
+
+ /* Waiting movement order. */
+ CLAMP_MOVE_IDLE,
/* Moving to a final or intermediary position. */
- CLAMP_ROUTING)
+ CLAMP_MOVE_ROUTING,
+ /* Moving to source slot. */
+ CLAMP_MOVE_SRC_ROUTING,
+ /* Closing the clamp once arrived at source. */
+ CLAMP_MOVE_SRC_CLAMP_CLOSING,
+ /* Opening door once clamp closed. */
+ CLAMP_MOVE_SRC_DOOR_OPENDING,
+ /* Moving to destination slot. */
+ CLAMP_MOVE_DST_ROUTING,
+ /* Closing door once arrived at destination. */
+ CLAMP_MOVE_DST_DOOR_CLOSING,
+ /* Opening the clamp once door closed. */
+ CLAMP_MOVE_DST_CLAMP_OPENING)
FSM_EVENTS (
+ /* New element inside bottom slot. */
+ clamp_new_element,
+ /* Order to prepare tower. */
+ clamp_prepare,
+ /* Sent when an element has just been taken (door closed). */
+ clamp_taken,
+ /* Sent when clamp is working. */
+ clamp_working,
+ /* Sent when clamp return to idle state. */
+ clamp_done,
+ /* Sent when clamp is blocked. */
+ clamp_blocked,
+ /* Order to drop elements. */
+ clamp_drop,
+ /* Sent once drop is done, but robot should advance to completely
+ * free the dropped tower. */
+ clamp_drop_waiting,
+ /* Received when top FSM made the robot advance after a drop. */
+ clamp_drop_clear,
/* Order to move the clamp. */
clamp_move,
+ /* Clamp movement success. */
+ clamp_move_success,
+ /* Clamp movement failure. */
+ clamp_move_failure,
/* Elevation and elevation motor success. */
clamp_elevation_rotation_success,
+ /* Elevation or elevation motor failure. */
+ clamp_elevation_or_rotation_failure,
+ /* Elevation motor success. */
+ clamp_elevation_success,
/* Elevation motor failure. */
clamp_elevation_failure,
+ /* Rotation motor success. */
+ clamp_rotation_success,
/* Rotation motor failure. */
clamp_rotation_failure)
-FSM_START_WITH (CLAMP_IDLE)
+FSM_START_WITH (CLAMP_START)
+FSM_START_WITH (CLAMP_MOVE_IDLE)
/** Clamp context. */
struct clamp_t
{
- /* Current position. */
+ /** True if clamp is working. */
+ uint8_t working;
+ /** Current position. */
uint8_t pos_current;
- /* Requested position. */
+ /** Requested position. */
uint8_t pos_request;
+ /** Element moving destination. */
+ uint8_t moving_to;
+ /** Position of a new element. */
+ uint8_t pos_new;
+ /** New element type. */
+ uint8_t new_element_type;
+ /** Drop direction, drop on the other side. */
+ uint8_t drop_direction;
+ /** True if clamp is open. */
+ uint8_t open;
+ /** True if clamp position is controled. */
+ uint8_t controled;
+ /** Contact state at start of move, for head check. */
+ uint8_t contact_head_before_move;
};
/** Global context. */
@@ -67,35 +173,185 @@ struct clamp_t clamp_global;
/** Clamp positions. */
static const uint16_t clamp_pos[][2] = {
{ BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP,
- BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP },
{ BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP,
- BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP },
{ BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP,
- BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ BOT_CLAMP_SLOT_FRONT_TOP_ROTATION_STEP },
{ BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP,
- BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ BOT_CLAMP_SLOT_BACK_BOTTOM_ROTATION_STEP },
{ BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP,
- BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP },
{ BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP,
- BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP },
{ BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP,
BOT_CLAMP_BAY_SIDE_ROTATION_STEP },
{ BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP,
BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ { BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_SIDE_ROTATION_STEP },
{ BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP,
BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ { BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_SIDE_ROTATION_STEP },
{ BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP,
BOT_CLAMP_BAY_SIDE_ROTATION_STEP },
};
+/** Slot doors. */
+static const uint8_t clamp_slot_door[] = {
+ BOT_PWM_DOOR_FRONT_BOTTOM,
+ 0xff,
+ BOT_PWM_DOOR_FRONT_TOP,
+ BOT_PWM_DOOR_BACK_BOTTOM,
+ 0xff,
+ BOT_PWM_DOOR_BACK_TOP,
+ 0xff
+};
+
+static void
+clamp_openclose (uint8_t open);
+
+static void
+clamp_route (void);
+
+static void
+clamp_head_check_prepare (uint8_t from);
+
+void
+clamp_init (void)
+{
+ ctx.open = 1;
+}
+
+uint8_t
+clamp_working (void)
+{
+ return ctx.working;
+}
+
void
clamp_move (uint8_t pos)
{
if (pos != ctx.pos_current)
{
ctx.pos_request = pos;
+ ctx.moving_to = CLAMP_POS_NB;
FSM_HANDLE (AI, clamp_move);
}
+ else
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_move_success));
+}
+
+void
+clamp_move_element (uint8_t from, uint8_t to)
+{
+ assert (from != to);
+ ctx.pos_request = from;
+ ctx.moving_to = to;
+ clamp_head_check_prepare (from);
+ FSM_HANDLE (AI, clamp_move);
+}
+
+void
+clamp_new_element (uint8_t pos, uint8_t element_type)
+{
+ assert (pos == CLAMP_SLOT_FRONT_BOTTOM || pos == CLAMP_SLOT_BACK_BOTTOM);
+ ctx.pos_new = pos;
+ ctx.new_element_type = element_type;
+ FSM_HANDLE (AI, clamp_new_element);
+}
+
+void
+clamp_prepare (uint8_t prepare)
+{
+ logistic_global.prepare = prepare;
+ FSM_HANDLE (AI, clamp_prepare);
+}
+
+uint8_t
+clamp_drop (uint8_t drop_direction)
+{
+ if (FSM_CAN_HANDLE (AI, clamp_drop))
+ {
+ ctx.drop_direction = drop_direction;
+ FSM_HANDLE (AI, clamp_drop);
+ return 1;
+ }
+ else
+ return 0;
+}
+
+void
+clamp_drop_clear (void)
+{
+ FSM_HANDLE (AI, clamp_drop_clear);
+}
+
+void
+clamp_door (uint8_t pos, uint8_t open)
+{
+ if (pos == 0xff)
+ clamp_openclose (open);
+ else if (clamp_slot_door[pos] != 0xff)
+ {
+ if (open)
+ pwm_set_timed (clamp_slot_door[pos], BOT_PWM_DOOR_OPEN (pos));
+ else
+ pwm_set_timed (clamp_slot_door[pos], BOT_PWM_DOOR_CLOSE (pos));
+ }
+}
+
+uint8_t
+clamp_handle_event (void)
+{
+ if (FSM_CAN_HANDLE (AI, clamp_new_element))
+ {
+ uint8_t element_type;
+ element_type = pawn_sensor_get (DIRECTION_FORWARD);
+ if (element_type)
+ {
+ clamp_new_element (CLAMP_SLOT_FRONT_BOTTOM, element_type);
+ return 1;
+ }
+ element_type = pawn_sensor_get (DIRECTION_BACKWARD);
+ if (element_type)
+ {
+ clamp_new_element (CLAMP_SLOT_BACK_BOTTOM, element_type);
+ return 1;
+ }
+ }
+ /* Handle special hardware offset. */
+ uint16_t rotation_position = mimot_get_motor1_position ();
+ if ((ctx.pos_current == CLAMP_BAY_FRONT_LEAVING
+ && rotation_position > (BOT_CLAMP_BAY_SIDE_ROTATION_STEP +
+ BOT_CLAMP_BAY_FRONT_ROTATION_STEP) / 2)
+ || (ctx.pos_current == CLAMP_BAY_BACK_LEAVING
+ && rotation_position < (BOT_CLAMP_BAY_BACK_ROTATION_STEP +
+ BOT_CLAMP_BAY_SIDE_ROTATION_STEP) / 2))
+ {
+ /* Go directly to next point. */
+ clamp_route ();
+ }
+ return 0;
+}
+
+/** Open or close clamp and adjust rotation. */
+static void
+clamp_openclose (uint8_t open)
+{
+ if (open)
+ pwm_set_timed (BOT_PWM_CLAMP, BOT_PWM_CLAMP_OPEN);
+ else
+ pwm_set_timed (BOT_PWM_CLAMP, BOT_PWM_CLAMP_CLOSE);
+ if (ctx.controled)
+ {
+ int16_t offset = open ? 0
+ : BOT_CLAMP_CLOSED_ROTATION_OFFSET (ctx.pos_current);
+ mimot_move_motor1_absolute (clamp_pos[ctx.pos_current][1] + offset,
+ BOT_CLAMP_ROTATION_OFFSET_SPEED);
+ }
+ ctx.open = open;
}
/** Find next position and start motors. */
@@ -126,14 +382,30 @@ clamp_route (void)
}
else if (pos_current == CLAMP_BAY_FRONT_LEAVE)
{
- if (pos_request == CLAMP_SLOT_SIDE)
+ if (CLAMP_IS_SLOT_IN_FRONT_BAY (pos_request))
+ pos_new = pos_request;
+ else
+ pos_new = CLAMP_BAY_FRONT_LEAVING;
+ }
+ else if (pos_current == CLAMP_BAY_BACK_LEAVE)
+ {
+ if (CLAMP_IS_SLOT_IN_BACK_BAY (pos_request))
+ pos_new = pos_request;
+ else
+ pos_new = CLAMP_BAY_BACK_LEAVING;
+ }
+ else if (pos_current == CLAMP_BAY_FRONT_LEAVING)
+ {
+ if (pos_request == CLAMP_SLOT_SIDE
+ || pos_request == CLAMP_BAY_SIDE_ENTER_LEAVE)
pos_new = CLAMP_BAY_SIDE_ENTER_LEAVE;
else
pos_new = CLAMP_SLOT_BACK_MIDDLE;
}
- else if (pos_current == CLAMP_BAY_BACK_LEAVE)
+ else if (pos_current == CLAMP_BAY_BACK_LEAVING)
{
- if (pos_request == CLAMP_SLOT_SIDE)
+ if (pos_request == CLAMP_SLOT_SIDE
+ || pos_request == CLAMP_BAY_SIDE_ENTER_LEAVE)
pos_new = CLAMP_BAY_SIDE_ENTER_LEAVE;
else
pos_new = CLAMP_SLOT_FRONT_MIDDLE;
@@ -151,32 +423,584 @@ clamp_route (void)
/* Run motors. */
mimot_move_motor0_absolute (clamp_pos[pos_new][0],
BOT_CLAMP_ELEVATION_SPEED);
- mimot_move_motor1_absolute (clamp_pos[pos_new][1],
+ int16_t offset = ctx.open ? 0
+ : BOT_CLAMP_CLOSED_ROTATION_OFFSET (pos_new);
+ mimot_move_motor1_absolute (clamp_pos[pos_new][1] + offset,
BOT_CLAMP_ROTATION_SPEED);
+ ctx.controled = 1;
/* Remember new position. */
ctx.pos_current = pos_new;
}
-FSM_TRANS (CLAMP_IDLE, clamp_move, CLAMP_ROUTING)
+static void
+clamp_taken_pawn (uint8_t element_type)
{
- clamp_route ();
- return FSM_NEXT (CLAMP_IDLE, clamp_move);
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ element_taken (element_nearest_element_id (robot_pos), element_type);
+}
+
+/* When lifting an element, we can discover it is actually a head. In this
+ * case, change destination. */
+static void
+clamp_head_check (void)
+{
+ uint8_t from = logistic_global.moving_from;
+ if (!ctx.contact_head_before_move && logistic_global.slots[from] == ELEMENT_PAWN)
+ {
+ /* Look head contact. */
+ uint8_t contact_head = 0;
+ if (from == CLAMP_SLOT_FRONT_BOTTOM)
+ contact_head = !IO_GET (CONTACT_FRONT_TOP);
+ else if (from == CLAMP_SLOT_BACK_BOTTOM)
+ contact_head = !IO_GET (CONTACT_BACK_TOP);
+ /* Change? */
+ if (contact_head)
+ {
+ logistic_element_change (from, ELEMENT_KING);
+ clamp_taken_pawn (ELEMENT_HEAD);
+ if (logistic_global.moving_from != from)
+ /* Cancel move. */
+ ctx.pos_request = ctx.moving_to = from;
+ else
+ /* Change move. */
+ ctx.pos_request = ctx.moving_to = logistic_global.moving_to;
+ }
+ }
+}
+
+/** Prepare head check, if contact is set yet, this is not a new head. */
+static void
+clamp_head_check_prepare (uint8_t from)
+{
+ ctx.contact_head_before_move = 0;
+ if (CLAMP_IS_SLOT_IN_FRONT_BAY (from))
+ ctx.contact_head_before_move = !IO_GET (CONTACT_FRONT_TOP);
+ else if (CLAMP_IS_SLOT_IN_BACK_BAY (from))
+ ctx.contact_head_before_move = !IO_GET (CONTACT_BACK_TOP);
+}
+
+/* When clamp moved to bottom slot, we can discover it is actually a tower.
+ * In this case, stop movement. */
+static uint8_t
+clamp_tower_check (void)
+{
+ uint8_t from = logistic_global.moving_from;
+ if ((from == CLAMP_SLOT_FRONT_BOTTOM || from == CLAMP_SLOT_BACK_BOTTOM)
+ && ctx.pos_current == from
+ && logistic_global.slots[from] == ELEMENT_PAWN)
+ {
+ /* Check for green zone. */
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ if (robot_pos.v.x < 450 || robot_pos.v.x > PG_WIDTH - 450)
+ return 0;
+ /* Look tower contact. */
+ uint8_t contact_tower;
+ if (from == CLAMP_SLOT_FRONT_BOTTOM)
+ contact_tower = !IO_GET (CONTACT_FRONT_MIDDLE);
+ else
+ contact_tower = !IO_GET (CONTACT_BACK_MIDDLE);
+ /* Change? */
+ if (contact_tower)
+ {
+ logistic_element_change (from, ELEMENT_TOWER);
+ clamp_taken_pawn (ELEMENT_TOWER);
+ return 1;
+ }
+ }
+ return 0;
+}
+
+static void
+clamp_blocked (void)
+{
+ /* Free everything. */
+ clamp_openclose (1);
+ uint16_t rotation_position = mimot_get_motor1_position ();
+ uint16_t elevation_position = mimot_get_motor0_position ();
+ if (rotation_position < BOT_CLAMP_BAY_SIDE_ROTATION_STEP
+ - BOT_CLAMP_BAY_SIDE_MARGIN_ROTATION_STEP)
+ {
+ clamp_door (CLAMP_SLOT_FRONT_BOTTOM, 1);
+ if (elevation_position
+ > (BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP
+ + BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP) / 2)
+ {
+ clamp_door (CLAMP_SLOT_FRONT_TOP, 1);
+ logistic_dump (DIRECTION_FORWARD, 1);
+ }
+ else
+ logistic_dump (DIRECTION_FORWARD, 0);
+ }
+ else if (rotation_position > BOT_CLAMP_BAY_SIDE_ROTATION_STEP
+ + BOT_CLAMP_BAY_SIDE_MARGIN_ROTATION_STEP)
+ {
+ clamp_door (CLAMP_SLOT_BACK_BOTTOM, 1);
+ if (elevation_position
+ > (BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP
+ + BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP) / 2)
+ {
+ clamp_door (CLAMP_SLOT_BACK_TOP, 1);
+ logistic_dump (DIRECTION_BACKWARD, 1);
+ }
+ else
+ logistic_dump (DIRECTION_BACKWARD, 0);
+ }
+ mimot_motor0_free ();
+ mimot_motor1_free ();
+ /* Signal problem. */
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_move_failure));
+}
+
+#define CLAMP_DECISION_MOVE_ELEMENT 0
+#define CLAMP_DECISION_MOVE_TO_IDLE 1
+#define CLAMP_DECISION_CLAMP_LOCKED 2
+#define CLAMP_DECISION_DONE 3
+
+static uint8_t
+clamp_decision (uint8_t unblock)
+{
+ if (!unblock && logistic_global.moving_from != CLAMP_SLOT_NB)
+ {
+ clamp_move_element (logistic_global.moving_from,
+ logistic_global.moving_to);
+ return CLAMP_DECISION_MOVE_ELEMENT;
+ }
+ else if (logistic_global.prepare != 3
+ && (unblock
+ || logistic_global.clamp_pos_idle != ctx.pos_current))
+ {
+ if (logistic_path_clear (ctx.pos_current,
+ logistic_global.clamp_pos_idle))
+ {
+ clamp_move (logistic_global.clamp_pos_idle);
+ return CLAMP_DECISION_MOVE_TO_IDLE;
+ }
+ else
+ {
+ ctx.working = 0;
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_done));
+ return CLAMP_DECISION_CLAMP_LOCKED;
+ }
+ }
+ else
+ {
+ ctx.working = 0;
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_done));
+ return CLAMP_DECISION_DONE;
+ }
+}
+
+/* CLAMP FSM */
+
+FSM_TRANS (CLAMP_START, init_actuators, CLAMP_INIT_OPENING)
+{
+ pwm_set_timed (BOT_PWM_DOOR_FRONT_BOTTOM, BOT_PWM_DOOR_INIT);
+ pwm_set_timed (BOT_PWM_DOOR_FRONT_TOP, BOT_PWM_DOOR_INIT);
+ pwm_set_timed (BOT_PWM_DOOR_BACK_BOTTOM, BOT_PWM_DOOR_INIT);
+ pwm_set_timed (BOT_PWM_DOOR_BACK_TOP, BOT_PWM_DOOR_INIT);
+ pwm_set_timed (BOT_PWM_CLAMP, BOT_PWM_CLAMP_INIT);
+ return FSM_NEXT (CLAMP_START, init_actuators);
}
-FSM_TRANS (CLAMP_ROUTING, clamp_elevation_rotation_success,
- done, CLAMP_IDLE,
- next, CLAMP_ROUTING)
+FSM_TRANS_TIMEOUT (CLAMP_INIT_OPENING, BOT_PWM_CLAMP_DOOR_INIT,
+ CLAMP_INIT_GOING_MIDDLE)
+{
+ mimot_move_motor0_absolute (mimot_get_motor0_position () +
+ BOT_CLAMP_INIT_ELEVATION_STEP,
+ BOT_CLAMP_INIT_ELEVATION_SPEED);
+ return FSM_NEXT_TIMEOUT (CLAMP_INIT_OPENING);
+}
+
+FSM_TRANS (CLAMP_INIT_GOING_MIDDLE, clamp_elevation_success,
+ CLAMP_INIT_FINDING_ROTATION_EDGE)
+{
+ mimot_motor1_find_zero (BOT_CLAMP_INIT_ROTATION_SPEED, 0, 0);
+ return FSM_NEXT (CLAMP_INIT_GOING_MIDDLE, clamp_elevation_success);
+}
+
+FSM_TRANS (CLAMP_INIT_FINDING_ROTATION_EDGE, clamp_rotation_success,
+ CLAMP_INIT_FINDING_TOP)
+{
+ mimot_motor0_find_zero (BOT_CLAMP_INIT_ELEVATION_SPEED, 1,
+ BOT_CLAMP_INIT_ELEVATION_SWITCH_STEP);
+ return FSM_NEXT (CLAMP_INIT_FINDING_ROTATION_EDGE,
+ clamp_rotation_success);
+}
+
+FSM_TRANS (CLAMP_INIT_FINDING_TOP, clamp_elevation_success,
+ rest, CLAMP_INIT_GOING_REST,
+ demo, CLAMP_GOING_IDLE)
+{
+ if (IO_GET (CONTACT_STRAT))
+ {
+ clamp_move (CLAMP_BAY_SIDE_ENTER_LEAVE);
+ return FSM_NEXT (CLAMP_INIT_FINDING_TOP, clamp_elevation_success,
+ rest);
+ }
+ else
+ {
+ clamp_move (logistic_global.clamp_pos_idle);
+ return FSM_NEXT (CLAMP_INIT_FINDING_TOP, clamp_elevation_success,
+ demo);
+ }
+}
+
+FSM_TRANS (CLAMP_INIT_GOING_REST, clamp_move_success, CLAMP_INIT_READY)
+{
+ mimot_motor0_free ();
+ mimot_motor1_free ();
+ return FSM_NEXT (CLAMP_INIT_GOING_REST, clamp_move_success);
+}
+
+FSM_TRANS (CLAMP_INIT_READY, init_start_round, CLAMP_GOING_IDLE)
+{
+ pwm_set (BOT_PWM_DOOR_FRONT_BOTTOM, BOT_PWM_DOOR_INIT_START);
+ pwm_set (BOT_PWM_DOOR_FRONT_TOP, BOT_PWM_DOOR_INIT_START);
+ pwm_set (BOT_PWM_DOOR_BACK_BOTTOM, BOT_PWM_DOOR_INIT_START);
+ pwm_set (BOT_PWM_DOOR_BACK_TOP, BOT_PWM_DOOR_INIT_START);
+ clamp_move (logistic_global.clamp_pos_idle);
+ return FSM_NEXT (CLAMP_INIT_READY, init_start_round);
+}
+
+FSM_TRANS (CLAMP_GOING_IDLE, clamp_move_success, CLAMP_IDLE)
+{
+ ctx.working = 0;
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_done));
+ return FSM_NEXT (CLAMP_GOING_IDLE, clamp_move_success);
+}
+
+FSM_TRANS (CLAMP_GOING_IDLE, clamp_move_failure, CLAMP_BLOCKED)
+{
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_blocked));
+ return FSM_NEXT (CLAMP_GOING_IDLE, clamp_move_failure);
+}
+
+FSM_TRANS (CLAMP_IDLE, clamp_new_element, CLAMP_TAKING_DOOR_CLOSING)
+{
+ ctx.working = 1;
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_working));
+ pwm_set_timed (clamp_slot_door[ctx.pos_new],
+ BOT_PWM_DOOR_CLOSE (ctx.pos_new));
+ return FSM_NEXT (CLAMP_IDLE, clamp_new_element);
+}
+
+FSM_TRANS (CLAMP_IDLE, clamp_prepare,
+ move_element, CLAMP_MOVING_ELEMENT,
+ move_to_idle, CLAMP_GOING_IDLE,
+ clamp_locked, CLAMP_LOCKED,
+ done, CLAMP_IDLE)
+{
+ logistic_decision ();
+ switch (clamp_decision (0))
+ {
+ default:
+ case CLAMP_DECISION_MOVE_ELEMENT:
+ return FSM_NEXT (CLAMP_IDLE, clamp_prepare, move_element);
+ case CLAMP_DECISION_MOVE_TO_IDLE:
+ return FSM_NEXT (CLAMP_IDLE, clamp_prepare, move_to_idle);
+ case CLAMP_DECISION_CLAMP_LOCKED:
+ return FSM_NEXT (CLAMP_IDLE, clamp_prepare, clamp_locked);
+ case CLAMP_DECISION_DONE:
+ return FSM_NEXT (CLAMP_IDLE, clamp_prepare, done);
+ }
+}
+
+FSM_TRANS (CLAMP_IDLE, clamp_drop, CLAMP_DROPING_DOOR_OPENING)
+{
+ /* If going forward, drop at back. */
+ uint8_t bay = ctx.drop_direction == DIRECTION_FORWARD
+ ? CLAMP_SLOT_BACK_BOTTOM : CLAMP_SLOT_FRONT_BOTTOM;
+ pwm_set_timed (clamp_slot_door[bay + 0], BOT_PWM_DOOR_OPEN (bay + 0));
+ pwm_set_timed (clamp_slot_door[bay + 2], BOT_PWM_DOOR_OPEN (bay + 2));
+ return FSM_NEXT (CLAMP_IDLE, clamp_drop);
+}
+
+FSM_TRANS_TIMEOUT (CLAMP_TAKING_DOOR_CLOSING, BOT_PWM_DOOR_CLOSE_TIME,
+ move_element, CLAMP_MOVING_ELEMENT,
+ move_to_idle, CLAMP_GOING_IDLE,
+ clamp_locked, CLAMP_LOCKED,
+ done, CLAMP_IDLE)
+{
+ logistic_element_new (ctx.pos_new, ctx.new_element_type);
+ clamp_taken_pawn (ctx.new_element_type);
+ switch (clamp_decision (0))
+ {
+ default:
+ case CLAMP_DECISION_MOVE_ELEMENT:
+ return FSM_NEXT_TIMEOUT (CLAMP_TAKING_DOOR_CLOSING, move_element);
+ case CLAMP_DECISION_MOVE_TO_IDLE:
+ return FSM_NEXT_TIMEOUT (CLAMP_TAKING_DOOR_CLOSING, move_to_idle);
+ case CLAMP_DECISION_CLAMP_LOCKED:
