#ifndef logistic_h #define logistic_h /* logistic.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 "element.h" #include "clamp.h" /** Defines for logistic macro, see LOGISTIC_CASE. */ /** Any element must be present (not empty). */ #define LOG_a 0 /** Do not care if there is an element or not. */ #define LOG__ 1 /** There must not be element here. */ #define LOG_e 2 /** Pawn to pick up. */ #define LOG_P 4 /** A head to pick up. */ #define LOG_H 5 /** Pawn who has to be present. */ #define LOG_p 6 /** Head who has to be present. */ #define LOG_h 7 /** Destination (who has to be empty). */ #define LOG_D 8 /** We have a tower (always at bottom). */ #define LOG_t 9 /* LEFT means we keep the same side, RIGHT means we put the opposed side. */ #define LOG_DIR_LEFT 0 #define LOG_DIR_RIGHT 1 /** Logistic macro to test if a case correspond and to perform movement. * We have to consider that the moving direction is on the left. * New direction is indicated (same or opposed). * Set ready or not. */ #define LOGISTIC_CASE(e1, e2, \ e3, e4, e5, \ e6, e7, new_dir, ready) \ { \ if (logistic_case (LOG_##e1, LOG_##e2, LOG_##e3, LOG_##e4, LOG_##e5, \ LOG_##e6, LOG_##e7, LOG_DIR_##new_dir, ready, 0)) \ return; \ } /** Logistic context. */ struct logistic_t { /** Current robot content. * * Elements are fully specified (pawn, queen or king). An exception can * occurs when a codebar is read but does not correspond to a valid word. * * When a movement is outgoing, the element is kept in the source slot. */ uint8_t slots[CLAMP_SLOT_NB]; /** Current element movement source and destination, CLAMP_SLOT_NB if no * current movement. */ uint8_t moving_from, moving_to; /** Best collect direction. */ uint8_t collect_direction; /** Idle clamp position, depend on collect direction. */ uint8_t clamp_pos_idle; /** Inform TOP if no construct is possible (0), if a tower is possible (1), if an * other element can be put even if the clamp is broken (2). */ uint8_t construct_possible; /** TOP set 0 if we do not want to build something, 1 if we can build a tower, 2 to prepare anything possible, 3 the clamp is broken, prepare anything with *_BOTTOM. */ uint8_t prepare; /** Inform TOP if a construct is ready (1) or not (0). */ uint8_t ready; /* Inform TOP that we can't take any more elements and needs to put * construction somewhere. */ uint8_t need_prepare; /** Filtered side slot sensor. */ uint8_t side_state; /** Filtered side slot sensor counter. */ uint16_t side_filter; }; /** Global context. */ extern struct logistic_t logistic_global; /** Initialise module. */ void logistic_init (void); /** Examine current state and take a decision. */ void logistic_decision (void); /** To be called at regular interval to check for bad robot state. */ void logistic_update (void); /** To be called when a new element is entering the robot. */ void logistic_element_new (uint8_t pos, uint8_t element_type); /** Oh la la, the pawn was not a pawn, it's a head. */ void logistic_element_change (uint8_t pos, uint8_t element_type); /** To be called when a element movement is done. */ void logistic_element_move_done (void); /** To be called when elements have been dropped on the opposite side of * direction. */ void logistic_drop (uint8_t direction); /** Get element type to be dropped. */ uint8_t logistic_drop_element_type (uint8_t direction); /** Dump every element. */ void logistic_dump (void); /** Is path clear between two positions? */ uint8_t logistic_path_clear (uint8_t slot1, uint8_t slot2); #endif /* logistic_h */