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+#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 */