+ return FSM_NEXT_TIMEOUT (CLAMP_TAKING_DOOR_CLOSING, clamp_locked);
+ case CLAMP_DECISION_DONE:
+ return FSM_NEXT_TIMEOUT (CLAMP_TAKING_DOOR_CLOSING, done);
+ }
+}
+
+FSM_TRANS (CLAMP_MOVING_ELEMENT, clamp_move_success,
+ move_element, CLAMP_MOVING_ELEMENT,
+ move_to_idle, CLAMP_GOING_IDLE,
+ clamp_locked, CLAMP_LOCKED,
+ done, CLAMP_IDLE)
+{
+ logistic_element_move_done ();
+ switch (clamp_decision (0))
+ {
+ default:
+ case CLAMP_DECISION_MOVE_ELEMENT:
+ return FSM_NEXT (CLAMP_MOVING_ELEMENT, clamp_move_success,
+ move_element);
+ case CLAMP_DECISION_MOVE_TO_IDLE:
+ return FSM_NEXT (CLAMP_MOVING_ELEMENT, clamp_move_success,
+ move_to_idle);
+ case CLAMP_DECISION_CLAMP_LOCKED:
+ return FSM_NEXT (CLAMP_MOVING_ELEMENT, clamp_move_success,
+ clamp_locked);
+ case CLAMP_DECISION_DONE:
+ return FSM_NEXT (CLAMP_MOVING_ELEMENT, clamp_move_success,
+ done);
+ }
+}
+
+FSM_TRANS (CLAMP_MOVING_ELEMENT, clamp_move_failure, CLAMP_BLOCKED)
+{
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_blocked));
+ return FSM_NEXT (CLAMP_MOVING_ELEMENT, clamp_move_failure);
+}
+
+FSM_TRANS_TIMEOUT (CLAMP_DROPING_DOOR_OPENING, BOT_PWM_CLAMP_OPEN_TIME,
+ CLAMP_DROPING_WAITING_ROBOT)
+{
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_drop_waiting));
+ return FSM_NEXT_TIMEOUT (CLAMP_DROPING_DOOR_OPENING);
+}
+
+FSM_TRANS (CLAMP_DROPING_WAITING_ROBOT, clamp_drop_clear,
+ move_element, CLAMP_MOVING_ELEMENT,
+ move_to_idle, CLAMP_GOING_IDLE,
+ clamp_locked, CLAMP_LOCKED,
+ done, CLAMP_IDLE)
+{
+ logistic_drop (ctx.drop_direction);
+ switch (clamp_decision (0))
+ {
+ default:
+ case CLAMP_DECISION_MOVE_ELEMENT:
+ return FSM_NEXT (CLAMP_DROPING_WAITING_ROBOT, clamp_drop_clear,
+ move_element);
+ case CLAMP_DECISION_MOVE_TO_IDLE:
+ return FSM_NEXT (CLAMP_DROPING_WAITING_ROBOT, clamp_drop_clear,
+ move_to_idle);
+ case CLAMP_DECISION_CLAMP_LOCKED:
+ return FSM_NEXT (CLAMP_DROPING_WAITING_ROBOT, clamp_drop_clear,
+ clamp_locked);
+ case CLAMP_DECISION_DONE:
+ return FSM_NEXT (CLAMP_DROPING_WAITING_ROBOT, clamp_drop_clear,
+ done);
+ }
+}
+
+FSM_TRANS (CLAMP_LOCKED, clamp_new_element, CLAMP_LOCKED)
+{
+ pwm_set_timed (clamp_slot_door[ctx.pos_new],
+ BOT_PWM_DOOR_CLOSE (ctx.pos_new));
+ logistic_element_new (ctx.pos_new, ctx.new_element_type);
+ clamp_taken_pawn (ctx.new_element_type);
+ return FSM_NEXT (CLAMP_LOCKED, clamp_new_element);
+}
+
+FSM_TRANS (CLAMP_LOCKED, clamp_drop, CLAMP_DROPING_DOOR_OPENING)
+{
+ /* If going forward, drop at back. */
+ uint8_t bay = ctx.drop_direction == DIRECTION_FORWARD
+ ? CLAMP_SLOT_BACK_BOTTOM : CLAMP_SLOT_FRONT_BOTTOM;
+ pwm_set_timed (clamp_slot_door[bay + 0], BOT_PWM_DOOR_OPEN (bay + 0));
+ pwm_set_timed (clamp_slot_door[bay + 2], BOT_PWM_DOOR_OPEN (bay + 2));
+ return FSM_NEXT (CLAMP_LOCKED, clamp_drop);
+}
+
+FSM_TRANS (CLAMP_BLOCKED, clamp_prepare,
+ move_to_idle, CLAMP_GOING_IDLE,
+ clamp_locked, CLAMP_LOCKED,
+ done, CLAMP_IDLE)
+{
+ switch (clamp_decision (1))
+ {
+ default:
+ case CLAMP_DECISION_MOVE_TO_IDLE:
+ return FSM_NEXT (CLAMP_BLOCKED, clamp_prepare, move_to_idle);
+ case CLAMP_DECISION_CLAMP_LOCKED:
+ return FSM_NEXT (CLAMP_BLOCKED, clamp_prepare, clamp_locked);
+ case CLAMP_DECISION_DONE:
+ return FSM_NEXT (CLAMP_BLOCKED, clamp_prepare, done);
+ }
+}
+
+/* CLAMP_MOVE FSM */
+
+FSM_TRANS (CLAMP_MOVE_IDLE, clamp_move,
+ move, CLAMP_MOVE_ROUTING,
+ move_element, CLAMP_MOVE_SRC_ROUTING,
+ move_element_here, CLAMP_MOVE_SRC_CLAMP_CLOSING)
+{
+ if (ctx.moving_to == CLAMP_POS_NB)
+ {
+ clamp_route ();
+ return FSM_NEXT (CLAMP_MOVE_IDLE, clamp_move, move);
+ }
+ else
+ {
+ if (ctx.pos_current != ctx.pos_request)
+ {
+ clamp_route ();
+ return FSM_NEXT (CLAMP_MOVE_IDLE, clamp_move, move_element);
+ }
+ else
+ {
+ clamp_openclose (0);
+ return FSM_NEXT (CLAMP_MOVE_IDLE, clamp_move, move_element_here);
+ }
+ }
+}
+
+FSM_TRANS (CLAMP_MOVE_ROUTING, clamp_elevation_rotation_success,
+ done, CLAMP_MOVE_IDLE,
+ next, CLAMP_MOVE_ROUTING)
{
if (ctx.pos_current == ctx.pos_request)
{
- return FSM_NEXT (CLAMP_ROUTING, clamp_elevation_rotation_success,
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_move_success));
+ return FSM_NEXT (CLAMP_MOVE_ROUTING, clamp_elevation_rotation_success,
done);
}
else
{
clamp_route ();
- return FSM_NEXT (CLAMP_ROUTING, clamp_elevation_rotation_success,
+ return FSM_NEXT (CLAMP_MOVE_ROUTING, clamp_elevation_rotation_success,
next);
}
}
+FSM_TRANS (CLAMP_MOVE_ROUTING, clamp_elevation_or_rotation_failure,
+ CLAMP_MOVE_IDLE)
+{
+ clamp_blocked ();
+ return FSM_NEXT (CLAMP_MOVE_ROUTING, clamp_elevation_or_rotation_failure);
+}
+
+FSM_TRANS (CLAMP_MOVE_SRC_ROUTING, clamp_elevation_rotation_success,
+ cancel, CLAMP_MOVE_IDLE,
+ done, CLAMP_MOVE_SRC_CLAMP_CLOSING,
+ next, CLAMP_MOVE_SRC_ROUTING)
+{
+ if (clamp_tower_check ())
+ {
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_move_success));
+ return FSM_NEXT (CLAMP_MOVE_SRC_ROUTING, clamp_elevation_rotation_success,
+ cancel);
+ }
+ else if (ctx.pos_current == ctx.pos_request)
+ {
+ clamp_openclose (0);
+ return FSM_NEXT (CLAMP_MOVE_SRC_ROUTING,
+ clamp_elevation_rotation_success, done);
+ }
+ else
+ {
+ clamp_route ();
+ return FSM_NEXT (CLAMP_MOVE_SRC_ROUTING,
+ clamp_elevation_rotation_success, next);
+ }
+}
+
+FSM_TRANS (CLAMP_MOVE_SRC_ROUTING, clamp_elevation_or_rotation_failure,
+ CLAMP_MOVE_IDLE)
+{
+ clamp_blocked ();
+ return FSM_NEXT (CLAMP_MOVE_SRC_ROUTING,
+ clamp_elevation_or_rotation_failure);
+}
+
+FSM_TRANS_TIMEOUT (CLAMP_MOVE_SRC_CLAMP_CLOSING, BOT_PWM_CLAMP_CLOSE_TIME,
+ open_door, CLAMP_MOVE_SRC_DOOR_OPENDING,
+ move, CLAMP_MOVE_DST_ROUTING)
+{
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_taken));
+ if (clamp_slot_door[ctx.pos_current] != 0xff)
+ {
+ pwm_set_timed (clamp_slot_door[ctx.pos_current],
+ BOT_PWM_DOOR_OPEN (ctx.pos_current));
+ return FSM_NEXT_TIMEOUT (CLAMP_MOVE_SRC_CLAMP_CLOSING, open_door);
+ }
+ else
+ {
+ ctx.pos_request = ctx.moving_to;
+ clamp_route ();
+ return FSM_NEXT_TIMEOUT (CLAMP_MOVE_SRC_CLAMP_CLOSING, move);
+ }
+}
+
+FSM_TRANS_TIMEOUT (CLAMP_MOVE_SRC_DOOR_OPENDING, BOT_PWM_DOOR_OPEN_TIME,
+ CLAMP_MOVE_DST_ROUTING)
+{
+ ctx.pos_request = ctx.moving_to;
+ clamp_route ();
+ return FSM_NEXT_TIMEOUT (CLAMP_MOVE_SRC_DOOR_OPENDING);
+}
+
+FSM_TRANS (CLAMP_MOVE_DST_ROUTING, clamp_elevation_rotation_success,
+ done_close_door, CLAMP_MOVE_DST_DOOR_CLOSING,
+ done_open_clamp, CLAMP_MOVE_DST_CLAMP_OPENING,
+ next, CLAMP_MOVE_DST_ROUTING)
+{
+ clamp_head_check ();
+ if (ctx.pos_current == ctx.pos_request)
+ {
+ if (clamp_slot_door[ctx.pos_current] != 0xff)
+ {
+ pwm_set_timed (clamp_slot_door[ctx.pos_current],
+ BOT_PWM_DOOR_CLOSE (ctx.pos_current));
+ return FSM_NEXT (CLAMP_MOVE_DST_ROUTING,
+ clamp_elevation_rotation_success,
+ done_close_door);
+ }
+ else
+ {
+ clamp_openclose (1);
+ return FSM_NEXT (CLAMP_MOVE_DST_ROUTING,
+ clamp_elevation_rotation_success,
+ done_open_clamp);
+ }
+ }
+ else
+ {
+ clamp_route ();
+ return FSM_NEXT (CLAMP_MOVE_DST_ROUTING,
+ clamp_elevation_rotation_success, next);
+ }
+}
+
+FSM_TRANS (CLAMP_MOVE_DST_ROUTING, clamp_elevation_or_rotation_failure,
+ CLAMP_MOVE_IDLE)
+{
+ clamp_blocked ();
+ return FSM_NEXT (CLAMP_MOVE_DST_ROUTING,
+ clamp_elevation_or_rotation_failure);
+}
+
+FSM_TRANS_TIMEOUT (CLAMP_MOVE_DST_DOOR_CLOSING, BOT_PWM_DOOR_CLOSE_TIME,
+ CLAMP_MOVE_DST_CLAMP_OPENING)
+{
+ clamp_openclose (1);
+ return FSM_NEXT_TIMEOUT (CLAMP_MOVE_DST_DOOR_CLOSING);
+}
+
+FSM_TRANS_TIMEOUT (CLAMP_MOVE_DST_CLAMP_OPENING, BOT_PWM_CLAMP_OPEN_TIME,
+ CLAMP_MOVE_IDLE)
+{
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_move_success));
+ return FSM_NEXT_TIMEOUT (CLAMP_MOVE_DST_CLAMP_OPENING);
+}
+
diff --git a/digital/io-hub/src/robospierre/clamp.h b/digital/io-hub/src/robospierre/clamp.h
index 104e3cb8..76dcc34b 100644
--- a/digital/io-hub/src/robospierre/clamp.h
+++ b/digital/io-hub/src/robospierre/clamp.h
@@ -36,10 +36,20 @@ enum {
CLAMP_SLOT_SIDE,
/** Leave the front bay, ready to enter side tunnel. */
CLAMP_BAY_FRONT_LEAVE,
+ /** Leaving the front bay, entered the side tunnel. When at midway point,
+ * go directly to the next position. */
+ CLAMP_BAY_FRONT_LEAVING,
/** Leave the back bay, ready to enter side tunnel. */
CLAMP_BAY_BACK_LEAVE,
- /* Enter the side bay. Position on the side, above wheels. */
+ /** Leaving the back bay, entered the side tunnel. When at midway point,
+ * go directly to the next position. */
+ CLAMP_BAY_BACK_LEAVING,
+ /** Enter the side bay. Position on the side, above wheels. */
CLAMP_BAY_SIDE_ENTER_LEAVE,
+ /** Total number of position, including intermediary positions. */
+ CLAMP_POS_NB,
+ /** Number of slots. */
+ CLAMP_SLOT_NB = CLAMP_SLOT_SIDE + 1,
};
/** Is slot in front bay? */
@@ -50,8 +60,46 @@ enum {
#define CLAMP_IS_SLOT_IN_BACK_BAY(slot) \
((slot) >= CLAMP_SLOT_BACK_BOTTOM && (slot) <= CLAMP_SLOT_BACK_TOP)
+/** Initialise clamp module. */
+void
+clamp_init (void);
+
+/** Is clamp working? */
+uint8_t
+clamp_working (void);
+
/** Move clamp to given position. */
void
clamp_move (uint8_t pos);
+/** Move element using clamp. */
+void
+clamp_move_element (uint8_t from, uint8_t to);
+
+/** Simulate the presence of a new element. */
+void
+clamp_new_element (uint8_t pos, uint8_t element_type);
+
+/** Change logisitic preparation level and update clamp state. */
+void
+clamp_prepare (uint8_t prepare);
+
+/** Drop an element tower. Return 0 if not currently possible. If
+ * drop_direction is forward, drop at the back. */
+uint8_t
+clamp_drop (uint8_t drop_direction);
+
+/** Signal robot advanced, and drop is finished. */
+void
+clamp_drop_clear (void);
+
+/** Open/close door (pos = slot) or clamp (pos = 0xff). */
+void
+clamp_door (uint8_t pos, uint8_t open);
+
+/** Examine sensors to generate new events, return non zero if an event was
+ * generated. */
+uint8_t
+clamp_handle_event (void);
+
#endif /* clamp_h */
diff --git a/digital/io-hub/src/robospierre/codebar.avr.c b/digital/io-hub/src/robospierre/codebar.avr.c
new file mode 100644
index 00000000..fcddb079
--- /dev/null
+++ b/digital/io-hub/src/robospierre/codebar.avr.c
@@ -0,0 +1,64 @@
+/* codebar.avr.c */
+/* 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 "common.h"
+#include "codebar.h"
+
+#include "defs.h"
+
+#include "modules/twi/twi.h"
+#include "modules/utils/utils.h"
+#include "modules/utils/crc.h"
+#include "modules/utils/byte.h"
+
+#define CODEBAR_ADDRESS 0x20
+#define CODEBAR_STATUS_LENGTH 7
+
+void
+codebar_init (void)
+{
+}
+
+uint8_t
+codebar_get (uint8_t direction)
+{
+ uint8_t buffer[CODEBAR_STATUS_LENGTH];
+ /* Read status. */
+ twi_master_recv (CODEBAR_ADDRESS, buffer, sizeof (buffer));
+ uint8_t ret = twi_master_wait ();
+ if (ret != CODEBAR_STATUS_LENGTH)
+ return 0;
+ uint8_t crc = crc_compute (buffer + 1, CODEBAR_STATUS_LENGTH - 1);
+ if (crc != buffer[0])
+ return 0;
+ /* Get data. */
+ uint8_t offset = direction == DIRECTION_FORWARD ? 1 : 4;
+ uint16_t age = v8_to_v16 (buffer[offset], buffer[offset + 1]);
+ uint16_t type = buffer[offset + 2];
+ if (age > 3 * 250)
+ return 0;
+ else
+ return type;
+}
+
diff --git a/digital/io-hub/src/robospierre/codebar.h b/digital/io-hub/src/robospierre/codebar.h
new file mode 100644
index 00000000..d334f131
--- /dev/null
+++ b/digital/io-hub/src/robospierre/codebar.h
@@ -0,0 +1,36 @@
+#ifndef codebar_h
+#define codebar_h
+/* codebar.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.
+ *
+ * }}} */
+
+/** Initialise module. */
+void
+codebar_init (void);
+
+/** Get element type on the specified direction. */
+uint8_t
+codebar_get (uint8_t direction);
+
+#endif /* codebar_h */
diff --git a/digital/io-hub/src/robospierre/codebar.host.c b/digital/io-hub/src/robospierre/codebar.host.c
new file mode 100644
index 00000000..68ced300
--- /dev/null
+++ b/digital/io-hub/src/robospierre/codebar.host.c
@@ -0,0 +1,56 @@
+/* codebar.host.c */
+/* 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 "common.h"
+#include "codebar.h"
+#include "defs.h"
+
+#include "modules/host/host.h"
+#include "modules/host/mex.h"
+
+uint8_t codebar_front, codebar_back;
+
+static void
+codebar_handle (void *user, mex_msg_t *msg)
+{
+ mex_msg_pop (msg, "BB", &codebar_front, &codebar_back);
+}
+
+void
+codebar_init (void)
+{
+ const char *mex_instance = host_get_instance ("io-hub0", 0);
+ uint8_t mtype = mex_node_reservef ("%s:codebar", mex_instance);
+ mex_node_register (mtype, codebar_handle, 0);
+}
+
+uint8_t
+codebar_get (uint8_t direction)
+{
+ if (direction == DIRECTION_FORWARD)
+ return codebar_front;
+ else
+ return codebar_back;
+}
+
diff --git a/digital/io-hub/src/robospierre/contact_defs.h b/digital/io-hub/src/robospierre/contact_defs.h
index 55b34354..132ec050 100644
--- a/digital/io-hub/src/robospierre/contact_defs.h
+++ b/digital/io-hub/src/robospierre/contact_defs.h
@@ -25,13 +25,25 @@
*
* }}} */
-#define CONTACT_COLOR A, 7
-#define CONTACT_JACK F, 7
-#define CONTACT_EX1 E, 0
-#define CONTACT_EX2 E, 1
+#define CONTACT_COLOR E, 3
+#define CONTACT_JACK E, 5
+#define CONTACT_STRAT E, 1
+#define CONTACT_FRONT_BOTTOM A, 4
+#define CONTACT_FRONT_MIDDLE F, 4
+#define CONTACT_BACK_BOTTOM A, 5
+#define CONTACT_BACK_MIDDLE F, 5
+#define CONTACT_FRONT_TOP A, 6
+#define CONTACT_BACK_TOP F, 6
+#define CONTACT_SIDE E, 7
#define CONTACT_LIST \
- CONTACT (CONTACT_EX1) \
- CONTACT (CONTACT_EX2)
+ CONTACT (CONTACT_FRONT_BOTTOM) \
+ CONTACT (CONTACT_FRONT_MIDDLE) \
+ CONTACT (CONTACT_FRONT_TOP) \
+ CONTACT (CONTACT_BACK_BOTTOM) \
+ CONTACT (CONTACT_BACK_MIDDLE) \
+ CONTACT (CONTACT_BACK_TOP) \
+ CONTACT (CONTACT_SIDE) \
+ CONTACT (CONTACT_STRAT)
#endif /* contact_defs_h */
diff --git a/digital/io-hub/src/robospierre/element.c b/digital/io-hub/src/robospierre/element.c
new file mode 100644
index 00000000..881e1be6
--- /dev/null
+++ b/digital/io-hub/src/robospierre/element.c
@@ -0,0 +1,828 @@
+/* element.c */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2011 Jérôme Jutteau
+ *
+ * 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 "common.h"
+#include "element.h"
+
+#include "modules/utils/utils.h"
+#include "modules/math/geometry/distance.h"
+#include "modules/math/geometry/geometry.h"
+
+#include "chrono.h"
+#include "logistic.h"
+#include "bot.h"
+#include "playground.h"
+
+/** Offset to be used when everything fail. */
+static uint8_t failure_offset_s;
+
+/** Elements on table. */
+struct element_t element_table[] =
+{
+ /*
+ 20 elements on intersections.
+ To be symmetric, alternate % 2.
+ See ELEMENT_INTERSEC_START and ELEMENT_INTERSEC_END
+ ELEMENT_INTERSEC_END don't takes central pawn.
+ */
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 5 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0, 0}, /* top left */
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 5 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0, 0}, /* top right */
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 5 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0, 0}, /* middle left */
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 5 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0, 0}, /* middle right */
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 4 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0, 0}, /* 2nd line left */
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 4 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0, 0},
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 4 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0, 0},
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 4 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0, 0},
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0, 0}, /* 3th line left */
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0, 0},
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0, 0},
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0, 0},
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 2 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0, 0}, /* 4th line left */
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 2 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0, 0},
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 2 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0, 0},
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 2 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0, 0},
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 1 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 0, 0, 0}, /* 5th line left */
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 1 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 1 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, -30, 0, 0},
+ {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 1 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, -30, 0, 0},
+
+ /* Central pawn. (see ELEMENT_CENTRAL_PAWN) */
+ {ELEMENT_PAWN, {1500, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_CENTER, 30, 0, 0},
+
+ /*
+ 10 elements on green zones.
+ To be symmetric, alternate % 2.
+ See ELEMENT_GREEN_START and ELEMENT_GREEN_END
+ */
+ {ELEMENT_ANY, {200, 10 + 280 * 5}, ELEMENT_GREEN |ELEMENT_LEFT, 110, 0, 0}, /* top left */
+ {ELEMENT_ANY, {3000 - 200, 10 + 280 * 5}, ELEMENT_GREEN | ELEMENT_RIGHT, 110, 0, 0}, /* top right */
+ {ELEMENT_ANY, {200, 10 + 280 * 4}, ELEMENT_GREEN |ELEMENT_LEFT, 100, 0, 0}, /* 2nd line left */
+ {ELEMENT_ANY, {3000 - 200, 10 + 280 * 4}, ELEMENT_GREEN | ELEMENT_RIGHT, 100, 0, 0}, /* 2nd line right */
+ {ELEMENT_ANY, {200, 10 + 280 * 3}, ELEMENT_GREEN |ELEMENT_LEFT, 110, 0, 0}, /* ... */
+ {ELEMENT_ANY, {3000 - 200, 10 + 280 * 3}, ELEMENT_GREEN | ELEMENT_RIGHT, 110, 0, 0},
+ {ELEMENT_ANY, {200, 10 + 280 * 2}, ELEMENT_GREEN |ELEMENT_LEFT, 100, 0, 0},
+ {ELEMENT_ANY, {3000 - 200, 10 + 280 * 2}, ELEMENT_GREEN | ELEMENT_RIGHT, 100, 0, 0},
+ {ELEMENT_ANY, {200, 10 + 280 * 1}, ELEMENT_GREEN |ELEMENT_LEFT, -100, 0, 0},
+ {ELEMENT_ANY, {3000 - 200, 10 + 280 * 1}, ELEMENT_GREEN | ELEMENT_RIGHT, -100, 0, 0},
+
+ /*
+ 36 elements in the middle of a square.
+ Altern colors in order to retrieve position % 2.
