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[Krobot-commits] [SCM] krobot branch, master, updated. 7e53c27bb7cc49869dcc77be44a3197065722367
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From: Pierre C. <Ba...@us...> - 2013-04-24 21:35:23
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- Log -----------------------------------------------------------------
commit 7e53c27bb7cc49869dcc77be44a3197065722367
Author: Pierre Chambart <pie...@oc...>
Date: Wed Apr 24 23:34:25 2013 +0200
Remove symetry from Goto and Follow_path actions
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/lib/krobot_action.ml b/info/control2011/src/lib/krobot_action.ml
index 8009c90..8507d79 100644
--- a/info/control2011/src/lib/krobot_action.ml
+++ b/info/control2011/src/lib/krobot_action.ml
@@ -14,9 +14,9 @@ type t =
| Node of t option * t list
| Stop
| Think
- | Goto of bool * vertice * vector option
+ | Goto of vertice * vector option
| Set_limits of float * float * float
- | Follow_path of bool * vertice list * vector option * bool
+ | Follow_path of vertice list * vector option * bool
| Bezier of float * vertice * vertice * vertice * vertice * float
| Set_curve of Bezier.curve option
| Wait_for_jack of bool
@@ -64,13 +64,13 @@ let rec to_string = function
"Stop"
| Think ->
"Think"
- | Goto (reverted,v,vect) ->
- sprintf "Goto %b %s %s" reverted (string_of_vertice v) (string_of_option string_of_vector vect)
+ | Goto (v,vect) ->
+ sprintf "Goto %s %s" (string_of_vertice v) (string_of_option string_of_vector vect)
| Set_limits (vmax,atan_max, arad_max) ->
sprintf "Set_limits(%f, %f, %f)" vmax atan_max arad_max
| Set_led (_,_) -> "Set_led"
- | Follow_path (reverted,l,vect, correct) ->
- sprintf "Follow_path [%b, %s, %s, %b]" reverted
+ | Follow_path (l,vect, correct) ->
+ sprintf "Follow_path [%s, %s, %b]"
(String.concat "; " (List.map string_of_vertice l))
(string_of_option string_of_vector vect)
correct
diff --git a/info/control2011/src/lib/krobot_action.mli b/info/control2011/src/lib/krobot_action.mli
index 9b6711e..e5c9f04 100644
--- a/info/control2011/src/lib/krobot_action.mli
+++ b/info/control2011/src/lib/krobot_action.mli
@@ -20,7 +20,7 @@ type t =
| Think
(** This is the highest-level action. It instruct the VM to
think about a new strategy. *)
- | Goto of bool * vertice * vector option
+ | Goto of vertice * vector option
(** Go to the given point.
if the bool parameter is true, the path is inverted according
to the robot team *)
@@ -31,10 +31,8 @@ type t =
(* TODO: en faire un node pour pouvoir revenir a des limites normales en sortant
d'une serie d'actions *)
- | Follow_path of bool * vertice list * vector option * bool
+ | Follow_path of vertice list * vector option * bool
(** Follow the given path. It does not check for obstacles.
- if the bool parameter is true, the path is inverted according
- to the robot team.
the last boolean tells to correct the bezier curves
to avoid obstacles.
Use only if the lines between vertices does not colide obstacles *)
diff --git a/info/control2011/src/tools/krobot_homologation.ml b/info/control2011/src/tools/krobot_homologation.ml
index 556c957..c0d7dcf 100644
--- a/info/control2011/src/tools/krobot_homologation.ml
+++ b/info/control2011/src/tools/krobot_homologation.ml
@@ -43,10 +43,10 @@ let strat_loop =
None,
Some (pi) );
- Goto (false, { x = 1.5; y = 0.5 }, None);
- Goto (false, { x = 1.5; y = 1.5 }, None);
- Goto (false, { x = 1.5; y = 0.5 }, None);
- Goto (false, { x = 1.5; y = 1.5 }, None);
+ Goto ({ x = 1.5; y = 0.5 }, None);
+ Goto ({ x = 1.5; y = 1.5 }, None);
+ Goto ({ x = 1.5; y = 0.5 }, None);
+ Goto ({ x = 1.5; y = 1.5 }, None);
Wait_for 2.;
End;
]
diff --git a/info/control2011/src/tools/krobot_planner.ml b/info/control2011/src/tools/krobot_planner.ml
index c12861a..6b8e8d5 100644
--- a/info/control2011/src/tools/krobot_planner.ml
+++ b/info/control2011/src/tools/krobot_planner.ml
