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authorNicolas Schodet2011-05-23 22:56:02 +0200
committerNicolas Schodet2011-05-24 01:32:38 +0200
commit9377154ec66848759806d0fe924ded961c9f392b (patch)
treef137554f09edc1c6f772174cfb1a5a0078db3b0d /digital/io-hub/src
parent9cbeca7897dda3dc1e35677d2573e7b3528a58e1 (diff)
digital/io-hub: add stub path module
Diffstat (limited to 'digital/io-hub/src')
-rw-r--r--digital/io-hub/src/robospierre/Makefile2
-rw-r--r--digital/io-hub/src/robospierre/avrconfig.h8
-rw-r--r--digital/io-hub/src/robospierre/main.c3
-rw-r--r--digital/io-hub/src/robospierre/path.c83
-rw-r--r--digital/io-hub/src/robospierre/path.h78
5 files changed, 173 insertions, 1 deletions
diff --git a/digital/io-hub/src/robospierre/Makefile b/digital/io-hub/src/robospierre/Makefile
index fe2b318e..dd4bfe5c 100644
--- a/digital/io-hub/src/robospierre/Makefile
+++ b/digital/io-hub/src/robospierre/Makefile
@@ -5,7 +5,7 @@ PROGS = io_hub
# Sources to compile.
io_hub_SOURCES = main.c \
clamp.c logistic.c \
- radar_defs.c radar.c \
+ radar_defs.c radar.c path.c \
init.c fsm.host.c fsm_AI_gen.avr.c fsm_queue.c \
pwm.avr.c pwm.host.c \
contact.avr.c contact.host.c \
diff --git a/digital/io-hub/src/robospierre/avrconfig.h b/digital/io-hub/src/robospierre/avrconfig.h
index 53e36ccf..c3f107c5 100644
--- a/digital/io-hub/src/robospierre/avrconfig.h
+++ b/digital/io-hub/src/robospierre/avrconfig.h
@@ -112,6 +112,14 @@
USDIST_SENSOR (2, A, 2) \
USDIST_SENSOR (3, A, 3)
+/* path - Path finding module. */
+/** Report path found for debug. */
+#define AC_PATH_REPORT defined (HOST)
+/** Report function name. */
+#define AC_PATH_REPORT_CALLBACK simu_send_path
+/** Number of possible obstacles. */
+#define AC_PATH_OBSTACLES_NB 2
+
/* io-hub - io/ai board. */
/** TWI address of the io board. */
#define AC_IO_TWI_ADDRESS 10
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index 36a1c157..b1abfd8a 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -51,6 +51,7 @@
#include "clamp.h"
#include "logistic.h"
+#include "path.h"
#include "bot.h"
@@ -105,6 +106,7 @@ main_init (void)
/* AI modules. */
clamp_init ();
logistic_init ();
+ path_init ();
/* Initialization done. */
proto_send0 ('z');
}
@@ -194,6 +196,7 @@ main_loop (void)
}
/* Update AI modules. */
logistic_update ();
+ path_decay ();
/* Only manage events if slaves are synchronised. */
if (twi_master_sync ())
main_event_to_fsm ();
diff --git a/digital/io-hub/src/robospierre/path.c b/digital/io-hub/src/robospierre/path.c
new file mode 100644
index 00000000..b3c91ac8
--- /dev/null
+++ b/digital/io-hub/src/robospierre/path.c
@@ -0,0 +1,83 @@
+/* path.c */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 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 "path.h"
+
+/** Context. */
+struct path_t
+{
+ /** Position of end points. */
+ vect_t endpoints[2];
+ /** Whether the last update was a success. */
+ uint8_t found;
+};
+static struct path_t path;
+
+void
+path_init (void)
+{
+}
+
+void
+path_endpoints (vect_t s, vect_t d)
+{
+ path.endpoints[0] = d;
+ path.endpoints[1] = s;
+}
+
+void
+path_escape (uint8_t factor)
+{
+}
+
+void
+path_obstacle (uint8_t i, vect_t c, uint16_t r, uint8_t factor,
+ uint16_t valid)
+{
+}
+
+void
+path_decay (void)
+{
+}
+
+void
+path_update (void)
+{
+ path.found = 1;
+}
+
+uint8_t
+path_get_next (vect_t *p)
+{
+ if (path.found)
+ {
+ *p = path.endpoints[0];
+ return 1;
+ }
+ else
+ return 0;
+}
+
diff --git a/digital/io-hub/src/robospierre/path.h b/digital/io-hub/src/robospierre/path.h
new file mode 100644
index 00000000..22a8ead8
--- /dev/null
+++ b/digital/io-hub/src/robospierre/path.h
@@ -0,0 +1,78 @@
+#ifndef path_h
+#define path_h
+/* path.h */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 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.h"
+
+/** This implement a interface similar to the path module, but adapted for the
+ * special grid of Eurobot 2011. See real path modules for interface comments. */
+
+/** Infinite validity for an obstacle. */
+#define PATH_OBSTACLE_VALID_ALWAYS 0xffff
+
+/** Obstacle. */
+struct path_obstacle_t
+{
+ /** Center. */
+ vect_t c;
+ /** Radius. */
+ uint16_t r;
+ /** Validity counter, when this is zero, the obstacle is ignored. */
+ uint16_t valid;
+};
+
+void
+path_init (void);
+
+void
+path_endpoints (vect_t s, vect_t d);
+
+void
+path_escape (uint8_t factor);
+
+void
+path_obstacle (uint8_t i, vect_t c, uint16_t r, uint8_t factor,
+ uint16_t valid);
+
+void
+path_decay (void);
+
+void
+path_update (void);
+
+uint8_t
+path_get_next (vect_t *p);
+
+#if AC_PATH_REPORT
+
+/** Report computed path. */
+void
+AC_PATH_REPORT_CALLBACK (vect_t *points, uint8_t len,
+ struct path_obstacle_t *obstacles,
+ uint8_t obstacles_nb);
+
+#endif
+
+#endif /* path_h */