+ See ELEMENT_UNLOAD_START and ELEMENT_UNLOAD_END
+ */
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0, 0}, /* Top left blue */
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 10, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 10, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0, 0}, /* 2nd line left red */
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT | ELEMENT_BONUS, 0, 10, 0}, /* bonus */
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT | ELEMENT_BONUS, 0, 10, 0}, /* bonus */
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0, 0}, /* 3th line left blue */
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0, 0}, /* 4th line left red */
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT | ELEMENT_BONUS, 0, 4, 0}, /* bonus */
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT | ELEMENT_BONUS, 0, 4, 0}, /* bonus */
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0, 0}, /* 5th line left blue */
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0, 0},
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0, 0},
+ {ELEMENT_NONE, {1500 - 2 * 350 - 175, 175}, ELEMENT_CENTER | ELEMENT_SAFE | ELEMENT_LEFT, 0, -100, 0}, /* left red */
+ {ELEMENT_NONE, {1500 - 1 * 350 - 175, 175}, ELEMENT_CENTER | ELEMENT_SAFE | ELEMENT_RIGHT, 0, -100, 0}, /* left blue */
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 - 175, 175}, ELEMENT_CENTER | ELEMENT_LEFT | ELEMENT_BONUS, 0, 9, 0}, /* middle bonus left, red. */
+ {ELEMENT_NONE | ELEMENT_ANY, {1500 + 175, 175}, ELEMENT_CENTER | ELEMENT_RIGHT | ELEMENT_BONUS, 0, 9, 0}, /* middle bonus right, blue. */
+ {ELEMENT_NONE, {1500 + 1 * 350 + 175, 175}, ELEMENT_CENTER | ELEMENT_SAFE | ELEMENT_LEFT, 0, -100, 0}, /* right red */
+ {ELEMENT_NONE, {1500 + 2 * 350 + 175, 175}, ELEMENT_CENTER | ELEMENT_SAFE | ELEMENT_RIGHT, 0, -100, 0} /* right blue */
+};
+
+inline void
+element_set (uint8_t element_id, element_t element)
+{
+ assert (element_id < UTILS_COUNT (element_table));
+ element_table[element_id] = element;
+}
+
+void
+element_init ()
+{
+ /* Set NONE in middle of our squares and keep ELEMENT_NONE | ELEMENT_ANY
+ in others square middle. */
+ uint8_t i;
+ element_t e;
+ for (i = ELEMENT_UNLOAD_START; i <= ELEMENT_UNLOAD_END; i++)
+ {
+ e = element_get (i);
+ if ((team_color == TEAM_COLOR_LEFT &&
+ (e.attr & ELEMENT_LEFT)) ||
+ (team_color == TEAM_COLOR_RIGHT &&
+ (e.attr & ELEMENT_RIGHT)))
+ {
+ e.type = ELEMENT_NONE;
+ element_set (i, e);
+ }
+ }
+
+ /* Negative bonus for the other green zone at start. */
+ /* Do not touch last green emplacement. */
+ for (i = ELEMENT_GREEN_START; i <= ELEMENT_GREEN_END - 2; i++)
+ {
+ element_t e = element_get (i);
+ if (!((team_color == TEAM_COLOR_LEFT && (e.attr & ELEMENT_LEFT)) ||
+ (team_color == TEAM_COLOR_RIGHT && (e.attr & ELEMENT_RIGHT))))
+ {
+ if (e.bonus_load > 0)
+ {
+ e.bonus_load *= -1;
+ element_set (i, e);
+ }
+ }
+ }
+}
+
+int32_t
+element_unload_score (position_t robot_pos, uint8_t element_id)
+{
+ int32_t score = 0;
+ assert (element_id < UTILS_COUNT (element_table));
+ element_t e = element_get (element_id);
+
+ /* If it is not an unload zone, quit. */
+ if (!((e.attr & ELEMENT_CENTER) || (e.attr & ELEMENT_INTERSEC)))
+ return -1;
+
+ /* Unload color. */
+ if (!(
+ (e.attr & ELEMENT_CENTER) &&
+ ((team_color == TEAM_COLOR_LEFT && (e.attr & ELEMENT_LEFT))
+ ||(team_color == TEAM_COLOR_RIGHT && (e.attr & ELEMENT_RIGHT)))
+ ))
+ return -1;
+
+ /* If there is already something here, do not score. */
+ if (e.type != ELEMENT_NONE)
+ return -1;
+
+ /* Failed element. */
+ if (e.failure_until_s
+ && e.failure_until_s + failure_offset_s < (int) (chrono_remaining_time () / 1000))
+ return -1;
+
+ /* Bonus adjust. */
+ score += e.bonus_unload * ELEMENT_BONUS_COEFF;
+
+ /* Unload distance. */
+ /* TODO: minimal distance may not be the best choice. */
+ vect_t v = e.pos;
+ int32_t dr = distance_point_point (&v, &robot_pos.v);
+ score += 4242 - dr;
+
+ /* Alignment with the robot. */
+ if (dr > 100)
+ {
+ vect_t vr = v;
+ vect_sub (&vr, &robot_pos.v);
+ vect_t u;
+ uint16_t a;
+ if (logistic_global.collect_direction == DIRECTION_FORWARD)
+ a = robot_pos.a;
+ else
+ a = robot_pos.a + G_ANGLE_UF016_DEG (180);
+ vect_from_polar_uf016 (&u, 100, a);
+ int32_t dp = vect_dot_product (&u, &vr);
+ int32_t align = dp / dr;
+ score += align;
+ }
+
+ return score;
+}
+
+uint8_t
+element_unload_best (position_t robot_pos)
+{
+ uint8_t i;
+ uint8_t best = 0xff;
+ int32_t score, best_score = 0;
+ uint8_t retry = 0;
+ do
+ {
+ if (retry && failure_offset_s != 255)
+ failure_offset_s++;
+ for (i = ELEMENT_UNLOAD_START;
+ i <= ELEMENT_UNLOAD_END;
+ i++)
+ {
+ score = element_unload_score (robot_pos , i);
+ if (best == 0xff || best_score < score)
+ {
+ best = i;
+ best_score = score;
+ }
+ }
+ } while (best_score == -1 && retry++ < 10);
+ return best;
+}
+
+int32_t
+element_score (position_t robot_pos, uint8_t element_id)
+{
+ int32_t score = 0;
+ assert (element_id < UTILS_COUNT (element_table));
+ element_t e = element_get (element_id);
+
+ if (e.attr & ELEMENT_SAFE)
+ return -1;
+
+ if ((e.attr & ELEMENT_CENTER) &&
+ ((team_color == TEAM_COLOR_LEFT && (e.attr & ELEMENT_LEFT)) ||
+ (team_color == TEAM_COLOR_RIGHT && (e.attr & ELEMENT_RIGHT))))
+ return -1;
+
+ if (e.type == ELEMENT_NONE &&
+ ((e.attr & ELEMENT_INTERSEC) ||(e.attr & ELEMENT_GREEN)))
+ return -1;
+
+ /* Failed element. */
+ if (e.failure_until_s
+ && e.failure_until_s + failure_offset_s < (int) (chrono_remaining_time () / 1000))
+ return -1;
+
+ if (e.type == ELEMENT_KING)
+ score += ELEMENT_KING_SCORE;
+ else if (e.type == ELEMENT_QUEEN)
+ score += ELEMENT_QUEEN_SCORE;
+ else if (e.type == ELEMENT_PAWN)
+ score += ELEMENT_PAWN;
+ else if (e.type == ELEMENT_ANY)
+ score += ELEMENT_ANY_SCORE;
+ if (e.type & ELEMENT_NONE)
+ score /= 2;
+
+ /* Add score modifier. */
+ score += e.bonus_load * ELEMENT_BONUS_COEFF;
+
+ /* We are sure of this element. */
+ if (!(e.type & ELEMENT_NONE) &&
+ (e.attr == ELEMENT_INTERSEC || e.attr == ELEMENT_CENTER) &&
+ element_id != ELEMENT_CENTRAL_PAWN)
+ score += score / 4;
+
+ /* Distance from the robot. */
+ vect_t v = e.pos;
+ int32_t dr = distance_point_point (&v, &robot_pos.v);
+ score += (4242 - dr);
+
+ /* Alignment with the robot. */
+ if (dr > 100)
+ {
+ vect_t vr = v;
+ vect_sub (&vr, &robot_pos.v);
+ vect_t u;
+ uint16_t a;
+ if (logistic_global.collect_direction == DIRECTION_FORWARD)
+ a = robot_pos.a;
+ else
+ a = robot_pos.a + G_ANGLE_UF016_DEG (180);
+ vect_from_polar_uf016 (&u, 100, a);
+ int32_t dp = vect_dot_product (&u, &vr);
+ int32_t align = dp / dr;
+ score += align;
+ }
+
+ return score;
+}
+
+uint32_t
+element_proba (uint8_t element_id)
+{
+ assert (element_id < UTILS_COUNT (element_table));
+ element_t e = element_get (element_id);
+ uint32_t p_t = chrono_remaining_time () * 500 / CHRONO_MATCH_DURATION_MS;
+ uint8_t p_pos;
+ int32_t out = 0;
+
+ /* Intersections. */
+ if (e.attr & ELEMENT_INTERSEC)
+ {
+ /* Element on our side ? */
+ if ((team_color == TEAM_COLOR_LEFT && (e.attr & ELEMENT_LEFT)) ||
+ (team_color == TEAM_COLOR_RIGHT && (e.attr & ELEMENT_RIGHT)))
+ {
+ p_pos = 20 - element_id / 2;
+ out = p_pos * p_t;
+ }
+ /* Element on the other side ? */
+ else
+ {
+ p_pos = element_id / 2 + 1;
+ out = p_pos * p_t;
+ }
+ }
+ /* Green zone. */
+ else if (e.attr & ELEMENT_GREEN)
+ {
+ /* In our side. */
+ if ((team_color == TEAM_COLOR_LEFT && (e.attr & ELEMENT_LEFT)) ||
+ (team_color == TEAM_COLOR_RIGHT && (e.attr & ELEMENT_RIGHT)))
+ {
+ p_pos = 5 - ((element_id - ELEMENT_GREEN_START) / 2);
+ out = p_t * p_pos;
+
+ }
+ /* Other side. */
+ else
+ {
+ p_pos = (element_id - ELEMENT_GREEN_START) / 2 + 1;
+ out = p_t * p_pos;
+ }
+
+ }
+ /* Central pawn */
+ else if (e.type == ELEMENT_CENTRAL_PAWN)
+ out = p_t;
+ /* Centre of squares. */
+ else if (e.attr & ELEMENT_CENTER)
+ {
+ /* In our side. */
+ if ((team_color == TEAM_COLOR_LEFT && (e.attr & ELEMENT_LEFT)) ||
+ (team_color == TEAM_COLOR_RIGHT && (e.attr & ELEMENT_RIGHT)))
+ out = 0;
+ /* Other side. */
+ else
+ {
+ p_pos = (element_id - ELEMENT_UNLOAD_START) / 2 + 1;
+ out = (1000 - p_t) * p_pos;
+ }
+
+ }
+ else
+ out = 0;
+ return out;
+}
+
+uint8_t
+element_best (position_t robot_pos)
+{
+ uint8_t i;
+ uint8_t best = 0xff;
+ int32_t score = 0, best_score = 0;
+ uint8_t retry = 0;
+ do
+ {
+ if (retry && failure_offset_s != 255)
+ failure_offset_s++;
+ for (i = 0; i < UTILS_COUNT (element_table); i++)
+ {
+ score = element_score (robot_pos ,i);
+ if (best == 0xff || best_score < score)
+ {
+ best = i;
+ best_score = score;
+ }
+ }
+ } while (best_score == -1 && retry++ < 10);
+ return best;
+}
+
+void
+element_not_here (uint8_t element_id)
+{
+ assert (element_id < UTILS_COUNT (element_table));
+ element_t e = element_get (element_id);
+ e.type = ELEMENT_NONE;
+ element_set (element_id, e);
+
+ /* Invalidate the same element to the other side. */
+ if (e.attr & ELEMENT_INTERSEC)
+ {
+ uint8_t other_side_id = element_opposed (element_id);
+ element_t other_side = element_get (other_side_id);
+ other_side.type = ELEMENT_NONE;
+ element_set (other_side_id, other_side);
+ }
+
+ /* If the element is on an intersection, try to guess last elements. */
+ element_intersec_symetric (element_id, ELEMENT_NONE);
+}
+
+inline void
+element_intersec_symetric (uint8_t element_id, uint8_t element_type)
+{
+ static uint8_t element_columns[2][5] =
+ {
+ {
+ ELEMENT_NONE | ELEMENT_PAWN,
+ ELEMENT_NONE | ELEMENT_PAWN,
+ ELEMENT_NONE | ELEMENT_PAWN,
+ ELEMENT_NONE | ELEMENT_PAWN,
+ ELEMENT_NONE | ELEMENT_PAWN
+ },
+ {
+ ELEMENT_NONE | ELEMENT_PAWN,
+ ELEMENT_NONE | ELEMENT_PAWN,
+ ELEMENT_NONE | ELEMENT_PAWN,
+ ELEMENT_NONE | ELEMENT_PAWN,
+ ELEMENT_NONE | ELEMENT_PAWN
+ }
+ };
+ element_t e = element_get (element_id);
+
+ /* if the element is on an intersection, try to guess last elements. */
+ if ((e.attr & ELEMENT_INTERSEC) && !(e.attr & ELEMENT_CENTER))
+ {
+ uint8_t cpt_none = 0;
+ uint8_t cpt_pawn = 0;
+ uint8_t col;
+ uint8_t i;
+ uint8_t type = 0;
+
+ if (element_id % 4 <= 1)
+ col = 0;
+ else
+ col = 1;
+
+ /* Nothing to see. */
+ if (element_columns[col][4] != (ELEMENT_NONE | ELEMENT_PAWN))
+ return;
+
+ /* Count. */
+ for (i = 0; i < 5; i++)
+ {
+ if (element_columns[col][i] == ELEMENT_PAWN || element_type == ELEMENT_PAWN)
+ cpt_pawn++;
+ if (element_columns[col][i] == ELEMENT_NONE || element_type == ELEMENT_NONE)
+ cpt_none++;
+ if (element_columns[col][i] == (ELEMENT_NONE | ELEMENT_PAWN))
+ {
+ element_columns[col][i] = element_type;
+ break;
+ }
+ }
+
+ /* With which element are we going to fill the rest ? */
+ if (cpt_pawn == 2)
+ type = ELEMENT_NONE;
+ else if (cpt_none == 3)
+ type = ELEMENT_PAWN;
+ else
+ return;
+
+ for (i = 0; i < 5; i++)
+ if (element_columns[col][i] == (ELEMENT_NONE | ELEMENT_PAWN))
+ element_columns[col][i] = type;
+
+ /* Complete if possible. */
+ for (i = ELEMENT_INTERSEC_START; i < ELEMENT_INTERSEC_END; i++)
+ {
+ uint8_t col_i;
+ if (i % 4 <= 1)
+ col_i = 0;
+ else
+ col_i = 1;
+ if (col_i == col)
+ {
+ element_t el = element_get (i);
+ element_t sym = element_get (element_opposed (i));
+ if (el.type == (ELEMENT_NONE | ELEMENT_PAWN))
+ {
+ el.type = type;
+ element_set (i, el);
+ /* Set opposed. */
+ if (sym.type == (ELEMENT_NONE | ELEMENT_PAWN))
+ {
+ sym.type = type;
+ element_set (element_opposed (i), sym);
+ }
+ }
+ }
+ }
+ }
+}
+
+void
+element_taken (uint8_t element_id, uint8_t element_type)
+{
+ assert (element_id < UTILS_COUNT (element_table));
+ static uint8_t pawn_c = 3, queen_c = 1, king_c = 1, any_nb = 5;
+ uint8_t other_side_id, other_side_id_element = 0;
+
+ if (element_type != ELEMENT_PAWN && element_type != ELEMENT_QUEEN && element_type != ELEMENT_KING)
+ return;
+
+ /* Set element. */
+ element_t e = element_get (element_id);
+ e.type = ELEMENT_NONE;
+ element_set (element_id, e);
+
+ /* Deduce symmetric position. */
+ if ((e.attr & ELEMENT_INTERSEC) || (e.attr & ELEMENT_GREEN))
+ {
+ other_side_id_element = element_opposed (element_id);
+ element_t other_side = element_get (other_side_id_element);
+ if (other_side.type != ELEMENT_NONE)
+ {
+ other_side.type = element_type;
+ element_set (other_side_id_element, other_side);
+ }
+ }
+
+ /* If the element is on an intersection, try to guess last elements. */
+ element_intersec_symetric (element_id, element_type);
+
+ /* If the element is in the green zone, try to guess last elements. */
+ if ((e.attr & ELEMENT_GREEN) && any_nb > 0)
+ {
+ uint8_t i;
+ if (element_type == ELEMENT_PAWN)
+ pawn_c--;
+ else if (element_type == ELEMENT_QUEEN)
+ queen_c--;
+ else if (element_type == ELEMENT_KING)
+ king_c--;
+ any_nb--;
+
+ /* If there is something to guess. */
+ if (any_nb <= 3)
+ {
+ /* All others are pawns. */
+ if (!queen_c && !king_c)
+ {
+ for (i = ELEMENT_GREEN_START; i <= ELEMENT_GREEN_END; i++)
+ {
+ element_t el = element_get (i);
+ if (el.type == ELEMENT_ANY)
+ {
+ el.type = ELEMENT_PAWN;
+ element_set (i, el);
+ any_nb--;
+ /* Set opposed side. */
+ other_side_id = element_opposed (element_id);
+ element_t other_side = element_get (other_side_id);
+ if (other_side.type != ELEMENT_NONE &&
+ other_side_id != other_side_id_element)
+ {
+ other_side.type = ELEMENT_PAWN;
+ element_set (other_side_id, other_side);
+ }
+ }
+ }
+ }
+ /* All others are unidentified heads */
+ else if (pawn_c == 0 && any_nb == 2)
+ {
+ for (i = ELEMENT_GREEN_START; i <= ELEMENT_GREEN_END; i++)
+ {
+ element_t el = element_get (i);
+ if (el.type == ELEMENT_ANY)
+ {
+ el.type = ELEMENT_HEAD;
+ element_set (i, el);
+ /* Set opposed side. */
+ other_side_id = element_opposed (element_id);
+ element_t other_side = element_get (other_side_id);
+ if (other_side.type != ELEMENT_NONE &&
+ other_side_id != other_side_id_element)
+ {
+ other_side.type = ELEMENT_HEAD;
+ element_set (other_side_id, other_side);
+ }
+ }
+ }
+ }
+ /* Last element. */
+ if (any_nb == 1)
+ {
+ uint8_t last_type;
+ if (pawn_c == 1) last_type = ELEMENT_PAWN;
+ else if (queen_c == 1) last_type = ELEMENT_QUEEN;
+ else last_type = ELEMENT_KING;
+ for (i = ELEMENT_GREEN_START; i <= ELEMENT_GREEN_END; i++)
+ {
+ element_t el = element_get (i);
+ if (el.type == ELEMENT_ANY || el.type == ELEMENT_HEAD)
+ {
+ el.type = last_type;
+ element_set (i, el);
+ any_nb--;
+ /* Set opposed side. */
+ other_side_id = element_opposed (i);
+ element_t other_side = element_get (other_side_id);
+ if (other_side.type != ELEMENT_NONE &&
+ other_side_id != other_side_id_element)
+ {
+ other_side.type = last_type;
+ element_set (other_side_id, other_side);
+ }
+ break;
+ }
+ }
+ }
+ }
+ }
+}
+
+void
+element_down (uint8_t element_id, uint8_t element_type)
+{
+ uint8_t i;
+ element_t e = element_get (element_id);
+ e.type = element_type;
+ element_set (element_id, e);
+
+ /* Malus elements near this element. */
+ for (i = ELEMENT_INTERSEC_START; i <= ELEMENT_INTERSEC_END; i++)
+ {
+ element_t ie = element_get (i);
+ if (UTILS_ABS (e.pos.x - ie.pos.x)
+ < BOT_ELEMENT_RADIUS + BOT_SIZE_SIDE + 20
+ && UTILS_ABS (e.pos.y - ie.pos.y)
+ < BOT_ELEMENT_RADIUS + BOT_SIZE_SIDE + 20)
+ {
+ ie.bonus_load = -50;
+ element_set (i, ie);
+ }
+ }
+}
+
+void
+element_failure (uint8_t element_id)
+{
+ element_t e = element_get (element_id);
+ e.failure_until_s = chrono_remaining_time () / 1000 - 7;
+ element_set (element_id, e);
+}
+
+uint8_t
+element_nearest_element_id (position_t robot_pos)
+{
+ uint8_t i;
+ uint8_t id = 0;
+ int32_t distance = 4242;
+ element_t e;
+ for (i = 0; i < UTILS_COUNT (element_table); i++)
+ {
+ e = element_get (i);
+ vect_t v = e.pos;
+ int32_t dr = distance_point_point (&v, &robot_pos.v);
+ if (dr < distance)
+ {
+ id = i;
+ distance = dr;
+ }
+ }
+ return id;
+}
+
+uint8_t
+element_opposed (uint8_t element_id)
+{
+ uint8_t op = 0xff;
+ element_t e = element_get (element_id);
+ if ((e.attr & ELEMENT_GREEN) ||(e.attr & ELEMENT_INTERSEC))
+ {
+ if (e.attr & ELEMENT_LEFT)
+ op = element_id + 1;
+ else
+ op = element_id - 1;
+ }
+ return op;
+}
+
+vect_t
+element_get_pos (uint8_t element_id)
+{
+ element_t e = element_get (element_id);
+ vect_t pos;
+ pos = e.pos;
+ if (e.attr == (ELEMENT_GREEN |ELEMENT_RIGHT))
+ {
+ /* To the right. */
+ pos.x = PG_WIDTH - BOT_GREEN_ELEMENT_DISTANCE_MM;
+ }
+ if (e.attr == (ELEMENT_GREEN |ELEMENT_LEFT))
+ {
+ /* To the left. */
+ pos.x = BOT_GREEN_ELEMENT_DISTANCE_MM;
+ }
+ return pos;
+}
+
+uint8_t
+element_blocking (uint8_t element_id, uint8_t escape)
+{
+ element_t e = element_get (element_id);
+ return e.type == ELEMENT_TOWER || (!escape && e.type == ELEMENT_PAWN);
+}
+
+uint8_t
+element_blocking_path (vect_t a, vect_t b, int16_t ab, uint8_t escape)
+{
+ uint8_t i;
+ element_t e;
+ /* Only unload area are blocking. */
+ for (i = ELEMENT_UNLOAD_START; i <= ELEMENT_UNLOAD_END; i++)
+ {
+ e = element_get (i);
+ if (e.type == ELEMENT_TOWER || (!escape && e.type == ELEMENT_PAWN))
+ {
+ /* Compute square of distance to obstacle, see
+ * distance_segment_point in modules/math/geometry for the method
+ * explanation. */
+ int32_t absq = (int32_t) ab * ab;
+ vect_t vab = b; vect_sub (&vab, &a);
+ vect_t vao = e.pos; vect_sub (&vao, &a);
+ int32_t dp = vect_dot_product (&vab, &vao);
+ int32_t dsq;
+ if (dp < 0)
+ {
+ dsq = vect_dot_product (&vao, &vao);
+ }
+ else if (dp > absq)
+ {
+ vect_t vbo = e.pos; vect_sub (&vbo, &b);
+ dsq = vect_dot_product (&vbo, &vbo);
+ }
+ else
+ {
+ vect_t vabn = vab; vect_normal (&vabn);
+ dsq = vect_dot_product (&vabn, &vao) / ab;
+ dsq *= dsq;
+ }
+ /* Compare with square of authorised distance. */
+ if (dsq < (int32_t) (BOT_ELEMENT_RADIUS + BOT_SIZE_SIDE + 20) *
+ (BOT_ELEMENT_RADIUS + BOT_SIZE_SIDE + 20))
+ return 1;
+ }
+ }
+ return 0;
+}
+
+void
+element_i_like_green ()
+{
+ /* Negative bonus for the other green zone at start. */
+ /* Do not touch last green emplacement. */
+ int i;
+ for (i = ELEMENT_GREEN_START; i <= ELEMENT_GREEN_END - 2; i++)
+ {
+ element_t e = element_get (i);
+ if (!((team_color == TEAM_COLOR_LEFT && (e.attr & ELEMENT_LEFT)) ||
+ (team_color == TEAM_COLOR_RIGHT && (e.attr & ELEMENT_RIGHT)))
+ && e.bonus_load < 0
+ && (e.type == ELEMENT_KING || e.type == ELEMENT_QUEEN))
+ {
+ e.bonus_load = 40;
+ element_set (i, e);
+ }
+ }
+}
+
+void
+element_no_more_green (void)
+{
+ uint8_t i;
+ /* Remove our green zone score at first unload. */
+ for (i = ELEMENT_GREEN_START; i <= ELEMENT_GREEN_END - 2; i++)
+ {
+ element_t e = element_get (i);
+ if ((team_color == TEAM_COLOR_LEFT && (e.attr & ELEMENT_LEFT)) ||
+ (team_color == TEAM_COLOR_RIGHT && (e.attr & ELEMENT_RIGHT)))
+ {
+ e.bonus_load = 0;
+ element_set (i, e);
+ }
+ }
+}
diff --git a/digital/io-hub/src/robospierre/element.h b/digital/io-hub/src/robospierre/element.h
new file mode 100644
index 00000000..41985e95
--- /dev/null
+++ b/digital/io-hub/src/robospierre/element.h
@@ -0,0 +1,213 @@
+#ifndef element_h
+#define element_h
+/* element.h */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet, Jérôme Jutteau
+ *
+ * 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"
+
+/** None. */
+#define ELEMENT_NONE 1
+/** A pawn, not a head. */
+#define ELEMENT_PAWN 2
+/** Queen pawn, used for statistic update of table data. */
+#define ELEMENT_QUEEN 4
+/** King pawn, used for statistic update of table data. */
+#define ELEMENT_KING 8
+/** Any head, queen or king. */
+#define ELEMENT_HEAD (ELEMENT_QUEEN |ELEMENT_KING)
+/** Any element, pawn, queen, or king. */
+#define ELEMENT_ANY (ELEMENT_HEAD |ELEMENT_PAWN)
+/** Tower types. */
+#define ELEMENT_TOWER_1_QUEEN 16
+#define ELEMENT_TOWER_2_QUEEN 32
+#define ELEMENT_TOWER_1_KING 64
+#define ELEMENT_TOWER_2_KING 128
+
+#define ELEMENT_TOWER (ELEMENT_TOWER_1_QUEEN | \
+ ELEMENT_TOWER_2_QUEEN | \
+ ELEMENT_TOWER_1_KING | \
+ ELEMENT_TOWER_2_KING)
+
+/** Return non zero if element is a head, not a pawn. */
+#define ELEMENT_IS_HEAD(e) ((e) && !((e) & ELEMENT_PAWN))
+
+/** Return non zero if element may be a head. */
+#define ELEMENT_CAN_BE_HEAD(e) ((e) & ELEMENT_HEAD)
+
+#define ELEMENT_PAWN_SCORE 10
+#define ELEMENT_ANY_SCORE 15
+#define ELEMENT_QUEEN_SCORE 20 * 30
+#define ELEMENT_KING_SCORE 30 * 30
+
+/** Emplacement attributes bits. */
+#define ELEMENT_BONUS 1
+/**
+ * Two meanings:
+ * - When it is on an intersection or in the green zone, this mean that it is positioned on the
+ * left size of the table.
+ * - When it is located on an color, this corresponds to the red color.
+ */
+#define ELEMENT_LEFT 2
+/**
+ * Two meanings:
+ * - When it is on an intersection or in the green zone, this mean that it is positioned on the
+ * left right of the table.
+ * - When it is located on an color, this corresponds to the blue color.
+ */
+#define ELEMENT_RIGHT 4
+#define ELEMENT_SAFE 8
+#define ELEMENT_GREEN 16
+#define ELEMENT_INTERSEC 64
+/** Center of a square or central element. */
+#define ELEMENT_CENTER 128
+
+struct element_t
+{
+ /** May have several types if unknown (pawn, king, queen). */
+ uint8_t type;
+ /** Element position. */
+ vect_t pos;
+ /** Emplacement attributes. */
+ uint8_t attr;
+ /** Bonus coefficient (or Mallus if negative) for load scores. */
+ int8_t bonus_load;
+ /** Bonus coefficient (or Mallus if negative) for unload scores. */
+ int8_t bonus_unload;
+ /** Failure expiration date, can not take this element until chrono is
+ * lower than this date in seconds. */
+ int8_t failure_until_s;
+
+};
+typedef struct element_t element_t;
+
+/* Elements range, see element table content. */
+#define ELEMENT_INTERSEC_START 0
+#define ELEMENT_INTERSEC_END 19
+#define ELEMENT_CENTRAL_PAWN 20
+#define ELEMENT_GREEN_START 21
+#define ELEMENT_GREEN_END 30
+#define ELEMENT_UNLOAD_START 31
+#define ELEMENT_UNLOAD_END 66
+
+#define ELEMENT_BONUS_COEFF 100
+
+/** Elements on table. */
+extern struct element_t element_table[];
+
+/** Initialize elements. */
+void
+element_init (void);
+
+/** Gives the score of an element considering it as an unload zone. */
+int32_t
+element_unload_score (position_t robot_pos, uint8_t element_id);
+
+/** Gives best unload. */
+uint8_t
+element_unload_best (position_t robot_pos);
+
+/** Gives score of an element. */
+int32_t
+element_score (position_t robot_pos, uint8_t element_id);
+
+/** Return a probability of an element to be here.
+ * This depends of the remaining time.
+ * Returns a probability from 0 (element may really not be here)
+ * to maximal value (element may be here).
+ */
+uint32_t
+element_proba (uint8_t element_id);
+
+/** Return the best element to pick. */
+uint8_t
+element_best (position_t robot_pos);
+
+/** Function to call when we see an element is not here. */
+void
+element_not_here (uint8_t element_id);
+
+/** Call this function when an element is taken. */
+void
+element_taken (uint8_t element_id, uint8_t element_type);
+
+/** Call this function when the robot put down an element. */
+void
+element_down (uint8_t element_id, uint8_t element_type);
+
+/** Call this function when taking an element failled. */
+void
+element_failure (uint8_t element_id);
+
+/** Gives the nearest element from a position. */
+uint8_t
+element_give_position (position_t pos);
+
+/** Give the opposed element. */
+uint8_t
+element_opposed (uint8_t element_id);
+
+/** Return 1 if the element is in our side, 0 otherwise. */
+int
+element_our_side (uint8_t element_id);
+
+inline void
+element_intersec_symetric (uint8_t element_id, uint8_t element_type);
+
+uint8_t
+element_nearest_element_id (position_t robot_pos);
+
+/**
+ Give the position where the robot need to be placed to get an element.
+ */
+vect_t
+element_get_pos (uint8_t element_id);
+
+extern inline element_t
+element_get (uint8_t element_id)
+{
+ return element_table[element_id];
+}
+
+/** Return whether an element is blocking robot. */
+uint8_t
+element_blocking (uint8_t element_id, uint8_t blocking);
+
+/** Return whether an element is blocking a line segment.
