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-rw-r--r--digital/io-hub/src/common-cc/path.cc40
-rw-r--r--digital/io-hub/src/common-cc/path.hh52
2 files changed, 38 insertions, 54 deletions
diff --git a/digital/io-hub/src/common-cc/path.cc b/digital/io-hub/src/common-cc/path.cc
index 86c045d1..1340df64 100644
--- a/digital/io-hub/src/common-cc/path.cc
+++ b/digital/io-hub/src/common-cc/path.cc
@@ -27,7 +27,6 @@
#include "path.hh"
#include "bot.hh"
#include "robot.hh"
-#include "playground.hh"
#ifdef HOST
#include "debug.host.hh"
#endif
@@ -63,11 +62,18 @@ static int32_t pos_dot_product(vect_t* pa, vect_t* pb, vect_t* pc, vect_t* pd)
return vect_dot_product(&vab, &vcd);
}
-Path::Path() :
- border_xmin(pg_border_distance + pg_plate_size_border*2 + BOT_SIZE_RADIUS/2),
- border_ymin(pg_border_distance),
- border_xmax(pg_width - pg_border_distance - pg_plate_size_border*2 - BOT_SIZE_RADIUS/2),
- border_ymax(pg_length - pg_border_distance),
+Path::Path( const uint16_t border_xmin,
+ const uint16_t border_ymin,
+ const uint16_t border_xmax,
+ const uint16_t border_ymax) :
+ border_xmin(border_xmin),
+ border_ymin(border_ymin),
+ border_xmax(border_xmax),
+ border_ymax(border_ymax),
+ obstacles(NULL),
+ navpoints(NULL),
+ navweights(NULL),
+ astar_nodes(NULL),
escape_factor(0),
obstacles_nb(0),
navpoints_nb(0),
@@ -79,8 +85,6 @@ Path::Path() :
void Path::reset()
{
vect_t nul = {0,0};
-
- /* Reset everything */
host_debug("Path reset\n");
obstacles_nb = 0;
navpoints_nb = PATH_RESERVED_NAVPOINTS_NB;
@@ -88,16 +92,6 @@ void Path::reset()
navpoints[PATH_NAVPOINT_DST_IDX] = nul;
next_node = 0;
escape_factor = 0;
-
-#ifdef playground_2013_hh
- /* Declare the cake as an obstacle */
- add_obstacle( pg_cake_pos,
- pg_cake_radius,
- PATH_CAKE_NAVPOINTS_NB * 2 /* only half the navpoints are on the playground */,
- PATH_CAKE_NAVPOINTS_LAYERS,
- 0 /* no extra clearance radius */,
- true /*target the center is allowed*/);
-#endif
}
void Path::add_obstacle( const vect_t &c,
@@ -275,7 +269,7 @@ void Path::compute(weight_t escape)
escape_factor = escape;
/* Call the A* algorithm */
- path_found = (bool)astar(astar_nodes, PATH_NAVPOINTS_NB, PATH_NAVPOINT_DST_IDX, PATH_NAVPOINT_SRC_IDX);
+ path_found = (bool)astar(astar_nodes, navpoints_nb, PATH_NAVPOINT_DST_IDX, PATH_NAVPOINT_SRC_IDX);
if (path_found)
{
/* Store next node to go to */
@@ -283,7 +277,7 @@ void Path::compute(weight_t escape)
#ifdef PATH_DEBUG
/* Log and display the path found */
- vect_t path[PATH_NAVPOINTS_NB];
+ vect_t path[navpoints_nb];
int node = PATH_NAVPOINT_SRC_IDX;
int path_nb = 0;
@@ -330,7 +324,7 @@ bool Path::get_next(vect_t &p)
{
if (path_found)
{
- ucoo::assert(next_node<PATH_NAVPOINTS_NB);
+ ucoo::assert(next_node<navpoints_nb);
p = navpoints[next_node];
next_node = astar_nodes[next_node].prev;
}
@@ -357,12 +351,12 @@ void Path::prepare_score(const vect_t &src, weight_t escape)
{
host_debug("Path prepare score from src=(%u;%u) escape=%u\n", src.x, src.y, escape);
escape_factor = escape;
- astar_dijkstra_prepare(astar_nodes, PATH_NAVPOINTS_NB, get_point_index(src), PATH_NAVPOINT_DST_IDX);
+ astar_dijkstra_prepare(astar_nodes, navpoints_nb, get_point_index(src), PATH_NAVPOINT_DST_IDX);
}
weight_t Path::get_score(const vect_t &dst)
{
- uint16_t score = astar_dijkstra_finish(astar_nodes, PATH_NAVPOINTS_NB, get_point_index(dst));
+ uint16_t score = astar_dijkstra_finish(astar_nodes, navpoints_nb, get_point_index(dst));
host_debug("Path get score=%u for dst=(%u;%u)\n", score, dst.x, dst.y);
return score;
}
diff --git a/digital/io-hub/src/common-cc/path.hh b/digital/io-hub/src/common-cc/path.hh
index beb3a3e5..d673d0cf 100644
