From 72f865523b14953d13a207599068ba68e9df0b70 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 17 Jun 2008 22:57:24 +0200 Subject: * digital/avr/modules/path, digital/io/src: - moved path finding to a separated module. --- digital/avr/modules/path/path.h | 83 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 83 insertions(+) create mode 100644 digital/avr/modules/path/path.h (limited to 'digital/avr/modules/path/path.h') diff --git a/digital/avr/modules/path/path.h b/digital/avr/modules/path/path.h new file mode 100644 index 00000000..8255bf65 --- /dev/null +++ b/digital/avr/modules/path/path.h @@ -0,0 +1,83 @@ +#ifndef path_h +#define path_h +/* path.h */ +/* avr.path - Path finding module. {{{ + * + * Copyright (C) 2008 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. + * + * }}} */ + +/** Obstacle. */ +struct path_obstacle_t +{ + /** Center. */ + int16_t x, y; + /** Radius. */ + uint16_t r; + /** Validity counter, when this is zero, the obstacle is ignored. */ + uint16_t valid; +}; + +/** Initialise path finder. */ +void +path_init (int16_t border_xmin, int16_t border_ymin, + int16_t border_xmax, int16_t border_ymax); + +/** Setup end points (source and destination coordinates). */ +void +path_endpoints (int16_t sx, int16_t sy, int16_t dx, int16_t dy); + +/** Set up an obstacle at given position with the given radius and validity + * period. */ +void +path_obstacle (uint8_t i, int16_t x, int16_t y, uint16_t r, uint16_t valid); + +/** Slowly make the obstacles disappear. */ +void +path_decay (void); + +/** Compute shortest path. */ +void +path_update (void); + +/** Retrieve first path point coordinates. Return 0 on failure. */ +uint8_t +path_get_next (uint16_t *x, uint16_t *y); + +#if AC_PATH_REPORT + +/** Report computed path. */ +void +AC_PATH_REPORT_CALLBACK (uint16_t *points, uint8_t len, + struct path_obstacle_t *obstacles, + uint8_t obstacles_nb); + +#endif + +#ifdef HOST + +/** Output graph in Graphviz format. */ +void +path_print_graph (void); + +#endif + +#endif /* path_h */ -- cgit v1.2.3