+ * - a: line segment first point.
+ * - b: line segment second point.
+ * - ab: line segment length.
+ * - escape: trying to escape, be a little bit more permissive.
+ * - returns: 1 if the path should not be used. */
+uint8_t
+element_blocking_path (vect_t a, vect_t b, int16_t ab, uint8_t escape);
+
+/** Ask to adjust score for the opposed green zone. */
+void
+element_i_like_green ();
+
+/** Do not go to our green zone any more. */
+void
+element_no_more_green (void);
+
+#endif /* element_h */
diff --git a/digital/io-hub/src/robospierre/init_defs.h b/digital/io-hub/src/robospierre/init_defs.h
new file mode 100644
index 00000000..6ce6eaae
--- /dev/null
+++ b/digital/io-hub/src/robospierre/init_defs.h
@@ -0,0 +1,50 @@
+#ifndef init_defs_h
+#define init_defs_h
+/* init_defs.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 "playground.h"
+#include "bot.h"
+
+/** Parameters to push the first wall. */
+#define INIT_FIRST_WALL_PUSH \
+ 0, PG_X (BOT_FRONT_CONTACT_DIST_MM), 200, \
+ PG_A_DEG (180 + BOT_FRONT_CONTACT_ANGLE_ERROR_DEG)
+/** Parameters to go away from the first wall. */
+#define INIT_FIRST_WALL_AWAY -500
+/** Parameter to face the second wall. */
+#define INIT_SECOND_WALL_ANGLE PG_A_DEG (90)
+/** Parameters to push the second wall. */
+#define INIT_SECOND_WALL_PUSH \
+ 0, -1, PG_Y (PG_LENGTH - BOT_FRONT_CONTACT_DIST_MM), -1
+/** Parameters to go away from the second wall. */
+#define INIT_SECOND_WALL_AWAY -(200 - BOT_FRONT_CONTACT_DIST_MM)
+/** Parameter to face the start position. */
+#define INIT_START_POSITION_ANGLE PG_A_DEG (0)
+/** Start position. */
+#define INIT_START_POSITION \
+ PG_X (200), PG_Y (PG_LENGTH - 200), PG_A_DEG (0), ASSERV_BACKWARD
+
+#endif /* init_defs_h */
diff --git a/digital/io-hub/src/robospierre/logistic.c b/digital/io-hub/src/robospierre/logistic.c
new file mode 100644
index 00000000..82f5a4fa
--- /dev/null
+++ b/digital/io-hub/src/robospierre/logistic.c
@@ -0,0 +1,622 @@
+/* logistic.c */
+/* 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 "common.h"
+#include "logistic.h"
+
+#include "clamp.h"
+#include "defs.h"
+
+#include "contact.h"
+#include "io.h"
+
+#include "debug.host.h"
+
+/** Handle elements stored inside the robot. */
+
+/** Global context. */
+struct logistic_t logistic_global;
+#define ctx logistic_global
+
+inline void
+logistic_debug_dump (void)
+{
+#ifdef HOST
+ uint8_t i;
+ static const char *names[][CLAMP_SLOT_NB] = {
+ { "f1", "f2", "f3", "b1", "b2", "b3", "s1" },
+ { "F1", "F2", "F3", "B1", "B2", "B3", "S1" }
+ };
+ static const char *names_dir[] = { "--", "<-", "->" };
+ DPRINTF ("%s", names_dir[ctx.collect_direction]);
+ for (i = 0; i < CLAMP_SLOT_NB; i++)
+ {
+ DPRINTF (" %s", ctx.slots[i]
+ ? names[ELEMENT_IS_HEAD (ctx.slots[i]) ? 1 : 0][i]
+ : "__");
+ }
+ if (ctx.moving_from != CLAMP_SLOT_NB)
+ {
+ DPRINTF (" %s => %s", names[0][ctx.moving_from], names[0][ctx.moving_to]);
+ }
+ DPRINTF ("\n");
+ DPRINTF ("construct_possible: %u\n", ctx.construct_possible);
+ DPRINTF ("prepare: %u\n", ctx.prepare);
+ DPRINTF ("ready: %u\n", ctx.ready);
+ DPRINTF ("need_prepare: %u\n", ctx.need_prepare);
+#endif
+}
+
+/** Return 1 if location corresponds to element. */
+inline uint8_t
+logistic_case_test (uint8_t loc, uint8_t e)
+{
+ if (e == LOG_a && ctx.slots[loc])
+ return 1;
+ if (e == LOG__)
+ return 1;
+ if ((e == LOG_e || e == LOG_D) && !ctx.slots[loc])
+ return 1;
+ if ((e == LOG_P || e == LOG_p) && ctx.slots[loc] &&
+ !ELEMENT_IS_HEAD (ctx.slots[loc]))
+ return 1;
+ if ((e == LOG_H || e == LOG_h) && ELEMENT_IS_HEAD (ctx.slots[loc]))
+ return 1;
+ if (e == LOG_t && ctx.slots[loc] == ELEMENT_TOWER)
+ return 1;
+ return 0;
+}
+
+static uint8_t
+logistic_case (uint8_t e1, uint8_t e2, uint8_t e3, uint8_t e4, uint8_t e5,
+ uint8_t e6, uint8_t e7, uint8_t new_dir, uint8_t ready,
+ uint8_t check_symetric)
+{
+ /* Define direction bay and opposed bay. */
+ uint8_t dir_bay, opp_bay;
+ if (ctx.collect_direction == DIRECTION_FORWARD)
+ {
+ dir_bay = CLAMP_SLOT_FRONT_BOTTOM;
+ opp_bay = CLAMP_SLOT_BACK_BOTTOM;
+ }
+ else
+ {
+ dir_bay = CLAMP_SLOT_BACK_BOTTOM;
+ opp_bay = CLAMP_SLOT_FRONT_BOTTOM;
+ }
+ /*if (check_symetric)
+ {
+ uint8_t tmp = dir_bay;
+ dir_bay = opp_bay;
+ opp_bay = tmp;
+ }*/
+
+ /* Emplacement of elements. */
+ uint8_t
+ e1_loc = dir_bay + 2,
+ e3_loc = dir_bay + 1,
+ e6_loc = dir_bay,
+ e4_loc = CLAMP_SLOT_SIDE,
+ e2_loc = opp_bay + 2,
+ e5_loc = opp_bay + 1,
+ e7_loc = opp_bay;
+
+ /* Check elements are here. */
+ if (!(logistic_case_test (e1_loc, e1) &&
+ logistic_case_test (e2_loc, e2) &&
+ logistic_case_test (e3_loc, e3) &&
+ logistic_case_test (e4_loc, e4) &&
+ logistic_case_test (e5_loc, e5) &&
+ logistic_case_test (e6_loc, e6) &&
+ logistic_case_test (e7_loc, e7)))
+ {
+ /* Check mirror. */
+ /*if (!check_symetric)
+ logistic_case (e1, e2, e3, e4, e5, e6, e7, new_dir, ready, 1);*/
+ return 0;
+ }
+
+ /* Find source/destination if we have to make a move. */
+ /* Find source. */
+ uint8_t src = CLAMP_SLOT_NB, dst = CLAMP_SLOT_NB;
+ if (e1 == LOG_P ||e1 == LOG_H)
+ src = e1_loc;
+ else if (e3 == LOG_P ||e3 == LOG_H)
+ src = e3_loc;
+ else if (e6 == LOG_P ||e6 == LOG_H)
+ src = e6_loc;
+ else if (e4 == LOG_P ||e4 == LOG_H)
+ src = e4_loc;
+ else if (e2 == LOG_P ||e2 == LOG_H)
+ src = e2_loc;
+ else if (e5 == LOG_P ||e5 == LOG_H)
+ src = e5_loc;
+ else if (e7 == LOG_P ||e7 == LOG_H)
+ src = e7_loc;
+
+ /* Find destination. */
+ if (e1 == LOG_D)
+ dst = e1_loc;
+ else if (e3 == LOG_D)
+ dst = e3_loc;
+ else if (e6 == LOG_D)
+ dst = e6_loc;
+ else if (e4 == LOG_D)
+ dst = e4_loc;
+ else if (e2 == LOG_D)
+ dst = e2_loc;
+ else if (e5 == LOG_D)
+ dst = e5_loc;
+ else if (e7 == LOG_D)
+ dst = e7_loc;
+
+ /* We are making a move. */
+ if (src != CLAMP_SLOT_NB && dst != CLAMP_SLOT_NB)
+ {
+ if (ctx.slots[src] && !ctx.slots[dst])
+ {
+ ctx.moving_from = src;
+ ctx.moving_to = dst;
+ ctx.ready = 0;
+ }
+ }
+
+ /* Set collect direction. */
+ /* LEFT means we keep the same side, RIGHT means we put the opposed side. */
+ if (new_dir == LOG_DIR_RIGHT)
+ {
+ if (ctx.collect_direction == DIRECTION_FORWARD)
+ ctx.collect_direction = DIRECTION_BACKWARD;
+ else
+ ctx.collect_direction = DIRECTION_FORWARD;
+ }
+
+ /* Don't touch clamp's idle position if broken. */
+ if (ctx.prepare != 3)
+ {
+ /* Set clamp position idle. */
+ if (ctx.collect_direction == DIRECTION_FORWARD)
+ ctx.clamp_pos_idle = CLAMP_SLOT_FRONT_MIDDLE;
+ else
+ ctx.clamp_pos_idle = CLAMP_SLOT_BACK_MIDDLE;
+ }
+ /* Set ready */
+ ctx.ready = ready;
+ return 1;
+}
+
+static void
+logistic_update_construct_possible ()
+{
+ uint8_t pawn = 0, head = 0, i;
+ /* Check for tower. */
+ if (ctx.slots[CLAMP_SLOT_FRONT_BOTTOM] == ELEMENT_TOWER ||
+ ctx.slots[CLAMP_SLOT_BACK_BOTTOM] == ELEMENT_TOWER)
+ {
+ ctx.construct_possible = 1;
+ return;
+ }
+
+ for (i = CLAMP_SLOT_FRONT_BOTTOM; i < CLAMP_SLOT_NB; i++)
+ {
+ if (ELEMENT_IS_HEAD (ctx.slots[i]))
+ head++;
+ else if (ctx.slots[i])
+ pawn++;
+ if (head >= 1 && pawn >= 2)
+ {
+ ctx.construct_possible = 1;
+ return;
+ }
+ }
+ if (pawn || head)
+ ctx.construct_possible = 2;
+ else
+ ctx.construct_possible = 0;
+}
+
+static void
+logistic_update_need_prepare ()
+{
+ uint8_t i, head = 0, pawn = 0;
+ for (i = CLAMP_SLOT_FRONT_BOTTOM; i < CLAMP_SLOT_NB; i++)
+ {
+ if (ELEMENT_IS_HEAD (ctx.slots[i]))
+ head++;
+ else if (ctx.slots[i])
+ pawn++;
+ }
+ if ((head == 1 && pawn == 3) ||
+ head == 2 || pawn >= 4)
+ ctx.need_prepare = 1;
+ else
+ ctx.need_prepare = 0;
+
+ /* Define direction bay and opposed bay. */
+ uint8_t dir_bay, opp_bay;
+ if (ctx.collect_direction == DIRECTION_FORWARD)
+ {
+ dir_bay = CLAMP_SLOT_FRONT_BOTTOM;
+ opp_bay = CLAMP_SLOT_BACK_BOTTOM;
+ }
+ else
+ {
+ dir_bay = CLAMP_SLOT_BACK_BOTTOM;
+ opp_bay = CLAMP_SLOT_FRONT_BOTTOM;
+ }
+ /* If a head appear at the back (?) */
+ if (ELEMENT_IS_HEAD (ctx.slots[opp_bay]))
+ ctx.need_prepare = 1;
+
+ /* We founded a tower ! */
+ if (ctx.slots[CLAMP_SLOT_FRONT_BOTTOM] == ELEMENT_TOWER ||
+ ctx.slots[CLAMP_SLOT_FRONT_BOTTOM] == ELEMENT_TOWER)
+ ctx.need_prepare = 1;
+}
+
+static void
+logisitic_make_broken ()
+{
+ LOGISTIC_CASE (_, _,
+ _, _, _,
+ a, _, RIGHT, 1);
+
+ LOGISTIC_CASE (_, _,
+ _, _, _,
+ _, a, LEFT, 1);
+}
+
+static void
+logistic_make_tower ()
+{
+ LOGISTIC_CASE (_, _,
+ _, _, _,
+ _, t, LEFT, 1);
+
+ LOGISTIC_CASE (_, _,
+ _, _, _,
+ t, _, RIGHT, 1);
+
+ LOGISTIC_CASE (D, _,
+ e, _, _,
+ H, _, RIGHT, 0);
+
+ LOGISTIC_CASE (_, h,
+ _, _, p,
+ _, p, LEFT, 1);
+
+ LOGISTIC_CASE (P, h,
+ e, _, e,
+ _, D, LEFT, 0);
+
+ LOGISTIC_CASE (_, h,
+ e, _, e,
+ P, D, LEFT, 0);
+
+ LOGISTIC_CASE (_, h,
+ _, P, e,
+ _, D, LEFT, 0);
+
+ LOGISTIC_CASE (P, h,
+ e, _, D,
+ _, p, LEFT, 0);
+
+ LOGISTIC_CASE (_, h,
+ e, _, D,
+ P, p, LEFT, 0);
+
+ LOGISTIC_CASE (_, h,
+ _, P, D,
+ _, p, LEFT, 0);
+}
+
+static void
+logistic_make_unload ()
+{
+ /* Making a small tower. Move head when having pawn. */
+ LOGISTIC_CASE (D, _,
+ e, p, _,
+ H, _, RIGHT, 0);
+
+ LOGISTIC_CASE (D, p,
+ e, e, e,
+ H, _, RIGHT, 0);
+
+ LOGISTIC_CASE (D, _,
+ e, e, e,
+ H, p, RIGHT, 0);
+
+ /* Making a small tower. Move pawn under head. */
+ LOGISTIC_CASE (_, h,
+ _, P, e,
+ _, D, LEFT, 0);
+
+ LOGISTIC_CASE (P, h,
+ e, e, e,
+ _, D, LEFT, 0);
+
+ LOGISTIC_CASE (_, h,
+ e, e, e,
+ P, D, LEFT, 0);
+
+ /* Making a small tower. Finally move head on pawn. */
+ LOGISTIC_CASE (_, H,
+ _, _, D,
+ _, p, LEFT, 0);
+
+ LOGISTIC_CASE (_, _,
+ _, _, h,
+ _, p, LEFT, 1);
+
+ /* Having any element. */
+ LOGISTIC_CASE (_, _,
+ _, _, _,
+ _, a, LEFT, 1);
+
+ LOGISTIC_CASE (_, _,
+ _, _, _,
+ a, _, RIGHT, 1);
+
+ LOGISTIC_CASE (_, a,
+ _, _, e,
+ _, D, LEFT, 0);
+
+ LOGISTIC_CASE (a, _,
+ e, _, _,
+ D, _, RIGHT, 0);
+
+ LOGISTIC_CASE (_, _,
+ _, P, e,
+ _, D, LEFT, 0);
+
+ LOGISTIC_CASE (_, _,
+ e, P, _,
+ D, _, RIGHT, 0);
+}
+
+static void
+logisitic_make_switches ()
+{
+ LOGISTIC_CASE (_, P,
+ _, D, e,
+ _, _, LEFT, 0);
+
+ LOGISTIC_CASE (P, _,
+ e, D, _,
+ _, _, LEFT, 0);
+
+ LOGISTIC_CASE (_, _,
+ e, D, _,
+ P, _, LEFT, 0);
+
+ LOGISTIC_CASE (_, _,
+ _, D, e,
+ _, P, LEFT, 0);
+
+ LOGISTIC_CASE (_, D,
+ e, p, e,
+ P, _, LEFT, 0);
+
+ LOGISTIC_CASE (_, a,
+ e, p, e,
+ P, D, LEFT, 0);
+
+ LOGISTIC_CASE (D, _,
+ e, _, _,
+ H, _, RIGHT, 0);
+
+ LOGISTIC_CASE (h, P,
+ e, _, e,
+ D, _, RIGHT, 0);
+
+ LOGISTIC_CASE (h, e,
+ e, _, e,
+ D, P, RIGHT, 0);
+
+ LOGISTIC_CASE (P, h,
+ e, _, e,
+ _, D, LEFT, 0);
+
+ LOGISTIC_CASE (e, h,
+ e, _, e,
+ P, D, LEFT, 0);
+}
+
+void
+logistic_decision (void)
+{
+ /* Reset. */
+ ctx.moving_from = CLAMP_SLOT_NB;
+ ctx.moving_to = CLAMP_SLOT_NB;
+ ctx.construct_possible = 0;
+ ctx.ready = 0;
+ ctx.need_prepare = 0;
+
+ /* Update context. */
+ logistic_update_construct_possible ();
+ /* Update if a something is possible. */
+ logistic_update_need_prepare ();
+
+ /* Broken clamp. */
+ if (ctx.construct_possible && ctx.prepare == 3)
+ {
+ DPRINTF ("\nlogisitic_make_broken\n");
+ logisitic_make_broken ();
+ }
+ /* Prepare tower. */
+ else if (ctx.construct_possible == 1 && ctx.prepare != 0)
+ {
+
+ DPRINTF ("\nlogisitic_make_tower\n");
+ logistic_make_tower ();
+ }
+ /* Need to unload. */
+ else if (ctx.construct_possible == 2 && ctx.prepare == 2)
+ {
+ DPRINTF ("\nlogisitic_make_unload\n");
+ logistic_make_unload ();
+ }
+ /* Internal switches. */
+ else
+ {
+ DPRINTF ("\nlogisitic_make_switches\n");
+ logisitic_make_switches ();
+ }
+
+ logistic_debug_dump ();
+ return;
+}
+
+void
+logistic_init (void)
+{
+ uint8_t i;
+ for (i = 0; i < CLAMP_SLOT_NB; i++)
+ ctx.slots[i] = 0;
+ ctx.moving_from = ctx.moving_to = CLAMP_SLOT_NB;
+ ctx.collect_direction = DIRECTION_FORWARD;
+ ctx.clamp_pos_idle = ctx.collect_direction == DIRECTION_FORWARD
+ ? CLAMP_SLOT_FRONT_MIDDLE : CLAMP_SLOT_BACK_MIDDLE;
+ ctx.construct_possible = 0;
+ ctx.prepare = 1;
+ ctx.ready = 0;
+ ctx.need_prepare = 0;
+}
+
+void
+logistic_update (void)
+{
+ uint8_t side_now = !IO_GET (CONTACT_SIDE);
+ /* Filter side contact. */
+ if (side_now)
+ {
+ ctx.side_filter = 0;
+ ctx.side_state = 1;
+ }
+ else if (ctx.side_filter++ == 2 * 250)
+ {
+ ctx.side_state = 0;
+ ctx.side_filter = 0;
+ }
+ /* Side slot element can be lost. */
+ if (ctx.moving_from != CLAMP_SLOT_SIDE && !ctx.side_state)
+ ctx.slots[CLAMP_SLOT_SIDE] = 0;
+}
+
+void
+logistic_element_new (uint8_t pos, uint8_t element_type)
+{
+ assert (pos < CLAMP_SLOT_NB);
+ assert (!ctx.slots[pos]);
+ ctx.slots[pos] = element_type;
+ logistic_decision ();
+}
+
+void
+logistic_element_change (uint8_t pos, uint8_t element_type)
+{
+ assert (pos < CLAMP_SLOT_NB);
+ ctx.slots[pos] = element_type;
+ logistic_decision ();
+}
+
+void
+logistic_element_move_done (void)
+{
+ assert (!ctx.slots[ctx.moving_to] || ctx.moving_to == ctx.moving_from);
+ ctx.slots[ctx.moving_to] = ctx.slots[ctx.moving_from];
+ ctx.slots[ctx.moving_from] = 0;
+ ctx.moving_from = ctx.moving_to = CLAMP_SLOT_NB;
+ logistic_decision ();
+}
+
+void
+logistic_drop (uint8_t direction)
+{
+ uint8_t bay = direction == DIRECTION_FORWARD
+ ? CLAMP_SLOT_BACK_BOTTOM : CLAMP_SLOT_FRONT_BOTTOM;
+ uint8_t i;
+ for (i = bay; i < bay + 3; i++)
+ ctx.slots[i] = 0;
+ logistic_decision ();
+}
+
+uint8_t
+logistic_drop_element_type (uint8_t direction)
+{
+ uint8_t bay = direction == DIRECTION_FORWARD
+ ? CLAMP_SLOT_BACK_BOTTOM : CLAMP_SLOT_FRONT_BOTTOM;
+ uint8_t nb = 0;
+ uint8_t element_type = ELEMENT_NONE;
+ uint8_t i;
+ for (i = bay; i < bay + 3; i++)
+ {
+ if (ctx.slots[i])
+ {
+ nb++;
+ element_type = ctx.slots[i];
+ }
+ }
+ return nb > 1 ? ELEMENT_TOWER : element_type;
+}
+
+void
+logistic_dump (uint8_t direction, uint8_t drop_top)
+{
+ /* Drop. */
+ uint8_t i;
+ uint8_t bay = direction == DIRECTION_FORWARD
+ ? CLAMP_SLOT_FRONT_BOTTOM : CLAMP_SLOT_BACK_BOTTOM;
+ for (i = bay; i < bay + 2 + drop_top; i++)
+ ctx.slots[i] = 0;
+}
+
+static uint8_t
+logistic_slot_clear (uint8_t slot)
+{
+ if (CLAMP_IS_SLOT_IN_FRONT_BAY (slot))
+ {
+ if (ctx.slots[CLAMP_SLOT_FRONT_MIDDLE])
+ return 0;
+ uint8_t middle_type = ctx.slots[CLAMP_SLOT_FRONT_BOTTOM];
+ if (ELEMENT_IS_HEAD (middle_type) || middle_type == ELEMENT_TOWER)
+ return 0;
+ }
+ else if (CLAMP_IS_SLOT_IN_BACK_BAY (slot))
+ {
+ if (ctx.slots[CLAMP_SLOT_BACK_MIDDLE])
+ return 0;
+ uint8_t middle_type = ctx.slots[CLAMP_SLOT_BACK_BOTTOM];
+ if (ELEMENT_IS_HEAD (middle_type) || middle_type == ELEMENT_TOWER)
+ return 0;
+ }
+ return 1;
+}
+
+uint8_t
+logistic_path_clear (uint8_t slot1, uint8_t slot2)
+{
+ return logistic_slot_clear (slot1) && logistic_slot_clear (slot2);
+}
+
diff --git a/digital/io-hub/src/robospierre/logistic.h b/digital/io-hub/src/robospierre/logistic.h
new file mode 100644
index 00000000..c6bc0210
--- /dev/null
+++ b/digital/io-hub/src/robospierre/logistic.h
@@ -0,0 +1,143 @@
+#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"
+
+/** Defines for logistic macro, see LOGISTIC_CASE. */
+/** Any element must be present (not empty). */
+#define LOG_a 0
+/** Do not care if there is an element or not. */
+#define LOG__ 1
+/** There must not be element here. */
+#define LOG_e 2
+/** Pawn to pick up. */
+#define LOG_P 4
+/** A head to pick up. */
+#define LOG_H 5
+/** Pawn who has to be present. */
+#define LOG_p 6
+/** Head who has to be present. */
+#define LOG_h 7
+/** Destination (who has to be empty). */
+#define LOG_D 8
+/** We have a tower (always at bottom). */
+#define LOG_t 9
+/* LEFT means we keep the same side, RIGHT means we put the opposed side. */
+#define LOG_DIR_LEFT 0
+#define LOG_DIR_RIGHT 1
+/** Logistic macro to test if a case correspond and to perform movement.
+ * We have to consider that the moving direction is on the left.
+ * New direction is indicated (same or opposed).
