ProjetOctopode - Programme de contrôle de l'octopode 4DOF, Theraph…

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Alexandre Salconi-Denis / Mbed 2 deprecated ProjetOctopode

Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.

Dependencies: debug mbed

CtrlBridge

fonction quelquonque pour communiquer avec les module
fonction quelquonque pour faire des recherche dans les module dispo
autre fonction pour jouer avec MemRegistre

Version 1.2.0

Ajout d'un mode de simulation pour tester le code avec seulement un contrôleur stm32

directive.cpp@39:34d7802e8d15, 2015-10-15 (annotated)

Committer:: salco
Date:: Thu Oct 15 00:49:37 2015 +0000
Revision:: 39:34d7802e8d15
Parent:: 38:57d5f36a0333
Child:: 40:ecef15b1dfad

pas fonctionel juste backup

Who changed what in which revision?

User	Revision	Line number	New contents of line
salco	2:4c5b0f6d0a6b	1
salco	2:4c5b0f6d0a6b	2	#include "directive.h"
salco	36:474d4795aafa	3
salco	31:ed23647fd16e	4	Serial pc(SERIAL_TX, SERIAL_RX);
salco	28:ac5c6350ed9a	5	int tabIR[12][2]= {
salco	28:ac5c6350ed9a	6	{80, 400},{50, 600},{40, 700},{30, 900},{25,1100},
salco	28:ac5c6350ed9a	7	{20,1300},{15,1600},{10,2400},{ 8,2700},{ 7,3000},
salco	28:ac5c6350ed9a	8	{ 6,3200},{ 5,3100}
salco	28:ac5c6350ed9a	9	};
salco	28:ac5c6350ed9a	10
salco	28:ac5c6350ed9a	11
salco	28:ac5c6350ed9a	12
salco	28:ac5c6350ed9a	13
salco	28:ac5c6350ed9a	14
salco	2:4c5b0f6d0a6b	15
salco	2:4c5b0f6d0a6b	16	Directive::Directive():TTask(0)//on veux que cette tache sois exec toute les fois que TTaskGen sexecute.
salco	2:4c5b0f6d0a6b	17	{
salco	28:ac5c6350ed9a	18	/* initialize random seed: */
salco	31:ed23647fd16e	19	srand (time(NULL));
salco	33:c8b4e5a392e6	20	myMaze = new Labyrinthe();
salco	33:c8b4e5a392e6	21
salco	28:ac5c6350ed9a	22	myMaze->setDirection(UP);
salco	28:ac5c6350ed9a	23	//c=0;
salco	35:d81f6b927932	24	ssc32 = new Serial(PB_6, PB_7);
salco	27:ea60d12dccdf	25	ctrDesPattes = new Faculter_motrice(ssc32/pc/);
salco	28:ac5c6350ed9a	26	m_valueCapteurUltrasonic = 0;
salco	28:ac5c6350ed9a	27	m_valueCapteurIR = 0;
salco	28:ac5c6350ed9a	28	m_valueCapteurProximiter = 0;
salco	28:ac5c6350ed9a	29	for(int i =0; i<10; i++)tableauDeCommange[i]= 0;
salco	28:ac5c6350ed9a	30	size_tableauDeCommange=0;
salco	39:34d7802e8d15	31	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r set explorer \n\r");
salco	36:474d4795aafa	32	myMaze->setMyPos(Labyrinthe::explorer);
salco	35:d81f6b927932	33	//myMaze->setC(EXPLORER,C5);
salco	19:0ac80045ba4c	34	//m_CtrlBridge = m_CtrlBridge->getInstance();
salco	19:0ac80045ba4c	35	//a enlever de commentaire//m_ListDesModules = m_CtrlBridge->findModule(0,1,0,0);
salco	39:34d7802e8d15	36
salco	27:ea60d12dccdf	37	//Serial pc(USBTX, USBRX);
salco	39:34d7802e8d15	38
salco	27:ea60d12dccdf	39	//ssc32->set_flow_control(0);
salco	39:34d7802e8d15	40
salco	35:d81f6b927932	41
salco	35:d81f6b927932	42	//debug("\n\r directive Init");
salco	27:ea60d12dccdf	43	m_ListDesModules = m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0);
salco	27:ea60d12dccdf	44	m_ListDesModules.append(m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0));
salco	39:34d7802e8d15	45	for(int i=0; i < m_ListDesModules.size(); i++) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_ListDesModules[%i]:%i",i,m_ListDesModules[i]);
salco	39:34d7802e8d15	46
salco	27:ea60d12dccdf	47	m_capteurUltrasonic= m_CtrlBridge->findModule(0,CAPTEUR,ULTRASONIQUE,0x27/0b100111/);
salco	39:34d7802e8d15	48	if(!(m_capteurUltrasonic.empty()))
salco	39:34d7802e8d15	49	{
salco	39:34d7802e8d15	50	debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic found");
salco	39:34d7802e8d15	51	for(int i=0; i < m_capteurUltrasonic.size(); i++) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic[%i]:%i",i,m_capteurUltrasonic[i]);
salco	39:34d7802e8d15	52	}
salco	39:34d7802e8d15	53	else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic not found");
salco	39:34d7802e8d15	54
salco	39:34d7802e8d15	55
salco	27:ea60d12dccdf	56	m_capteurIR= m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0x27/0b100111/);
salco	39:34d7802e8d15	57	if(!(m_capteurIR.empty()))
salco	39:34d7802e8d15	58	{
salco	39:34d7802e8d15	59	debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR found");
salco	39:34d7802e8d15	60	for(int i=0; i < m_capteurIR.size(); i++) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR[%i]:%i",i,m_capteurIR[i]);
salco	39:34d7802e8d15	61	}
salco	39:34d7802e8d15	62	else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR not found");
salco	39:34d7802e8d15	63
salco	27:ea60d12dccdf	64	m_capteurProximiter= m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0x0E/0b001110/);
salco	39:34d7802e8d15	65	if(!(m_capteurProximiter.empty()))
salco	39:34d7802e8d15	66	{
salco	39:34d7802e8d15	67	debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter found");
salco	39:34d7802e8d15	68	for(int i=0; i < m_capteurProximiter.size(); i++) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter[%i]:%i",i,m_capteurProximiter[i]);
salco	39:34d7802e8d15	69	}
