// AI.CC // marvin - programme du robot 2006. {{{ // // Copyright (C) 2006 Nicolas Haller // // 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. // // Contact : // Web: http://perso.efrei.fr/~haller/ // Email: // }}} #include "ai.hh" #include "config/config.hh" #include "timer/timer.hh" /// Fonction callback useless static void callback (void) {} //constructeur Ai::Ai (const Config & config) :es_(config), log_ ("Ai"), schedulableMotor_(callback, motor_.getFd()), schedulableEs_(callback, es_.getFd()), round_duration_ (config.get ("ai.round_duration")), schedule_time_ (config.get ("ai.schedule_time")), reference_sensor_mask_ (config.get ("ai.ref_sensor_mask")) { scheduler_.insert (schedulableMotor_); scheduler_.insert (schedulableEs_); } Ai::~Ai(void) { // On réinitialise // Initialise les moteurs // XXX motor_.reset (); // initialise la carte es es_.reset (); // On sync do { scheduler_.schedule (500, true); } while (!sync ()); } // Initialisation du robal void Ai::init (void) { // Initialisation de motor motor_.reset (); // Initialisation de la carte Es es_.reset (); // Paf on sync while (!update ()); } /// Stop the mouvement of the motor void Ai::stop (void) { motor_.stop (); // XXX In fact, we should wait a little here... while (!update ()); } /// Synchronize data of under class bool Ai::sync (void) { bool motor = motor_.sync (); bool es = es_.sync (); return es && motor; } /// Wait for something to happened bool Ai::update (void) { /// Wait schedule_time scheduler_.schedule (schedule_time_, true); bool retour = sync (); // On vérifie que le match n'est pas fini if (Timer::getRoundTime () > round_duration_) throw std::runtime_error ("End of match ! You win !"); return retour; } /// Function to wait a little but still syncing data void Ai::temporisation(int msec) { // Get current time of process int time = Timer::getProgramTime(); time += msec; // Update until we have spend enough time do { update(); } while (time > Timer::getProgramTime()); } /// Wait until jack is out (true) or in (false) void Ai::waitJack (bool out) { do { update (); } while (es_.isJackOut () != out); } /// Init things for a match. void Ai::prepare (void) { es_.setOthersStat (10); while (!update ()); // XXX We should check if the jack is not already in // We first wait for the jack to be put inside waitJack (false); // We reference all the color referenceSensors (); es_.barilletInit(); while (!update ()); // We first wait for the jack to be put inside waitJack (true); // Ok the match begin ! Go go go ! Timer::startRound (); es_.setOthersStat (0); // Shut up fucking beach ! es_.setOthersStat (0); es_.setOthersStat (0); while (!update ()); } /// Reference sensors void Ai::referenceSensors (void) { // Reference sensors es_.refColor (reference_sensor_mask_); // Update data while (!update ()); // Disable capturing all sensors es_.enableAllSensors (false); // Update data while (!update ()); } /// programme d'homologation du robal void Ai::progHomoloRobal(void) { /// On init le robal prepare(); es_.barilletDebutLancement(); while (!update ()); temporisation (1000); es_.barilletLancement(); while (!update ()); /// on avance un poil parce que le mur c'est mal std::cout << "Move !" << std::endl; motorMove(500, 0); std::cout << "Rotate !" << std::endl; motorRotate(-0.54); std::cout << "Move !" << std::endl; motorMove(1200, 0); std::cout << "Rotate !" << std::endl; motorRotate(1.40); motorMove(500, 0); // temporisation (100); std::cout << "Find hole !" << std::endl; motorFindHole (); /// On tourne XXX /// motorRotate(-M_PI/4); /// On cherche au moins une balle (sinon c'est con) /// motorMove(1000, 0); /// XXX Voir la distance /// XXX Avancer d'une certaine facon pour choper des balles /// XXX Ouais ba y'a encore ddes truc à faire là /// On cherche un tru (repositionnement??) /// motor_.lockGoodHole(); /// while (!update ()); /// motor_.findHole(); /// while (!update ()); /// On trouve un trou, chouette /// Aspirer le trou //es_.extraitBalle(); /// mettre une baballe es_.dropWhiteBall(); while (!update ()); temporisation (3000); es_.deposeBalle (); while (!update ()); temporisation (3000); motorMove(300, 0); std::cout << "Find hole !" << std::endl; motorFindHole (); es_.dropWhiteBall(); while (!update ()); temporisation (3000); es_.deposeBalle (); while (!update ()); temporisation (3000); motorMove(300, 0); /// Tourner 3 fois en chantant du Mickael Jackson /// Again.... /// Fin du match } void Ai::motorMove (int d, int a) { motor_.move(d, a); /// XXX Voir la distance do { update (); } while (!motor_.finish ()); } void Ai::motorRotate (double d) { motor_.rotate (d); do { update (); } while (!motor_.finish ()); } void Ai::motorFindHole (void) { motor_.findHole (); do { update (); } while (!motor_.finish ()); }