Diff: maze.cpp

Revision:

5:449dc35a29bd

Parent:

4:8c3681dc676f

--- a/maze.cpp	Sat Aug 08 12:27:57 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,255 +0,0 @@
-/** maze_vt100 a simple maze using UniGraphic and MMA8451Q libraries
- */
-#include "mbed.h"
-#include "MMA8451Q.h"
-#include <ILI9341.h>
-#include "Arial12x12.h"
-#include "Arial24x23.h"
-#include "Arial28x28.h"
-#include "Arial43x48_numb.h"
-#include "maze.h"
-
-#define CELL_W  10
-#define CELL_H  10
-#define CELL_S   5
-#define CELL_R   4
-#define LEFT_OFFSET 20
-#define TOP_OFFSET 20
-
-#define DIR_STAY  0
-#define DIR_UP    1
-#define DIR_DOWN  2
-#define DIR_RIGHT 3 
-#define DIR_LEFT  4
-
-#define MMA8451_I2C_ADDRESS (0x1D<<1)
-
-typedef struct _pos {
-    int x ;
-    int y ;
-} pos_type ;
-
-extern MMA8451Q *acc ;
-extern ILI9341 TFT ;
-extern DigitalOut backlight ;
-float threshold = 0.2 ;
-
-/** Check if two pos_type values are same
- * @param pos_type a
- * @param pos_type b
- * @returns if a and b are same position
- */
-bool isSame(pos_type a, pos_type b)
-{
-    return((a.x == b.x)&&(a.y == b.y)) ;
-}
-
-/** Draw the maze defined in the "maze.h"
- * @param pos_type *current actually the start point
- * @param pos_type *goal the position of the goal
- * @note those params are actually returned by this function
- */
-void drawTFTMaze(pos_type *current, pos_type *goal)
-{
-    int x, y, i, j ;
-    TFT.BusEnable(true) ;
-    
-    backlight = 0 ;
-    TFT.foreground(White) ;
-    TFT.background(Black) ;
-    TFT.cls() ;
-    for (j = 0 ; j < MAZE_H ; j++ ) {
-        for (i = 0 ; i < MAZE_W ; i++ ) {
-            x = i * CELL_W + LEFT_OFFSET ;
-            y = j * CELL_H + TOP_OFFSET ;
-            switch(maze[j][i]) {
-            case 0: // path
-                TFT.fillrect(x, y, x+CELL_W-1, y+CELL_H-1, Black) ;
-                break ;
-            case 1: // wall
-                TFT.fillrect(x, y, x+CELL_W-1, y+CELL_H-1, DarkGrey) ;
-                break ;
-            case 2: // Start point
-                TFT.fillcircle(x+CELL_S, y+CELL_S, CELL_R, Green) ;
-                current->x = i ;
-                current->y = j ;
-                break ;
-            case 3: // Goal
-                TFT.fillcircle(x+CELL_S, y+CELL_S, CELL_R, Red) ;
-                goal->x = i ;
-                goal->y = j ;
-                break ;
-            default: // should not be here
-                break ;
-            }
-        }
-    }
-    backlight = 1 ;
-    TFT.BusEnable(false) ;
-}
-
-/** Filter out too little move 
- * @param float in returned value from the acc
- * @returns float result filtered value of in
- */
-float filterVal(float in)
-{
-    float result = 0.0 ;
-    if ((-threshold > in)||(in > threshold)) {
-        result = in ;
-    }
-    return( result ) ;
-}
-
-/** Decide which direction to go
- * @param float res[] acc value of x, y 
- * @returns int direction to move 
- */
-int getDirection(float res[])
-{
-    float dx, dy ;
-    int direction = DIR_STAY ;
-    dx = filterVal(res[0]) ;
-    dy = filterVal(res[1]) ;
-
-    if ((dx*dx) > (dy*dy)) { // holizontal move
-        if (dx > 0.0) {
-            direction = DIR_DOWN ;
-        } else if (dx < 0.0) {
-            direction = DIR_UP ;
-        }
-    } else { // vertical move
-        if (dy > 0.0) {
-            direction = DIR_RIGHT ;
-        } else if (dy < 0.0) {
