From 056acc0205213f1aa5263ad8243aec55e38fb0bf Mon Sep 17 00:00:00 2001 From: Jérôme Jutteau Date: Thu, 2 Jun 2011 00:20:21 +0200 Subject: digital/io-hub: change bonus for load and unload and adapt some scores --- digital/io-hub/src/robospierre/element.c | 138 +++++++++++++++---------------- digital/io-hub/src/robospierre/element.h | 7 +- 2 files changed, 74 insertions(+), 71 deletions(-) (limited to 'digital/io-hub/src') diff --git a/digital/io-hub/src/robospierre/element.c b/digital/io-hub/src/robospierre/element.c index ed126cc5..f23d079b 100644 --- a/digital/io-hub/src/robospierre/element.c +++ b/digital/io-hub/src/robospierre/element.c @@ -43,87 +43,87 @@ struct element_t element_table[] = See ELEMENT_INTERSEC_START and ELEMENT_INTERSEC_END ELEMENT_INTERSEC_END don't takes central pawn. */ - {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 5 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 0}, /* top left */ - {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 5 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 0}, /* top right */ - {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 5 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 0}, /* middle left */ - {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 5 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 0}, /* middle right */ - {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 4 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 0}, /* 2nd line left */ - {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 4 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 4 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 0}, - {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 4 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 0}, /* 3th line left */ - {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 0}, - {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 2 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 0}, /* 4th line left */ - {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 2 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 2 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 0}, - {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 2 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 1 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 0}, /* 5th line left */ - {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 1 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 1 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 0}, - {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 1 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 0}, + {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 5 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0}, /* top left */ + {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 5 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0}, /* top right */ + {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 5 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0}, /* middle left */ + {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 5 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0}, /* middle right */ + {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 4 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0}, /* 2nd line left */ + {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 4 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0}, + {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 4 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0}, + {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 4 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0}, + {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0}, /* 3th line left */ + {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0}, + {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0}, + {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0}, + {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 2 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0}, /* 4th line left */ + {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 2 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0}, + {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 