+ * Set ready or not. */
+#define LOGISTIC_CASE(e1, e2, \
+ e3, e4, e5, \
+ e6, e7, new_dir, ready) \
+{ \
+ if (logistic_case (LOG_##e1, LOG_##e2, LOG_##e3, LOG_##e4, LOG_##e5, \
+ LOG_##e6, LOG_##e7, LOG_DIR_##new_dir, ready, 0)) \
+ return; \
+}
+
+/** 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;
+ /** Inform TOP if no construct is possible (0), if a tower is possible (1), if an
+ * other element can be put even if the clamp is broken (2). */
+ uint8_t construct_possible;
+ /** TOP set 0 if we do not want to build something, 1 if we can build a tower, 2 to prepare
+ anything possible, 3 the clamp is broken, prepare anything with *_BOTTOM. */
+ uint8_t prepare;
+ /** Inform TOP if a construct is ready (1) or not (0). */
+ uint8_t ready;
+ /* Inform TOP that we can't take any more elements and needs to put
+ * construction somewhere. */
+ uint8_t need_prepare;
+ /** Filtered side slot sensor. */
+ uint8_t side_state;
+ /** Filtered side slot sensor counter. */
+ uint16_t side_filter;
+};
+
+/** Global context. */
+extern struct logistic_t logistic_global;
+
+/** Initialise module. */
+void
+logistic_init (void);
+
+/** Examine current state and take a decision. */
+void
+logistic_decision (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_type);
+
+/** Oh la la, the pawn was not a pawn, it's a head. */
+void
+logistic_element_change (uint8_t pos, uint8_t element_type);
+
+/** To be called when a element movement is done. */
+void
+logistic_element_move_done (void);
+
+/** To be called when elements have been dropped on the opposite side of
+ * direction. */
+void
+logistic_drop (uint8_t direction);
+
+/** Get element type to be dropped. */
+uint8_t
+logistic_drop_element_type (uint8_t direction);
+
+/** Dump every element on one direction. */
+void
+logistic_dump (uint8_t direction, uint8_t drop_top);
+
+/** Is path clear between two positions? */
+uint8_t
+logistic_path_clear (uint8_t slot1, uint8_t slot2);
+
+#endif /* logistic_h */
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index 3a32a1ae..9ae644e6 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -28,6 +28,8 @@
#include "modules/uart/uart.h"
#include "modules/proto/proto.h"
+#include "modules/devices/usdist/usdist.h"
+
#include "timer.h"
#include "chrono.h"
#include "simu.host.h"
@@ -38,30 +40,60 @@
#include "pwm.h"
#include "contact.h"
+#include "codebar.h"
+#include "pawn_sensor.h"
+#include "radar.h"
#define FSM_NAME AI
#include "fsm.h"
#ifdef HOST
# include <string.h>
#endif
+#include "fsm_queue.h"
#include "clamp.h"
+#include "logistic.h"
+#include "path.h"
+#include "move.h"
+
+#include "bot.h"
#include "io.h"
+#ifndef HOST
+# include <avr/wdt.h>
+#endif
+
/** Our color. */
enum team_color_e team_color;
+/** Obstacles positions, updated using radar module. */
+vect_t main_obstacles_pos[2];
+
+/** Number of obstacles in main_obstacles_pos. */
+uint8_t main_obstacles_nb;
+
/** Asserv stats counters. */
static uint8_t main_stats_asserv_, main_stats_asserv_cpt_;
/** Contact stats counters. */
static uint8_t main_stats_contact_, main_stats_contact_cpt_;
+/** Codebar stats counters. */
+static uint8_t main_stats_codebar_, main_stats_codebar_cpt_;
+
+/** US sensors stats counters. */
+static uint8_t main_stats_usdist_, main_stats_usdist_cpt_;
+
/** Main initialisation. */
static void
main_init (void)
{
+#ifndef HOST
+ /* Disable watchdog (enabled in bootloader). */
+ MCUSR &= ~(1 << WDRF);
+ wdt_disable ();
+#endif
/* Serial port */
uart0_init ();
/* Enable interrupts */
@@ -76,6 +108,12 @@ main_init (void)
/* IO modules. */
pwm_init ();
contact_init ();
+ codebar_init ();
+ usdist_init ();
+ /* AI modules. */
+ clamp_init ();
+ logistic_init ();
+ path_init ();
/* Initialization done. */
proto_send0 ('z');
}
@@ -93,18 +131,52 @@ main_event_to_fsm (void)
#define FSM_HANDLE_TIMEOUT_E(fsm) \
do { if (FSM_HANDLE_TIMEOUT (fsm)) return; } while (0)
/* Update FSM timeouts. */
- //FSM_HANDLE_TIMEOUT_E (AI);
+ FSM_HANDLE_TIMEOUT_E (AI);
/* Motor status. */
- asserv_status_e mimot_motor0_status, mimot_motor1_status;
+ asserv_status_e robot_move_status, mimot_motor0_status,
+ mimot_motor1_status;
+ robot_move_status = asserv_move_cmd_status ();
mimot_motor0_status = mimot_motor0_cmd_status ();
mimot_motor1_status = mimot_motor1_cmd_status ();
+ if (robot_move_status == success)
+ FSM_HANDLE_E (AI, robot_move_success);
+ else if (robot_move_status == failure)
+ FSM_HANDLE_E (AI, robot_move_failure);
if (mimot_motor0_status == success
&& mimot_motor1_status == success)
FSM_HANDLE_E (AI, clamp_elevation_rotation_success);
+ if (mimot_motor0_status == failure
+ || mimot_motor1_status == failure)
+ FSM_HANDLE_E (AI, clamp_elevation_or_rotation_failure);
+ if (mimot_motor0_status == success)
+ FSM_HANDLE_E (AI, clamp_elevation_success);
else if (mimot_motor0_status == failure)
FSM_HANDLE_E (AI, clamp_elevation_failure);
+ if (mimot_motor1_status == success)
+ FSM_HANDLE_E (AI, clamp_rotation_success);
else if (mimot_motor1_status == failure)
FSM_HANDLE_E (AI, clamp_rotation_failure);
+ /* Clamp specific events. */
+ if (clamp_handle_event ())
+ return;
+ /* Jack. */
+ if (!contact_get_jack ())
+ FSM_HANDLE_E (AI, jack_inserted);
+ else
+ FSM_HANDLE_E (AI, jack_removed);
+ /* Events from the event queue. */
+ if (fsm_queue_poll ())
+ {
+ /* We must post the event at the end of this block because if it is
+ * handled, the function will return and every instruction after will
+ * never be executed. */
+ uint8_t save_event = fsm_queue_pop_event ();
+ /* Post the event */
+ FSM_HANDLE_VAR_E (AI, save_event);
+ }
+ /* Check obstables. */
+ if (move_check_obstacles ())
+ return;
}
/** Main (and infinite) loop. */
@@ -120,6 +192,12 @@ main_loop (void)
/* Is match over? */
if (chrono_is_match_over ())
{
+ /* Power off doors. */
+ pwm_set (BOT_PWM_DOOR_FRONT_BOTTOM, 0);
+ pwm_set (BOT_PWM_DOOR_FRONT_TOP, 0);
+ pwm_set (BOT_PWM_DOOR_BACK_BOTTOM, 0);
+ pwm_set (BOT_PWM_DOOR_BACK_TOP, 0);
+ pwm_set (BOT_PWM_CLAMP, 0);
/* End it and block here indefinitely. */
chrono_end_match (42);
return;
@@ -130,6 +208,18 @@ main_loop (void)
/* Update IO modules. */
pwm_update ();
contact_update ();
+ pawn_sensor_update ();
+ if (usdist_update ())
+ {
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ main_obstacles_nb = radar_update (&robot_pos, main_obstacles_pos);
+ move_obstacles_update ();
+ simu_send_pos_report (main_obstacles_pos, main_obstacles_nb, 0);
+ }
+ /* Update AI modules. */
+ logistic_update ();
+ path_decay ();
/* Only manage events if slaves are synchronised. */
if (twi_master_sync ())
main_event_to_fsm ();
@@ -146,9 +236,21 @@ main_loop (void)
}
if (main_stats_contact_ && !--main_stats_contact_cpt_)
{
- proto_send1d ('P', contact_all ());
+ proto_send1d ('P', contact_all () | (uint32_t) mimot_get_input () << 24);
main_stats_contact_cpt_ = main_stats_contact_;
}
+ if (main_stats_codebar_ && !--main_stats_codebar_cpt_)
+ {
+ proto_send2b ('B', codebar_get (DIRECTION_FORWARD),
+ codebar_get (DIRECTION_BACKWARD));
+ main_stats_codebar_cpt_ = main_stats_codebar_;
+ }
+ if (main_stats_usdist_ && !--main_stats_usdist_cpt_)
+ {
+ proto_send4w ('U', usdist_mm[0], usdist_mm[1], usdist_mm[2],
+ usdist_mm[3]);
+ main_stats_usdist_cpt_ = main_stats_usdist_;
+ }
}
}
@@ -163,6 +265,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Reset */
utils_reset ();
break;
+ case c ('j', 0):
+ /* Simulate jack insertion. */
+ fsm_queue_post_event (FSM_EVENT (AI, jack_inserted));
+ break;
case c ('w', 3):
/* Set PWM.
* - 1b: index.
@@ -179,11 +285,64 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
v8_to_v16 (args[3], args[4]),
v8_to_v16 (args[5], args[6]));
break;
+ case c ('m', 5):
+ /* Go to position.
+ * - 2w: x, y.
+ * - 1b: backward. */
+ {
+ vect_t position = { v8_to_v16 (args[0], args[1]),
+ v8_to_v16 (args[2], args[3]) };
+ move_start_noangle (position, args[4], 0);
+ }
+ break;
case c ('c', 1):
/* Move clamp.
* - 1b: position. */
clamp_move (args[0]);
break;
+ case c ('c', 2):
+ /* Move element using clamp.
+ * - 1b: source.
+ * - 1b: destination. */
+ clamp_move_element (args[0], args[1]);
+ break;
+ case c ('n', 2):
+ /* Simulate the presence of a new element.
+ * - 1b: position.
+ * - 1b: type. */
+ clamp_new_element (args[0], args[1]);
+ break;
+ case c ('d', 0):
+ /* Open all doors. */
+ pwm_set_timed (BOT_PWM_DOOR_FRONT_BOTTOM,
+ BOT_PWM_DOOR_OPEN (CLAMP_SLOT_FRONT_BOTTOM));
+ pwm_set_timed (BOT_PWM_DOOR_FRONT_TOP,
+ BOT_PWM_DOOR_OPEN (CLAMP_SLOT_FRONT_TOP));
+ pwm_set_timed (BOT_PWM_DOOR_BACK_BOTTOM,
+ BOT_PWM_DOOR_OPEN (CLAMP_SLOT_BACK_BOTTOM));
+ pwm_set_timed (BOT_PWM_DOOR_BACK_TOP,
+ BOT_PWM_DOOR_OPEN (CLAMP_SLOT_BACK_TOP));
+ break;
+ case c ('d', 1):
+ /* Drop elements.
+ * - 1b: 00: drop clear, 01: drop forward, 02: drop backward. */
+ if (args[0] == 0x00)
+ clamp_drop_clear ();
+ else
+ clamp_drop (args[0]);
+ break;
+ case c ('d', 2):
+ /* Open or close door or clamp.
+ * - 1b: pos, or 0xff for clamp.
+ * - 1b: non zero to open. */
+ clamp_door (args[0], args[1]);
+ break;
+ case c ('w', 0):
+ /* Disable all motor control. */
+ mimot_motor0_free ();
+ mimot_motor1_free ();
+ asserv_free_motor ();
+ break;
/* Stats commands.
* - b: interval between stats. */
case c ('A', 1):
@@ -194,6 +353,14 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Contact stats. */
main_stats_contact_ = main_stats_contact_cpt_ = args[0];
break;
+ case c ('B', 1):
+ /* Codebar stats. */
+ main_stats_codebar_ = main_stats_codebar_cpt_ = args[0];
+ break;
+ case c ('U', 1):
+ /* US sensors stats. */
+ main_stats_usdist_ = main_stats_usdist_cpt_ = args[0];
+ break;
default:
/* Unknown commands */
proto_send0 ('?');
diff --git a/digital/io-hub/src/robospierre/main.h b/digital/io-hub/src/robospierre/main.h
new file mode 100644
index 00000000..529aa0b2
--- /dev/null
+++ b/digital/io-hub/src/robospierre/main.h
@@ -0,0 +1,31 @@
+#ifndef main_h
+#define main_h
+/* main.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.
+ *
+ * }}} */
+
+extern vect_t main_obstacles_pos[2];
+extern uint8_t main_obstacles_nb;
+
+#endif /* main_h */
diff --git a/digital/io-hub/src/robospierre/move.c b/digital/io-hub/src/robospierre/move.c
new file mode 100644
index 00000000..a44b5715
--- /dev/null
+++ b/digital/io-hub/src/robospierre/move.c
@@ -0,0 +1,541 @@
+/* move.c */
+/* 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 "common.h"
+#include "move.h"
+#include "playground_2011.h"
+
+#include "main.h"
+#include "asserv.h"
+
+#define FSM_NAME AI
+#include "fsm.h"
+#include "fsm_queue.h"
+
+#include "radar.h"
+#include "path.h"
+
+#include "modules/utils/utils.h"
+
+#include <math.h>
+
+/** Move context. */
+struct move_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;
+};
+
+/* Global context. */
+struct move_t move_data;
+
+void
+move_start (position_t position, uint8_t backward)
+{
+ /* Set parameters. */
+ move_data.final = position;
+ move_data.with_angle = 1;
+ move_data.backward_movement_allowed = backward;
+ move_data.final_move = 0;
+ move_data.shorten = 0;
+ /* Reset try counter. */
+ move_data.try_again_counter = 3;
+ /* Start the FSM. */
+ fsm_queue_post_event (FSM_EVENT (AI, move_start));
+}
+
+void
+move_start_noangle (vect_t position, uint8_t backward, int16_t shorten)
+{
+ /* Set parameters. */
+ move_data.final.v = position;
+ move_data.with_angle = 0;
+ move_data.backward_movement_allowed = backward;
+ move_data.final_move = 0;
+ move_data.shorten = shorten;
+ /* Reset try counter. */
+ move_data.try_again_counter = 3;
+ /* Start the FSM. */
+ fsm_queue_post_event (FSM_EVENT (AI, move_start));
+}
+
+void
+move_stop (void)
+{
+ /* Stop the FSM. */
+ fsm_queue_post_event (FSM_EVENT (AI, move_stop));
+}
+
+void
+move_obstacles_update (void)
+{
+ uint8_t i;
+ for (i = 0; i < main_obstacles_nb; i++)
+ path_obstacle (i, main_obstacles_pos[i], MOVE_OBSTACLE_RADIUS, 0,
+ MOVE_OBSTACLE_VALIDITY);
+}
+
+uint8_t
+move_check_obstacles (void)
+{
+ if (FSM_CAN_HANDLE (AI, obstacle_in_front))
+ {
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ if (radar_blocking (&robot_pos.v, &move_data.step, main_obstacles_pos,
+ main_obstacles_nb))
+ if (FSM_HANDLE (AI, obstacle_in_front))
+ return 1;
+ }
+ return 0;
+}
+
+FSM_STATES (
+ /* Waiting for the start order. */
+ MOVE_IDLE,
+ /* Rotating towards next point. */
+ MOVE_ROTATING,
+ /* Moving to a position (intermediate or final). */
+ MOVE_MOVING,
+ /* Moving backward to go away from what is blocking the bot. */
+ MOVE_MOVING_BACKWARD_TO_TURN_FREELY,
+ /* Waiting for obstacle to disappear. */
+ MOVE_WAIT_FOR_CLEAR_PATH)
+
+FSM_EVENTS (
+ /* Report from asserv after a successful move command. */
+ robot_move_success,
+ /* Report from asserv after a failed move command. */
+ robot_move_failure,
+ /* Initialize the FSM and start the movement directly. */
+ move_start,
+ /* Stop movement. */
+ move_stop,
+ /* Movement success. */
+ move_success,
+ /* Movement failure. */
+ move_failure,
+ /* The bot has seen something (front is the same when going backward). */
+ obstacle_in_front)
+
+FSM_START_WITH (MOVE_IDLE)
+
+/** Go to current step, low level function. */
+static void
+move_go (void)
+{
+ vect_t dst = move_data.step;
+ /* Modify final point if requested. */
+ if (move_data.final_move && move_data.shorten)
+ {
+ /* Compute a vector from destination to robot with lenght
+ * 'shorten'. */
+ position_t robot_position;
+ asserv_get_position (&robot_position);
+ vect_t v = robot_position.v;
+ vect_sub (&v, &move_data.step);
+ int16_t d = vect_norm (&v);
+ if (d > move_data.shorten)
+ {
+ vect_scale_f824 (&v, 0x1000000 / d * move_data.shorten);
+ vect_translate (&dst, &v);
+ }
+ }
+ if (move_data.step_with_angle)
+ asserv_goto_xya (dst.x, dst.y, move_data.step_angle,
+ move_data.step_backward);
+ else
+ asserv_goto (dst.x, dst.y, move_data.step_backward);
+}
+
+/** Go or rotate toward position, returns 1 for linear move, 2 for angular
+ * move. */
+static uint8_t
+move_go_or_rotate (vect_t dst, uint16_t angle, uint8_t with_angle,
+ uint8_t backward)
+{
+ position_t robot_position;
+ asserv_get_position (&robot_position);
+ uint16_t robot_angle = robot_position.a;
+ if (backward & ASSERV_BACKWARD)
+ robot_angle += 0x8000;
+ /* Check for green zone. */
+ if (robot_position.v.x < PG_GREEN_WIDTH_MM
+ || robot_position.v.x > PG_WIDTH - PG_GREEN_WIDTH_MM)
+ backward |= ASSERV_REVERT_OK;
+ /* Remember step. */
+ move_data.step = dst;
+ move_data.step_angle = angle;
+ move_data.step_with_angle = with_angle;
+ move_data.step_backward = backward;
+ /* Compute angle to destination. */
+ vect_t v = dst; vect_sub (&v, &robot_position.v);
+ uint16_t dst_angle = atan2 (v.y, v.x) * ((1l << 16) / (2 * M_PI));
+ if (backward & ASSERV_BACKWARD)
+ dst_angle += 0x8000;
+ int16_t diff_angle = dst_angle - robot_angle;
+ if ((backward & ASSERV_REVERT_OK)
+ && (diff_angle > 0x4000 || diff_angle < -0x4000))
+ dst_angle += 0x8000;
+ int16_t diff = dst_angle - robot_angle;
+ /* Move or rotate. */
+ if (UTILS_ABS (diff) < 0x1000)
+ {
+ move_go ();
+ return 1;
+ }
+ else
+ {
+ asserv_goto_angle (dst_angle);
+ return 2;
+ }
+}
+
+/** Go to next position computed by path module, to be called by
+ * move_path_init and move_path_next. Returns 1 for linear move, 2 for angular
+ * move. */
+static uint8_t
+move_go_to_next (vect_t dst)
+{
+ uint8_t r;
+ /* If it is not the last position. */
+ if (dst.x != move_data.final.v.x || dst.y != move_data.final.v.y)
+ {
+ /* Not final position. */
+ move_data.final_move = 0;
+ /* Goto without angle. */
+ r = move_go_or_rotate (dst, 0, 0, move_data.backward_movement_allowed
+ | (move_data.slow ? ASSERV_REVERT_OK : 0));
+ }
+ else
+ {
+ /* Final position. */
+ move_data.final_move = 1;
+ /* Goto with angle if requested. */
+ r = move_go_or_rotate (dst, move_data.final.a, move_data.with_angle,
+ move_data.backward_movement_allowed);
+ }
+ /* Next time, do not use slow. */
+ move_data.slow = 0;
+ return r;
+}
+
+/** Update and go to first position, return non zero if a path is found, 1 for
+ * linear move, 2 for angular move. */
+static uint8_t
+move_path_init (void)
+{
+ uint8_t found;
+ vect_t dst;
+ /* Get the current position */
+ position_t current_pos;
+ asserv_get_position (&current_pos);
+ /* Give the current position of the bot to the path module */
+ path_endpoints (current_pos.v, move_data.final.v);
+ /* Update the path module */
+ move_data.slow = 0;
+ path_update ();
+ found = path_get_next (&dst);
+ /* If not found, try to escape. */
+ if (!found)
+ {
+ move_data.slow = 1;
+ path_escape (8);
+ path_update ();
+ found = path_get_next (&dst);
+ }
+ /* If found, go. */
+ if (found)
+ {
+ return move_go_to_next (dst);
+ }
+ else
+ {
+ /* Error, not final move. */
+ move_data.final_move = 0;
+ return 0;
+ }
+}
+
+/** Go to next position in path. Returns 1 for linear move, 2 for angular
+ * move. */
+static uint8_t
+move_path_next (void)
+{
+ vect_t dst;
+ path_get_next (&dst);
+ return move_go_to_next (dst);
+}
+
+FSM_TRANS (MOVE_IDLE, move_start,
+ path_found_rotate, MOVE_ROTATING,
+ path_found, MOVE_MOVING,
+ no_path_found, MOVE_IDLE)
+{
+ uint8_t next = move_path_init ();
+ if (next)
+ {
+ if (next == 2)
+ return FSM_NEXT (MOVE_IDLE, move_start, path_found_rotate);
+ else
+ return FSM_NEXT (MOVE_IDLE, move_start, path_found);
+ }
+ else
+ {
+ fsm_queue_post_event (FSM_EVENT (AI, move_failure));
+ return FSM_NEXT (MOVE_IDLE, move_start, no_path_found);
+ }
+}
+
+FSM_TRANS (MOVE_ROTATING,
+ robot_move_success,
+ MOVE_MOVING)
+{
+ move_go ();
+ return FSM_NEXT (MOVE_ROTATING, robot_move_success);
+}
+
+FSM_TRANS (MOVE_ROTATING,
+ robot_move_failure,
+ MOVE_MOVING)
+{
+ move_go ();
+ return FSM_NEXT (MOVE_ROTATING, robot_move_failure);
+}
+
+FSM_TRANS_TIMEOUT (MOVE_ROTATING, 1250,
+ MOVE_MOVING)
+{
+ move_go ();
+ return FSM_NEXT_TIMEOUT (MOVE_ROTATING);
+}
+
+FSM_TRANS (MOVE_ROTATING, move_stop, MOVE_IDLE)
+{
+ asserv_stop_motor ();
+ return FSM_NEXT (MOVE_ROTATING, move_stop);
+}
+
+FSM_TRANS (MOVE_MOVING, robot_move_success,
+ done, MOVE_IDLE,
+ path_found_rotate, MOVE_ROTATING,
+ path_found, MOVE_MOVING,
+ no_path_found, MOVE_IDLE)
+{
+ if (move_data.final_move)
+ {
+ fsm_queue_post_event (FSM_EVENT (AI, move_success));
+ return FSM_NEXT (MOVE_MOVING, robot_move_success, done);
+ }
+ else
+ {
+ uint8_t next = move_path_next ();
+ if (next == 2)
+ return FSM_NEXT (MOVE_MOVING, robot_move_success, path_found_rotate);
+ else
+ return FSM_NEXT (MOVE_MOVING, robot_move_success, path_found);
+ }
+ //return FSM_NEXT (MOVE_MOVING, robot_move_success, no_path_found);
+}
+
+static void
+move_moving_backward_to_turn_freely (void)
+{
+ move_data.final_move = 0;
+ /* Assume there is an obstacle in front of the robot. */
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ vect_t obstacle_pos;
+ int16_t dist = asserv_get_last_moving_direction () == DIRECTION_FORWARD
+ ? BOT_SIZE_FRONT + MOVE_REAL_OBSTACLE_RADIUS
+ : -(BOT_SIZE_BACK + MOVE_REAL_OBSTACLE_RADIUS);
+ vect_from_polar_uf016 (&obstacle_pos, dist, robot_pos.a);
+ vect_translate (&obstacle_pos, &robot_pos.v);
+ path_obstacle (0, obstacle_pos, MOVE_OBSTACLE_RADIUS, 0,
+ MOVE_OBSTACLE_VALIDITY);
+ /* Move backward to turn freely. */
+ asserv_move_linearly (asserv_get_last_moving_direction ()
+ == DIRECTION_FORWARD ? -300 : 300);
+}
+
+FSM_TRANS (MOVE_MOVING,
+ robot_move_failure,
+ MOVE_MOVING_BACKWARD_TO_TURN_FREELY)
+{
+ move_moving_backward_to_turn_freely ();
+ return FSM_NEXT (MOVE_MOVING, robot_move_failure);
+}
+
+FSM_TRANS_TIMEOUT (MOVE_MOVING, 2500,
+ MOVE_MOVING_BACKWARD_TO_TURN_FREELY)
+{
+ move_moving_backward_to_turn_freely ();
+ return FSM_NEXT_TIMEOUT (MOVE_MOVING);
+}
+
+FSM_TRANS (MOVE_MOVING, obstacle_in_front,
+ tryagain, MOVE_WAIT_FOR_CLEAR_PATH,
+ tryout, MOVE_IDLE)
+{
+ move_data.final_move = 0;
+ asserv_stop_motor ();
+ if (--move_data.try_again_counter == 0)
+ {
+ fsm_queue_post_event (FSM_EVENT (AI, move_failure));
+ return FSM_NEXT (MOVE_MOVING, obstacle_in_front, tryout);
+ }
+ else
+ return FSM_NEXT (MOVE_MOVING, obstacle_in_front, tryagain);
+}
+
+FSM_TRANS (MOVE_MOVING, move_stop, MOVE_IDLE)
+{
+ asserv_stop_motor ();
+ return FSM_NEXT (MOVE_MOVING, move_stop);
+}
+
+FSM_TRANS (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, robot_move_success,
+ tryout, MOVE_IDLE,
+ path_found_rotate, MOVE_ROTATING,
+ path_found, MOVE_MOVING,
+ no_path_found, MOVE_IDLE)
+{
+ if (--move_data.try_again_counter == 0)
+ {
+ fsm_queue_post_event (FSM_EVENT (AI, move_failure));
+ return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, robot_move_success, tryout);
+ }
+ else
+ {
+ uint8_t next = move_path_init ();
+ if (next)
+ {
+ if (next == 2)
+ return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, robot_move_success, path_found_rotate);
+ else
+ return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, robot_move_success, path_found);
+ }
+ else
+ {
+ fsm_queue_post_event (FSM_EVENT (AI, move_failure));
+ return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, robot_move_success, no_path_found);
+ }
+ }
+}
+
+FSM_TRANS (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, robot_move_failure,
+ tryout, MOVE_IDLE,
+ path_found_rotate, MOVE_ROTATING,
+ path_found, MOVE_MOVING,
+ no_path_found_tryagain, MOVE_WAIT_FOR_CLEAR_PATH,
+ no_path_found_tryout, MOVE_IDLE)
+{
+ if (--move_data.try_again_counter == 0)
+ {
+ fsm_queue_post_event (FSM_EVENT (AI, move_failure));
+ return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, robot_move_failure, tryout);
+ }
+ else
+ {
+ uint8_t next = move_path_init ();
+ if (next)
+ {
+ if (next == 2)
+ return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, robot_move_failure, path_found_rotate);
+ else
+ return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, robot_move_failure, path_found);
+ }
+ else
+ {
+ if (--move_data.try_again_counter == 0)
+ {
+ fsm_queue_post_event (FSM_EVENT (AI, move_failure));
+ return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, robot_move_failure, no_path_found_tryout);
+ }
+ else
+ return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, robot_move_failure, no_path_found_tryagain);
+ }
+ }
+}
+
+FSM_TRANS (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, move_stop, MOVE_IDLE)
+{
+ asserv_stop_motor ();
+ return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, move_stop);
+}
+
+FSM_TRANS_TIMEOUT (MOVE_WAIT_FOR_CLEAR_PATH, 250,
+ path_found_rotate, MOVE_ROTATING,
+ path_found, MOVE_MOVING,
+ no_path_found_tryagain, MOVE_WAIT_FOR_CLEAR_PATH,
+ no_path_found_tryout, MOVE_IDLE)
+{
+ /* Try to move. */
+ uint8_t next = move_path_init ();
+ if (next)
+ {
+ if (next == 2)
+ return FSM_NEXT_TIMEOUT (MOVE_WAIT_FOR_CLEAR_PATH, path_found_rotate);
+ else
+ return FSM_NEXT_TIMEOUT (MOVE_WAIT_FOR_CLEAR_PATH, path_found);
+ }
+ else
+ {
+ /* Error, no new position, should we try again? */
+ if (--move_data.try_again_counter == 0)
+ {
+ fsm_queue_post_event (FSM_EVENT (AI, move_failure));
+ return FSM_NEXT_TIMEOUT (MOVE_WAIT_FOR_CLEAR_PATH, no_path_found_tryout);
+ }
+ else
+ return FSM_NEXT_TIMEOUT (MOVE_WAIT_FOR_CLEAR_PATH, no_path_found_tryagain);
+ }
+}
+
+FSM_TRANS (MOVE_WAIT_FOR_CLEAR_PATH, move_stop, MOVE_IDLE)
+{
+ return FSM_NEXT (MOVE_WAIT_FOR_CLEAR_PATH, move_stop);
+}
+
diff --git a/digital/io-hub/src/robospierre/move.h b/digital/io-hub/src/robospierre/move.h
new file mode 100644
index 00000000..72af5b84
--- /dev/null
+++ b/digital/io-hub/src/robospierre/move.h
@@ -0,0 +1,63 @@
+#ifndef move_h
+#define move_h
+/* move.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 "defs.h"
+#include "bot.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)
+
+/** Go to a position, see asserv.h for backward argument. */
+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);
+
+/** Stop movement. */
+void
+move_stop (void);
+
+/** 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 */
diff --git a/digital/io-hub/src/robospierre/path.c b/digital/io-hub/src/robospierre/path.c
new file mode 100644
index 00000000..ecdddbf7
--- /dev/null
+++ b/digital/io-hub/src/robospierre/path.c
@@ -0,0 +1,621 @@
+/* path.c */
+/* 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 "common.h"
+#include "defs.h"
+#include "path.h"
+#include "bot.h"
+#include "playground_2011.h"
+#include "element.h"
+
+#include "modules/path/astar/astar.h"
+#include "modules/utils/utils.h"
+#include "modules/math/geometry/distance.h"
+
+#define PATH_DEBUG 0
+
+#if PATH_DEBUG
+#include "debug.host.h"
+#endif
+
+/**
+ * This year, due to the large number of obstacles, a grid like structure is
+ * used for path finding on the playground. The A* algorithm is used to find
+ * path along nodes.
