int AI::betterMemory()
{
int position = 0;
int nextPos = 0;
int lastPos = 0;
bool ok = false;
Direction lastDir = AI::UP;
bool keepPosAndDir = false;
do
{
// Check if an active ship is available
if(shipActive())
{
if(!keepPosAndDir)
{
// Get information about the last turn
lastPos = _alreadyTried.last();
lastDir = lastDirection();
keepPosAndDir = false;
}
// Get next position
if(lastHit())
{
nextPos = positionInDirection(lastDir, lastPos);
}
else
{
if(_currentHitsOnShip >= 2)
{
if(!keepPosAndDir)
lastDir = oppositeDirection(lastDir);
nextPos = positionInDirection(lastDir, _shipFirstHit);
}
else
{
if(!keepPosAndDir)
lastDir = nextDirection(lastDir);
nextPos = positionInDirection(lastDir, _shipFirstHit);
}
}
// If the position is not valid, try an other one
if(nextPos < 0)
{
if(_currentHitsOnShip >= 2)
lastDir = oppositeDirection(lastDir);
else
lastDir = nextDirection(lastDir);
lastPos = _shipFirstHit;
keepPosAndDir = true;
continue;
}
// If position was already tried, try an other one
if(_alreadyTried.contains(nextPos))
{
lastDir = nextDirection(lastDir);
lastPos = _shipFirstHit;
keepPosAndDir = true;
continue;
}
else
{
ok = true;
}
// Set the next position
position = nextPos;
}
else
{
// If no active ship is available, pick random position
position = simpleMemory();
_shipSunken = false;
ok = true;
}
}while(!ok);
_alreadyTried.append(position);
setLastDirection(lastDir);
return position;
}
int main(void)
{
unsigned char temp_sqr,temp_dir,temp_diff,temp;
unsigned int i;
unsigned char channel=150;
hardwareInit();
//FOLD_ARMS;
/*__delay_ms(50);
do{
if(key_UP)
{
channel+=10;
LED_ON;
__delay_ms(20);
LED_OFF;
}
if(key_DN)
{
channel-=10;
LED_ON;
__delay_ms(20);
LED_OFF;
}
__delay_ms(300);
readButtons();
} while(!key_GO);
LED_ON;
__delay_ms(200);
LED_OFF;
CC2500_init();
CC2500_write_register(CHANNR,channel);
CC2500_idle_mode();
CC2500_receive_mode();
do{
if(key_UP)
{
speed++;
if(speed>4)
speed = 4;
LED_ON;
__delay_ms(20);
LED_OFF;
}
if(key_DN)
{
speed--;
if(speed<0)
speed = 0;
LED_ON;
__delay_ms(20);
LED_OFF;
}
__delay_ms(300);
readButtons();
}while(!key_GO);*/
LED_ON;
__delay_ms(150);
LED_OFF;
__delay_ms(150);
LED_ON;
__delay_ms(150);
LED_OFF;
#ifdef MACHINE_A
statusInitA();
#endif
#ifdef MACHINE_B
statusInitB();
#endif
assamble_packet();
CC2500_idle_mode();
CC2500_clear_rx_fifo();
CC2500_clear_tx_fifo();
CC2500_receive_mode();
__delay_ms(100);
i = CC2500_read_status_register( RXBYTES);
i&=0xFF;
sprintf(outBuf,"\r\n%u\r\n",i);
putsUART(outBuf);
if(i)
{
CC2500_idle_mode();
CC2500_clear_rx_fifo();
CC2500_clear_tx_fifo();
CC2500_receive_mode();
while(GDO0==0);
while(GDO0==1);
SYSTIM_TMR = 9581;
__delay_ms(3);
commCount = 0;
startSystemTimer();
noCommCount=0;
commEnabled = TRUE;
if(waitDataUpdate())
my.obzEntrCnt = fellow.obzEntrCnt;
/*LED_ON;
__delay_ms(2000);*/
}
else
{
startSystemTimer();
noCommCount=0;
commEnabled = TRUE;
}
#ifdef MACHINE_A
