// io-hub - Modular Input/Output. {{{ // // Copyright (C) 2013 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 "strat.hh" #include "robot.hh" #include "top.hh" #include "debug.host.hh" #include "bot.hh" static const vect_t plate_pos[Strat::plate_nb] = { { 200, 1750 }, { 200, 1400 }, { 200, 1000 }, { 200, 600 }, { 200, 250 }, { 3000 - 200, 1750 }, { 3000 - 200, 1400 }, { 3000 - 200, 1000 }, { 3000 - 200, 600 }, { 3000 - 200, 250 }, }; Strat::Strat () { for (int i = 0; i < plate_nb; i++) plate_visited_[i] = false; } void Strat::color_init () { if (team_color) plate_visited_[1] = false; else plate_visited_[5 + 1] = false; } int Strat::score_plate (Position &pos) { static const int plate_app = pg_plate_size_border + BOT_SIZE_RADIUS + 20; static const int plate_load = pg_plate_size_border + BOT_SIZE_BACK - 60; int plate = -1, score = -1; bool above = false, below = false; bool leave = true; // Important start points. if (team_color) { if (!plate_visited_[2]) { plate = 2; below = true; score = 100000; leave = false; } else if (!plate_visited_[0]) { plate = 0; above = true; score = 100000; } } else { if (!plate_visited_[0 + 5]) { plate = 0 + 5; above = true; score = 100000; leave = false; } else if (!plate_visited_[2 + 5]) { plate = 2 + 5; below = true; score = 100000; } } // One plate chosen? if (plate != -1) { if (above) { pos.v.x = plate_pos[plate].x + 35; pos.v.y = plate_pos[plate].y - plate_app; pos.a = G_ANGLE_UF016_DEG (-90); plate_decision_.loading_pos.x = plate_pos[plate].x + 35; plate_decision_.loading_pos.y = plate_pos[plate].y - plate_load; } else if (below) { pos.v.x = plate_pos[plate].x - 35; pos.v.y = plate_pos[plate].y + plate_app; pos.a = G_ANGLE_UF016_DEG (90); plate_decision_.loading_pos.x = plate_pos[plate].x - 35; plate_decision_.loading_pos.y = plate_pos[plate].y + plate_load; } else if (plate < 5) { pos.v.x = plate_pos[plate].x + plate_app; pos.v.y = plate_pos[plate].y + 35; pos.a = G_ANGLE_UF016_DEG (0); plate_decision_.loading_pos.x = plate_pos[plate].x + plate_load; plate_decision_.loading_pos.y = plate_pos[plate].y + 35; } else { pos.v.x = plate_pos[plate].x - plate_app; pos.v.y = plate_pos[plate].y - 35; pos.a = G_ANGLE_UF016_DEG (180); plate_decision_.loading_pos.x = plate_pos[plate].x - plate_load; plate_decision_.loading_pos.y = plate_pos[plate].y - 35; } plate_decision_.approaching_pos = pos; plate_decision_.plate = plate; plate_decision_.leave = leave; } return score; } Strat::Decision Strat::decision (Position &pos) { Decision best_decision; int best_score = -1; Position tpos; int tscore; // Plate? tscore = score_plate (tpos); if (tscore > best_score) { best_score = tscore; pos = tpos; best_decision = PLATE; } // Good score, XXX temp hack. if (best_score >= 100000) { last_decision_ = best_decision; return best_decision; } // TODO: this is a stub. static int step; if (step > 2) step = 0; switch (step++) { case 1: gifts_decision_.go_first = true; gifts_decision_.begin_pos = (vect_t) { 600, pg_gifts_distance + BOT_SIZE_SIDE }; gifts_decision_.end_pos = (vect_t) { 2400, pg_gifts_distance + BOT_SIZE_SIDE }; gifts_decision_.dir = Asserv::FORWARD; pos.v = (vect_t) { 900, pg_gifts_distance + BOT_SIZE_SIDE }; pos.a = 0; last_decision_ = GIFTS; return GIFTS; default: case 0: pos.v = pg_cake_pos; pos.a = 0; last_decision_ = CANDLES; return CANDLES; case 2: if (team_color) pos = pg_position_deg (1500, 1200, 90); else pos = pg_position_deg (1500 - 200, 1200, 90); last_decision_ = CANNON; return CANNON; } } /// Compute score for candles between first and last. static int strat_candles_score (int first, int last) { int score = 0; Candles::Color other_color = team_color == TEAM_COLOR_RIGHT ? Candles::BLUE : Candles::RED; for (int i = first; i < last + 1; i++) { if (robot->candles.state[i] != Candles::PUNCHED && robot->candles.color[i] != other_color) score++; } return score; } bool Strat::decision_candles (CandlesDecision &decision, uint16_t robot_angle) { // Make an evaluation of the best direction to follow. // TODO: +1/-1 until candles at ends can be reached. int limit, score_forward, score_backward; limit = top_candle_for_angle (robot_angle, Candles::FAR, 1); score_backward = strat_candles_score (0 + 1, limit); score_forward = strat_candles_score (limit + 1, 7 - 1); limit = top_candle_for_angle (robot_angle, Candles::NEAR, 1); score_backward += strat_candles_score (8 + 1, limit); score_forward += strat_candles_score (limit + 1, 19 - 1); // Can not choose a direction with an obstacle. if (score_backward && top_follow_blocking (-1)) score_backward = 0; if (score_forward && top_follow_blocking (1)) score_forward = 0; // Now choose. host_debug ("score: forward = %d, backward = %d\n", score_forward, score_backward); if (score_forward == 0 && score_backward == 0) { return false; } else { // So near... let blow them... if (score_forward && robot_angle > G_ANGLE_UF016_DEG (-45)) score_forward += 100; if (score_backward && robot_angle < G_ANGLE_UF016_DEG (180 + 45)) score_backward += 100; // Compare. if (score_forward > score_backward) { decision.dir_sign = 1; decision.end_angle = G_ANGLE_UF016_DEG (-20); } else { decision.dir_sign = -1; decision.end_angle = G_ANGLE_UF016_DEG (180 + 20); } return true; } } void Strat::decision_plate (PlateDecision &decision) { decision = plate_decision_; } void Strat::decision_gifts (GiftsDecision &decision) { decision = gifts_decision_; } void Strat::failure () { if (last_decision_ == PLATE) plate_visited_[plate_decision_.plate] = true; } void Strat::success () { if (last_decision_ == PLATE) plate_visited_[plate_decision_.plate] = true; }