// 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" Strat::Decision Strat::decision (Position &pos) { // TODO: this is a stub. static int step; 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 - 40; switch (step++) { case 0: plate_decision_.drop = false; plate_decision_.approaching_pos = pg_position_deg (200, 600 + plate_app, 90); plate_decision_.loading_pos = pg_vect (200, 600 + plate_load); pos = plate_decision_.approaching_pos; return PLATE; case 1: plate_decision_.drop = true; plate_decision_.approaching_pos = pg_position_deg (200, 1400 - plate_app, -90); plate_decision_.loading_pos = pg_vect (200, 1400 - plate_load); pos = pg_position_deg (200, 600 + plate_load, 90); return PLATE; case 3: 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; return GIFTS; case 2: default: pos.v = pg_cake_pos; pos.a = 0; return CANDLES; } } /// 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 () { }