salco	39:34d7802e8d15	70	else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter not found");
salco	39:34d7802e8d15	71
salco	28:ac5c6350ed9a	72	ctrDesPattes->moveUp();
salco	39:34d7802e8d15	73
salco	28:ac5c6350ed9a	74	bool getUp=true;
salco	39:34d7802e8d15	75	while((getUp)&& (! ctrDesPattes->isSeqComplet()))
salco	39:34d7802e8d15	76	{
salco	28:ac5c6350ed9a	77	ctrDesPattes->exec();
salco	39:34d7802e8d15	78
salco	28:ac5c6350ed9a	79	if(ctrDesPattes->get_idFrame() >= 5)
salco	39:34d7802e8d15	80	getUp = false;
salco	39:34d7802e8d15	81
salco	28:ac5c6350ed9a	82	}
salco	31:ed23647fd16e	83
salco	39:34d7802e8d15	84	followThePath = false;
salco	28:ac5c6350ed9a	85	ctrDesPattes->calibre();
salco	31:ed23647fd16e	86
salco	39:34d7802e8d15	87
salco	35:d81f6b927932	88	#ifdef DEBUG_DIRECTIVE_GRAPHICAL_INTERFACE
salco	39:34d7802e8d15	89	//analiseMaze();
salco	39:34d7802e8d15	90	///wait(2);
salco	39:34d7802e8d15	91	//debug("\x1B[2J"); //clear screen
salco	39:34d7802e8d15	92	/*debug("\x1B[25l");//hide cursor
salco	39:34d7802e8d15	93	debug("\x1B[;H");*/ //cursor default position
salco	39:34d7802e8d15	94
salco	35:d81f6b927932	95	//createSLbox(0,0,5,15,"Mode");
salco	39:34d7802e8d15	96	/*createDLbox(0,0,10,20,"Menu");//(1,12,10,20,"test2");
salco	39:34d7802e8d15	97	setText(1,3,"1) BrainControle");
salco	39:34d7802e8d15	98	setText(1,4,"2) Show Maze");*/
salco	39:34d7802e8d15	99	//createDLbox(16,0,5,15,"Stage");
salco	39:34d7802e8d15	100
salco	39:34d7802e8d15	101	myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C1);
salco	39:34d7802e8d15	102	myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C2);
salco	39:34d7802e8d15	103	myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C3);
salco	39:34d7802e8d15	104	myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C4);
salco	39:34d7802e8d15	105	myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C5);
salco	39:34d7802e8d15	106	myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C6);
salco	39:34d7802e8d15	107	myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C7);
salco	39:34d7802e8d15	108	myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C8);
salco	39:34d7802e8d15	109	myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C9);
salco	39:34d7802e8d15	110
salco	39:34d7802e8d15	111	myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C1);
salco	39:34d7802e8d15	112	myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C2);
salco	39:34d7802e8d15	113	myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C3);
salco	39:34d7802e8d15	114	myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C4);
salco	39:34d7802e8d15	115	myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C5);
salco	39:34d7802e8d15	116	myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C6);
salco	39:34d7802e8d15	117	myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C7);
salco	39:34d7802e8d15	118	myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C8);
salco	39:34d7802e8d15	119	myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C9);
salco	39:34d7802e8d15	120
salco	39:34d7802e8d15	121	myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C1);
salco	39:34d7802e8d15	122	myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C2);
salco	39:34d7802e8d15	123	myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C3);
salco	39:34d7802e8d15	124	myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C4);
salco	39:34d7802e8d15	125	myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C5);
salco	39:34d7802e8d15	126	myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C6);
salco	39:34d7802e8d15	127	myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C7);
salco	39:34d7802e8d15	128	myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C8);
salco	39:34d7802e8d15	129	myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C9);
salco	39:34d7802e8d15	130
salco	39:34d7802e8d15	131	myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C1);
salco	39:34d7802e8d15	132	myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C2);
salco	39:34d7802e8d15	133	myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C3);
salco	39:34d7802e8d15	134	myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C4);
salco	39:34d7802e8d15	135	myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C5);
salco	39:34d7802e8d15	136	myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C6);
salco	39:34d7802e8d15	137	myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C7);
salco	39:34d7802e8d15	138	myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C8);
salco	39:34d7802e8d15	139	myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C9);
salco	39:34d7802e8d15	140
salco	39:34d7802e8d15	141	myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C1);
salco	39:34d7802e8d15	142	myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C2);
salco	39:34d7802e8d15	143	myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C3);
salco	39:34d7802e8d15	144	myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C4);
salco	39:34d7802e8d15	145	myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C5);
