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+#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 */