while(!key_GO){
if(noCommCount>100)
{
commEnabled = FALSE;
waitToTick();
CC2500_init();
commEnabled = TRUE;
__delay_ms(40);
//noCommCount = 0;
}
}
#endif
if(displayEnabled)
{
switch(resetSource())
{
case POWER_ON_RESET:
sprintf(outBuf,"\r\nBattry Voltage : %u",batteryVoltage);
putsUART(outBuf);
break;
case EXTERNAL_RESET:
sprintf(outBuf,"\r\nUser Reset...");
putsUART(outBuf);
break;
default:
sprintf(outBuf,"\r\nUnknown Reset");
putsUART(outBuf);
break;
}
}
/*while(TRUE)
{
printSensors();
__delay_ms(500);
}*/
gridInit();
#ifdef MACHINE_B
while(TRUE)
{
if(noCommCount>100)
{
commEnabled = FALSE;
waitToTick();
CC2500_init();
commEnabled = TRUE;
__delay_ms(40);
//noCommCount = 0;
}
if(dataUpdated)
{
printStatus(&fellow);
/*rx_buff_temp[0] = rx_buff0;
rx_buff_temp[1] = rx_buff1;
rx_buff_temp[2] = rx_buff2;
rx_buff_temp[3] = rx_buff3;
rx_buff_temp[4] = rx_buff4;
rx_buff_temp[5] = rx_buff5;
sprintf(outBuf,"\r\n\r\n%u,%u,%u,%u,%u,%u",
rx_buff_temp[0],
rx_buff_temp[1],
rx_buff_temp[2],
rx_buff_temp[3],
rx_buff_temp[4],
rx_buff_temp[5]);
putsUART(outBuf);*/
dataUpdated = FALSE;
}
}
//while(!key_GO);
while(fellow.heading==10&&!key_GO);
//while(fellow.heading==10);
#endif
while(TRUE)
{
if(noCommCount>100)
{
commEnabled = FALSE;
waitToTick();
CC2500_init();
commEnabled = TRUE;
__delay_ms(40);
//noCommCount = 0;
}
switch(mcState)
{
case MC_START:
{
cubeSensorsOn();
waitToTick();
waitToTick();
cubeSensorsOff();
temp_sqr = nextSquare(my.location,my.heading&0x07);
grid[temp_sqr] |= VISITED;
if(frontCube)
{
myCube[++cubeInd] = temp_sqr;
mcState=MC_DELIVER;
}
else
mcState=MC_SCAN;
break;
}
case MC_SCAN:
{
temp_sqr = scanMap[my.smInd];
if(my.location==temp_sqr)
{
my.smInd++;
break;
}
my.goalSquare = temp_sqr;
mcNextState = MC_SCAN;
mcState = MC_GET_M_THR;
/*temp_dir = nextDirection(my.location,temp_sqr);
temp_diff = temp_dir - (my.heading&0x07);
if(prState==PR_STR_ACC||prState==PR_STR_DEC)
{
if(temp_diff)
break;
waitDataUpdate();
if(commonSquare(temp_sqr))
break;
my.heading &= 0x07;
finalPos += COUNTS_PER_CELL*256;
if(prState==PR_STR_DEC)
prState = PR_STR_ACC;
while(relativeDistance>distance[ORTHO_SENS_DIST]*2);
}
else if(prState==PR_FINISHED)
{
if(temp_diff)
{
commandList[cmlInd++] = getTurnCmd(temp_diff);
my.heading = temp_dir | NODIR;
}
waitDataUpdate();
if(commonSquare(temp_sqr))
{
commandList[cmlInd++] = CMD_STOP;
getNextMove();
break;
}
my.heading &= 0x07;
commandList[cmlInd++] = CMD_STRAIGHT | CMD_FORWARD;
commandList[cmlInd++] = CMD_STOP;
getNextMove();
}
else
break;
while(prState!=PR_STR_ACC);
while(relativeDistance<distance[ORTHO_SENS_DIST]*2);
my.location = nextSquare(my.location,my.heading);
grid[my.location] |= ONROUTE;
my.heading |= NODIR;
if(scanNeighbours())
{
mcState = MC_DELIVER;
}*/
my.smInd++;
if(my.smInd>=17)
{
my.smInd = 0;
#ifdef MACHINE_A
my.goalSquare = 20;
#endif
#ifdef MACHINE_B
my.goalSquare = 60;
#endif
mcNextState = MC_SCAN;
mcState = MC_GET_M_THR;