salco	39:34d7802e8d15	146	myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C6);
salco	39:34d7802e8d15	147	myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C7);
salco	39:34d7802e8d15	148	myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C8);
salco	39:34d7802e8d15	149	myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C9);
salco	39:34d7802e8d15	150
salco	39:34d7802e8d15	151	myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C1);
salco	39:34d7802e8d15	152	myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C2);
salco	39:34d7802e8d15	153	myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C3);
salco	39:34d7802e8d15	154	myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C4);
salco	39:34d7802e8d15	155	myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C5);
salco	39:34d7802e8d15	156	myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C6);
salco	39:34d7802e8d15	157	myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C7);
salco	39:34d7802e8d15	158	myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C8);
salco	39:34d7802e8d15	159	myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C9);
salco	39:34d7802e8d15	160	#endif
salco	39:34d7802e8d15	161	myMaze->setMyPos(Labyrinthe::explorer);
salco	38:57d5f36a0333	162
salco	39:34d7802e8d15	163	#ifdef DEBUG_DIRECTIVE_TEST_CAPTEUR
salco	39:34d7802e8d15	164	debug("\x1B[2J"); //clear screen
salco	39:34d7802e8d15	165	char areaLatt =0;
salco	39:34d7802e8d15	166	char areaVert =0;
salco	39:34d7802e8d15	167	int idCommand = 0;
salco	39:34d7802e8d15	168	while(idCommand != 9)
salco	39:34d7802e8d15	169	{
salco	39:34d7802e8d15	170
salco	39:34d7802e8d15	171	debug("\x1B[;H"); //cursor default position
salco	39:34d7802e8d15	172	debug("\n\r press any key");
salco	39:34d7802e8d15	173	idCommand = fgetc(pc) - '0';
salco	39:34d7802e8d15	174	debug("\x1B[2J"); //clear screen
salco	39:34d7802e8d15	175
salco	39:34d7802e8d15	176	updateModuleValue();
salco	39:34d7802e8d15	177
salco	39:34d7802e8d15	178	//////////////////////////////
salco	39:34d7802e8d15	179	// Traitement du Labyrinthe //
salco	39:34d7802e8d15	180	//////////////////////////////
salco	39:34d7802e8d15	181	debug("\n\r -invert ultrasonicToCm: %02f ",inchToCm(ultrasonicToInch(m_valueCapteurIR)));
salco	39:34d7802e8d15	182	debug("\n\r -invert IRToCm(%02f): %02f ",ADCTomv(m_valueCapteurUltrasonic),IRToCm(ADCTomv(m_valueCapteurUltrasonic)));
salco	39:34d7802e8d15	183	//debug("\n\r -IR(value):%i ",m_valueCapteurIR);
salco	39:34d7802e8d15	184	debug("\n\r -IRToCm(%02f): %02f ",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR)));
salco	39:34d7802e8d15	185
salco	39:34d7802e8d15	186	debug("\n\r -ultrasonic(value):%f ",m_valueCapteurUltrasonic);
salco	39:34d7802e8d15	187	debug("\n\r -ultrasonicToInch: %02f ",ultrasonicToInch(m_valueCapteurUltrasonic));
salco	39:34d7802e8d15	188	debug("\n\r -ultrasonicToCm: %02f ",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)));
salco	39:34d7802e8d15	189
salco	39:34d7802e8d15	190	debug("\n\r -m_valueCapteurProximiter: %02d ",m_valueCapteurProximiter);
salco	39:34d7802e8d15	191	//wait(.5);
salco	39:34d7802e8d15	192
salco	39:34d7802e8d15	193
salco	39:34d7802e8d15	194	if((inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))<= 1) /&& (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)/)//enlever parce que il est lock avec des limites
salco	39:34d7802e8d15	195	{ //capteur ultrasson embrouiller/imprecis
salco	39:34d7802e8d15	196	debug("\n\r -Capteur Ultrasson brouiller");
salco	39:34d7802e8d15	197	//addTableauDeCommande(6);
salco	39:34d7802e8d15	198	}
salco	39:34d7802e8d15	199	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_SHORT)
salco	39:34d7802e8d15	200	{ //plus proche que 1 case
salco	39:34d7802e8d15	201	debug("\n\r -Objet proche %g <= %g cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_SHORT);
salco	39:34d7802e8d15	202
salco	39:34d7802e8d15	203	areaLatt =0;
salco	39:34d7802e8d15	204
salco	39:34d7802e8d15	205	if(IRToCm(ADCTomv(m_valueCapteurIR)) <= DIRECTIVE_IR_LIMIT_SHORT)
salco	39:34d7802e8d15	206	{
salco	39:34d7802e8d15	207	/*
salco	39:34d7802e8d15	208	/---\
salco	39:34d7802e8d15	209	\|?M?\| //vert 0
salco	39:34d7802e8d15	210	\|.X.\| //latt 0
salco	39:34d7802e8d15	211	\|...\|
salco	39:34d7802e8d15	212	\---/
salco	39:34d7802e8d15	213	*/
salco	39:34d7802e8d15	214	areaVert = 0;
salco	39:34d7802e8d15	215	}
salco	39:34d7802e8d15	216	else
salco	39:34d7802e8d15	217	{
salco	39:34d7802e8d15	218	/*
salco	39:34d7802e8d15	219	/-M-\
salco	39:34d7802e8d15	220	\|?V?\| //vert 1
salco	39:34d7802e8d15	221	\|.X.\| //latt 0
salco	39:34d7802e8d15	222	\|...\|
salco	39:34d7802e8d15	223	\---/
salco	39:34d7802e8d15	224	*/
salco	39:34d7802e8d15	225	areaVert = 1;
salco	39:34d7802e8d15	226	}
salco	39:34d7802e8d15	227
salco	39:34d7802e8d15	228
salco	39:34d7802e8d15	229	}
salco	39:34d7802e8d15	230	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE)
salco	39:34d7802e8d15	231	{ //plus proche que 2 case
