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Basic code for control

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This commit is contained in:
Stefan Bühler 2008-07-12 00:11:41 +02:00
parent 6c029d2009
commit 2f09e4a142
2 changed files with 147 additions and 10 deletions
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40
src/control.c
View File

@ -1,2 +1,42 @@
#include "control.h"
static void telemetry_free(gpointer te, gpointer x) {
UNUSED(x);
g_array_free(te->objects, TRUE);
g_slice_free(telemetry, (telemetry*) te);
}
static telemetry* telemetry_new() {
telemetry *te = g_slice_new0(telemetry);
te->objects = g_array_new(FALSE, FALSE, sizeof(object));
return te;
}
trial *trial_new() {
trial *t = g_slice_new0(trial);
g_queue_init(t->telemetry);
t->map.solid_objects = g_array_new(FALSE, FALSE, sizeof(object));
return t;
}
void trial_reset_run(trial *t) {
g_queue_foreach(t->telemetry, telemetry_free, NULL);
g_queue_clear(t->telementry);
t->last_ts = 0;
}
void trial_wait_for_start(trial *t) {
}
void trial_check_input(trial *t) {
}
void trial_wait_for_input(trial *t) {
}
void trial_free(trial *t) {
g_queue_foreach(t->telemetry, telemetry_free, NULL);
g_queue_clear(t->telementry);
g_array_free(t->map.solid_objects, TRUE);
g_slice_free(t);
}

117
src/control.h
View File

@ -3,8 +3,11 @@
#include <glib.h>
typedef enum { ACCELERATING, ROLLING, BRAKING } accel_t;
typedef enum { TURN_HARD_LEFT, TURN_LEFT, TURN_STRAIGT, TURN_RIGHT, TURN_HARD_RIGHT } turn_t;
#define INLINE static inline
#define UNUSED(x) ((void)(x))
typedef enum { ACCEL, ROLL, BREAK } accel_t;
typedef enum { TURN_HARD_LEFT, TURN_LEFT, TURN_STRAIGHT, TURN_RIGHT, TURN_HARD_RIGHT } turn_t;
typedef enum { BOLDER, CRATER, MARTIAN } object_t;
@ -43,7 +46,7 @@ struct vehicle {
struct telemetry {
timestamp ts;
vehicle vehicle;
GArray objects;
GArray *objects;
};
struct map {
@ -52,22 +55,116 @@ struct map {
float min_sensor, max_sensor;
float max_speed, max_turn, max_turn_hard;
GList solid_objects;
GArray *solid_objects;
};
struct trial {
map map;
timestamp last_ts;
GList telemetry_data;
GQueue telemetry_data;
vehicle vehicle; /* our view */
/* internal */
int socket;
};
/* trial */
trial *trial_new();
void trial_reset_run(trial *trial);
void trial_wait_for_start(trial *trial);
void trial_check_input(trial *trial);
void trial_wait_for_input(trial *trial);
void trial_free(trial *trial);
void trial_reset_run(trial *t);
void trial_wait_for_start(trial *t);
void trial_check_input(trial *t);
void trial_wait_for_input(trial *t);
void trial_free(trial *t);
INLINE void vehicle_accel(trial *t);
INLINE void vehicle_roll(trial *t);
INLINE void vehicle_break(trial *t);
INLINE void vehicle_hard_left(trial *t);
INLINE void vehicle_left(trial *t);
INLINE void vehicle_straight(trial *t);
INLINE void vehicle_right(trial *t);
INLINE void vehicle_hard_right(trial *t);
/* Inline functions */
#define SENDCMD(t, cmd) write(t->socket, cmd, sizeof(cmd)-1)
INLINE void vehicle_accel(trial *t) {
switch (t->vehicle.accel) {
case ACCEL: return;
case ROLL: SENDCMD(t, "a;"); break;
case BREAK: SENDCMD(t, "a;a;"); break;
}
t->vehicle.accel = ACCEL;
}
INLINE void vehicle_roll(trial *t) {
switch (t->vehicle.accel) {
case ACCEL: SENDCMD(t, "b;"); break;
case ROLL: return;
case BREAK: SENDCMD(t, "a;"); break;
}
t->vehicle.accel = ROLL;
}
INLINE void vehicle_break(trial *t) {
switch (t->vehicle.accel) {
case ACCEL: SENDCMD(t, "b;b;"); break;
case ROLL: SENDCMD(t, "b;"); break;
case BREAK: return;
}
t->vehicle.accel = BREAK;
}
INLINE void vehicle_hard_left(trial *t) {
switch (t->vehicle.turn) {
case TURN_HARD_LEFT: return;
case TURN_LEFT: SENDCMD(t, "l;"); break;
case TURN_STRAIGHT: SENDCMD(t, "l;l;"); break;
case TURN_RIGHT: SENDCMD(t, "l;l;l;"); break;
case TURN_HARD_RIGHT: SENDCMD(t, "l;l;l;l;"); break;
}
t->vehicle.turn = TURN_HARD_LEFT;
}
INLINE void vehicle_left(trial *t) {
switch (t->vehicle.turn) {
case TURN_HARD_LEFT: SENDCMD(t, "r;"); break;
case TURN_LEFT: return;
case TURN_STRAIGHT: SENDCMD(t, "l;"); break;
case TURN_RIGHT: SENDCMD(t, "l;l;"); break;
case TURN_HARD_RIGHT: SENDCMD(t, "l;l;l;"); break;
}
t->vehicle.turn = TURN_LEFT;
}
INLINE void vehicle_straight(trial *t) {
switch (t->vehicle.turn) {
case TURN_HARD_LEFT: SENDCMD(t, "r;r;"); break;
case TURN_LEFT: SENDCMD(t, "r;"); break;
case TURN_STRAIGHT: return;
case TURN_RIGHT: SENDCMD(t, "l;"); break;
case TURN_HARD_RIGHT: SENDCMD(t, "l;l;"); break;
}
t->vehicle.turn = TURN_STRAIGHT;
}
INLINE void vehicle_right(trial *t) {
switch (t->vehicle.turn) {
case TURN_HARD_LEFT: SENDCMD(t, "r;r;r;"); break;
case TURN_LEFT: SENDCMD(t, "r;r;"); break;
case TURN_STRAIGHT: SENDCMD(t, "r;"); break;
case TURN_RIGHT: return;
case TURN_HARD_RIGHT: SENDCMD(t, "l;"); break;
}
t->vehicle.turn = TURN_RIGHT;
}
INLINE void vehicle_hard_right(trial *t) {
switch (t->vehicle.turn) {
case TURN_HARD_LEFT: SENDCMD(t, "r;r;r;r;"); break;
case TURN_LEFT: SENDCMD(t, "r;r;r;"); break;
case TURN_STRAIGHT: SENDCMD(t, "r;r;"); break;
case TURN_RIGHT: SENDCMD(t, "r;"); break;
case TURN_HARD_RIGHT: return;
}
t->vehicle.turn = TURN_HARD_RIGHT;
}
#endif