/* RFC 4317 - section 5.1 */
static int rfc4317_section5_1(struct oa *oa)
{
int err = 0;
err |= oa_init(oa);
if (err)
return err;
err = oa_offeranswer(oa,
"v=0\r\n"
"o=alice 2890844526 2890844526 IN IP4 1.2.3.4\r\n"
"s=-\r\n"
"c=IN IP4 1.2.3.4\r\n"
"t=0 0\r\n"
,
"v=0\r\n"
"o=bob 2808844564 2808844564 IN IP4 5.6.7.8\r\n"
"s=-\r\n"
"c=IN IP4 5.6.7.8\r\n"
"t=0 0\r\n");
return err;
}
static int oa_addmedia(struct oa *oa, bool local,
const char *mname, uint16_t port, const char *transp,
enum sdp_dir dir, uint32_t ncodec, ...)
{
struct sdp_media *m;
va_list ap;
int err;
err = oa_init(oa);
if (err)
return err;
err = sdp_media_add(&m, local ? oa->alice : oa->bob,
mname, port, transp);
if (err)
return err;
sdp_media_set_ldir(m, dir);
va_start(ap, ncodec);
while (ncodec--) {
const char *id = va_arg(ap, char *);
const char *cname = va_arg(ap, char *);
int srate = va_arg(ap, int);
err = sdp_format_add(NULL, m, false, id, cname, srate, 1,
NULL, NULL, NULL, false, NULL);
if (err)
break;
}
va_end(ap);
return err;
}
int strat_goto_avoid(int x, int y, int flags)
{
int i, len, ret;
int retry_count;
int opp_x, opp_y;
poly_t *pol_opp;
point_t *p;
oa_init();
/* The robot will try 3 times before giving up. */
for(retry_count=0;retry_count<3;retry_count++) {
/* Creates one polygon for each opponent robot. */
for(i=0;i<robot.beacon.nb_beacon;i++) {
pol_opp = oa_new_poly(4);
strat_da_rel_to_xy_abs(robot.beacon.beacon[i].direction, robot.beacon.beacon[i].distance*10,
&opp_x, &opp_y);
NOTICE(0, "Op is at %d;%d", opp_x, opp_y);
create_opp_polygon(pol_opp, 800, 0);
/* Checks if the arrival point is in an opponent. */
if(is_point_in_poly(pol_opp, x, y)) {
WARNING(0, "Destination point is in opponent.");
return END_ERROR;
}
}
/* Sets starting and ending point of the path. */
oa_start_end_points(position_get_x_s16(&robot.pos), position_get_x_s16(&robot.pos), x, y);
/* Computes the path */
len = oa_process();
/* Checks if a path was found. */
if(len == 0) {
WARNING(0, "Cannot find a suitable path.");
return END_ERROR;
}
p = oa_get_path();
/* For all the points in the path. */
for(i=0;i<len;i++) {
/* Goes to the point. */
trajectory_goto_forward_xy_abs(&robot.traj, p->x, p->y);
/* Waits for the completion of the trajectory. */
ret = wait_traj_end(flags);
/* If we were blocked or met an obstacle, we will retry. */
if(ret == END_BLOCKING || ret == END_OBSTACLE) {
WARNING(0, "Retry");
break; // we retry once more
} else if(!TRAJ_SUCCESS(ret)) {
/* If it was an other error, we simply abort and return it. */
WARNING(0, "Unknown error code : %d", ret);
return ret;
}
/* Increments pointer to load next point. */
p++;
}
/* If we reached last point, no need to retry. */
if(ret == END_TRAJ)
return END_TRAJ;
}
/* If we reach here, it means 3 try were not enough. */
return END_ERROR;
}