salco	39:34d7802e8d15	232	debug("\n\r -Objet proche %g <= %g cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE);
salco	39:34d7802e8d15	233	//modifier vue que il ne detecte pas asser loin
salco	39:34d7802e8d15	234	/*
salco	39:34d7802e8d15	235	/-M-\
salco	39:34d7802e8d15	236	\|?V?\| //vert 1
salco	39:34d7802e8d15	237	\|.X.\| //latt 0
salco	39:34d7802e8d15	238	\|...\|
salco	39:34d7802e8d15	239	\---/
salco	39:34d7802e8d15	240	*/
salco	39:34d7802e8d15	241	areaLatt =0;
salco	39:34d7802e8d15	242	areaVert =1;
salco	39:34d7802e8d15	243	}
salco	39:34d7802e8d15	244	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_LONG)
salco	39:34d7802e8d15	245	{ //plus proche que 2 case
salco	39:34d7802e8d15	246	debug("\n\r -Objet proche %g <= %g cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG);
salco	39:34d7802e8d15	247	//modifier vue que il ne detecte pas asser loin
salco	39:34d7802e8d15	248	/*
salco	39:34d7802e8d15	249	/-M-\
salco	39:34d7802e8d15	250	\|?V?\| //vert 1
salco	39:34d7802e8d15	251	\|.X.\| //latt 0
salco	39:34d7802e8d15	252	\|...\|
salco	39:34d7802e8d15	253	\---/
salco	39:34d7802e8d15	254	*/
salco	39:34d7802e8d15	255	areaLatt =0;
salco	39:34d7802e8d15	256	areaVert =1;
salco	39:34d7802e8d15	257	}
salco	39:34d7802e8d15	258	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) > DIRECTIVE_ULTRASONIC_LIMIT_LONG)
salco	39:34d7802e8d15	259	{ //plus proche que 2 case
salco	39:34d7802e8d15	260	debug("\n\r -Objet proche %g >= %g cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG);
salco	39:34d7802e8d15	261	//modifier vue que il ne detecte pas asser loin
salco	39:34d7802e8d15	262	/*
salco	39:34d7802e8d15	263	/?V?\
salco	39:34d7802e8d15	264	\|?V?\| //vert 2
salco	39:34d7802e8d15	265	\|.X.\| //latt 0
salco	39:34d7802e8d15	266	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	267	\---/
salco	39:34d7802e8d15	268	*/
salco	39:34d7802e8d15	269
salco	39:34d7802e8d15	270	areaLatt =0;
salco	39:34d7802e8d15	271	areaVert =2;
salco	39:34d7802e8d15	272	}
salco	39:34d7802e8d15	273
salco	39:34d7802e8d15	274
salco	39:34d7802e8d15	275
salco	39:34d7802e8d15	276	/*if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60)
salco	39:34d7802e8d15	277	{
salco	39:34d7802e8d15	278	debug("\n\r -Confirmation IR");
salco	39:34d7802e8d15	279	areaVert =2;
salco	39:34d7802e8d15	280	}
salco	39:34d7802e8d15	281	else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30)
salco	39:34d7802e8d15	282	{
salco	39:34d7802e8d15	283	debug("\n\r -Confirmation IR");
salco	39:34d7802e8d15	284	areaVert =1;
salco	39:34d7802e8d15	285	}*/
salco	39:34d7802e8d15	286
salco	39:34d7802e8d15	287
salco	39:34d7802e8d15	288	if(areaVert >= areaLatt)
salco	39:34d7802e8d15	289	{
salco	39:34d7802e8d15	290	switch(areaVert)
salco	39:34d7802e8d15	291	{
salco	39:34d7802e8d15	292	case 0:
salco	39:34d7802e8d15	293	/*
salco	39:34d7802e8d15	294	/---\
salco	39:34d7802e8d15	295	\|?M?\| //vert 0
salco	39:34d7802e8d15	296	\|.X.\| //latt 0
salco	39:34d7802e8d15	297	\|...\|
salco	39:34d7802e8d15	298	\---/
salco	39:34d7802e8d15	299	*/
salco	39:34d7802e8d15	300
salco	39:34d7802e8d15	301	debug("\n\r +---+ ");
salco	39:34d7802e8d15	302	debug("\n\r \|?M?\| //vert 0 ");
salco	39:34d7802e8d15	303	debug("\n\r \|.X.\| //latt 0 ");
salco	39:34d7802e8d15	304	debug("\n\r \|...\| ");
salco	39:34d7802e8d15	305	debug("\n\r +---+ ");
salco	39:34d7802e8d15	306	break;
salco	39:34d7802e8d15	307	case 1://impossible pour le moment IR trop instable//
salco	39:34d7802e8d15	308
salco	39:34d7802e8d15	309
salco	39:34d7802e8d15	310
salco	39:34d7802e8d15	311	if(areaLatt == 1)
salco	39:34d7802e8d15	312	{
salco	39:34d7802e8d15	313	/*
salco	39:34d7802e8d15	314	/?M?\
salco	39:34d7802e8d15	315	\|VVV\| //vert 1
salco	39:34d7802e8d15	316	\|.X.\| //latt 1
salco	39:34d7802e8d15	317	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	318	\---/
salco	39:34d7802e8d15	319	*/
salco	39:34d7802e8d15	320	debug("\n\r +-M-+ ");
salco	39:34d7802e8d15	321	debug("\n\r \|VVV\| //vert 1 ");
salco	39:34d7802e8d15	322	debug("\n\r \|.X.\| //latt 1 ");
salco	39:34d7802e8d15	323	debug("\n\r \|...\| // objet possiblement a proximiter ");
salco	39:34d7802e8d15	324	debug("\n\r +---+ ");
salco	39:34d7802e8d15	325	}
salco	39:34d7802e8d15	326	else
salco	39:34d7802e8d15	327	{
salco	39:34d7802e8d15	328	/*
salco	39:34d7802e8d15	329	/-M-\
salco	39:34d7802e8d15	330	\|?V?\| //vert 1
salco	39:34d7802e8d15	331	\|.X.\| //latt 0
salco	39:34d7802e8d15	332	\|...\|
salco	39:34d7802e8d15	333	\---/
salco	39:34d7802e8d15	334	*/
salco	39:34d7802e8d15	335
salco	39:34d7802e8d15	336	debug("\n\r +-M-+ ");
salco	39:34d7802e8d15	337	debug("\n\r \|?V?\| //vert 1 ");
salco	39:34d7802e8d15	338	debug("\n\r \|.X.\| //latt 0 ");
salco	39:34d7802e8d15	339	debug("\n\r \|...\| ");
salco	39:34d7802e8d15	340	debug("\n\r +---+ ");
salco	39:34d7802e8d15	341	}
salco	39:34d7802e8d15	342	break;
salco	39:34d7802e8d15	343	case 2:
salco	39:34d7802e8d15	344
salco	39:34d7802e8d15	345	switch(areaLatt)
salco	39:34d7802e8d15	346	{
salco	39:34d7802e8d15	347	case 0://impossible pour le moment IR trop instable//
salco	39:34d7802e8d15	348	/*
salco	39:34d7802e8d15	349	/?V?\
