From 092057218111adb25119f0099c5ad951a5b10d69 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 2 May 2011 22:48:05 +0200 Subject: digital/{ai,io}: move defines to ai --- digital/ai/src/common/debug.host.h | 42 +++++++++++++++++++++++++ digital/ai/src/common/defs.h | 56 +++++++++++++++++++++++++++++++++ digital/ai/src/common/playground.h | 64 ++++++++++++++++++++++++++++++++++++++ 3 files changed, 162 insertions(+) create mode 100644 digital/ai/src/common/debug.host.h create mode 100644 digital/ai/src/common/defs.h create mode 100644 digital/ai/src/common/playground.h (limited to 'digital/ai/src/common') diff --git a/digital/ai/src/common/debug.host.h b/digital/ai/src/common/debug.host.h new file mode 100644 index 00000000..3fb7e23f --- /dev/null +++ b/digital/ai/src/common/debug.host.h @@ -0,0 +1,42 @@ +#ifndef debug_host_h +#define debug_host_h +/* debug.host.h */ +/* ai - Robot Artificial Intelligence. {{{ + * + * Copyright (C) 2008 Dufour Jérémy + * + * 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. + * + * }}} */ + +/** + * Debug printf functions. + * This module include a macro to add some debug functions to printf a message + * under host target. It does nothing under avr target. + */ + +#ifdef HOST +# include +# define DPRINTF(format, args...) \ + do { fprintf (stderr, (format), ## args); } while (0) +#else /* HOST */ +# define DPRINTF(format, args...) +#endif /* HOST */ + +#endif /* debug_host_h */ diff --git a/digital/ai/src/common/defs.h b/digital/ai/src/common/defs.h new file mode 100644 index 00000000..f16e9e52 --- /dev/null +++ b/digital/ai/src/common/defs.h @@ -0,0 +1,56 @@ +#ifndef defs_h +#define defs_h +/* defs.h */ +/* ai - Robot Artificial Intelligence. {{{ + * + * Copyright (C) 2010 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 "modules/math/geometry/geometry.h" +#include "modules/math/geometry/vect.h" + +/** General purpose defines. */ + +/** Structure defining a position with an angle. */ +struct position_t +{ + /** Cartesian position in millimeters, (0, 0) is at bottom left. */ + vect_t v; + /** Angle, counter-clockwise, [0, 1), f0.16. + * For example, 0x8000 means 0.5, which means 180 degrees. */ + uint16_t a; +}; +typedef struct position_t position_t; + +/** Convert degrees to an angle usable in position_t. */ +#define POSITION_A_DEG(a) G_ANGLE_UF016_DEG (a) + +/** Team color, determine the start zone side. */ +enum team_color_e +{ + TEAM_COLOR_LEFT = 0, + TEAM_COLOR_RIGHT = 1 +}; + +/** Current team color, to be read at start up. */ +extern enum team_color_e team_color; + +#endif /* defs_h */ diff --git a/digital/ai/src/common/playground.h b/digital/ai/src/common/playground.h new file mode 100644 index 00000000..18c81ecf --- /dev/null +++ b/digital/ai/src/common/playground.h @@ -0,0 +1,64 @@ +#ifndef playground_h +#define playground_h +/* playground.h */ +/* ai - Robot Artificial Intelligence. {{{ + * + * 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" + +/** + * Define playground constant data and playground macro to define position and + * angle depending of the current team color. + */ + +/** Playground width, mm. */ +#define PG_WIDTH 3000 + +/** Playground length, mm. */ +#define PG_LENGTH 2100 + +/** Distance to playground borders for general movements, mm. */ +#define PG_BORDER_DISTANCE 250 + +/** Return X coordinate, applying symmetry according to team color. */ +#define PG_X(x) (team_color ? (x) : PG_WIDTH - (x)) + +/** Same as PG_Y, but for Y coordinate. Actually nothing is done, there is no + * symmetry. */ +#define PG_Y(y) (y) + +/** Return an angle, applying symmetry according to team color. Takes degrees as + * input. */ +#define PG_A_DEG(a) \ + (team_color ? POSITION_A_DEG (a) : POSITION_A_DEG (180 - (a))) + +/** Initialiser for position_t applying symmetry according to color. Takes + * degrees for angle. */ +#define PG_POSITION_DEG(x, y, a) \ + { { PG_X (x), PG_Y (y) }, PG_A_DEG (a) } + +/** Initialiser for vect_t applying symmetry according to color. */ +#define PG_VECT(x, y) \ + (vect_t) { PG_X (x), PG_Y (y) } + +#endif /* playground_h */ -- cgit v1.2.3