From 1355d019cafedbb3d6b191156b80a857c6a618d1 Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Sun, 4 Mar 2012 01:32:10 +0100 Subject: digital/beacon/simu: beacon simulator v2 -> Multi Obstacles management --- digital/beacon/simu/update.c | 63 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 63 insertions(+) create mode 100644 digital/beacon/simu/update.c (limited to 'digital/beacon/simu/update.c') diff --git a/digital/beacon/simu/update.c b/digital/beacon/simu/update.c new file mode 100644 index 00000000..7a6805b0 --- /dev/null +++ b/digital/beacon/simu/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; +} + + -- cgit v1.2.3