#ifndef strat_hh #define strat_hh // 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 "defs.hh" #include "playground_2013.hh" #include "asserv.hh" /// High level strategy decision making. class Strat { public: enum Decision { CANDLES, PLATE, CANNON, GIFTS, }; /// Information on a candle decision. struct CandlesDecision { /// Movement direction, 1 (trigo) or -1 (antitrigo). int dir_sign; /// Angle relative to cake to end the movement. uint16_t end_angle; }; /// Information on a plate decision. struct PlateDecision { /// Chosen plate. int plate; /// Leave movement after plate is taken. bool leave; /// Approach position, where the robot should be before starting /// approaching. Position approaching_pos; /// Loading position, point where to go backward to load the plate. If /// the point is reached, there is no plate. vect_t loading_pos; }; /// Information on a gift decision. struct GiftsDecision { /// Need to go to begin_pos first. bool go_first; /// Begin of movement position, only used if go_first. vect_t begin_pos; /// End of movement position. vect_t end_pos; /// Movement direction. Asserv::DirectionConsign dir; }; /// Number of plates. static const int plate_nb = 10; public: /// Constructor. Strat (); /// Color specific initialisation. void color_init (); /// Return new decision and associated position. Decision decision (Position &pos); /// Take a decision related to candles, return false to give up candles. bool decision_candles (CandlesDecision &decision, uint16_t robot_angle); /// Take a decision related to plate. void decision_plate (PlateDecision &decision); /// Take a decision related to gifts. void decision_gifts (GiftsDecision &decision); /// Report a failure to apply the previous decision. void failure (); /// Report a success. void success (); private: /// Compute best score for a plate. int score_plate (Position &pos); private: /// Last taken decision. Decision last_decision_; /// Last plate decision. PlateDecision plate_decision_; /// Last gifts decision. GiftsDecision gifts_decision_; /// Plate visited? bool plate_visited_[plate_nb]; }; #endif // strat_hh