-            direction = DIR_LEFT ;
-        }
-    }
-    return(direction) ;
-}
-
-/** Get next positon to move to
- * @param pos_type current where we are now
- * @param int direction which way we'd like to move
- * @returns the candidate positon for the next move
- */
-pos_type getNext(pos_type current, int direction) 
-{
-    pos_type next = current ;
-    switch(direction) {
-    case DIR_STAY: 
-        break ;
-    case DIR_UP: 
-        if (next.y > 0) { 
-            next.y-- ; 
-        }  
-        break ;
-    case DIR_DOWN: 
-        if (next.y < (MAZE_H - 1)) { 
-            next.y++ ; 
-        } 
-        break ;
-    case DIR_RIGHT: 
-        if (next.x < (MAZE_W - 1)) { 
-            next.x++ ; 
-        } 
-        break ;
-    case DIR_LEFT: 
-        if (next.x > 0) { 
-            next.x-- ; 
-        } 
-        break ;
-    default: 
-        break ;
-    }
-    return( next ) ;
-}
-
-/** Notice of the goal
- */
-void showGoal(void)
-{
-    int x0, y0, x1, y1 ;
-    x0 = ((MAZE_W/2)-4) * CELL_W + LEFT_OFFSET ;
-    y0 = ((MAZE_H/2)-1) * CELL_H + TOP_OFFSET ;
-    x1 = ((MAZE_W/2)+4) * CELL_W + LEFT_OFFSET ;
-    y1 = ((MAZE_H/2)+1) * CELL_H + TOP_OFFSET ;
-
-    TFT.BusEnable(true) ;
-//    TFT.set_font((unsigned char*) Arial12x12);
-    TFT.set_font((unsigned char*) Terminal6x8) ;
-    TFT.fillrect(x0, y0, x1, y1, Blue) ;
-    TFT.rect(x0,y0,x1,y1, Yellow) ;
-    TFT.foreground(Red) ;
-    TFT.background(Blue) ;
-    x0 = ((MAZE_W/2) - 2) * CELL_W + LEFT_OFFSET ;
-    y0 = (MAZE_H/2) * CELL_H - 3 + TOP_OFFSET ;
-    TFT.locate(x0, y0) ;
-    TFT.printf("G O A L") ;
-    TFT.foreground(Yellow) ;
-    TFT.background(Black) ;
-    TFT.locate(30, 300) ;
-//    TFT.printf("Use FRDM touch slider") ;
-    TFT.printf("           Retry!      ") ;
-    TFT.locate(5, 300) ;
-    TFT.printf("<< Prev") ;
-    TFT.locate(180, 300) ;
-    TFT.printf("Next >>") ;
-    TFT.BusEnable(false) ;
-}
-
-/** Check if we can move to the next position
- * @param pos_type next the position we'd like to move next
- * @returns if the position is empty (movable)
- */
-bool checkMove(pos_type next) 
-{
-    bool result = false ;
-    
-    switch(maze[next.y][next.x]) {
-    case POS_PATH:
-    case POS_GOAL:
-        result = true ;
-        break ;
-    case POS_START:
-    case POS_WALL:
-    default:
-        result = false ;
-        break ;
-    } 
-    return( result ) ;
-}
-
-/** main a simple maze program
- */
-void doMaze(void) 
-{
-    float res[3] ;
-    pos_type current, next, goal ;
-    int direction = DIR_STAY ;
-    int x, y ;
-    
-    drawTFTMaze(&current, &goal) ;
-    
-    for (;;) {
-        acc->getAccAllAxis(res) ;
-        direction = getDirection(res) ;
-        next = getNext(current, direction) ;
-        if ((!isSame(current, next)) && checkMove(next)) {
-           TFT.BusEnable(true) ;
-           x = current.x * CELL_W + LEFT_OFFSET ;
-           y = current.y * CELL_H + TOP_OFFSET ;
-           TFT.fillrect(x, y, x+CELL_W-1, y+CELL_H-1, Black) ;
-           x = next.x * CELL_W + LEFT_OFFSET ;
-           y = next.y * CELL_H + TOP_OFFSET ;
-           TFT.fillcircle(x+CELL_S, y+CELL_S, CELL_R, Green) ; 
-           TFT.BusEnable(false) ;
-           current = next ;
-           if (isSame(next, goal)) {
-             break ; // goal in!
-           }
-        }
-        wait(0.1) ;
-    }
-    showGoal() ;
-}