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-rw-r--r--digital/ai/src/common/debug.host.h42
-rw-r--r--digital/ai/src/common/defs.h56
-rw-r--r--digital/ai/src/common/playground.h64
3 files changed, 162 insertions, 0 deletions
diff --git a/digital/ai/src/common/debug.host.h b/digital/ai/src/common/debug.host.h
new file mode 100644
index 00000000..3fb7e23f
--- /dev/null
+++ b/digital/ai/src/common/debug.host.h
@@ -0,0 +1,42 @@
+#ifndef debug_host_h
+#define debug_host_h
+/* debug.host.h */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * Copyright (C) 2008 Dufour Jérémy
+ *
+ * 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.
+ *
+ * }}} */
+
+/**
+ * Debug printf functions.
+ * This module include a macro to add some debug functions to printf a message
+ * under host target. It does nothing under avr target.
+ */
+
+#ifdef HOST
+# include <stdio.h>
+# define DPRINTF(format, args...) \
+ do { fprintf (stderr, (format), ## args); } while (0)
+#else /* HOST */
+# define DPRINTF(format, args...)
+#endif /* HOST */
+
+#endif /* debug_host_h */
diff --git a/digital/ai/src/common/defs.h b/digital/ai/src/common/defs.h
new file mode 100644
index 00000000..f16e9e52
--- /dev/null
+++ b/digital/ai/src/common/defs.h
@@ -0,0 +1,56 @@
+#ifndef defs_h
+#define defs_h
+/* defs.h */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * 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 "modules/math/geometry/geometry.h"
+#include "modules/math/geometry/vect.h"
+
+/** General purpose defines. */
+
+/** Structure defining a position with an angle. */
+struct position_t
+{
+ /** Cartesian position in millimeters, (0, 0) is at bottom left. */
+ vect_t v;
+ /** Angle, counter-clockwise, [0, 1), f0.16.
+ * For example, 0x8000 means 0.5, which means 180 degrees. */
+ uint16_t a;
+};
+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)
+
+/** Team color, determine the start zone side. */
+enum team_color_e
+{
+ TEAM_COLOR_LEFT = 0,
+ TEAM_COLOR_RIGHT = 1
+};
+
+/** Current team color, to be read at start up. */
+extern enum team_color_e team_color;
+
+#endif /* defs_h */
diff --git a/digital/ai/src/common/playground.h b/digital/ai/src/common/playground.h
new file mode 100644
index 00000000..18c81ecf
--- /dev/null
+++ b/digital/ai/src/common/playground.h
@@ -0,0 +1,64 @@
+#ifndef playground_h
+#define playground_h
+/* playground.h */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * 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"
+
+/**
+ * Define playground constant data and playground macro to define position and
+ * angle depending of the current team color.
+ */
+
+/** Playground width, mm. */
+#define PG_WIDTH 3000
+
+/** Playground length, mm. */
+#define PG_LENGTH 2100
+
+/** Distance to playground borders for general movements, mm. */
+#define PG_BORDER_DISTANCE 250
+
+/** Return X coordinate, applying symmetry according to team color. */
+#define PG_X(x) (team_color ? (x) : PG_WIDTH - (x))
+
+/** Same as PG_Y, but for Y coordinate. Actually nothing is done, there is no
+ * symmetry. */
+#define PG_Y(y) (y)
+
+/** Return an angle, applying symmetry according to team color. Takes degrees as
+ * input. */
+#define PG_A_DEG(a) \
+ (team_color ? POSITION_A_DEG (a) : POSITION_A_DEG (180 - (a)))
+
+/** Initialiser for position_t applying symmetry according to color. Takes
+ * degrees for angle. */
+#define PG_POSITION_DEG(x, y, a) \
+ { { PG_X (x), PG_Y (y) }, PG_A_DEG (a) }
+
+/** Initialiser for vect_t applying symmetry according to color. */
+#define PG_VECT(x, y) \
+ (vect_t) { PG_X (x), PG_Y (y) }
+
+#endif /* playground_h */