commit 7d1ef44a8af55c2a03826a951ee6aa9b297b6e8d
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Mar 23 20:20:50 2019 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Mar 24 13:10:47 2019 -0700
tree 753d2fcedf4ba150d124b64ce2125472713e5171
parent d2df965d557d46de4c2e0a6bb5fc715cd3744569

Add target selection based on buttons + mode

This makes ball vs hatch mode discriminate among targets on the rocket,
and adds buttons to control which target on the cargo ship we go for.

Also, add new color to indicate that we have a target (purple flashing).

Change-Id: Ifc734c8168a1814511dea95abc361eb13383f597

y2019/constants.cc

diff --git a/y2019/constants.cc b/y2019/constants.cc
index ba737dd..fc947fe 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -315,42 +315,42 @@
   constexpr double kPortZ = 1.00;
 
   constexpr double kDiscRadius = InchToMeters(19.0 / 2.0);
-  // radius to use for placing the ball (not necessarily the radius of the ball
-  // itself...).
-  constexpr double kBallRadius = 0.05;
 
   constexpr Target::GoalType kBothGoal = Target::GoalType::kBoth;
   constexpr Target::GoalType kBallGoal = Target::GoalType::kBalls;
   constexpr Target::GoalType kDiscGoal = Target::GoalType::kHatches;
   constexpr Target::GoalType kNoneGoal = Target::GoalType::kNone;
+  using TargetType = Target::TargetType;
 
   const Target far_side_cargo_bay(
       {{kFarSideCargoBayX, kSideCargoBayY, kNormalZ}, kSideCargoBayTheta},
-      kDiscRadius, kBothGoal);
+      kDiscRadius, TargetType::kFarSideCargoBay, kBothGoal);
   const Target mid_side_cargo_bay(
       {{kMidSideCargoBayX, kSideCargoBayY, kNormalZ}, kSideCargoBayTheta},
-      kDiscRadius, kBothGoal);
+      kDiscRadius, TargetType::kMidSideCargoBay, kBothGoal);
   const Target near_side_cargo_bay(
       {{kNearSideCargoBayX, kSideCargoBayY, kNormalZ}, kSideCargoBayTheta},
-      kDiscRadius, kBothGoal);
+      kDiscRadius, TargetType::kNearSideCargoBay, kBothGoal);
 
   const Target face_cargo_bay(
       {{kFaceCargoBayX, kFaceCargoBayY, kNormalZ}, kFaceCargoBayTheta},
-      kDiscRadius, kBothGoal);
+      kDiscRadius, TargetType::kFaceCargoBay, kBothGoal);
 
+  // The rocket port, since it is only for balls, has no meaningful radius
+  // to work with (and is over-ridden with zero in target_selector).
   const Target rocket_port(
-      {{kRocketPortX, kRocketPortY, kPortZ}, kRocketPortTheta}, kBallRadius,
-      kBallGoal);
+      {{kRocketPortX, kRocketPortY, kPortZ}, kRocketPortTheta}, 0.0,
+      TargetType::kRocketPortal, kBallGoal);
 
   const Target rocket_near(
       {{kRocketNearX, kRocketHatchY, kNormalZ}, kRocketNearTheta}, kDiscRadius,
-      kDiscGoal);
+      TargetType::kNearRocket, kDiscGoal);
   const Target rocket_far(
       {{kRocketFarX, kRocketHatchY, kNormalZ}, kRocketFarTheta}, kDiscRadius,
-      kDiscGoal);
+      TargetType::kFarRocket, kDiscGoal);
 
   const Target hp_slot({{0.0, kHpSlotY, kNormalZ}, kHpSlotTheta}, 0.00,
-                       kBothGoal);
+                       TargetType::kHPSlot, kBothGoal);
 
   const ::std::array<Target, 8> quarter_field_targets{
       {far_side_cargo_bay, mid_side_cargo_bay, near_side_cargo_bay,