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+#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,
+ };
+ /// Information on a candle decision.
+ struct CandlesDecision
+ {
+ /// Movement direction.
+ Asserv::DirectionConsign direction;
+ /// Angle relative to cake to end the movement.
+ uint16_t end_angle;
+ };
+ public:
+ /// Return new decision and associated position.
+ Decision decision (vect_t &pos);
+ /// Take a decision related to candles.
+ void decision_candles (CandlesDecision &decision,
+ uint16_t robot_angle);
+ /// Report a failure to apply the previous decision.
+ void failure ();
+};
+
+#endif // strat_hh