salco	39:34d7802e8d15	350	\|?V?\| //vert 2
salco	39:34d7802e8d15	351	\|.X.\| //latt 0
salco	39:34d7802e8d15	352	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	353	\---/
salco	39:34d7802e8d15	354	*/
salco	39:34d7802e8d15	355	debug("\n\r +?V?+ ");
salco	39:34d7802e8d15	356	debug("\n\r \|?V?\| //vert 2 ");
salco	39:34d7802e8d15	357	debug("\n\r \|.X.\| //latt 0 ");
salco	39:34d7802e8d15	358	debug("\n\r \|...\| // objet possiblement a proximiter ");
salco	39:34d7802e8d15	359	debug("\n\r +---+ ");
salco	39:34d7802e8d15	360	break;
salco	39:34d7802e8d15	361	case 1://impossible pour le moment IR trop instable//
salco	39:34d7802e8d15	362	/*
salco	39:34d7802e8d15	363	/?V?\
salco	39:34d7802e8d15	364	\|VVV\| //vert 2
salco	39:34d7802e8d15	365	\|.X.\| //latt 1
salco	39:34d7802e8d15	366	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	367	\---/
salco	39:34d7802e8d15	368	*/
salco	39:34d7802e8d15	369	debug("\n\r +-M-+ ");
salco	39:34d7802e8d15	370	debug("\n\r \|VVV\| //vert 2 ");
salco	39:34d7802e8d15	371	debug("\n\r \|.X.\| //latt 1 ");
salco	39:34d7802e8d15	372	debug("\n\r \|...\| // objet possiblement a proximiter ");
salco	39:34d7802e8d15	373	debug("\n\r +---+ ");
salco	39:34d7802e8d15	374	break;
salco	39:34d7802e8d15	375	case 2:
salco	39:34d7802e8d15	376	/*
salco	39:34d7802e8d15	377	/VVV\
salco	39:34d7802e8d15	378	\|VVV\| //vert 2
salco	39:34d7802e8d15	379	\|.X.\| //latt 2
salco	39:34d7802e8d15	380	\|...\|
salco	39:34d7802e8d15	381	\---/
salco	39:34d7802e8d15	382	*/
salco	39:34d7802e8d15	383	debug("\n\r +VVV+ ");
salco	39:34d7802e8d15	384	debug("\n\r \|VVV\| //vert 2 ");
salco	39:34d7802e8d15	385	debug("\n\r \|.X.\| //latt 2 ");
salco	39:34d7802e8d15	386	debug("\n\r \|...\| ");
salco	39:34d7802e8d15	387	debug("\n\r +---+ ");
salco	39:34d7802e8d15	388	break;
salco	39:34d7802e8d15	389	}
salco	39:34d7802e8d15	390	break;
salco	39:34d7802e8d15	391	}
salco	39:34d7802e8d15	392	}
salco	39:34d7802e8d15	393	/*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80))
salco	39:34d7802e8d15	394	{ //capteur ultrasson embrouiller/imprecis
salco	39:34d7802e8d15	395	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
salco	39:34d7802e8d15	396	//addTableauDeCommande(6);
salco	39:34d7802e8d15	397	}
salco	39:34d7802e8d15	398	else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24)
salco	39:34d7802e8d15	399	{ //plus proche que 10pouce
salco	39:34d7802e8d15	400	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi");
salco	39:34d7802e8d15	401	areaLatt =2;
salco	39:34d7802e8d15	402	areaVert =2;
salco	39:34d7802e8d15	403	}
salco	39:34d7802e8d15	404	else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12)
salco	39:34d7802e8d15	405	{ //plus proche que 10pouce
salco	39:34d7802e8d15	406	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi");
salco	39:34d7802e8d15	407	areaLatt =1;
salco	39:34d7802e8d15	408	areaVert =1;
salco	39:34d7802e8d15	409	}
salco	39:34d7802e8d15	410	debug(DEBUG_DIRECTIVE_TEST,": %i",ultrasonicToInch(m_valueCapteurUltrasonic));
salco	39:34d7802e8d15	411
salco	39:34d7802e8d15	412	if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60)
salco	39:34d7802e8d15	413	{
salco	39:34d7802e8d15	414	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco	39:34d7802e8d15	415	areaVert =2;
salco	39:34d7802e8d15	416	}
salco	39:34d7802e8d15	417	else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30)
salco	39:34d7802e8d15	418	{
salco	39:34d7802e8d15	419	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco	39:34d7802e8d15	420	areaVert =1;
salco	39:34d7802e8d15	421	}
salco	39:34d7802e8d15	422	debug(DEBUG_DIRECTIVE_TEST,": %i",IRToCm(ADCTomv(m_valueCapteurIR)));*/
salco	39:34d7802e8d15	423	}
salco	31:ed23647fd16e	424	#endif
salco	2:4c5b0f6d0a6b	425	}
salco	2:4c5b0f6d0a6b	426	Directive::~Directive()
salco	2:4c5b0f6d0a6b	427	{
salco	39:34d7802e8d15	428
salco	3:e0d6e081a9d3	429	if(ctrDesPattes)
salco	39:34d7802e8d15	430	delete ctrDesPattes;
salco	19:0ac80045ba4c	431	if(ssc32)
salco	39:34d7802e8d15	432	delete ssc32;
salco	31:ed23647fd16e	433	if(myMaze)
salco	39:34d7802e8d15	434	delete myMaze;
salco	2:4c5b0f6d0a6b	435	}
salco	3:e0d6e081a9d3	436	void Directive::task(void)//ALL CODE HERE//
salco	2:4c5b0f6d0a6b	437	{
salco	39:34d7802e8d15	438
salco	39:34d7802e8d15	439	#ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
salco	39:34d7802e8d15	440	debug("\x1B[2J"); //clear screen
salco	39:34d7802e8d15	441	debug("\x1B[25l");//hide cursor
salco	39:34d7802e8d15	442	debug("\x1B[;H"); //cursor default position
salco	39:34d7802e8d15	443	debug("\n\r--------In task directive--------");
salco	39:34d7802e8d15	444
salco	39:34d7802e8d15	445	/*
salco	39:34d7802e8d15	446	createDLbox(0,0,10,25,"BrainControle");
salco	39:34d7802e8d15	447	setText(1,3,"1) Move Up");
salco	39:34d7802e8d15	448	setText(1,4,"2) Move Down");
salco	39:34d7802e8d15	449	setText(1,5,"3) Move Left");
salco	39:34d7802e8d15	450	setText(1,6,"4) Move Right");
salco	39:34d7802e8d15	451
salco	39:34d7802e8d15	452	int idCommand;
salco	39:34d7802e8d15	453	do{
salco	37:f53e9f7a14df	454	if(pc.readable()){
