#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" /** 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; }; /** Global context. */ extern struct logistic_t logistic_global; /** Initialise module. */ void logistic_init (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); /** 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); #endif /* logistic_h */