File content as of revision 74:9620d24a2f4e:

#include "ai.h"
#include "rtos.h"
#include "globals.h"
#include "motion.h"
#include "Colour.h"
#include "supportfuncs.h"
#include "Arm.h"
#include "MotorControl.h"

//TODO: after 2013, kill entire AI layer as it is hacked together. Rest is fine-ish

namespace AI
{

bool delayed_done = true; //TODO: kill

struct delayed_struct //TODO: kill
{
    osThreadId tid; 
    Waypoint *wpptr;
};

void arm_upper(const void *dummy); //TODO: kill

void delayed_setter(const void *tid_wpptr); //TODO: kill the hack

void ailayer(void const *dummy)
{
    Waypoint current_waypoint;
    
    Colour c_upper(P_COLOR_SENSOR_BLUE_UPPER, P_COLOR_SENSOR_RED_UPPER, P_COLOR_SENSOR_IN_UPPER, UPPER);
    Colour c_lower(P_COLOR_SENSOR_BLUE_LOWER, P_COLOR_SENSOR_RED_LOWER, P_COLOR_SENSOR_IN_LOWER, LOWER);

    // first waypoint for approach
    current_waypoint.x = 2.2;
    current_waypoint.y = 1.85;
    current_waypoint.theta = (-3.0f/4.0f)*PI;
    current_waypoint.pos_threshold = 0.03;
    current_waypoint.angle_threshold = 0.02*PI;
    
    motion::collavoiden = 1;
    MotorControl::motorsenabled = 1;
    motion::setNewWaypoint(Thread::gettid(),&current_waypoint);

    float r = 0.61+0.02+0.01;

    bool firstavoidstop = 1;
    delayed_struct ds = {Thread::gettid(),&current_waypoint};
    RtosTimer delayed_wp_set(delayed_setter, osTimerOnce, (void *)&ds);
    RtosTimer delayed_armer(arm_upper, osTimerOnce);
    
    for (float phi=(180-11.25)/180*PI; phi > 11.25/180*PI;)
    {
        motion::waypoint_flag_mutex.lock();
        if (motion::checkMotionStatus() && (c_upper.getColour()==RED || firstavoidstop) && delayed_done)
        {
            //temphack!!!!!
            //Thread::wait(1000);
            arm::upper_arm.go_down();
            delayed_done = false;
            delayed_armer.start(1200);
            delayed_wp_set.start(2400);
            //Thread::wait(2000);
            //arm::upper_arm.go_up();
            
            phi -= 22.5/180*PI;
            current_waypoint.x = 1.5-r*cos(phi);
            current_waypoint.y = 2-r*sin(phi);
            current_waypoint.theta = constrainAngle(phi+PI/2);
            
            //arm offset
            current_waypoint.x += 0.0425*cos(current_waypoint.theta);
            current_waypoint.y += 0.0425*sin(current_waypoint.theta);
            
            current_waypoint.pos_threshold = 0.01;
            current_waypoint.angle_threshold = 0.01*PI;

            //motion::setNewWaypoint(Thread::gettid(),&current_waypoint);
            if (firstavoidstop)
            {
                motion::collavoiden = 0;
                firstavoidstop = 0;
            }
            else
                motion::collavoiden = 1;
        }
        motion::waypoint_flag_mutex.unlock();            
        
        Thread::wait(50);
    }
}

void arm_upper(const void *dummy)
{
    arm::upper_arm.go_up();
}

void delayed_setter(const void *tid_wpptr) //TODO: kill the hack
{
    delayed_struct *dsptr = (delayed_struct *)tid_wpptr;
    //arm::upper_arm.go_up();
    motion::setNewWaypoint(dsptr->tid,dsptr->wpptr);
    delayed_done = true;
}

} //namespace