}
break;
}
case MC_GET_M_THR:
{
waitDataUpdate();
updateGrid();
floodGrid(my.goalSquare);
/*if(map[my.location] == 0)
{
mcState = mcNextState;
break;
}*/
temp_sqr = nextNeighbour(my.location);
temp_dir = nextDirection(my.location,temp_sqr);
temp_diff = temp_dir - (my.heading&0x07);
waitDataUpdate();
if(commonSquare(temp_sqr))
{
break;
}
if((!inOBZ(my.location)) && inOBZ(temp_sqr))
{
if(!my.obzClear || !my.delivering)
break;
}
if(inOBZ(my.location) && (!inOBZ(temp_sqr)))
{
my.obzEntrCnt+=2;
}
if(isDipoSquare(temp_sqr)&& my.delivering)
{
mcState = MC_DELIVER_FINISH;
break;
}
if(prState==PR_STR_ACC||prState==PR_STR_DEC)
{
if(temp_diff)
break;
my.heading &= 0x07;
finalPos += COUNTS_PER_CELL*256;
if(prState==PR_STR_DEC)
prState = PR_STR_ACC;
while(relativeDistance>distance[ORTHO_SENS_DIST]*2);
}
else if(prState==PR_FINISHED)
{
if(temp_diff)
{
commandList[cmlInd++] = getTurnCmd(temp_diff);
commandList[cmlInd++] = CMD_STOP;
getNextMove();
my.heading = temp_dir|NODIR;
break;
}
else
{
if(!(grid[temp_sqr]&VISITED));
{
cubeSensorsOn();
waitToTick();
waitToTick();
cubeSensorsOff();
if(!commonSquare(temp_sqr))
{
grid[temp_sqr] |= VISITED;
if(frontCube)
{
updateCube(temp_sqr);
break;
}
}
}
my.heading &= 0x07;
commandList[cmlInd++] = CMD_STRAIGHT | CMD_FORWARD;
commandList[cmlInd++] = CMD_STOP;
getNextMove();
}
}
else
break;
while(prState!=PR_STR_ACC);
while(relativeDistance<distance[ORTHO_SENS_DIST]*2);
my.location = nextSquare(my.location,my.heading);
grid[my.location] |= ONROUTE;
my.heading |= NODIR;
if(scanNeighbours()&&(my.delivering==FALSE))
{
mcState = MC_DELIVER;
break;
}
if(map[my.location] == 0)
mcState = mcNextState;
break;
}
case MC_DELIVER:
{
temp_sqr = unDipoCube();
if(temp_sqr)
{
waitDataUpdate();
if(inOBZ(temp_sqr)&&!my.obzClear)
break;
temp_dir = nextDirection(my.location,temp_sqr);
if(temp_dir==NODIR)
{
temp_sqr = nearestNeighbourOfCube();
if(temp_sqr)
{
my.goalSquare = temp_sqr;
mcNextState = MC_DELIVER;
mcState = MC_GET_M_THR;
}
else
{
do{
my.smInd++;
}while(grid[scanMap[my.smInd]]&ONROUTE);
my.goalSquare = scanMap[my.smInd];
mcNextState = MC_SCAN;
mcState = MC_GET_M_THR;
}
break;
}
else
{
grabCube(temp_dir);
if(my.delivering)
{
temp = temp_sqr;
my.goalSquare = my.location;
temp_sqr = getDipoSquare();
if(temp_sqr)
{
for(i=0; i<4; i++)
{
if((myCube[i]<81)&&myCube[i]==temp)
temp = i;
}
myCube[/*cubeIndForMcDeliver*/temp] = temp_sqr;
my.goalSquare = temp_sqr;
mcNextState = MC_DELIVER;
mcState = MC_GET_M_THR;
break;
}
}
}
break;
}
do{
my.smInd++;
}while(grid[scanMap[my.smInd]]&ONROUTE);
my.goalSquare = scanMap[my.smInd];
mcNextState = MC_SCAN;
mcState = MC_GET_M_THR;
break;
}
case MC_DELIVER_FINISH:
{
deliverCube();
if(unDipoCube())
{
mcState = MC_DELIVER;
break;
}
do{
my.smInd++;
}while(grid[scanMap[my.smInd]]&ONROUTE);
my.goalSquare = scanMap[my.smInd];
mcNextState = MC_SCAN;
mcState = MC_GET_M_THR;
}
}
}
while(TRUE);
return 0;
}