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authorNicolas Schodet2011-06-01 19:16:38 +0200
committerNicolas Schodet2011-06-01 21:48:47 +0200
commitdadddea9392f78a360969b72a4dc045b4d87dfec (patch)
treea5a4454a0cdbbad9f621a69d7ef5a485fa9b8763 /digital/io-hub/src/robospierre/path.c
parent8d758c96d257b15edc49dd4cb774ce67becf8cf1 (diff)
digital/io-hub: handle element with path finding
Diffstat (limited to 'digital/io-hub/src/robospierre/path.c')
-rw-r--r--digital/io-hub/src/robospierre/path.c45
1 files changed, 36 insertions, 9 deletions
diff --git a/digital/io-hub/src/robospierre/path.c b/digital/io-hub/src/robospierre/path.c
index 61ea9293..049c577f 100644
--- a/digital/io-hub/src/robospierre/path.c
+++ b/digital/io-hub/src/robospierre/path.c
@@ -27,6 +27,7 @@
#include "path.h"
#include "bot.h"
#include "playground_2011.h"
+#include "element.h"
#include "modules/path/astar/astar.h"
#include "modules/utils/utils.h"
@@ -196,6 +197,29 @@ path_pos (uint8_t node, vect_t *pos)
}
}
+static uint8_t
+path_element_blocking (uint8_t node)
+{
+ vect_t pos;
+ path_pos (node, &pos);
+ int16_t square_x = (pos.x - 450 - 1) / 350;
+ int16_t square_y = (2100 - pos.y - 1) / 350;
+ uint8_t element_id = ELEMENT_UNLOAD_START + square_x + 6 * square_y;
+ if (element_blocking (element_id))
+ return 1;
+ uint8_t intersection = ((pos.x - 450) / 350) != square_x;
+ if (intersection)
+ {
+ if (element_blocking (element_id + 1))
+ return 1;
+ if (element_blocking (element_id + 6))
+ return 1;
+ if (element_blocking (element_id + 6 + 1))
+ return 1;
+ }
+ return 0;
+}
+
/** Return 1 if the direct path between a and b nodes is blocked, also compute
* distance. */
static uint8_t
@@ -239,25 +263,27 @@ path_blocking (uint8_t a, uint8_t b, int16_t *dp)
blocking = 1;
}
}
+ /* Compute distance. */
+ int16_t d = distance_point_point (&va, &vb);
+ if (d == 0)
+ {
+ *dp = 0;
+ return 0;
+ }
+ /* Test for a blocking element. */
+ if (element_blocking_path (va, vb, d))
+ blocking = 1;
/* Handle escaping. */
if (blocking)
{
if (escape_factor)
{
- int16_t d = distance_point_point (&va, &vb);
*dp = d * escape_factor;
return 0;
}
else
return 1;
}
- /* Compute distance. */
- int16_t d = distance_point_point (&va, &vb);
- if (d == 0)
- {
- *dp = 0;
- return 0;
- }
/* No blocking. */
*dp = d * factor;
return 0;
@@ -272,7 +298,8 @@ path_blocked_update (void)
{
uint8_t valid = 1;
/* First, gather information from tables. */
- if (!path_nodes[i].usable)
+ if (!path_nodes[i].usable
+ || path_element_blocking (i))
valid = 0;
else
{