/* strat.c */ /* guybrush - Eurobot 2012 AI. {{{ * * Copyright (C) 2012 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 "common.h" #include "strat.h" #include "playground_2012.h" #include "bot.h" #include "path.h" /* * This file implements strategic decisions. */ enum { /** The four collecting places for totems. */ STRAT_PLACE_TOTEM0, STRAT_PLACE_TOTEM1, STRAT_PLACE_TOTEM2, STRAT_PLACE_TOTEM3, /** Message in a bottle. */ STRAT_PLACE_BOTTLE0, STRAT_PLACE_BOTTLE1, STRAT_PLACE_BOTTLE2, STRAT_PLACE_BOTTLE3, /** Number of places, should be last. */ STRAT_PLACE_NB }; /** Place static information. */ struct strat_place_t { /** Collect position. */ vect_t pos; /** Static score. */ uint8_t score; /** Decision code. */ uint8_t decision; }; static const struct strat_place_t strat_place[STRAT_PLACE_NB] = { { { PG_WIDTH / 2 - PG_TOTEM_X_OFFSET_MM, PG_LENGTH / 2 + PATH_PEANUT_CLEAR_MM }, 100, STRAT_DECISION_TOTEM }, { { PG_WIDTH / 2 + PG_TOTEM_X_OFFSET_MM, PG_LENGTH / 2 + PATH_PEANUT_CLEAR_MM }, 100, STRAT_DECISION_TOTEM }, { { PG_WIDTH / 2 - PG_TOTEM_X_OFFSET_MM, PG_LENGTH / 2 - PATH_PEANUT_CLEAR_MM }, 100, STRAT_DECISION_TOTEM }, { { PG_WIDTH / 2 + PG_TOTEM_X_OFFSET_MM, PG_LENGTH / 2 - PATH_PEANUT_CLEAR_MM }, 100, STRAT_DECISION_TOTEM }, { { PG_BOTTLE0_X, BOT_SIZE_RADIUS + 70 }, 100, STRAT_DECISION_BOTTLE }, { { PG_BOTTLE1_X, BOT_SIZE_RADIUS + 70 }, 100, STRAT_DECISION_BOTTLE }, { { PG_BOTTLE2_X, BOT_SIZE_RADIUS + 70 }, 100, STRAT_DECISION_BOTTLE }, { { PG_BOTTLE3_X, BOT_SIZE_RADIUS + 70 }, 100, STRAT_DECISION_BOTTLE }, }; /** Place dynamic information. */ struct strat_place_dyn_t { /** Valid (not collected yet). */ uint8_t valid; /** Tryed yet. */ uint8_t fail_nb; }; /** Strat context. */ struct strat_t { /** Last decision. */ uint8_t last_decision; /** Place of last decision. */ uint8_t last_place; /** Robot content estimation. */ uint8_t load; /** Places information. */ struct strat_place_dyn_t place[STRAT_PLACE_NB]; }; static struct strat_t strat; void strat_init (void) { uint8_t i; strat.last_decision = -1; for (i = 0; i < STRAT_PLACE_NB; i++) strat.place[i].valid = 1; if (team_color) { strat.place[STRAT_PLACE_BOTTLE1].valid = 0; strat.place[STRAT_PLACE_BOTTLE3].valid = 0; } else { strat.place[STRAT_PLACE_BOTTLE0].valid = 0; strat.place[STRAT_PLACE_BOTTLE2].valid = 0; } } uint8_t strat_decision (vect_t *pos) { uint8_t i; if (strat.load > 1) { strat.last_decision = STRAT_DECISION_UNLOAD; pos->x = PG_X (BOT_SIZE_RADIUS + 30); pos->y = PG_Y (PG_LENGTH / 2); return strat.last_decision; } for (i = 0; i < STRAT_PLACE_NB; i++) { if (strat.place[i].valid) { *pos = strat_place[i].pos; strat.last_decision = strat_place[i].decision; strat.last_place = i; return strat.last_decision; } } /* Nothing yet, crash. */ return -1; } void strat_success (void) { switch (strat.last_decision) { case STRAT_DECISION_TOTEM: strat.load++; /* no break; */ case STRAT_DECISION_BOTTLE: strat.place[strat.last_place].valid = 0; break; case STRAT_DECISION_UNLOAD: strat.load = 0; break; default: assert (0); } } void strat_failure (void) { switch (strat.last_decision) { default: if (strat.place[strat.last_place].fail_nb < 255) strat.place[strat.last_place].fail_nb++; break; case STRAT_DECISION_UNLOAD: break; } }