2 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0}, + {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 2 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0}, + {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 2 * 350, 1 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0}, /* 5th line left */ + {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 2 * 350, 1 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0}, + {ELEMENT_NONE | ELEMENT_PAWN, {1500 - 1 * 350, 1 * 350}, ELEMENT_INTERSEC | ELEMENT_LEFT, 30, 0}, + {ELEMENT_NONE | ELEMENT_PAWN, {1500 + 1 * 350, 1 * 350}, ELEMENT_INTERSEC | ELEMENT_RIGHT, 30, 0}, /* Central pawn. (see ELEMENT_CENTRAL_PAWN) */ - {ELEMENT_PAWN, {1500, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_CENTER, 50}, + {ELEMENT_PAWN, {1500, 3 * 350}, ELEMENT_INTERSEC | ELEMENT_CENTER, 50, 0}, /* 10 elements on green zones. To be symmetric, alternate % 2. See ELEMENT_GREEN_START and ELEMENT_GREEN_END */ - {ELEMENT_ANY, {200, 10 + 280 * 5}, ELEMENT_GREEN |ELEMENT_LEFT, 0}, /* top left */ - {ELEMENT_ANY, {3000 - 200, 10 + 280 * 5}, ELEMENT_GREEN | ELEMENT_RIGHT, 0}, /* top right */ - {ELEMENT_ANY, {200, 10 + 280 * 4}, ELEMENT_GREEN |ELEMENT_LEFT, 0}, /* 2nd line left */ - {ELEMENT_ANY, {3000 - 200, 10 + 280 * 4}, ELEMENT_GREEN | ELEMENT_RIGHT, 0}, /* 2nd line right */ - {ELEMENT_ANY, {200, 10 + 280 * 3}, ELEMENT_GREEN |ELEMENT_LEFT, 0}, /* ... */ - {ELEMENT_ANY, {3000 - 200, 10 + 280 * 3}, ELEMENT_GREEN | ELEMENT_RIGHT, 0}, - {ELEMENT_ANY, {200, 10 + 280 * 2}, ELEMENT_GREEN |ELEMENT_LEFT, 0}, - {ELEMENT_ANY, {3000 - 200, 10 + 280 * 2}, ELEMENT_GREEN | ELEMENT_RIGHT, 0}, - {ELEMENT_ANY, {200, 10 + 280 * 1}, ELEMENT_GREEN |ELEMENT_LEFT, -100}, - {ELEMENT_ANY, {3000 - 200, 10 + 280 * 1}, ELEMENT_GREEN | ELEMENT_RIGHT, -100}, + {ELEMENT_ANY, {200, 10 + 280 * 5}, ELEMENT_GREEN |ELEMENT_LEFT, 0, 0}, /* top left */ + {ELEMENT_ANY, {3000 - 200, 10 + 280 * 5}, ELEMENT_GREEN | ELEMENT_RIGHT, 0, 0}, /* top right */ + {ELEMENT_ANY, {200, 10 + 280 * 4}, ELEMENT_GREEN |ELEMENT_LEFT, 0, 0}, /* 2nd line left */ + {ELEMENT_ANY, {3000 - 200, 10 + 280 * 4}, ELEMENT_GREEN | ELEMENT_RIGHT, 0, 0}, /* 2nd line right */ + {ELEMENT_ANY, {200, 10 + 280 * 3}, ELEMENT_GREEN |ELEMENT_LEFT, 0, 0}, /* ... */ + {ELEMENT_ANY, {3000 - 200, 10 + 280 * 3}, ELEMENT_GREEN | ELEMENT_RIGHT, 0, 0}, + {ELEMENT_ANY, {200, 10 + 280 * 2}, ELEMENT_GREEN |ELEMENT_LEFT, 0, 0}, + {ELEMENT_ANY, {3000 - 200, 10 + 280 * 2}, ELEMENT_GREEN | ELEMENT_RIGHT, 0, 0}, + {ELEMENT_ANY, {200, 10 + 280 * 1}, ELEMENT_GREEN |ELEMENT_LEFT, -100, 0}, + {ELEMENT_ANY, {3000 - 200, 10 + 280 * 1}, ELEMENT_GREEN | ELEMENT_RIGHT, -100, 0}, /* 36 elements in the middle of a square. Altern colors in order to retrieve position % 2. See ELEMENT_UNLOAD_START and ELEMENT_UNLOAD_END */ - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 10}, /* Top left blue */ - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 10}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 10}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 10}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 10}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 10}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0}, /* 2nd line left red */ - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0}, /* bonus */ - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT | ELEMENT_BONUS, 0}, /* bonus */ - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0}, /* 3th line left blue */ - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0}, /* 4th line left red */ - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT | ELEMENT_BONUS, 0}, /* bonus */ - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT | ELEMENT_BONUS, 0}, /* bonus */ - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0}, /* 5th line left blue */ - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0}, - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0}, - {ELEMENT_NONE, {1500 - 2 * 350 - 175, 175}, ELEMENT_CENTER | ELEMENT_SAFE | ELEMENT_LEFT, -100}, /* left red */ - {ELEMENT_NONE, {1500 - 1 * 350 - 175, 175}, ELEMENT_CENTER | ELEMENT_SAFE | ELEMENT_RIGHT, -100}, /* left blue */ - {ELEMENT_NONE | ELEMENT_ANY, {1500 - 175, 175}, ELEMENT_CENTER | ELEMENT_LEFT | ELEMENT_BONUS, -40}, /* middle bonus left, red. */ - {ELEMENT_NONE | ELEMENT_ANY, {1500 + 175, 175}, ELEMENT_CENTER | ELEMENT_RIGHT | ELEMENT_BONUS, -40}, /* middle bonus right, blue. */ - {ELEMENT_NONE, {1500 + 1 * 350 + 175, 175}, ELEMENT_CENTER | ELEMENT_SAFE | ELEMENT_LEFT, -100}, /* right red */ - {ELEMENT_NONE, {1500 + 2 * 350 + 175, 175}, ELEMENT_CENTER | ELEMENT_SAFE | ELEMENT_RIGHT, -100} /* right blue */ + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 10}, /* Top left blue */ + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 10}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 10}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 10}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 10}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 5 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 10}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0}, /* 2nd line left red */ + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0}, /* bonus */ + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT | ELEMENT_BONUS, 0, 0}, /* bonus */ + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 4 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0}, /* 3th line left blue */ + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 3 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0}, /* 4th line left red */ + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT | ELEMENT_BONUS, 0, 0}, /* bonus */ + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT | ELEMENT_BONUS, 0, 0}, /* bonus */ + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 2 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 2 * 350 - 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0}, /* 5th line left blue */ + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 1 * 350 - 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 0 * 350 - 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 0 * 350 + 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 1 * 350 + 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_RIGHT, 0, 0}, + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 2 * 350 + 175, 1 * 350 + 175}, ELEMENT_CENTER | ELEMENT_LEFT, 0, 0}, + {ELEMENT_NONE, {1500 - 2 * 350 - 175, 175}, ELEMENT_CENTER | ELEMENT_SAFE | ELEMENT_LEFT, 0, -100}, /* left red */ + {ELEMENT_NONE, {1500 - 1 * 350 - 175, 175}, ELEMENT_CENTER | ELEMENT_SAFE | ELEMENT_RIGHT, 0, -100}, /* left blue */ + {ELEMENT_NONE | ELEMENT_ANY, {1500 - 175, 175}, ELEMENT_CENTER | ELEMENT_LEFT | ELEMENT_BONUS, 0, -40}, /* middle bonus left, red. */ + {ELEMENT_NONE | ELEMENT_ANY, {1500 + 175, 175}, ELEMENT_CENTER | ELEMENT_RIGHT | ELEMENT_BONUS, 0, -40}, /* middle bonus right, blue. */ + {ELEMENT_NONE, {1500 + 1 * 350 + 175, 175}, ELEMENT_CENTER | ELEMENT_SAFE | ELEMENT_LEFT, 0, -100}, /* right red */ + {ELEMENT_NONE, {1500 + 2 * 350 + 175, 175}, ELEMENT_CENTER | ELEMENT_SAFE | ELEMENT_RIGHT, 0, -100} /* right blue */ }; inline void @@ -178,7 +178,7 @@ element_unload_score (position_t robot_pos, uint8_t element_id) return -1; /* Bonus adjust. */ - score += e.bonus * ELEMENT_BONUS_COEFF; + score += e.bonus_unload * ELEMENT_BONUS_COEFF; /* Unload distance. */ /* TODO: minimal distance may not be the best choice. */ @@ -284,7 +284,7 @@ element_score (position_t robot_pos, uint8_t element_id) } /* Add score modifier. */ - score += e.bonus * ELEMENT_BONUS_COEFF; + score += e.bonus_load * ELEMENT_BONUS_COEFF; /* We are sure of this element. */ if (!(e.type & ELEMENT_NONE) && diff --git a/digital/io-hub/src/robospierre/element.h b/digital/io-hub/src/robospierre/element.h index a31d9f4d..5a15f6b0 100644 --- a/digital/io-hub/src/robospierre/element.h +++ b/digital/io-hub/src/robospierre/element.h @@ -90,8 +90,11 @@ struct element_t vect_t pos; /** Emplacement attributes. */ uint8_t attr; - /** Bonus coefficient (or Mallus if negative). */ - int8_t bonus; + /** Bonus coefficient (or Mallus if negative) for load scores. */ + int8_t bonus_load; + /** Bonus coefficient (or Mallus if negative) for unload scores. */ + int8_t bonus_unload; + }; typedef struct element_t element_t; -- cgit v1.2.3