--- a/digital/io-hub/src/common-cc/path.hh
+++ b/digital/io-hub/src/common-cc/path.hh
@@ -25,8 +25,7 @@
//
// }}}
#include "defs.hh"
-#include "playground_2013.hh"
-
+#include "playground.hh"
extern "C" {
#include "modules/path/astar/astar.h"
}
@@ -58,9 +57,9 @@ class Path
{
public:
/** Initialise path */
- Path();
- /** Reset path computation, remove every obstacles */
- void reset(void);
+ Path(const uint16_t, const uint16_t, const uint16_t, const uint16_t);
+ /** Reset path computation, remove mobile obstacles, add static obstacles */
+ virtual void reset(void);
/** Set a moving obstacle position, radius and factor*/
void obstacle(const int index, const vect_t &c, const uint16_t r, const int f = 0, const bool target = false);
/** Set path source and destination */
@@ -82,28 +81,30 @@ class Path
(also reuse previously given escape factor) */
weight_t get_score(const vect_t &dst);
- private:
+ protected:
/** Add an obstacle on the field */
void add_obstacle(const vect_t &c, uint16_t r, int nodes, const int nlayers, const uint16_t clearance, const bool target);
-
- /** Number of possible obstacles. */
- static const int PATH_OBSTACLES_NB = (4+1/*cake*/);
+ /** Number of possible mobile obstacles. */
+ static const int PATH_OBSTACLES_NB = 4;
/** Number of points per standard obstacle. */
static const int PATH_OBSTACLES_NAVPOINTS_NB = 10;
-#ifdef playground_2013_hh
- /** Number of points for the cake (plus 1) */
- static const int PATH_CAKE_NAVPOINTS_NB = 6;
-#endif
- /** Number of navigation points layers for the cake. */
- static const int PATH_CAKE_NAVPOINTS_LAYERS = 1;
/** Number of navigation points layers for each obstacle. */
static const int PATH_OBSTACLES_NAVPOINTS_LAYERS = 2;
/** Number of navigation points. */
- static const int PATH_NAVPOINTS_NB = (PATH_RESERVED_NAVPOINTS_NB +
-#ifdef playground_2013_hh
- PATH_CAKE_NAVPOINTS_LAYERS * (PATH_CAKE_NAVPOINTS_NB - PATH_OBSTACLES_NAVPOINTS_NB) +
-#endif
- PATH_OBSTACLES_NAVPOINTS_LAYERS * (PATH_OBSTACLES_NB * PATH_OBSTACLES_NAVPOINTS_NB));
+ static const int PATH_NAVPOINTS_NB =
+ (PATH_RESERVED_NAVPOINTS_NB + PATH_OBSTACLES_NAVPOINTS_LAYERS * PATH_OBSTACLES_NB * PATH_OBSTACLES_NAVPOINTS_NB);
+ /** Borders, any point outside borders is eliminated. */
+ const uint16_t border_xmin, border_ymin, border_xmax, border_ymax;
+ /** List of obstacles. */
+ path_obstacle_t* obstacles;
+ /** List of navigation points coordonates */
+ vect_t* navpoints;
+ /** List of navigation points weights */
+ weight_t* navweights;
+ /** List of nodes used for A*. */
+ struct astar_node_t* astar_nodes;
+
+ private:
/** Navigation points weight precision (2^-n).
* Pay attention to overflow on weight_t variables */
static const int PATH_WEIGHT_PRECISION = 4;
@@ -115,23 +116,12 @@ class Path
/** Extra clearance area added to the radius of the navigation points
* circle to move the navpoints away from the obstacle circle */
static const uint16_t PATH_NAVPOINTS_CLEARANCE = 40;
-
- /** Borders, any point outside borders is eliminated. */
- const uint16_t border_xmin, border_ymin, border_xmax, border_ymax;
/** Escape factor, 0 if none. */
weight_t escape_factor;
- /** List of obstacles. */
- path_obstacle_t obstacles[PATH_OBSTACLES_NB];
/** Number of obstacles */
int obstacles_nb;
- /** List of navigation points coordonates */
- vect_t navpoints[PATH_NAVPOINTS_NB];
- /** List of navigation points weights */
- weight_t navweights[PATH_NAVPOINTS_NB];
/** Number of navigation points */
int navpoints_nb;
- /** List of nodes used for A*. */
- struct astar_node_t astar_nodes[PATH_NAVPOINTS_NB];
/** Which node to look at for next step. */
uint8_t next_node;
/** TRUE when a path has been found */