salco	39:34d7802e8d15	455	idCommand = fgetc(pc) - '0';
salco	39:34d7802e8d15	456	switch(idCommand)
salco	39:34d7802e8d15	457	{
salco	39:34d7802e8d15	458	case 1:
salco	39:34d7802e8d15	459	myMaze->goUp();
salco	39:34d7802e8d15	460	break;
salco	39:34d7802e8d15	461	case 2:
salco	39:34d7802e8d15	462	myMaze->goDown();
salco	39:34d7802e8d15	463	break;
salco	39:34d7802e8d15	464	case 3:
salco	39:34d7802e8d15	465	myMaze->goLeft();
salco	39:34d7802e8d15	466	break;
salco	39:34d7802e8d15	467	case 4:
salco	39:34d7802e8d15	468	myMaze->goRight();
salco	39:34d7802e8d15	469	break;
salco	39:34d7802e8d15	470	}
salco	39:34d7802e8d15	471	myMaze->setMyPos(Labyrinthe::explorer);
salco	39:34d7802e8d15	472
salco	39:34d7802e8d15	473	string mymap = myMaze->showMap();
salco	39:34d7802e8d15	474	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY());
salco	39:34d7802e8d15	475	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]);
salco	39:34d7802e8d15	476	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	477	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]);
salco	39:34d7802e8d15	478	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	479	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]);
salco	39:34d7802e8d15	480	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	481
salco	39:34d7802e8d15	482	#ifdef DBG_MAIN_DELAY_SEC
salco	39:34d7802e8d15	483	debug("\n\r\n wait \n\r\n");
salco	39:34d7802e8d15	484	wait(DBG_MAIN_DELAY_SEC);
salco	39:34d7802e8d15	485	#endif
salco	39:34d7802e8d15	486
salco	39:34d7802e8d15	487	debug("\x1B[2J"); //clear screen
salco	39:34d7802e8d15	488	debug("\x1B[;H"); //cursor default position
salco	39:34d7802e8d15	489	createDLbox(0,0,10,25,"BrainControle");
salco	39:34d7802e8d15	490	setText(1,3,"1) Move Up");
salco	39:34d7802e8d15	491	setText(1,4,"2) Move Down");
salco	39:34d7802e8d15	492	setText(1,5,"3) Move Left");
salco	39:34d7802e8d15	493	setText(1,6,"4) Move Right");
salco	37:f53e9f7a14df	494	}
salco	37:f53e9f7a14df	495	}while(1); */
salco	31:ed23647fd16e	496	#endif
salco	36:474d4795aafa	497
salco	28:ac5c6350ed9a	498	//debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive");
salco	37:f53e9f7a14df	499	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	500	if(ctrDesPattes->isSeqComplet())
salco	39:34d7802e8d15	501	{
salco	28:ac5c6350ed9a	502	////////////////
salco	28:ac5c6350ed9a	503	// Inspection //
salco	28:ac5c6350ed9a	504	////////////////
salco	28:ac5c6350ed9a	505	updateModuleValue();
salco	39:34d7802e8d15	506
salco	39:34d7802e8d15	507	if((tableauDeCommange[0] == TBL_CMD_MARCHE) && (size_tableauDeCommange == 1))
salco	39:34d7802e8d15	508	{
salco	39:34d7802e8d15	509	//addTableauDeCommande(0x81);
salco	39:34d7802e8d15	510	//addTableauDeCommande(0x82);
salco	39:34d7802e8d15	511	//mabey//addTableauDeCommande(0x83);
salco	39:34d7802e8d15	512	addTableauDeCommande(0x84);
salco	39:34d7802e8d15	513
salco	39:34d7802e8d15	514	//addTableauDeCommande(0x85);
salco	39:34d7802e8d15	515	//mabey//addTableauDeCommande(0x86);
salco	39:34d7802e8d15	516	addTableauDeCommande(0x87);
salco	39:34d7802e8d15	517	addTableauDeCommande(0x88);
salco	39:34d7802e8d15	518	}
salco	39:34d7802e8d15	519
salco	39:34d7802e8d15	520
salco	39:34d7802e8d15	521	if(tableauDeCommange[0] == 0)
salco	39:34d7802e8d15	522	{
salco	39:34d7802e8d15	523	//pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment.
salco	39:34d7802e8d15	524
salco	39:34d7802e8d15	525	////////////////
salco	39:34d7802e8d15	526	// Inspection //
salco	39:34d7802e8d15	527	////////////////
salco	39:34d7802e8d15	528	//flag.append(1,0);//0x02);
salco	39:34d7802e8d15	529	/*for(int i=0; i<m_ListDesModules.length(); ++i) {
salco	39:34d7802e8d15	530	wait_us(300);
salco	39:34d7802e8d15	531	flag.clear();
salco	39:34d7802e8d15	532	flag.append(1,7);
salco	39:34d7802e8d15	533	data.clear();
salco	39:34d7802e8d15	534	debug("\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data));
salco	39:34d7802e8d15	535
salco	39:34d7802e8d15	536	debug("\n\r flag: %d",flag[0]);
salco	39:34d7802e8d15	537	debug("\n\r data: %x",data[0]);
salco	39:34d7802e8d15	538	}*/
salco	39:34d7802e8d15	539
salco	39:34d7802e8d15	540	updateModuleValue();
salco	39:34d7802e8d15	541
salco	39:34d7802e8d15	542	//////////////////////////////
salco	39:34d7802e8d15	543	// Traitement du Labyrinthe //
salco	39:34d7802e8d15	544	//////////////////////////////
salco	39:34d7802e8d15	545	debug(DEBUG_DIRECTIVE_TRAITEMENT,"\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR)));
salco	39:34d7802e8d15	546	debug(DEBUG_DIRECTIVE_TRAITEMENT,"\n\r -ultrasonicToInch: %02f",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)));
salco	39:34d7802e8d15	547	debug(DEBUG_DIRECTIVE_TRAITEMENT,"\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter);
salco	39:34d7802e8d15	548	#endif //DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	549	if(followThePath == true)
salco	39:34d7802e8d15	550	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r EN MODE FOLLOW THE PATH");
salco	39:34d7802e8d15	551	else
