robofsm: Add known walls around the playground

diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c
index 6134863064143fdffc7d874692eed40c8931679b..c749c12ec14366d0c8a4fecc26b0a02227cbdc24 100644 (file)
--- a/src/robofsm/robot.c
+++ b/src/robofsm/robot.c
@@ -59,9 +59,17 @@ static void int_handler(int sig)
 
 void fill_in_known_areas_in_map()
 {
+        /* maze walls */
         ShmapSetRectangleFlag(0.0, PLAYGROUND_HEIGHT_M / 2.0, PLAYGROUND_WIDTH_M - 0.5, PLAYGROUND_HEIGHT_M / 2.0, MAP_FLAG_WALL, 0);
         ShmapSetRectangleFlag(0.4, 0.0, 0.4, PLAYGROUND_HEIGHT_M / 4.0, MAP_FLAG_WALL, 0);
         ShmapSetRectangleFlag(0.9, PLAYGROUND_HEIGHT_M / 4.0, 0.9, PLAYGROUND_HEIGHT_M / 2.0, MAP_FLAG_WALL, 0);
+
+        /* playground walls */
+        ShmapSetRectangleFlag(0.0, 0.0, PLAYGROUND_WIDTH_M, 0.0, MAP_FLAG_WALL, 0);
+        ShmapSetRectangleFlag(0.0, 0.0, 0.0, PLAYGROUND_HEIGHT_M, MAP_FLAG_WALL, 0);
+
+        ShmapSetRectangleFlag(0.0, PLAYGROUND_HEIGHT_M, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M, MAP_FLAG_WALL, 0);
+        ShmapSetRectangleFlag(PLAYGROUND_WIDTH_M, 0.0, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M, MAP_FLAG_WALL, 0);
 }
 
 static void trans_callback(struct robo_fsm *fsm)