@@ -148,7 +148,7 @@ let handle_message planner (timestamp, message) =
| Trajectory_go ->
let path = planner.vertices in
- ignore (Krobot_bus.send planner.bus (Unix.gettimeofday (), Strategy_set [Krobot_action.Follow_path (false,path,None,false)]));
+ ignore (Krobot_bus.send planner.bus (Unix.gettimeofday (), Strategy_set [Krobot_action.Follow_path (path,None,false)]));
set_vertices planner []
| Trajectory_find_path -> begin
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 140b292..81c0ef4 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -615,10 +615,10 @@ let handle_message viewer (timestamp, message) =
queue_draw viewer
| Set_simulation_mode m ->
- match m with
- | Sim_HIL -> viewer.ui#menu_mode_hil#set_active true
- | _ -> viewer.ui#menu_mode_normal#set_active true
-
+ begin match m with
+ | Sim_HIL -> viewer.ui#menu_mode_hil#set_active true
+ | _ -> viewer.ui#menu_mode_normal#set_active true
+ end
| _ ->
()
end
@@ -795,7 +795,7 @@ lwt () =
if GdkEvent.Button.button ev = 1 then begin
match viewer.planner_path with
| curve :: _ ->
- ignore (Krobot_bus.send bus (Unix.gettimeofday (), Strategy_set [Krobot_action.Goto(false,Bezier.dst curve,None)]))
+ ignore (Krobot_bus.send bus (Unix.gettimeofday (), Strategy_set [Krobot_action.Goto(Bezier.dst curve,None)]))
| _ ->
()
end;
diff --git a/info/control2011/src/tools/krobot_vm.ml b/info/control2011/src/tools/krobot_vm.ml
index c88eca8..015573d 100644
--- a/info/control2011/src/tools/krobot_vm.ml
+++ b/info/control2011/src/tools/krobot_vm.ml
@@ -262,12 +262,6 @@ let string_of_test = function
| `Lt -> "Lt"
| `Le -> "Le"
-let revert_vertice v = { v with x = Krobot_config.world_width -. v.x }
-let revert_vector_opt v =
- match v with
- | None -> None
- | Some v -> Some { v with vx = -. v.vx }
-
let bezier_collide objects curve c1 c2 shift_vector curve_parameter =
let curve = Bezier.mul_d1 curve c1 in
let curve = Bezier.mul_d2 curve c2 in
@@ -424,12 +418,8 @@ let rec exec robot actions =
| Set_curve(Some curve) :: rest ->
robot.curve <- Some curve;
exec robot rest
- | Goto (revert,v,last_vector) :: rest -> begin
+ | Goto (v,last_vector) :: rest -> begin
ignore (Lwt_log.info_f "Goto");
- let v,last_vector = if revert && robot.team = `Blue
- then revert_vertice v, revert_vector_opt last_vector
- else v, last_vector
- in
(* Try to find a path to the destination. *)
match Krobot_path.find ~src:robot.position ~dst:v ~beacon:robot.beacon with
| Some vertices ->
@@ -438,11 +428,11 @@ let rec exec robot actions =
(Node (
Some
(Node (None, [Stop; Wait_for 0.05;
- Goto (false,v,last_vector)])),
- [Follow_path (false,vertices,last_vector, true)]) :: rest)
+ Goto (v,last_vector)])),
+ [Follow_path (vertices,last_vector, true)]) :: rest)
| None ->
- ([Stop; Wait_for 0.05; Goto (revert,v,last_vector)] @ rest,
+ ([Stop; Wait_for 0.05; Goto (v,last_vector)] @ rest,
Wait)
end
| Can c ::rest ->
@@ -458,12 +448,8 @@ let rec exec robot actions =
| `Green -> 6
| `Yellow -> 5 in
(rest, Send[Switch_request(led,value)])
- | Follow_path (revert,vertices,last_vector, correct_curve ) :: rest -> begin
+ | Follow_path (vertices,last_vector, correct_curve ) :: rest -> begin
ignore (Lwt_log.info_f "Follow_path");
- let vertices,vector = if revert && robot.team = `Blue
- then List.map revert_vertice vertices, revert_vector_opt last_vector
- else vertices, last_vector
- in
(* Compute bezier curves. *)
let vector = { vx = cos robot.orientation; vy = sin robot.orientation } in
(*
@@ -651,7 +637,7 @@ let rec exec robot actions =
| Calibrate ( approach_position, approach_orientation, distance,
supposed_x, supposed_y, supposed_orientation )::rest ->
Node (None,
- ([ Goto (false,approach_position,
+ ([ Goto (approach_position,
Some { vx = cos approach_orientation;
vy = cos approach_orientation });
Set_orientation approach_orientation;
hooks/post-receive
--
krobot
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