salco	39:34d7802e8d15	552	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r HORS MODE FOLLOW THE PATH");
salco	39:34d7802e8d15	553
salco	39:34d7802e8d15	554	analiseMaze();
salco	39:34d7802e8d15	555	char nextCase=0;
salco	39:34d7802e8d15	556	/*switch(myMaze->getDirection()) {
salco	39:34d7802e8d15	557	case UP:
salco	31:ed23647fd16e	558	nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()+1);
salco	31:ed23647fd16e	559	break;
salco	39:34d7802e8d15	560
salco	39:34d7802e8d15	561	case DOWN:
salco	31:ed23647fd16e	562	nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1);
salco	31:ed23647fd16e	563	break;
salco	39:34d7802e8d15	564
salco	39:34d7802e8d15	565	case LEFT:
salco	31:ed23647fd16e	566	nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY());
salco	31:ed23647fd16e	567	break;
salco	39:34d7802e8d15	568
salco	39:34d7802e8d15	569	case RIGHT:
salco	31:ed23647fd16e	570	nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY());
salco	31:ed23647fd16e	571	break;
salco	39:34d7802e8d15	572	}*/
salco	39:34d7802e8d15	573	if( myMaze->getC_Foward() == Labyrinthe::vide )
salco	39:34d7802e8d15	574	followThePath = false;
salco	39:34d7802e8d15	575
salco	39:34d7802e8d15	576
salco	38:57d5f36a0333	577
salco	39:34d7802e8d15	578	if(followThePath == false)
salco	39:34d7802e8d15	579	{
salco	39:34d7802e8d15	580	nextCase = myMaze->getC_Foward();
salco	39:34d7802e8d15	581
salco	39:34d7802e8d15	582	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",nextCase);
salco	39:34d7802e8d15	583	switch(nextCase )
salco	38:57d5f36a0333	584	{
salco	39:34d7802e8d15	585	case Labyrinthe::vide :
salco	39:34d7802e8d15	586	#ifdef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	587	debug("nextCase Vide\n\r");
salco	39:34d7802e8d15	588	#endif
salco	39:34d7802e8d15	589	debug(DEBUG_DIRECTIVE_TEST," Javance");
salco	39:34d7802e8d15	590	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	591	addTableauDeCommande(TBL_CMD_MARCHE);
salco	39:34d7802e8d15	592	#endif
salco	39:34d7802e8d15	593	//if(followThePath == true)
salco	39:34d7802e8d15	594	//followThePath = false;
salco	39:34d7802e8d15	595	myMaze->moveFoward();
salco	39:34d7802e8d15	596	myMaze->setMyPos(Labyrinthe::explorer);
salco	39:34d7802e8d15	597	break;
salco	39:34d7802e8d15	598
salco	39:34d7802e8d15	599	case Labyrinthe::explorer :// ici pt amiliorer
salco	39:34d7802e8d15	600	debug(DEBUG_DIRECTIVE_TEST," \n\rnext case deja explorer");
salco	39:34d7802e8d15	601	if(rand()%2)
salco	39:34d7802e8d15	602	{
salco	39:34d7802e8d15	603	debug(DEBUG_DIRECTIVE_TEST,"\n\r jeverifie si alternative");
salco	39:34d7802e8d15	604
salco	39:34d7802e8d15	605	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	606	addTableauDeCommande(TBL_CMD_MARCHE);
salco	39:34d7802e8d15	607	#endif
salco	39:34d7802e8d15	608	nextCase = checkOtherWay(myMaze->getDirection(),1);
salco	39:34d7802e8d15	609	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rnextcase: %i",nextCase);
salco	39:34d7802e8d15	610	switch(nextCase)
salco	39:34d7802e8d15	611	{ // on verifie si on a une direction possible
salco	39:34d7802e8d15	612	case UP:
salco	39:34d7802e8d15	613	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP");
salco	39:34d7802e8d15	614	turnRightDirection(myMaze->getDirection(),UP);
salco	39:34d7802e8d15	615	myMaze->setDirection(UP);
salco	39:34d7802e8d15	616
salco	39:34d7802e8d15	617
salco	39:34d7802e8d15	618	break;
salco	39:34d7802e8d15	619	case DOWN:
salco	39:34d7802e8d15	620	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN");
salco	39:34d7802e8d15	621	turnRightDirection(myMaze->getDirection(),DOWN);
salco	39:34d7802e8d15	622	myMaze->setDirection(DOWN);
salco	39:34d7802e8d15	623
salco	39:34d7802e8d15	624	break;
salco	39:34d7802e8d15	625	case LEFT:
salco	39:34d7802e8d15	626	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT");
salco	39:34d7802e8d15	627	turnRightDirection(myMaze->getDirection(),LEFT);
salco	39:34d7802e8d15	628	myMaze->setDirection(LEFT);
salco	39:34d7802e8d15	629
salco	39:34d7802e8d15	630	break;
salco	39:34d7802e8d15	631	case RIGHT:
salco	39:34d7802e8d15	632	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT");
salco	39:34d7802e8d15	633	turnRightDirection(myMaze->getDirection(),RIGHT);
salco	39:34d7802e8d15	634	myMaze->setDirection(RIGHT);
salco	39:34d7802e8d15	635
salco	39:34d7802e8d15	636	break;
salco	39:34d7802e8d15	637	default: //aucun autre chemin
salco	39:34d7802e8d15	638	debug(DEBUG_DIRECTIVE_TEST,"\n\r aucune autre place alors J'avance");
salco	39:34d7802e8d15	639	myMaze->moveFoward();
salco	39:34d7802e8d15	640	myMaze->setMyPos(Labyrinthe::explorer);
salco	39:34d7802e8d15	641	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	642	addTableauDeCommande(TBL_CMD_MARCHE);
salco	39:34d7802e8d15	643	#endif
salco	39:34d7802e8d15	644	break;
salco	39:34d7802e8d15	645	}
salco	39:34d7802e8d15	646	}
salco	39:34d7802e8d15	647	else
salco	39:34d7802e8d15	648	{
salco	39:34d7802e8d15	649	debug(DEBUG_DIRECTIVE_TEST,"\n\r jeverifie pas si alternative");
salco	39:34d7802e8d15	650	myMaze->moveFoward();