+ *
+ * The grid is composed of 11 columns of 4 node each. They are numbered by
+ * column. Even columns are aligned with center of squares, while odd columns
+ * are at squares intersections. Therefore, odd columns have a offset of
+ * 352/2 mm, and that is the reason why code should handle odd and even
+ * columns differently.
+ *
+ * There is also extra grid nodes in front of the green zone.
+ *
+ * All those tricks are used to reduce the number of nodes.
+ */
+
+/** Number of possible obstacles. */
+#define PATH_OBSTACLES_NB AC_PATH_OBSTACLES_NB
+
+/** Number of nodes in a column. */
+#define PATH_COLUMN_NODES_NB 4
+
+/** Number of columns. */
+#define PATH_COLUMNS_NB 11
+
+/** Number of nodes in the grid. */
+#define PATH_GRID_NODES_NB (PATH_COLUMNS_NB * PATH_COLUMN_NODES_NB)
+
+/** Number of nodes in front of each green zone. */
+#define PATH_GREEN_NODES_NB 4
+
+/** Number of fixed nodes. */
+#define PATH_FIXED_NODES_NB (PATH_GRID_NODES_NB + 2 * PATH_GREEN_NODES_NB)
+
+/** Number of nodes in search graph, last two nodes are destination and source
+ * nodes. */
+#define PATH_NODES_NB (PATH_FIXED_NODES_NB + 2)
+
+/** Index of destination node. */
+#define PATH_DST_NODE_INDEX PATH_FIXED_NODES_NB
+
+/** Index of source node. */
+#define PATH_SRC_NODE_INDEX (PATH_DST_NODE_INDEX + 1)
+
+/** Information on a node. */
+struct path_node_t
+{
+ /** Whether this node can be used. */
+ uint8_t usable;
+};
+
+/** Context. */
+struct path_t
+{
+ /** List of obstacles. */
+ struct path_obstacle_t obstacles[PATH_OBSTACLES_NB];
+ /** Escape factor, 0 if none. */
+ uint8_t escape_factor;
+ /** List of nodes used for A*. */
+ struct astar_node_t astar_nodes[PATH_NODES_NB];
+ /** Cache of whether a node is blocked. */
+ uint8_t valid[PATH_FIXED_NODES_NB];
+ /** Position of end points. */
+ vect_t endpoints[2];
+ /** Whether the last update was a success. */
+ uint8_t found;
+ /** Which node to look at for next step. */
+ uint8_t get;
+};
+static struct path_t path;
+
+/** Static information on nodes. */
+static const struct path_node_t path_nodes[PATH_FIXED_NODES_NB] = {
+ /* {{{ */
+ { 1 }, /* 0 column 0. */
+ { 1 }, /* 1 */
+ { 1 }, /* 2 */
+ { 1 }, /* 3 */
+ { 1 }, /* 4 column 1. */
+ { 1 }, /* 5 */
+ { 1 }, /* 6 */
+ { 1 }, /* 7 */
+ { 1 }, /* 8 column 2. */
+ { 1 }, /* 9 */
+ { 1 }, /* 10 */
+ { 1 }, /* 11 */
+ { 1 }, /* 12 column 3. */
+ { 1 }, /* 13 */
+ { 1 }, /* 14 */
+ { 1 }, /* 15 */
+ { 1 }, /* 16 column 4. */
+ { 1 }, /* 17 */
+ { 1 }, /* 18 */
+ { 1 }, /* 19 */
+ { 1 }, /* 20 column 5. */
+ { 1 }, /* 21 */
+ { 1 }, /* 22 */
+ { 1 }, /* 23 */
+ { 1 }, /* 24 column 6. */
+ { 1 }, /* 25 */
+ { 1 }, /* 26 */
+ { 1 }, /* 27 */
+ { 1 }, /* 28 column 7. */
+ { 1 }, /* 29 */
+ { 1 }, /* 30 */
+ { 1 }, /* 31 */
+ { 1 }, /* 32 column 8. */
+ { 1 }, /* 33 */
+ { 1 }, /* 34 */
+ { 1 }, /* 35 */
+ { 1 }, /* 36 column 9. */
+ { 1 }, /* 37 */
+ { 1 }, /* 38 */
+ { 1 }, /* 39 */
+ { 1 }, /* 40 column 10. */
+ { 1 }, /* 41 */
+ { 1 }, /* 42 */
+ { 1 }, /* 43 */
+ { 1 }, /* 44 left green. */
+ { 1 }, /* 45 */
+ { 1 }, /* 46 */
+ { 1 }, /* 47 */
+ { 1 }, /* 48 right green. */
+ { 1 }, /* 49 */
+ { 1 }, /* 50 */
+ { 1 }, /* 51 */
+ /* }}} */
+};
+
+/** Compute position of a node. */
+static void
+path_pos (uint8_t node, vect_t *pos)
+{
+ assert (node < PATH_NODES_NB);
+ if (node < PATH_GRID_NODES_NB)
+ {
+ uint8_t col = node / PATH_COLUMN_NODES_NB;
+ uint8_t line = node - col * PATH_COLUMN_NODES_NB;
+ pos->x = 400 + 50 + 350 / 2 + col * 350 / 2;
+ pos->y = 2100 - 350 - 350 / 2
+ + (col % 2 ? 350 / 2 : 0)
+ - line * 350;
+ }
+ else if (node < PATH_GRID_NODES_NB + 2 * PATH_GREEN_NODES_NB)
+ {
+ node -= PATH_GRID_NODES_NB;
+ uint8_t col = node / PATH_GREEN_NODES_NB;
+ uint8_t line = node - col * PATH_GREEN_NODES_NB;
+ pos->x = col == 0 ? BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM
+ : PG_WIDTH - BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM;
+ pos->y = (5 - line) * 280 + 10;
+ }
+ else
+ {
+ *pos = path.endpoints[node - PATH_FIXED_NODES_NB];
+ }
+}
+
+static uint8_t
+path_element_blocking (uint8_t node, uint8_t escape)
+{
+ vect_t pos;
+ path_pos (node, &pos);
+ int16_t square_x = (pos.x - 450 - 1) / 350;
+ int16_t square_y = (2100 - pos.y - 1) / 350;
+ uint8_t element_id = ELEMENT_UNLOAD_START + square_x + 6 * square_y;
+ if (element_blocking (element_id, escape))
+ return 1;
+ uint8_t intersection = ((pos.x - 450) / 350) != square_x;
+ if (intersection)
+ {
+ if (element_blocking (element_id + 1, escape))
+ return 1;
+ if (element_blocking (element_id + 6, escape))
+ return 1;
+ if (element_blocking (element_id + 6 + 1, escape))
+ return 1;
+ }
+ return 0;
+}
+
+/** Return 1 if the direct path between a and b nodes is blocked, also compute
+ * distance. */
+static uint8_t
+path_blocking (uint8_t a, uint8_t b, int16_t *dp)
+{
+ uint8_t i;
+ vect_t va;
+ vect_t vb;
+ uint8_t escape_factor = 0;
+ uint8_t factor = 1;
+ uint8_t blocking = 0;
+ if (a == PATH_SRC_NODE_INDEX || b == PATH_SRC_NODE_INDEX)
+ escape_factor = path.escape_factor;
+ path_pos (a, &va);
+ path_pos (b, &vb);
+ /* Test for green zone. */
+ uint8_t a_green, b_green;
+ a_green = va.x < PG_GREEN_WIDTH_MM || va.x > PG_WIDTH - PG_GREEN_WIDTH_MM;
+ b_green = vb.x < PG_GREEN_WIDTH_MM || vb.x > PG_WIDTH - PG_GREEN_WIDTH_MM;
+ if ((va.x < BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM
+ && vb.x > BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM)
+ || (va.x > BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM
+ && vb.x < BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM)
+ || (va.x > PG_WIDTH - BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM
+ && vb.x < PG_WIDTH - BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM)
+ || (va.x < PG_WIDTH - BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM
+ && vb.x > PG_WIDTH - BOT_GREEN_ELEMENT_PLACE_DISTANCE_MM))
+ return 1;
+ if (a_green && b_green)
+ return 1;
+ if (a_green || b_green)
+ factor = 4;
+ /* Test for protected zone. */
+ if (va.y <= 350 && va.x > PG_WIDTH / 2 - 350 && va.y < PG_WIDTH / 2 + 350
+ && (vb.x < PG_WIDTH / 2 - 350 || vb.x > PG_WIDTH / 2 + 350))
+ return 1;
+ if (vb.y <= 350 && vb.x > PG_WIDTH / 2 - 350 && vb.y < PG_WIDTH / 2 + 350
+ && (va.x < PG_WIDTH / 2 - 350 || va.x > PG_WIDTH / 2 + 350))
+ return 1;
+ /* Test for a blocking obstacle. */
+ for (i = 0; i < PATH_OBSTACLES_NB && !blocking; i++)
+ {
+ if (path.obstacles[i].valid)
+ {
+ uint16_t d = distance_segment_point (&va, &vb,
+ &path.obstacles[i].c);
+ if (d < path.obstacles[i].r)
+ blocking = 1;
+ }
+ }
+ /* Compute distance. */
+ int16_t d = distance_point_point (&va, &vb);
+ if (d == 0)
+ {
+ *dp = 0;
+ return 0;
+ }
+ /* Test for a blocking element. */
+ if (element_blocking_path (va, vb, d, path.escape_factor))
+ blocking = 1;
+ /* Handle escaping. */
+ if (blocking)
+ {
+ if (escape_factor)
+ {
+ *dp = d * escape_factor;
+ return 0;
+ }
+ else
+ return 1;
+ }
+ /* No blocking. */
+ *dp = d * factor;
+ return 0;
+}
+
+/** Update the cache of blocked nodes. */
+static void
+path_blocked_update (void)
+{
+ uint8_t i, j;
+ for (i = 0; i < PATH_FIXED_NODES_NB; i++)
+ {
+ uint8_t valid = 1;
+ /* First, gather information from tables. */
+ if (!path_nodes[i].usable
+ || path_element_blocking (i, path.escape_factor))
+ valid = 0;
+ else
+ {
+ vect_t pos;
+ path_pos (i, &pos);
+ /* Then, test for obstacles. */
+ for (j = 0; j < PATH_OBSTACLES_NB; j++)
+ {
+ if (path.obstacles[j].valid)
+ {
+ vect_t v = pos; vect_sub (&v, &path.obstacles[j].c);
+ uint32_t dsq = vect_dot_product (&v, &v);
+ uint32_t r = path.obstacles[j].r;
+ if (dsq <= r * r)
+ {
+ valid = 0;
+ break;
+ }
+ }
+ }
+ }
+ /* Update cache. */
+ path.valid[i] = valid;
+ }
+}
+
+void
+path_init (void)
+{
+}
+
+void
+path_endpoints (vect_t s, vect_t d)
+{
+ path.endpoints[0] = d;
+ path.endpoints[1] = s;
+}
+
+void
+path_escape (uint8_t factor)
+{
+ path.escape_factor = factor;
+}
+
+void
+path_obstacle (uint8_t i, vect_t c, uint16_t r, uint8_t factor,
+ uint16_t valid)
+{
+ assert (i < AC_PATH_OBSTACLES_NB);
+ assert (factor == 0);
+ path.obstacles[i].c = c;
+ path.obstacles[i].r = r;
+ path.obstacles[i].valid = valid;
+}
+
+void
+path_decay (void)
+{
+ uint8_t i;
+ for (i = 0; i < PATH_OBSTACLES_NB; i++)
+ {
+ if (path.obstacles[i].valid
+ && path.obstacles[i].valid != PATH_OBSTACLE_VALID_ALWAYS)
+ path.obstacles[i].valid--;
+ }
+}
+
+void
+path_update (void)
+{
+ path_blocked_update ();
+ path.found = astar (path.astar_nodes, PATH_NODES_NB, PATH_DST_NODE_INDEX,
+ PATH_SRC_NODE_INDEX);
+ path.get = PATH_SRC_NODE_INDEX;
+#if AC_PATH_REPORT
+ if (path.found)
+ {
+ uint8_t n, len = 0;
+ vect_t points[PATH_NODES_NB];
+ for (n = path.get; n != PATH_DST_NODE_INDEX; n = path.astar_nodes[n].prev)
+ path_pos (n, &points[len++]);
+ path_pos (n, &points[len++]);
+ AC_PATH_REPORT_CALLBACK (points, len, path.obstacles,
+ PATH_OBSTACLES_NB);
+ }
+#endif
+}
+
+uint8_t
+path_get_next (vect_t *p)
+{
+ if (path.found)
+ {
+ assert (path.get != PATH_DST_NODE_INDEX);
+ uint8_t prev = path.get;
+ vect_t pp;
+ path_pos (prev, &pp);
+ uint8_t next = path.astar_nodes[path.get].prev;
+ path.get = next;
+ path_pos (next, p);
+ while (next != 0xff)
+ {
+ /* Try to remove useless points. */
+ uint8_t next = path.astar_nodes[path.get].prev;
+ if (next == 0xff || next == PATH_DST_NODE_INDEX)
+ break;
+ vect_t np;
+ path_pos (next, &np);
+ vect_t vnp = np; vect_sub (&vnp, &pp);
+ vect_t vp = *p; vect_sub (&vp, &pp);
+ if (vect_normal_dot_product (&vp, &vnp) == 0)
+ {
+ path.get = next;
+ *p = np;
+ }
+ else
+ break;
+ }
+ return 1;
+ }
+ else
+ return 0;
+}
+
+/** Neighbors callback for nodes in grid. */
+static uint8_t
+path_astar_neighbor_callback_grid (uint8_t node,
+ struct astar_neighbor_t *neighbors)
+{
+ uint8_t neighbors_nb = 0;
+ uint8_t i;
+ /* Add neighbors in all 8 directions. */
+ static const struct {
+ /** Column offset of this neighbor. */
+ int8_t column_offset;
+ /** Line offset of this neighbor, for even columns. */
+ int8_t even_line_offset;
+ /** Line offset for odd columns. */
+ int8_t odd_line_offset;
+ /** Distance to this neighbor. */
+ uint16_t weight;
+ } star_n[] = {
+ { 0, -1, -1, 350 }, /* N */
+ { -1, 0, -1, 248 }, /* NW */
+ { -2, 0, 0, 350 }, /* W */
+ { -1, 1, 0, 248 }, /* SW */
+ { 0, 1, 1, 350 }, /* S */
+ { 1, 1, 0, 248 }, /* SE */
+ { 2, 0, 0, 350 }, /* E */
+ { 1, 0, -1, 248 }, /* NE */
+ };
+ uint8_t col = node / PATH_COLUMN_NODES_NB;
+ uint8_t line = node - col * PATH_COLUMN_NODES_NB;
+ uint8_t odd = col % 2;
+ for (i = 0; i < UTILS_COUNT (star_n); i++)
+ {
+ int8_t new_col = col + star_n[i].column_offset;
+ int8_t new_line = line + (odd ? star_n[i].odd_line_offset
+ : star_n[i].even_line_offset);
+ int8_t new_node = new_col * PATH_COLUMN_NODES_NB + new_line;
+ if (new_col >= 0 && new_col < PATH_COLUMNS_NB
+ && new_line >= 0 && new_line < PATH_COLUMN_NODES_NB)
+ {
+ uint8_t valid = path.valid[new_node];
+ if (valid)
+ {
+ neighbors[neighbors_nb].node = new_node;
+ neighbors[neighbors_nb].weight = star_n[i].weight + 1;
+ neighbors_nb++;
+ }
+ }
+ }
+ /* Check path to green nodes. */
+ int16_t d;
+ if (col <= 1 || col >= PATH_COLUMNS_NB - 1)
+ {
+ uint8_t green = PATH_GRID_NODES_NB
+ + (col <= 1 ? 0 : PATH_GREEN_NODES_NB);
+ for (i = green; i < green + PATH_GREEN_NODES_NB; i++)
+ {
+ if (!path_blocking (node, i, &d))
+ {
+ neighbors[neighbors_nb].node = i;
+ neighbors[neighbors_nb].weight = d + 1;
+ neighbors_nb++;
+ }
+ }
+ }
+ /* Check if direct path OK. */
+ if (!path_blocking (node, PATH_SRC_NODE_INDEX, &d))
+ {
+ /* Add this neighbor. */
+ neighbors[neighbors_nb].node = PATH_SRC_NODE_INDEX;
+ neighbors[neighbors_nb].weight = d + 1;
+ neighbors_nb++;
+ }
+#if PATH_DEBUG
+ for (i = 0; i < neighbors_nb; i++)
+ DPRINTF (" n %d %d\n", neighbors[i].node, neighbors[i].weight);
+#endif
+ return neighbors_nb;
+}
+
+/** Neighbors callback for green nodes. */
+static uint8_t
+path_astar_neighbor_callback_green (uint8_t node,
+ struct astar_neighbor_t *neighbors)
+{
+ uint8_t neighbors_nb = 0;
+ uint8_t i;
+ uint8_t col = (node - PATH_GRID_NODES_NB) / PATH_GREEN_NODES_NB;
+ int16_t d;
+ /* Check path to grid nodes. */
+ uint8_t grid = col ? PATH_GRID_NODES_NB - 2 * PATH_COLUMN_NODES_NB : 0;
+ for (i = grid; i < grid + 2 * PATH_COLUMN_NODES_NB; i++)
+ {
+ if (!path_blocking (node, i, &d))
+ {
+ neighbors[neighbors_nb].node = i;
+ neighbors[neighbors_nb].weight = d + 1;
+ neighbors_nb++;
+ }
+ }
+ /* Check path to other green nodes. */
+ uint8_t green = PATH_GRID_NODES_NB + (col ? PATH_GREEN_NODES_NB : 0);
+ for (i = green; i < green + PATH_GREEN_NODES_NB; i++)
+ {
+ if (i != node && !path_blocking (node, i, &d))
+ {
+ neighbors[neighbors_nb].node = i;
+ neighbors[neighbors_nb].weight = d + 1;
+ neighbors_nb++;
+ }
+ }
+ /* Check if direct path OK. */
+ if (!path_blocking (node, PATH_SRC_NODE_INDEX, &d))
+ {
+ /* Add this neighbor. */
+ neighbors[neighbors_nb].node = PATH_SRC_NODE_INDEX;
+ neighbors[neighbors_nb].weight = d + 1;
+ neighbors_nb++;
+ }
+#if PATH_DEBUG
+ for (i = 0; i < neighbors_nb; i++)
+ DPRINTF (" n %d %d\n", neighbors[i].node, neighbors[i].weight);
+#endif
+ return neighbors_nb;
+}
+
+/** Neighbors callback for endpoints. */
+static uint8_t
+path_astar_neighbor_callback_endpoints (uint8_t node,
+ struct astar_neighbor_t *neighbors)
+{
+ uint8_t neighbors_nb = 0;
+ uint8_t i;
+ assert (node == PATH_DST_NODE_INDEX);
+ /* Select neighbors in the fixed nodes. */
+ for (i = 0; i < PATH_FIXED_NODES_NB; i++)
+ {
+ /* Discard blocking nodes. */
+ if (!path.valid[i])
+ continue;
+ /* Check if there is an obstacle along the path. */
+ int16_t d;
+ if (path_blocking (PATH_DST_NODE_INDEX, i, &d))
+ continue;
+ /* Add this neighbor. */
+ neighbors[neighbors_nb].node = i;
+ neighbors[neighbors_nb].weight = d + 1;
+ neighbors_nb++;
+ }
+ /* Check if direct path OK. */
+ int16_t d;
+ if (!path_blocking (PATH_DST_NODE_INDEX, PATH_SRC_NODE_INDEX, &d))
+ {
+ /* Add this neighbor. */
+ neighbors[neighbors_nb].node = PATH_SRC_NODE_INDEX;
+ neighbors[neighbors_nb].weight = d + 1;
+ neighbors_nb++;
+ }
+#if PATH_DEBUG
+ for (i = 0; i < neighbors_nb; i++)
+ DPRINTF (" n %d %d\n", neighbors[i].node, neighbors[i].weight);
+#endif
+ return neighbors_nb;
+}
+
+uint8_t
+path_astar_neighbor_callback (uint8_t node,
+ struct astar_neighbor_t *neighbors)
+{
+#if PATH_DEBUG
+ DPRINTF ("neighbor %d\n", node);
+#endif
+ if (node < PATH_GRID_NODES_NB)
+ return path_astar_neighbor_callback_grid (node, neighbors);
+ else if (node < PATH_GRID_NODES_NB + 2 * PATH_GREEN_NODES_NB)
+ return path_astar_neighbor_callback_green (node, neighbors);
+ else
+ return path_astar_neighbor_callback_endpoints (node, neighbors);
+}
+
+uint16_t
+path_astar_heuristic_callback (uint8_t node)
+{
+ /* TODO: a better and faster heuristic can be found, considering that
+ * movement is only allowed on the grid. */
+ vect_t pos;
+ path_pos (node, &pos);
+ return distance_point_point (&pos, &path.endpoints[0]);
+}
diff --git a/digital/io-hub/src/robospierre/path.h b/digital/io-hub/src/robospierre/path.h
new file mode 100644
index 00000000..22a8ead8
--- /dev/null
+++ b/digital/io-hub/src/robospierre/path.h
@@ -0,0 +1,78 @@
+#ifndef path_h
+#define path_h
+/* path.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 "defs.h"
+
+/** This implement a interface similar to the path module, but adapted for the
+ * special grid of Eurobot 2011. See real path modules for interface comments. */
+
+/** Infinite validity for an obstacle. */
+#define PATH_OBSTACLE_VALID_ALWAYS 0xffff
+
+/** Obstacle. */
+struct path_obstacle_t
+{
+ /** Center. */
+ vect_t c;
+ /** Radius. */
+ uint16_t r;
+ /** Validity counter, when this is zero, the obstacle is ignored. */
+ uint16_t valid;
+};
+
+void
+path_init (void);
+
+void
+path_endpoints (vect_t s, vect_t d);
+
+void
+path_escape (uint8_t factor);
+
+void
+path_obstacle (uint8_t i, vect_t c, uint16_t r, uint8_t factor,
+ uint16_t valid);
+
+void
+path_decay (void);
+
+void
+path_update (void);
+
+uint8_t
+path_get_next (vect_t *p);
+
+#if AC_PATH_REPORT
+
+/** Report computed path. */
+void
+AC_PATH_REPORT_CALLBACK (vect_t *points, uint8_t len,
+ struct path_obstacle_t *obstacles,
+ uint8_t obstacles_nb);
+
+#endif
+
+#endif /* path_h */
diff --git a/digital/io-hub/src/robospierre/pawn_sensor.c b/digital/io-hub/src/robospierre/pawn_sensor.c
new file mode 100644
index 00000000..cc9e6900
--- /dev/null
+++ b/digital/io-hub/src/robospierre/pawn_sensor.c
@@ -0,0 +1,222 @@
+/* pawn_sensor.c */
+/* 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 "common.h"
+#include "defs.h"
+#include "pawn_sensor.h"
+
+#include "asserv.h"
+#include "contact.h"
+#include "logistic.h"
+#include "element.h"
+#include "clamp.h"
+#include "bot.h"
+#include "playground.h"
+#include "codebar.h"
+#include "mimot.h"
+#include "main.h"
+
+#define FSM_NAME AI
+#include "fsm.h"
+#include "fsm_queue.h"
+
+#include "modules/utils/utils.h"
+#include "modules/math/geometry/distance.h"
+
+/* Handle pawn sensors. When a pawn is detected, it can not be taken
+ * directly, but only once it is inside the robot. */
+
+/** Pawn sensor context. */
+struct pawn_sensor_t
+{
+ /** Is there something in front of the sensor? */
+ uint8_t active;
+ /** If active, supposed position of element. */
+ vect_t active_position;
+};
+
+/** Pawn sensor general context. */
+struct pawn_sensor_general_t
+{
+ /** Activate bumpers. */
+ uint8_t bumper_enabled;
+ /** Last bumped element position. */
+ vect_t last_bumped;
+ /** Bumper triggered, wait until the next one. */
+ uint16_t bump_wait;
+};
+
+/** Global contexts. */
+struct pawn_sensor_t pawn_sensor_front, pawn_sensor_back;
+struct pawn_sensor_general_t pawn_sensor_global;
+
+static uint8_t
+pawn_sensor_get_type (uint8_t direction)
+{
+ uint8_t element_type = codebar_get (direction);
+ if (!element_type)
+ element_type = ELEMENT_PAWN;
+ return element_type;
+}
+
+uint8_t
+pawn_sensor_get (uint8_t direction)
+{
+ struct pawn_sensor_t *ctx;
+ uint8_t contact_value, slot;
+ int16_t dist;
+ /* Check direction. */
+ if (direction == DIRECTION_FORWARD)
+ {
+ ctx = &pawn_sensor_front;
+ contact_value = !IO_GET (CONTACT_FRONT_BOTTOM);
+ slot = CLAMP_SLOT_FRONT_BOTTOM;
+ dist = BOT_PAWN_FRONT_DETECTION_THRESHOLD_MM;
+ }
+ else
+ {
+ ctx = &pawn_sensor_back;
+ contact_value = !IO_GET (CONTACT_BACK_BOTTOM);
+ slot = CLAMP_SLOT_BACK_BOTTOM;
+ dist = BOT_PAWN_BACK_DETECTION_THRESHOLD_MM;
+ }
+ /* Handle contact. */
+ if (contact_value)
+ {
+ if (!logistic_global.slots[slot]
+ && logistic_global.moving_to != slot)
+ {
+ position_t robot_position;
+ asserv_get_position (&robot_position);
+ if (ctx->active)
+ {
+ /* In green zone, take it when near enougth from the wall. */
+ if (robot_position.v.x < BOT_GREEN_ELEMENT_DISTANCE_MM + 10
+ || (robot_position.v.x > PG_WIDTH
+ - BOT_GREEN_ELEMENT_DISTANCE_MM - 10))
+ {
+ ctx->active = 0;
+ return pawn_sensor_get_type (direction);
+ }
+ /* Else, take it if near enough from the supposed element
+ * position. */
+ int32_t d = distance_point_point (&ctx->active_position,
+ &robot_position.v);
+ if (d < BOT_PAWN_TAKING_DISTANCE_MM)
+ {
+ ctx->active = 0;
+ return pawn_sensor_get_type (direction);
+ }
+ else if (d > UTILS_ABS (dist))
+ {
+ vect_from_polar_uf016 (&ctx->active_position, dist,
+ robot_position.a);
+ vect_translate (&ctx->active_position, &robot_position.v);
+ }
+ }
+ else
+ {
+ ctx->active = 1;
+ vect_from_polar_uf016 (&ctx->active_position, dist,
+ robot_position.a);
+ vect_translate (&ctx->active_position, &robot_position.v);
+ }
+ }
+ }
+ else
+ {
+ ctx->active = 0;
+ }
+ return 0;
+}
+
+void
+pawn_sensor_bumper (uint8_t bumped, uint16_t dx, uint16_t dy)
+{
+ uint8_t i;
+ if (bumped)
+ {
+ /* Compute pawn position. */
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ vect_t bumped_pawn;
+ bumped_pawn.x = dx;
+ bumped_pawn.y = dy;
+ vect_rotate_uf016 (&bumped_pawn, robot_pos.a);
+ vect_translate (&bumped_pawn, &robot_pos.v);
+ /* Do not count if out of the table. */
+ if (bumped_pawn.x < 400 + BOT_ELEMENT_RADIUS
+ && bumped_pawn.x >= PG_WIDTH - 400 - BOT_ELEMENT_RADIUS
+ && bumped_pawn.y < BOT_ELEMENT_RADIUS
+ && bumped_pawn.y >= PG_WIDTH - BOT_ELEMENT_RADIUS)
+ return;
+ /* Do not count the opponent as a pawn. */
+ for (i = 0; i < main_obstacles_nb; i++)
+ {
+ uint16_t dist = distance_point_point (&bumped_pawn,
+ &main_obstacles_pos[i]);
+ if (dist < 300 + BOT_ELEMENT_RADIUS)
+ return;
+ }
+ /* OK, take it. */
+ pawn_sensor_global.last_bumped = bumped_pawn;
+ fsm_queue_post_event (FSM_EVENT (AI, top_bumper));
+ pawn_sensor_global.bump_wait = 3 * 250;
+ }
+}
+
+void
+pawn_sensor_update (void)
+{
+#define BUMPER_FRONT_LEFT _BV (6)
+#define BUMPER_FRONT_RIGHT _BV (7)
+#define BUMPER_BACK_RIGHT _BV (5)
+#define BUMPER_BACK_LEFT _BV (4)
+ if (pawn_sensor_global.bumper_enabled)
+ {
+ if (pawn_sensor_global.bump_wait)
+ pawn_sensor_global.bump_wait--;
+ else
+ {
+ uint8_t bumpers = mimot_get_input ();
+ pawn_sensor_bumper (!(bumpers & BUMPER_FRONT_LEFT), 120, 265);
+ pawn_sensor_bumper (!(bumpers & BUMPER_FRONT_RIGHT), 120, -265);
+ pawn_sensor_bumper (!(bumpers & BUMPER_BACK_RIGHT), -120, -265);
+ pawn_sensor_bumper (!(bumpers & BUMPER_BACK_LEFT), -120, 265);
+ }
+ }
+}
+
+void
+pawn_sensor_bumper_enable (uint8_t enabled)
+{
+ pawn_sensor_global.bumper_enabled = enabled;
+}
+
+vect_t
+pawn_sensor_get_last_bumped (void)
+{
+ return pawn_sensor_global.last_bumped;
+}
+
diff --git a/digital/io-hub/src/robospierre/pawn_sensor.h b/digital/io-hub/src/robospierre/pawn_sensor.h
new file mode 100644
index 00000000..8d6d2651
--- /dev/null
+++ b/digital/io-hub/src/robospierre/pawn_sensor.h
@@ -0,0 +1,45 @@
+#ifndef pawn_sensor_h
+#define pawn_sensor_h
+/* pawn_sensor.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.
