/* trust.c */ /* Beacon Trust control. {{{ * * Copyright (C) 2011 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 "debug_simu.h" #include "print.h" extern robot_s opponent[MAX_OBSTACLE]; static HAL_AppTimer_t trustTimer; /* This function returns the trust level */ TTrustStatus trust_check_level(void) { int i = 0; for( i = 1; i <= MAX_OBSTACLE ; i++) { /* If at least one obstacle is under the trust threashold, we are not confident about its position */ DEBUG_TRUST("opponent[%d].trust == %d\n",i,opponent[i].trust); if(opponent[i].trust < TRUST_THRESHOLD) { return TRUST_TOO_BAD; } } return TRUST_LEVEL_OK; } /* This function increases the trust level for a specifical obstacle */ TTrustStatus trust_increase(int number) { if(opponent[number].trust < TRUST_MAX) { opponent[number].trust++; } return TRUST_LEVEL_OK; } /* This function decreases the trust level for all obstacles */ TTrustStatus trust_decrease(void) { int i = 0; for( i = 1; i <= MAX_OBSTACLE ; i++) { if(opponent[i].trust > TRUST_MIN) { opponent[i].trust--; } } return TRUST_LEVEL_OK; } void trust_decrease_task(void) { trustTimer.interval = TRUST_DECREASE_TASK_PERIOD; trustTimer.mode = TIMER_REPEAT_MODE; trustTimer.callback = trust_decrease; HAL_StartAppTimer(&trustTimer); }