summaryrefslogtreecommitdiffhomepage
path: root/digital/io-hub/src/apbirthday
diff options
context:
space:
mode:
authorOlivier Lanneluc2013-05-03 18:34:50 +0200
committerNicolas Schodet2013-05-03 23:07:15 +0200
commitc6a8cc44fa11777a35ac329602b4a47b3145bf30 (patch)
tree6b4bffba590c3fe156e11fafef708b3d95b9a00f /digital/io-hub/src/apbirthday
parent80c332e283f7eaf02f8f2f9da792a30c8bf18f2b (diff)
digital/io-hub/src: move path stuff for apbirthday 2013 in class Path_2013
Class Path contains only the generic code to process generic obstacles, like the opponent robots. All the static obstacles of the 2013 playground, should be managed by class Path_2013.
Diffstat (limited to 'digital/io-hub/src/apbirthday')
-rw-r--r--digital/io-hub/src/apbirthday/Makefile2
-rw-r--r--digital/io-hub/src/apbirthday/path_2013.cc64
-rw-r--r--digital/io-hub/src/apbirthday/path_2013.hh53
-rw-r--r--digital/io-hub/src/apbirthday/robot.hh4
4 files changed, 120 insertions, 3 deletions
diff --git a/digital/io-hub/src/apbirthday/Makefile b/digital/io-hub/src/apbirthday/Makefile
index 105d230a..215c71bc 100644
--- a/digital/io-hub/src/apbirthday/Makefile
+++ b/digital/io-hub/src/apbirthday/Makefile
@@ -7,7 +7,7 @@ apbirthday_SOURCES = main.cc robot.cc hardware.host.cc hardware.stm32.cc \
i2c_queue.cc asserv.cc mimot.cc lcd.cc beacon.cc \
potentiometer.host.cc potentiometer.stm32.cc \
pressure.cc chrono.host.cc chrono.stm32.cc debounce.cc \
- radar.cc radar_2013.cc obstacles.cc path.cc strat.cc \
+ radar.cc radar_2013.cc obstacles.cc path.cc path_2013.cc strat.cc \
outputs.cc \
top.cc init.cc move.cc candles.cc cannon.cc drinks.cc plate.cc \
angfsm.host.c angfsm_gen_arm_AI.arm.c fsm_queue.cc \
diff --git a/digital/io-hub/src/apbirthday/path_2013.cc b/digital/io-hub/src/apbirthday/path_2013.cc
new file mode 100644
index 00000000..1c5acdbe
--- /dev/null
+++ b/digital/io-hub/src/apbirthday/path_2013.cc
@@ -0,0 +1,64 @@
+// path_2013.cc
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Olivier Lanneluc
+//
+// 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 "path_2013.hh"
+#include "bot.hh"
+#ifdef HOST
+#include "debug.host.hh"
+#endif
+
+Path_2013::Path_2013() : Path( (pg_border_distance + pg_plate_size_border*2 + BOT_SIZE_RADIUS/2),
+ (pg_border_distance),
+ (pg_width - pg_border_distance - pg_plate_size_border*2 - BOT_SIZE_RADIUS/2),
+ (pg_length - pg_border_distance))
+{
+ host_debug("Path_2013 constructor\n");
+ obstacles = new path_obstacle_t[PATH_2013_OBSTACLES_NB];
+ navpoints = new vect_t[PATH_2013_NAVPOINTS_NB];
+ navweights = new weight_t[PATH_2013_NAVPOINTS_NB];
+ astar_nodes = new struct astar_node_t[PATH_2013_NAVPOINTS_NB];
+}
+
+Path_2013::~Path_2013()
+{
+ delete[] obstacles;
+ delete[] navpoints;
+ delete[] navweights;
+ delete[] astar_nodes;
+}
+
+void Path_2013::reset()
+{
+ /* Reset the mobile obstacles */
+ Path::reset();
+
+ /* Add the cake obstacle */
+ add_obstacle( pg_cake_pos,
+ pg_cake_radius,
+ PATH_2013_CAKE_NAVPOINTS_NB * 2 /* only half the navpoints are on the playground */,
+ PATH_2013_CAKE_NAVPOINTS_LAYERS,
+ 0 /* no extra clearance radius */,
+ true /* it is allowed to target the center */);
+}
diff --git a/digital/io-hub/src/apbirthday/path_2013.hh b/digital/io-hub/src/apbirthday/path_2013.hh
new file mode 100644
index 00000000..17392aad
--- /dev/null
+++ b/digital/io-hub/src/apbirthday/path_2013.hh
@@ -0,0 +1,53 @@
+#ifndef path_2013_hh
+#define path_2013_hh
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Olivier Lanneluc
+//
+// 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 "path.hh"
+#include "playground_2013.hh"
+
+/** 2013 path finding class */
+class Path_2013 : public Path
+{
+ public:
+ /** Constructor */
+ Path_2013();
+ /** Destructor */
+ ~Path_2013();
+ /** (overloaded) Reset path computation, remove mobile obstacles, add static obstacles */
+ void reset(void);
+
+ private:
+ /** Number of additional obstacles on the playground */
+ static const int PATH_2013_OBSTACLES_NB = PATH_OBSTACLES_NB + 1/*cake*/;
+ /** Number of points for the cake (plus 1) */
+ static const int PATH_2013_CAKE_NAVPOINTS_NB = 6;
+ /** Number of navigation points layers for the cake. */
+ static const int PATH_2013_CAKE_NAVPOINTS_LAYERS = 1;
+ /** Number of additional navigation points. */
+ static const int PATH_2013_NAVPOINTS_NB =
+ PATH_NAVPOINTS_NB + PATH_2013_CAKE_NAVPOINTS_LAYERS * PATH_2013_CAKE_NAVPOINTS_NB;
+};
+
+#endif // path_2013_hh
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index 3483803e..a92b36ef 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -40,7 +40,7 @@
#include "radar_2013.hh"
#include "obstacles.hh"
#include "move.hh"
-#include "path.hh"
+#include "path_2013.hh"
#include "strat.hh"
#include "candles.hh"
#include "drinks.hh"
@@ -115,7 +115,7 @@ class Robot : public ucoo::Proto::Handler
/// Obstacle database.
Obstacles obstacles;
/// Path finding.
- Path path;
+ Path_2013 path;
/// Move FSM.
Move move;
/// Strategy.