+ *
+ * }}} */
+
+/** Update sensor state and return the element type if an element is ready to
+ * be taken. */
+uint8_t
+pawn_sensor_get (uint8_t direction);
+
+/** Update pawn sensors. */
+void
+pawn_sensor_update (void);
+
+/** Enable bumpers. */
+void
+pawn_sensor_bumper_enable (uint8_t enabled);
+
+/** Return last bumped pawn. */
+vect_t
+pawn_sensor_get_last_bumped (void);
+
+#endif /* pawn_sensor_h */
diff --git a/digital/io-hub/src/robospierre/playground_2011.h b/digital/io-hub/src/robospierre/playground_2011.h
new file mode 100644
index 00000000..a9963e34
--- /dev/null
+++ b/digital/io-hub/src/robospierre/playground_2011.h
@@ -0,0 +1,33 @@
+#ifndef playground_2011_h
+#define playground_2011_h
+/* playground_2011.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 "playground.h"
+
+/** Width of a green zone. */
+#define PG_GREEN_WIDTH_MM 400
+
+#endif /* playground_2011_h */
diff --git a/digital/io-hub/src/robospierre/radar_defs.c b/digital/io-hub/src/robospierre/radar_defs.c
new file mode 100644
index 00000000..85f015e1
--- /dev/null
+++ b/digital/io-hub/src/robospierre/radar_defs.c
@@ -0,0 +1,46 @@
+/* radar_defs.c */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2010 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 "common.h"
+#include "radar.h"
+
+#include "modules/devices/usdist/usdist.h"
+#include "playground.h"
+
+/** Define radar configuration. */
+struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB] = {
+ { &usdist_mm[0], { 20, 20 }, G_ANGLE_UF016_DEG (10) },
+ { &usdist_mm[1], { 20, -20 }, G_ANGLE_UF016_DEG (-10) },
+ { &usdist_mm[2], { -20, -20 }, G_ANGLE_UF016_DEG (180 + 10) },
+ { &usdist_mm[3], { -20, 20 }, G_ANGLE_UF016_DEG (180 - 10) },
+};
+
+/** Define exclusion area (considered as invalid point). */
+uint8_t
+radar_valid (vect_t p)
+{
+ return p.x >= RADAR_MARGIN_MM && p.x < PG_WIDTH - RADAR_MARGIN_MM
+ && p.y >= RADAR_MARGIN_MM && p.y < PG_LENGTH - RADAR_MARGIN_MM;
+}
+
diff --git a/digital/io-hub/src/robospierre/radar_defs.h b/digital/io-hub/src/robospierre/radar_defs.h
new file mode 100644
index 00000000..5f6a2a73
--- /dev/null
+++ b/digital/io-hub/src/robospierre/radar_defs.h
@@ -0,0 +1,41 @@
+#ifndef radar_defs_h
+#define radar_defs_h
+/* radar_defs.h */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2010 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.
+ *
+ * }}} */
+
+#define RADAR_OBSTACLE_EDGE_RADIUS_MM 40
+#define RADAR_OBSTACLE_RADIUS_MM 150
+#define RADAR_STOP_MM 350
+#define RADAR_CLEARANCE_MM 100
+#define RADAR_EPSILON_MM 70
+
+#define RADAR_SENSOR_NB 4
+
+#define RADAR_SENSOR_FRONT_FIRST 0
+#define RADAR_SENSOR_FRONT_NB 2
+#define RADAR_SENSOR_BACK_FIRST 2
+#define RADAR_SENSOR_BACK_NB 2
+
+#endif /* radar_defs_h */
diff --git a/digital/io-hub/src/robospierre/simu.host.c b/digital/io-hub/src/robospierre/simu.host.c
index 8f4019aa..70055d7d 100644
--- a/digital/io-hub/src/robospierre/simu.host.c
+++ b/digital/io-hub/src/robospierre/simu.host.c
@@ -28,10 +28,25 @@
#include "modules/utils/utils.h"
#include "modules/host/host.h"
#include "modules/host/mex.h"
+#include "modules/adc/adc.h"
+#include "modules/path/path.h"
#include "io.h"
/** AVR registers. */
-uint8_t PINE;
+uint8_t PORTA, DDRA, PINA, PINE, PINF;
+
+/** Message types. */
+uint8_t simu_mex_pos_report;
+uint8_t simu_mex_path;
+
+static void
+simu_adc_handle (void *user, mex_msg_t *msg)
+{
+ uint8_t index;
+ uint16_t value;
+ mex_msg_pop (msg, "BH", &index, &value);
+ adc_values[index] = value;
+}
/** Initialise simulation. */
void
@@ -40,6 +55,10 @@ simu_init (void)
const char *mex_instance;
mex_node_connect ();
mex_instance = host_get_instance ("io-hub0", 0);
+ uint8_t mtype = mex_node_reservef ("%s:adc", mex_instance);
+ mex_node_register (mtype, simu_adc_handle, 0);
+ simu_mex_pos_report = mex_node_reservef ("%s:pos-report", mex_instance);
+ simu_mex_path = mex_node_reservef ("%s:path", mex_instance);
}
/** Make a simulation step. */
@@ -62,3 +81,27 @@ timer_wait (void)
return 0;
}
+/** Send computed path. */
+void
+simu_send_path (vect_t *points, uint8_t len,
+ struct path_obstacle_t *obstacles, uint8_t obstacles_nb)
+{
+ int i;
+ mex_msg_t *m;
+ m = mex_msg_new (simu_mex_path);
+ for (i = 0; i < len; i++)
+ mex_msg_push (m, "hh", points[i].x, points[i].y);
+ mex_node_send (m);
+}
+
+void
+simu_send_pos_report (vect_t *pos, uint8_t pos_nb, uint8_t id)
+{
+ mex_msg_t *m;
+ m = mex_msg_new (simu_mex_pos_report);
+ mex_msg_push (m, "b", id);
+ for (; pos_nb; pos++, pos_nb--)
+ mex_msg_push (m, "hh", pos->x, pos->y);
+ mex_node_send (m);
+}
+
diff --git a/digital/io-hub/src/robospierre/simu.host.h b/digital/io-hub/src/robospierre/simu.host.h
index 4b461e86..6224e345 100644
--- a/digital/io-hub/src/robospierre/simu.host.h
+++ b/digital/io-hub/src/robospierre/simu.host.h
@@ -24,13 +24,23 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* }}} */
+#include "defs.h"
#ifdef HOST
-extern uint8_t PINE;
+extern uint8_t PORTA, DDRA, PINA, PINE, PINF;
+
+/** Send general purpose positions to indicate computation results.
+ * - pos: array of positions to report.
+ * - pos_nb: number of elements in the array.
+ * - id: identifier so that several unrelated positions could be reported. */
+void
+simu_send_pos_report (vect_t *pos, uint8_t pos_nb, uint8_t id);
#else /* !defined (HOST) */
+#define simu_send_pos_report(pos, pos_nb, id) ((void) 0)
+
#endif /* !defined (HOST) */
#endif /* simu_host_h */
diff --git a/digital/io-hub/src/robospierre/test_element.c b/digital/io-hub/src/robospierre/test_element.c
new file mode 100644
index 00000000..e200902a
--- /dev/null
+++ b/digital/io-hub/src/robospierre/test_element.c
@@ -0,0 +1,376 @@
+/* test_element.c */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2011 Jérôme Jutteau
+ *
+ * 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 "common.h"
+#include "element.h"
+
+#include "chrono.h"
+
+#include <stdio.h>
+
+#define TEST_PRINT_TYPE_SCORE_PICK 0
+#define TEST_PRINT_TYPE_SCORE_UNLOAD 1
+#define TEST_PRINT_TYPE_ELEMENT 2
+#define TEST_PRINT_TYPE_BONUS_UNLOAD 3
+#define TEST_PRINT_TYPE_BONUS_LOAD 4
+int test_print_type_ = TEST_PRINT_TYPE_SCORE_PICK;
+position_t test_robot_pos_ = {{0, 2100}, 1};
+
+uint8_t PINE;
+
+enum team_color_e team_color;
+
+/** Stubbed chrono. */
+uint32_t test_chrono_ms;
+
+void
+chrono_init (void)
+{
+ test_chrono_ms = CHRONO_MATCH_DURATION_MS;
+}
+
+uint32_t
+chrono_remaining_time (void)
+{
+ return test_chrono_ms;
+}
+
+uint8_t
+test_element_convert (const char *l, uint8_t number)
+{
+ switch (l[0])
+ {
+ case 'A':
+ switch (number)
+ {
+ case 1: return (31);
+ case 3: return (32);
+ case 5: return (33);
+ case 7: return (34);
+ case 9: return (35);
+ case 11: return (36);
+ }
+ case 'B':
+ switch (number)
+ {
+ case 2: return (0);
+ case 4: return (2);
+ case 8: return (3);
+ case 10: return (1);
+ }
+ case 'C':
+ switch (number)
+ {
+ case 1: return (37);
+ case 3: return (38);
+ case 5: return (39);
+ case 7: return (40);
+ case 9: return (41);
+ case 11: return (42);
+ }
+ case 'D':
+ switch (number)
+ {
+ case 0: return (21);
+ case 2: return (4);
+ case 4: return (6);
+ case 8: return (7);
+ case 10: return (5);
+ case 12: return (22);
+ }
+ case 'E':
+ switch (number)
+ {
+ case 1: return (43);
+ case 3: return (44);
+ case 5: return (45);
+ case 7: return (46);
+ case 9: return (47);
+ case 11: return (48);
+ }
+ case 'F':
+ switch (number)
+ {
+ case 0: return (23);
+ case 12: return (24);
+ }
+ case 'G':
+ switch (number)
+ {
+ case 2: return (8);
+ case 4: return (10);
+ case 6: return (20);
+ case 8: return (11);
+ case 10: return (9);
+ }
+ case 'H':
+ switch (number)
+ {
+ case 0: return (25);
+ case 1: return (49);
+ case 3: return (50);
+ case 5: return (51);
+ case 7: return (52);
+ case 9: return (53);
+ case 11: return (54);
+ case 12: return (26);
+ }
+ case 'I':
+ switch (number) /*12*/
+ {
+ case 2: return (12);
+ case 4: return (14);
+ case 8: return (15);
+ case 10: return (13);
+ }
+ case 'J':
+ switch (number)
+ {
+ case 0: return (27);
+ case 12: return (28);
+ }
+ case 'K':
+ switch (number)
+ {
+ case 1: return (55);
+ case 3: return (56);
+ case 5: return (57);
+ case 7: return (58);
+ case 9: return (59);
+ case 11: return (60);
+ }
+ case 'L':
+ switch (number)
+ {
+ case 2: return (16);
+ case 4: return (18);
+ case 8: return (19);
+ case 10: return (17);
+ }
+ case 'M':
+ switch (number)
+ {
+ case 0: return (29);
+ case 1: return (61);
+ case 3: return (62);
+ case 5: return (63);
+ case 7: return (64);
+ case 9: return (65);
+ case 11: return (66);
+ case 12: return (30);
+ }
+ }
+ return 0;
+}
+
+long int
+test_element_get_score (uint8_t element_id)
+{
+ if (test_print_type_ == TEST_PRINT_TYPE_SCORE_PICK)
+ return (long int) element_score (test_robot_pos_, element_id);
+ else if (test_print_type_ == TEST_PRINT_TYPE_SCORE_UNLOAD)
+ return (long int) element_unload_score (test_robot_pos_, element_id);
+ else if (test_print_type_ == TEST_PRINT_TYPE_BONUS_LOAD)
+ {
+ element_t e = element_get (element_id);
+ return (long int) e.bonus_load;
+ }
+ else if (test_print_type_ == TEST_PRINT_TYPE_BONUS_UNLOAD)
+ {
+ element_t e = element_get (element_id);
+ return (long int) e.bonus_unload;
+ }
+ else
+ return (long int) element_table[element_id].type;
+}
+
+#define p(l, n) (test_element_print (#l, n))
+long int
+test_element_print (const char *l, uint8_t number)
+{
+ return test_element_get_score (test_element_convert (l, number));
+}
+
+void
+test_element_print_table ()
+{
+ printf ("parameters:\n");
+ printf ("- robot_pos = (%u, %u)\n", test_robot_pos_.v.x, test_robot_pos_.v.y);
+ printf ("- side = %u\n", team_color);
+ printf (" _____0_________1_____2____3____4____5____6____7____8____9___10___11_________12_____ \n");
+ printf (" | | | | | | | | |\n");
+ printf (" | | | | | | | | |\n");
+ printf ("A| Red | %5ld | %5ld | %5ld | %5ld | %5ld | %5ld | Blue |\n", p (A, 1), p (A, 3), p (A, 5), p(A, 7), p (A, 9), p (A, 11));
+ printf (" | | | | | | | | |\n");
+ printf ("B| |--------%5ld-----%5ld------+--------%5ld-----%5ld------| |\n", p (B, 2), p (B, 4), p (B, 8), p (B, 10));
+ printf (" |-----------+ | | | | | +-----------|\n");
+ printf (" | | | [B] | | | [R] | | |\n");
+ printf ("C| | %5ld | %5ld | %5ld | %5ld | %5ld | %5ld | |\n", p (C, 1), p (C, 3), p (C, 5), p (C, 7), p(C, 9), p (C, 11));
+ printf (" | | | | | | | | |\n");
+ printf ("D| %5ld |--------%5ld-----%5ld------+--------%5ld-----%5ld------| %5ld |\n", p (D, 0), p (D, 2), p (D, 4), p (D, 8), p (D, 10), p (D, 12));
+ printf (" | | | | | | | | |\n");
+ printf (" | | | | | | | | |\n");
+ printf ("E| | %5ld | %5ld | %5ld | %5ld | %5ld | %5ld | |\n", p (E, 1), p (E, 3), p (E, 5), p (E, 7), p(E, 9), p(E, 11));
+ printf ("F| %5ld | | | | | | | %5ld |\n", p (F, 0), p(F, 12));
+ printf ("G| |--------%5ld-----%5ld-----%5ld-----%5ld-----%5ld------| |\n", p (G, 2), p (G, 4), p(G, 6), p (G, 8), p (G, 10));
+ printf (" | | | | | | | | |\n");
+ printf (" | | | [B] | | | [R] | | |\n");
+ printf ("H| %5ld | %5ld | %5ld | %5ld | %5ld | %5ld | %5ld | %5ld |\n", p(H, 0), p (H, 1), p (H, 3), p (H, 5), p (H, 7), p(H, 9), p(H, 11), p(H, 12));
+ printf (" | | | | | | | | |\n");
+ printf ("I| |--------%5ld-----%5ld------+--------%5ld-----%5ld------| |\n", p (I, 2), p (I, 4), p (I, 8), p (I, 10));
+ printf (" | | | | | | | | |\n");
+ printf ("J| %5ld | | | | | | | %5ld |\n", p (J, 0), p(J, 12));
+ printf ("K| | %5ld | %5ld | %5ld | %5ld | %5ld | %5ld | |\n", p (K, 1), p (K, 3), p (K, 5), p (K, 7), p(K, 9), p(K, 11));
+ printf (" | | | | | | | | |\n");
+ printf ("L| |--------%5ld-----%5ld------+--------%5ld-----%5ld------| |\n", p (L, 2), p (L, 4), p (L, 8), p (L, 10));
+ printf (" | | | | | | | | |\n");
+ printf ("M| %5ld | %5ld | %5ld | %5ld | %5ld | %5ld | %5ld | %5ld |\n", p(M, 0), p (M, 1), p (M, 3), p (M, 5), p (M, 7), p(M, 9), p(M, 11), p(M, 12));
+ printf (" | |###################| [R] | [B] |###################| |\n");
+ printf (" | |###################| | |###################| |\n");
+ printf (" +-----------|###################+---------+---------+###################+-----------+\n");
+}
+
+int main ()
+{
+ int exit = 0;
+ char cmd;
+ int x;
+ char y[10], z[10];
+ int type = 0;
+ chrono_init ();
+
+ while (!exit)
+ {
+ element_init ();
+ printf ("\ncommands:\n");
+ printf ("s: print scores, ");
+ printf ("a: print load bonus, ");
+ printf ("p: print unload scores, ");
+ printf ("z: print unload bonus, ");
+ printf ("e: print elements, ");
+ printf ("t: set match time, ");
+ printf ("c: set robot side, ");
+ printf ("r: set robot position, ");
+ printf ("i: pick up an element, ");
+ printf ("n: indicate there is no element, ");
+ printf ("m: id of nearest element, ");
+ printf ("g: get position and angle of desired element,");
+ printf ("u: call I like green,");
+ printf ("q: quit\n");
+ printf ("your choice: ");
+ fflush (stdin);
+ scanf ("%c", &cmd);
+ switch (cmd)
+ {
+ case 's':
+ test_print_type_ = TEST_PRINT_TYPE_SCORE_PICK;
+ test_element_print_table ();
+ break;
+ case 'a':
+ test_print_type_ = TEST_PRINT_TYPE_BONUS_LOAD;
+ test_element_print_table ();
+ break;
+ case 'p':
+ test_print_type_ = TEST_PRINT_TYPE_SCORE_UNLOAD;
+ test_element_print_table ();
+ break;
+ case 'z':
+ test_print_type_ = TEST_PRINT_TYPE_BONUS_UNLOAD;
+ test_element_print_table ();
+ break;
+ case 'e':
+ test_print_type_ = TEST_PRINT_TYPE_ELEMENT;
+ test_element_print_table ();
+ break;
+ case 't':
+ printf ("set match time: ");
+ scanf ("%i", &test_chrono_ms);
+ break;
+ case 'c':
+ if (team_color == TEAM_COLOR_RIGHT)
+ team_color = TEAM_COLOR_LEFT;
+ else
+ team_color = TEAM_COLOR_RIGHT;
+ team_color ^= TEAM_COLOR_RIGHT;
+ printf ("Side is now %u\n", team_color);
+ break;
+ case 'r':
+ printf ("set robot position:\n");
+ printf ("number: ");
+ scanf ("%i", &x);
+ printf ("letter: ");
+ scanf ("%s", y);
+ test_robot_pos_.v = element_table[test_element_convert (y, x)].pos;
+ break;
+ case 'i':
+ printf ("pick up an element:\n");
+ printf ("number: ");
+ scanf ("%i", &x);
+ printf ("letter: ");
+ scanf ("%s", y);
+ printf ("type: (P=Pawn Q=Queen K=King) ");
+ fflush (stdin);
+ scanf ("%s", z);
+ if (z[0] == 'P')
+ type = ELEMENT_PAWN;
+ else if (z[0] == 'Q')
+ type = ELEMENT_QUEEN;
+ else if (z[0] == 'K')
+ type = ELEMENT_KING;
+ else
+ printf ("Unknown !\n");
+ element_taken (test_element_convert (y, x), type);
+ break;
+ case 'n':
+ printf ("indicate there no element\n");
+ printf ("number: ");
+ scanf ("%i", &x);
+ printf ("letter: ");
+ scanf ("%s", y);
+ element_not_here (test_element_convert (y, x));
+ break;
+ case 'm':
+ printf ("nearest element id from robot: %u\n",
+ element_nearest_element_id (test_robot_pos_));
+ break;
+ case 'g':
+ printf ("element id: ");
+ scanf ("%i", &x);
+ vect_t pos = element_get_pos (x);
+ printf ("x: %u y: %u\n", pos.x, pos.y);
+ break;
+ case 'u':
+ printf ("call I like green ...");
+ element_i_like_green ();
+ break;
+ case 'q':
+ exit = 1;
+ break;
+ }
+ fflush (stdin);
+ scanf ("%c", &cmd);
+ }
+ return 0;
+}
+
diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c
new file mode 100644
index 00000000..93fb447f
--- /dev/null
+++ b/digital/io-hub/src/robospierre/top.c
@@ -0,0 +1,476 @@
+/* top.c */
+/* 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 "common.h"
+#include "io.h"
+
+#include "playground_2011.h"
+#include "asserv.h"
+
+#define FSM_NAME AI
+#include "fsm.h"
+
+#include "logistic.h"
+#include "move.h"
+#include "chrono.h"
+#include "pawn_sensor.h"
+#include "contact.h"
+
+/*
+ * Here is the top FSM. This FSM is suppose to give life to the robot with an
+ * impression of intelligence... Well...
