summaryrefslogtreecommitdiffhomepage
path: root/digital/beacon/src/update.c
diff options
context:
space:
mode:
Diffstat (limited to 'digital/beacon/src/update.c')
-rw-r--r--digital/beacon/src/update.c63
1 files changed, 63 insertions, 0 deletions
diff --git a/digital/beacon/src/update.c b/digital/beacon/src/update.c
new file mode 100644
index 00000000..7a6805b0
--- /dev/null
+++ b/digital/beacon/src/update.c
@@ -0,0 +1,63 @@
+/* update.c */
+/* Beacon udapte position mode. {{{
+ *
+ * Copyright (C) 2012 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 "position.h"
+#include "trust.h"
+#include "update.h"
+#include "debug.h"
+
+/* Globals Declaration */
+extern opponent_s opponent[MAX_OBSTACLE];
+
+/* This function checks is the given coord is a potential obstacle and updates the structure in consequence */
+TUpdateStatus update(coord_s * point)
+{
+ int j = 0;
+ int dx = 0;
+ int dy = 0;
+
+ /* Find if it's near a previous obstacle */
+ DEBUG_UPDATE("Check if ( %.4d ; %.4d ) exists\n",point->x,point->y);
+
+ for( j = 1; j <= MAX_OBSTACLE ; j++)
+ {
+ dx = opponent[j].x - point->x;
+ dy = opponent[j].y - point->y;
+ if (dx * dx + dy * dy < OBSTACLE_RADIUS * OBSTACLE_RADIUS)
+ {
+ DEBUG_UPDATE("Opponent found (%.4d ; %.4d)\n",opponent[j].x,opponent[j].y);
+ opponent[j].x = point->x;
+ opponent[j].y = point->y;
+ trust_increase(j);
+ return UPDATE_OBSTACLE_FOUND;
+ }
+ }
+
+ /* No obstacle found */
+ DEBUG_UPDATE("Opponent not found\n");
+ return UPDATE_OBSTACLE_NOT_FOUND;
+}
+
+