+ */
+
+#define TOP_PAWN_TIME 45000l
+
+FSM_INIT
+
+FSM_STATES (
+ /* Initial state. */
+ TOP_START,
+ /* Going out of start area. */
+ TOP_GOING_OUT1,
+ /* Problem going out, wait before retry. */
+ TOP_GOING_OUT1_BLOCK_WAIT,
+ /* Going out, first pawn emplacement. */
+ TOP_GOING_OUT2,
+ /* Problem going out, wait before retry. */
+ TOP_GOING_OUT2_BLOCK_WAIT,
+
+ TOP_GOING_TO_DROP,
+ TOP_GOING_TO_ELEMENT,
+ /* Waiting clamp has finished its work. */
+ TOP_WAITING_CLAMP,
+ /* Unblocking: waiting a little bit. */
+ TOP_UNBLOCKING_SHAKE_WAIT,
+ /* Unblocking: shaking. */
+ TOP_UNBLOCKING_SHAKE,
+ /* Waiting construction is ready to drop. */
+ TOP_WAITING_READY,
+ /* Dropping, opening the doors. */
+ TOP_DROP_DROPPING,
+ /* Dropping, clearing so that doors can be closed. */
+ TOP_DROP_CLEARING)
+
+FSM_EVENTS (
+ /* Bumpers have seen something. */
+ top_bumper)
+
+FSM_START_WITH (TOP_START)
+
+/** Top context. */
+struct top_t
+{
+ /** Target element. */
+ uint8_t target_element_id;
+ /** Chaos counter. */
+ uint8_t chaos;
+ /** Broken clamp. */
+ uint8_t broken;
+ /** Saved, direction when picking element. */
+ uint8_t go_to_element_direction;
+ /** Return to our green zone again. */
+ uint8_t green_again;
+};
+
+/** Global context. */
+struct top_t top_global;
+#define ctx top_global
+
+FSM_TRANS (TOP_START, init_start_round, TOP_GOING_OUT1)
+{
+ element_init ();
+ ctx.green_again = 3;
+ asserv_goto (PG_X (PG_GREEN_WIDTH_MM + 100),
+ PG_Y (PG_LENGTH - 200), 0);
+ return FSM_NEXT (TOP_START, init_start_round);
+}
+
+FSM_TRANS (TOP_GOING_OUT1, robot_move_success, TOP_GOING_OUT2)
+{
+ asserv_goto (PG_X (1500 - 2 * 350), PG_Y (PG_LENGTH - 350), 0);
+ return FSM_NEXT (TOP_GOING_OUT1, robot_move_success);
+}
+
+FSM_TRANS (TOP_GOING_OUT1, robot_move_failure, TOP_GOING_OUT1_BLOCK_WAIT)
+{
+ return FSM_NEXT (TOP_GOING_OUT1, robot_move_failure);
+}
+
+FSM_TRANS_TIMEOUT (TOP_GOING_OUT1_BLOCK_WAIT, 250, TOP_GOING_OUT1)
+{
+ asserv_goto (PG_X (PG_GREEN_WIDTH_MM + 100),
+ PG_Y (PG_LENGTH - 200 - (++ctx.chaos % 4) * 10), 0);
+ return FSM_NEXT_TIMEOUT (TOP_GOING_OUT1_BLOCK_WAIT);
+}
+
+static uint8_t
+top_prepare_level (void)
+{
+ if (ctx.broken)
+ return 3;
+ else if (logistic_global.need_prepare
+ || chrono_remaining_time () < TOP_PAWN_TIME)
+ return 2;
+ else
+ return 1;
+}
+
+static void
+top_go_this_element (vect_t pos, int16_t shorten)
+{
+ ctx.go_to_element_direction = logistic_global.collect_direction;
+ uint8_t backward = logistic_global.collect_direction == DIRECTION_FORWARD
+ ? 0 : ASSERV_BACKWARD;
+ move_start_noangle (pos, backward, shorten);
+}
+
+static uint8_t
+top_go_element (void)
+{
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ ctx.target_element_id = element_best (robot_pos);
+ element_t e = element_get (ctx.target_element_id);
+ if (!ctx.broken)
+ {
+ if (e.attr & ELEMENT_GREEN)
+ {
+ logistic_global.prepare = 0;
+ pawn_sensor_bumper_enable (0);
+ }
+ else
+ {
+ logistic_global.prepare = top_prepare_level ();
+ pawn_sensor_bumper_enable (1);
+ }
+ }
+ vect_t element_pos = element_get_pos (ctx.target_element_id);
+ top_go_this_element (element_pos, 0);
+ return 1;
+}
+
+static uint8_t
+top_go_drop (void)
+{
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ ctx.target_element_id = element_unload_best (robot_pos);
+ position_t drop_pos;
+ drop_pos.v = element_get_pos (ctx.target_element_id);
+ if (!ctx.broken)
+ logistic_global.prepare = top_prepare_level ();
+ pawn_sensor_bumper_enable (0);
+ uint8_t backward = logistic_global.collect_direction == DIRECTION_FORWARD
+ ? 0 : ASSERV_BACKWARD;
+ /* Go above or below the drop point. */
+ if (drop_pos.v.y < 350)
+ {
+ /* Protected zone. */
+ drop_pos.v.x = PG_WIDTH / 2;
+ drop_pos.v.y = 350;
+ drop_pos.a = PG_A_DEG (45);
+ }
+ else if (drop_pos.v.y > PG_LENGTH / 2)
+ {
+ drop_pos.v.y -= 350 / 2;
+ drop_pos.a = PG_A_DEG (-90);
+ }
+ else
+ {
+ drop_pos.v.y += 350 / 2;
+ drop_pos.a = PG_A_DEG (90);
+ }
+ if (logistic_global.collect_direction == DIRECTION_BACKWARD)
+ drop_pos.a += POSITION_A_DEG (180);
+ /* Go! */
+ move_start (drop_pos, backward);
+ return 0;
+}
+
+static uint8_t
+top_decision (void)
+{
+ /* If we can make a tower. */
+ if (logistic_global.construct_possible == 1
+ || ((ctx.broken || chrono_remaining_time () < TOP_PAWN_TIME)
+ && logistic_global.construct_possible == 2))
+ return top_go_drop ();
+ if (logistic_global.need_prepare)
+ {
+ clamp_prepare (top_prepare_level ());
+ return top_go_drop ();
+ }
+ else
+ return top_go_element ();
+}
+
+FSM_TRANS (TOP_GOING_OUT2, robot_move_success,
+ clamp_working, TOP_WAITING_CLAMP,
+ drop, TOP_GOING_TO_DROP,
+ element, TOP_GOING_TO_ELEMENT)
+{
+ if (clamp_working ())
+ return FSM_NEXT (TOP_GOING_TO_ELEMENT, move_success, clamp_working);
+ switch (top_decision ())
+ {
+ default: return FSM_NEXT (TOP_GOING_OUT2, robot_move_success, drop);
+ case 1: return FSM_NEXT (TOP_GOING_OUT2, robot_move_success, element);
+ }
+}
+
+FSM_TRANS (TOP_GOING_OUT2, robot_move_failure, TOP_GOING_OUT2_BLOCK_WAIT)
+{
+ return FSM_NEXT (TOP_GOING_OUT2, robot_move_failure);
+}
+
+FSM_TRANS_TIMEOUT (TOP_GOING_OUT2_BLOCK_WAIT, 250,
+ clamp_working, TOP_WAITING_CLAMP,
+ drop, TOP_GOING_TO_DROP,
+ element, TOP_GOING_TO_ELEMENT)
+{
+ if (clamp_working ())
+ return FSM_NEXT_TIMEOUT (TOP_GOING_OUT2_BLOCK_WAIT, clamp_working);
+ switch (top_decision ())
+ {
+ default: return FSM_NEXT_TIMEOUT (TOP_GOING_OUT2_BLOCK_WAIT, drop);
+ case 1: return FSM_NEXT_TIMEOUT (TOP_GOING_OUT2_BLOCK_WAIT, element);
+ }
+}
+
+FSM_TRANS (TOP_GOING_TO_DROP, move_success,
+ ready, TOP_DROP_DROPPING,
+ wait_clamp, TOP_WAITING_READY)
+{
+ if (logistic_global.ready)
+ {
+ if (clamp_drop (logistic_global.collect_direction))
+ return FSM_NEXT (TOP_GOING_TO_DROP, move_success, ready);
+ else
+ return FSM_NEXT (TOP_GOING_TO_DROP, move_success, wait_clamp);
+ }
+ else
+ {
+ clamp_prepare (top_prepare_level ());
+ return FSM_NEXT (TOP_GOING_TO_DROP, move_success, wait_clamp);
+ }
+}
+
+FSM_TRANS (TOP_GOING_TO_DROP, move_failure,
+ clamp_working, TOP_WAITING_CLAMP,
+ drop, TOP_GOING_TO_DROP,
+ element, TOP_GOING_TO_ELEMENT)
+{
+ if (ctx.target_element_id != 0xff)
+ element_failure (ctx.target_element_id);
+ if (clamp_working ())
+ return FSM_NEXT (TOP_GOING_TO_DROP, move_failure, clamp_working);
+ switch (top_decision ())
+ {
+ default: return FSM_NEXT (TOP_GOING_TO_DROP, move_failure, drop);
+ case 1: return FSM_NEXT (TOP_GOING_TO_DROP, move_failure, element);
+ }
+}
+
+FSM_TRANS (TOP_GOING_TO_DROP, clamp_working, TOP_WAITING_CLAMP)
+{
+ move_stop ();
+ return FSM_NEXT (TOP_GOING_TO_DROP, clamp_working);
+}
+
+FSM_TRANS (TOP_GOING_TO_ELEMENT, move_success,
+ clamp_working, TOP_WAITING_CLAMP,
+ drop, TOP_GOING_TO_DROP,
+ element, TOP_GOING_TO_ELEMENT)
+{
+ if (ctx.target_element_id != 0xff)
+ element_failure (ctx.target_element_id); /* Do not take this one again. */
+ if (clamp_working ())
+ return FSM_NEXT (TOP_GOING_TO_ELEMENT, move_success, clamp_working);
+ if (ctx.green_again)
+ {
+ ctx.green_again--;
+ if (ctx.green_again == 0)
+ element_no_more_green ();
+ }
+ switch (top_decision ())
+ {
+ default: return FSM_NEXT (TOP_GOING_TO_ELEMENT, move_success, drop);
+ case 1: return FSM_NEXT (TOP_GOING_TO_ELEMENT, move_success, element);
+ }
+}
+
+FSM_TRANS (TOP_GOING_TO_ELEMENT, move_failure,
+ clamp_working, TOP_WAITING_CLAMP,
+ drop, TOP_GOING_TO_DROP,
+ element, TOP_GOING_TO_ELEMENT)
+{
+ if (ctx.target_element_id != 0xff)
+ element_failure (ctx.target_element_id);
+ if (clamp_working ())
+ return FSM_NEXT (TOP_GOING_TO_ELEMENT, move_failure, clamp_working);
+ if (ctx.green_again)
+ {
+ ctx.green_again--;
+ if (ctx.green_again == 0)
+ element_no_more_green ();
+ }
+ switch (top_decision ())
+ {
+ default: return FSM_NEXT (TOP_GOING_TO_ELEMENT, move_failure, drop);
+ case 1: return FSM_NEXT (TOP_GOING_TO_ELEMENT, move_failure, element);
+ }
+}
+
+FSM_TRANS (TOP_GOING_TO_ELEMENT, clamp_working, TOP_WAITING_CLAMP)
+{
+ move_stop ();
+ if (ctx.green_again)
+ {
+ ctx.green_again--;
+ if (ctx.green_again == 0)
+ element_no_more_green ();
+ }
+ return FSM_NEXT (TOP_GOING_TO_ELEMENT, clamp_working);
+}
+
+FSM_TRANS (TOP_GOING_TO_ELEMENT, top_bumper, TOP_GOING_TO_ELEMENT)
+{
+ if (!ctx.broken)
+ logistic_global.prepare = top_prepare_level ();
+ move_stop ();
+ ctx.target_element_id = 0xff;
+ top_go_this_element (pawn_sensor_get_last_bumped (), BOT_ELEMENT_RADIUS - 50);
+ return FSM_NEXT (TOP_GOING_TO_ELEMENT, top_bumper);
+}
+
+FSM_TRANS (TOP_WAITING_CLAMP, clamp_done,
+ drop, TOP_GOING_TO_DROP,
+ element, TOP_GOING_TO_ELEMENT)
+{
+ switch (top_decision ())
+ {
+ default: return FSM_NEXT (TOP_WAITING_CLAMP, clamp_done, drop);
+ case 1: return FSM_NEXT (TOP_WAITING_CLAMP, clamp_done, element);
+ }
+}
+
+FSM_TRANS (TOP_WAITING_CLAMP, clamp_blocked, TOP_UNBLOCKING_SHAKE_WAIT)
+{
+ return FSM_NEXT (TOP_WAITING_CLAMP, clamp_blocked);
+}
+
+FSM_TRANS (TOP_WAITING_CLAMP, clamp_taken, TOP_WAITING_CLAMP)
+{
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ if (robot_pos.v.x < 400 || robot_pos.v.x > PG_WIDTH - 400)
+ asserv_move_linearly (ctx.go_to_element_direction
+ == DIRECTION_FORWARD ? -50 : 50);
+ return FSM_NEXT (TOP_WAITING_CLAMP, clamp_taken);
+}
+
+FSM_TRANS_TIMEOUT (TOP_UNBLOCKING_SHAKE_WAIT, 250,
+ try_again, TOP_UNBLOCKING_SHAKE,
+ tryout, TOP_WAITING_CLAMP)
+{
+ if (ctx.chaos < 4)
+ {
+ int16_t dist = logistic_global.collect_direction
+ == DIRECTION_FORWARD ? 100 : -100;
+ asserv_move_linearly (++ctx.chaos % 2 ? -dist : dist);
+ return FSM_NEXT_TIMEOUT (TOP_UNBLOCKING_SHAKE_WAIT, try_again);
+ }
+ else
+ {
+ ctx.broken = 1;
+ clamp_prepare (3);
+ return FSM_NEXT_TIMEOUT (TOP_UNBLOCKING_SHAKE_WAIT, tryout);
+ }
+}
+
+FSM_TRANS (TOP_UNBLOCKING_SHAKE, robot_move_success, TOP_WAITING_CLAMP)
+{
+ clamp_prepare (0);
+ return FSM_NEXT (TOP_UNBLOCKING_SHAKE, robot_move_success);
+}
+
+FSM_TRANS (TOP_UNBLOCKING_SHAKE, robot_move_failure,
+ TOP_UNBLOCKING_SHAKE_WAIT)
+{
+ return FSM_NEXT (TOP_UNBLOCKING_SHAKE, robot_move_failure);
+}
+
+FSM_TRANS (TOP_WAITING_READY, clamp_done,
+ drop, TOP_DROP_DROPPING,
+ not_ready, TOP_WAITING_READY)
+{
+ if (clamp_drop (logistic_global.collect_direction))
+ return FSM_NEXT (TOP_WAITING_READY, clamp_done, drop);
+ else
+ return FSM_NEXT (TOP_WAITING_READY, clamp_done, not_ready);
+}
+
+FSM_TRANS (TOP_WAITING_READY, clamp_blocked, TOP_UNBLOCKING_SHAKE_WAIT)
+{
+ return FSM_NEXT (TOP_WAITING_CLAMP, clamp_blocked);
+}
+
+FSM_TRANS (TOP_DROP_DROPPING, clamp_drop_waiting, TOP_DROP_CLEARING)
+{
+ if (ctx.target_element_id != 0xff)
+ element_down (ctx.target_element_id,
+ logistic_drop_element_type
+ (logistic_global.collect_direction));
+ if (IO_GET (CONTACT_STRAT))
+ element_i_like_green ();
+ asserv_move_linearly (logistic_global.collect_direction
+ == DIRECTION_FORWARD ? 150 : -150);
+ return FSM_NEXT (TOP_DROP_DROPPING, clamp_drop_waiting);
+}
+
+FSM_TRANS (TOP_DROP_CLEARING, robot_move_success,
+ drop, TOP_GOING_TO_DROP,
+ element, TOP_GOING_TO_ELEMENT)
+{
+ clamp_drop_clear ();
+ switch (top_decision ())
+ {
+ default: return FSM_NEXT (TOP_DROP_CLEARING, robot_move_success, drop);
+ case 1: return FSM_NEXT (TOP_DROP_CLEARING, robot_move_success, element);
+ }
+}
+
+FSM_TRANS (TOP_DROP_CLEARING, robot_move_failure,
+ drop, TOP_GOING_TO_DROP,
+ element, TOP_GOING_TO_ELEMENT)
+{
+ clamp_drop_clear ();
+ switch (top_decision ())
+ {
+ default: return FSM_NEXT (TOP_DROP_CLEARING, robot_move_failure, drop);
+ case 1: return FSM_NEXT (TOP_DROP_CLEARING, robot_move_failure, element);
+ }
+}
+
diff --git a/digital/io-hub/tools/io_hub/io_hub.py b/digital/io-hub/tools/io_hub/io_hub.py
index a363e5f6..06d237e9 100644
--- a/digital/io-hub/tools/io_hub/io_hub.py
+++ b/digital/io-hub/tools/io_hub/io_hub.py
@@ -44,9 +44,31 @@ class Proto:
def pwm_set_timed (self, index, value, time, rest_value):
self.proto.send ('w', 'BhHh', index, value, time, rest_value)
+ def goto (self, x, y, backward):
+ self.proto.send ('m', 'hhB', x, y, backward)
+
def clamp_move (self, pos):
self.proto.send ('c', 'B', pos)
+ def clamp_move_element (self, from_, to):
+ self.proto.send ('c', 'BB', from_, to)
+
+ def drop (self, order):
+ if order == 'drop_clear':
+ self.proto.send ('d', 'B', 0x00)
+ elif order == 'drop_forward':
+ self.proto.send ('d', 'B', 0x01)
+ elif order == 'drop_backward':
+ self.proto.send ('d', 'B', 0x02)
+ else:
+ raise ValueError
+
+ def door (self, pos, open_):
+ self.proto.send ('d', 'BB', pos, (0, 1)[open_])
+
+ def clamp_openclose (self, open_):
+ self.proto.send ('d', 'BB', 0xff, (0, 1)[open_])
+
def close (self):
self.reset ()
self.proto.wait (lambda: True)
diff --git a/digital/io-hub/tools/io_hub/mex.py b/digital/io-hub/tools/io_hub/mex.py
index 7c8c0012..9b72ccde 100644
--- a/digital/io-hub/tools/io_hub/mex.py
+++ b/digital/io-hub/tools/io_hub/mex.py
@@ -31,7 +31,7 @@ ADC_NB = 8
PWM_NB = 6
PWM_VALUE_MAX = 1024
-CONTACT_NB = 4
+CONTACT_NB = 10
CONTACT_INIT = 0xffffffff
class Mex:
@@ -44,9 +44,21 @@ class Mex:
"""
- def __init__ (self):
+ def __init__ (self, node, instance, index):
Observable.__init__ (self)
- self.value = None
+ self.value = 0
+ self.__node = node
+ self.__mtype = node.reserve (instance + ':adc')
+ self.__index = index
+ self.register (self.__notified)
+
+ def __notified (self):
+ m = simu.mex.msg.Msg (self.__mtype)
+ v = int (1024 * self.value / 5)
+ v = min (v, 1023)
+ v = max (0, v)
+ m.push ('BH', self.__index, v)
+ self.__node.send (m)
class PWM (Observable):
"""PWM output.
@@ -109,11 +121,95 @@ class Mex:
m.push ('L', self.contacts)
self.node.send (m)
+ class Codebar (Observable):
+ """Codebar stub.
+
+ - element_type: 'queen', 'king', or anything else.
+
+ """
+
+ def __init__ (self, pack, index):
+ Observable.__init__ (self)
+ self.pack = pack
+ self.index = index
+ self.element_type = None
+ self.register (self.__notified)
+
+ def __notified (self):
+ self.pack.set (self.index, self.element_type)
+
+ class Pack:
+ """Handle emission of several codebar for one message."""
+
+ def __init__ (self, node, instance):
+ self.node = node
+ self.codebars = [0, 0]
+ self.mtype = node.reserve (instance + ':codebar')
+
+ def set (self, index, element_type):
+ if element_type == 'queen':
+ self.codebars[index] = 4
+ elif element_type == 'king':
+ self.codebars[index] = 8
+ else:
+ self.codebars[index] = 0
+ self.__send ()
+
+ def __send (self):
+ m = simu.mex.msg.Msg (self.mtype)
+ for c in self.codebars:
+ m.push ('b', c)
+ self.node.send (m)
+
+ class Path (Observable):
+ """Path finding algorithm report.
+
+ - path: sequence of (x, y) coordinates (millimeters).
+
+ """
+
+ def __init__ (self, node, instance):
+ Observable.__init__ (self)
+ self.path = [ ]
+ node.register (instance + ':path', self.__handle)
+
+ def __handle (self, msg):
+ self.path = [ ]
+ while len (msg) >= 4:
+ self.path.append (msg.pop ('hh'))
+ self.notify ()
+
+ class PosReport (Observable):
+ """General purpose position report.
+
+ - pos: dict of sequence of (x, y) coordinates (millimeters). The dict
+ is indexed by position identifier.
+
+ """
+
+ def __init__ (self, node, instance):
+ Observable.__init__ (self)
+ self.pos = { }
+ node.register (instance + ':pos-report', self.__handle)
+
+ def __handle (self, msg):
+ p = [ ]
+ id, = msg.pop ('b')
+ while len (msg) >= 4:
+ p.append (msg.pop ('hh'))
+ self.pos[id] = p
+ self.notify ()
+
def __init__ (self, node, instance = 'io-hub0'):
- self.adc = tuple (self.ADC () for i in range (0, ADC_NB))
+ self.adc = tuple (self.ADC (node, instance, i) for i in range (0, ADC_NB))
self.pwm = tuple (self.PWM () for i in range (0, PWM_NB))
- self.__adc_pwm = self.PWM.Pack (node, instance, self.pwm)
+ self.__pwm_pack = self.PWM.Pack (node, instance, self.pwm)
self.__contact_pack = self.Contact.Pack (node, instance)
self.contact = tuple (self.Contact (self.__contact_pack, i)
for i in range (CONTACT_NB))
+ self.__codebar_pack = self.Codebar.Pack (node, instance)
+ self.codebar = tuple (self.Codebar (self.__codebar_pack, i)
+ for i in (0, 1))
+ self.path = self.Path (node, instance)
+ self.pos_report = self.PosReport (node, instance)
diff --git a/digital/io-serial/src/codebar/Makefile b/digital/io-serial/src/codebar/Makefile
new file mode 100644
index 00000000..f607da5f
--- /dev/null
+++ b/digital/io-serial/src/codebar/Makefile
@@ -0,0 +1,16 @@
+BASE = ../../../avr
+AVR_PROGS = codebar_reader
+codebar_reader_SOURCES = codebar.c timer.avr.c
+MODULES = twi uart utils
+AI_MODULES = utils
+CONFIGFILE = avrconfig.h
+AVR_MCU = atmega164p
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -Os
+
+vpath %.c $(AI_MODULES:%=../../../ai/src/%)
+vpath %.h $(AI_MODULES:%=../../../ai/src/%)
+INCLUDES += $(AI_MODULES:%=-I../../../ai/src/%)
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/io-serial/src/codebar/avrconfig.h b/digital/io-serial/src/codebar/avrconfig.h
new file mode 100644
index 00000000..b7624a5c
--- /dev/null
+++ b/digital/io-serial/src/codebar/avrconfig.h
@@ -0,0 +1,100 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h - Codebar configuration template. */
+/* io-serial.codebar - Codebar AVR module. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2011.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * 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.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 0
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 9600
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY NONE
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL WAIT
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER PTS
+/** Same thing for secondary port. */
+#define AC_UART1_PORT 1
+#define AC_UART1_BAUDRATE 9600
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY NONE
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER PTS
+
+/* twi - TWI module. */
+/** Driver to implement TWI: HARD, SOFT, or USI. */
+#define AC_TWI_DRIVER HARD
+/** Do not use interrupts. */
+#define AC_TWI_NO_INTERRUPT 0
+/** TWI frequency, should really be 100 kHz. */
+#define AC_TWI_FREQ 100000
+/** Enable slave part. */
+#define AC_TWI_SLAVE_ENABLE 1
+/** Enable master part. */
+#define AC_TWI_MASTER_ENABLE 0
+/** Use polled slave mode: received data is stored in a buffer which can be
+ * polled using twi_slave_poll. */
+#define AC_TWI_SLAVE_POLLED 1
+/** Slave reception callback to be defined by the user when not in polled
+ * mode. */
+#undef AC_TWI_SLAVE_RECV
+/** Use internal pull up. */
+#define AC_TWI_PULL_UP 0
+/** Slave reception buffer size. */
+#define AC_TWI_SLAVE_RECV_BUFFER_SIZE 16
+/** Slave transmission buffer size. */
+#define AC_TWI_SLAVE_SEND_BUFFER_SIZE 16
+
+#endif /* avrconfig_h */
diff --git a/digital/io-serial/src/codebar/codebar.c b/digital/io-serial/src/codebar/codebar.c
new file mode 100644
index 00000000..916e4ef1
--- /dev/null
+++ b/digital/io-serial/src/codebar/codebar.c
@@ -0,0 +1,159 @@
+/* codebar.c */
+/* codebar - Codebar Reader. {{{
+ *
+ * Copyright (C) 2011
+ *
+ * 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 <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "common.h"
+#include "modules/twi/twi.h"
+#include "modules/proto/proto.h"
+#include "modules/uart/uart.h"
+#include "modules/utils/utils.h"
+#include "modules/utils/byte.h"
+#include "modules/utils/crc.h"
+#include "timer.h"
+
+/* from robospierre/element.h file */
+#define ELEMENT_UNKOWN 0
+#define ELEMENT_QUEEN 4
+#define ELEMENT_KING 8
+
+#define STRING_MAX 10
+
+struct status_t
+{
+ uint16_t age1;
+ uint8_t piece1;
+ uint16_t age2;
+ uint8_t piece2;
+};
+
+char buffer_u0[STRING_MAX], buffer_u1[STRING_MAX];
+
+uint8_t
+string_to_element (char *data, uint8_t data_len)
+{
+ uint8_t i;
+ for (i = 0; i < data_len - 5; i++)
+ {
+ if (memcmp (data + i, "QUEEN", 5) == 0)
+ {
+ data[i] = 0;
+ return ELEMENT_QUEEN;
+ }
+ if (memcmp (data + i, "QWEEN", 5) == 0)
+ {
+ data[i] = 0;
+ return ELEMENT_QUEEN;
+ }
+ }
+ for (i = 0; i < data_len - 4; i++)
+ {
+ if (memcmp (data + i, "KING", 4) == 0)
+ {
+ data[i] = 0;
+ return ELEMENT_KING;
+ }
+ }
+ return ELEMENT_UNKOWN;
+}
+
+void
+read_strings (void)
+{
+ uint8_t i;
+ while (uart0_poll ())
+ {
+ /* Insert char at end of string. */
+ for (i = 1; i < STRING_MAX; i++)
+ buffer_u0[i - 1] = buffer_u0[i];
+ buffer_u0[STRING_MAX - 1] = uart0_getc ();
+ }
+ while (uart1_poll ())
+ {
+ /* Insert char at end of string. */
+ for (i = 1; i < STRING_MAX; i++)
+ buffer_u1[i - 1] = buffer_u1[i];
+ buffer_u1[STRING_MAX - 1] = uart1_getc ();
+ }
+}
+
+int
+main (int argc, char **argv)
+{
+ struct status_t status;
+ uint8_t element_type;
+
+ status.age1 = 0;
+ status.piece1 = ELEMENT_UNKOWN;
+ status.age2 = 0;
+ status.piece2 = ELEMENT_UNKOWN;
+
+ timer_init ();
+ avr_init (argc, argv);
+ sei ();
+ uart0_init ();
+ uart1_init ();
+ /* Initialize TWI. */
+ twi_init (0x20);
+
+ while (1)
+ {
+ /* Wait until next cycle. */
+ timer_wait ();
+ if (status.age1 < (uint16_t) -1)
+ status.age1 ++;
+ if (status.age2 < (uint16_t) -1)
+ status.age2 ++;
+
+ read_strings ();
+ element_type = string_to_element (buffer_u0, STRING_MAX);
+ if (element_type)
+ {
+ status.piece1 = element_type;
+ status.age1 = 0;
+ }
+ element_type = string_to_element (buffer_u1, STRING_MAX);