salco	39:34d7802e8d15	651	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	652	addTableauDeCommande(TBL_CMD_MARCHE);
salco	39:34d7802e8d15	653	#endif
salco	39:34d7802e8d15	654	}
salco	39:34d7802e8d15	655	//myMaze->moveFoward();
salco	39:34d7802e8d15	656	//myMaze->setMyPos(Labyrinthe::explorer);
salco	39:34d7802e8d15	657	break;
salco	39:34d7802e8d15	658
salco	39:34d7802e8d15	659	case Labyrinthe::mur:
salco	39:34d7802e8d15	660	debug(DEBUG_DIRECTIVE_TEST,"\n\r UN MURRRRRRRR\n\r");
salco	39:34d7802e8d15	661	if(searchNewWay())
salco	39:34d7802e8d15	662	{
salco	39:34d7802e8d15	663	debug(DEBUG_DIRECTIVE_TEST,"\n\r New Path found ");
salco	39:34d7802e8d15	664	followThePath = true;
salco	39:34d7802e8d15	665	}
salco	39:34d7802e8d15	666	else
salco	39:34d7802e8d15	667	{
salco	39:34d7802e8d15	668	debug(DEBUG_DIRECTIVE_TEST,"\n\r New Path not found ");
salco	39:34d7802e8d15	669	}
salco	39:34d7802e8d15	670	/* switch(checkOtherWay(myMaze->getDirection()))// on verifie si on a une direction possible
salco	39:34d7802e8d15	671	{
salco	39:34d7802e8d15	672	case UP:
salco	39:34d7802e8d15	673	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP ");
salco	39:34d7802e8d15	674	myMaze->setDirection(UP);
salco	39:34d7802e8d15	675	//myMaze->moveFoward();
salco	39:34d7802e8d15	676	break;
salco	39:34d7802e8d15	677	case DOWN:
salco	39:34d7802e8d15	678	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN ");
salco	39:34d7802e8d15	679	myMaze->setDirection(DOWN);
salco	39:34d7802e8d15	680	//myMaze->moveFoward();
salco	39:34d7802e8d15	681	break;
salco	39:34d7802e8d15	682	case LEFT:
salco	39:34d7802e8d15	683	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT");
salco	39:34d7802e8d15	684	myMaze->setDirection(LEFT);
salco	39:34d7802e8d15	685	//myMaze->moveFoward();
salco	39:34d7802e8d15	686	break;
salco	39:34d7802e8d15	687	case RIGHT:
salco	39:34d7802e8d15	688	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT");
salco	39:34d7802e8d15	689	myMaze->setDirection(RIGHT);
salco	39:34d7802e8d15	690	//myMaze->moveFoward();
salco	39:34d7802e8d15	691	break;
salco	39:34d7802e8d15	692	default://aucun autre chemin
salco	39:34d7802e8d15	693	/debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne completement ");
salco	39:34d7802e8d15	694	if(myMaze->getDirection() %2)
salco	39:34d7802e8d15	695	myMaze->setDirection(myMaze->getDirection()+1);
salco	39:34d7802e8d15	696	else
salco	39:34d7802e8d15	697	myMaze->setDirection(myMaze->getDirection()-1);
salco	39:34d7802e8d15	698
salco	39:34d7802e8d15	699	//myMaze->moveFoward();
salco	39:34d7802e8d15	700
salco	39:34d7802e8d15	701	break;
salco	39:34d7802e8d15	702	}
salco	39:34d7802e8d15	703	myMaze->setMyPos(Labyrinthe::explorer);*/
salco	39:34d7802e8d15	704	break;
salco	39:34d7802e8d15	705
salco	39:34d7802e8d15	706	case Labyrinthe::pasExplorer ://pas sur
salco	39:34d7802e8d15	707	debug(DEBUG_DIRECTIVE_TEST," pasExplorer");
salco	39:34d7802e8d15	708	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	709	addTableauDeCommande(TBL_CMD_MARCHE);
salco	39:34d7802e8d15	710	#endif
salco	39:34d7802e8d15	711	break;
salco	39:34d7802e8d15	712	}
salco	39:34d7802e8d15	713	}
salco	39:34d7802e8d15	714	else
salco	39:34d7802e8d15	715	{ // on suis un chemin
salco	39:34d7802e8d15	716	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rmode follow the path\n\n\r");
salco	39:34d7802e8d15	717	positionXY tempPosition;
salco	39:34d7802e8d15	718	//std::list<positionXY>::iterator it=bufferNewWay.begin();
salco	39:34d7802e8d15	719	for (std::list<positionXY>::iterator it=bufferNewWay.begin(); it != bufferNewWay.end(); ++it)
salco	39:34d7802e8d15	720	{
salco	39:34d7802e8d15	721	//tempPosition = *(it);
salco	39:34d7802e8d15	722	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",(*it).posX);
salco	39:34d7802e8d15	723	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",(*it).posY);
salco	39:34d7802e8d15	724	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",(*it).direction);
salco	39:34d7802e8d15	725	} //std::cout << ' ' << *it;
salco	38:57d5f36a0333	726
salco	39:34d7802e8d15	727	if((bufferNewWay.front()).direction != myMaze->getDirection()) //turn time
salco	39:34d7802e8d15	728	{
salco	39:34d7802e8d15	729	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r le chemin a pas la meme direction");
salco	39:34d7802e8d15	730	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r current dir : %i",myMaze->getDirection());
salco	39:34d7802e8d15	731	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r next dir : %i",(bufferNewWay.front()).direction);
salco	39:34d7802e8d15	732
salco	39:34d7802e8d15	733	turnRightDirection(myMaze->getDirection(),(bufferNewWay.front()).direction);
salco	39:34d7802e8d15	734	switch((bufferNewWay.front()).direction)
salco	38:57d5f36a0333	735	{
salco	38:57d5f36a0333	736	case UP:
salco	38:57d5f36a0333	737	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP");
salco	38:57d5f36a0333	738	myMaze->setDirection(UP);
salco	39:34d7802e8d15	739
salco	39:34d7802e8d15	740	/*if(((bufferNewWay.front()).direction + myMaze->getDirection()) == (UP + DOWN))
salco	39:34d7802e8d15	741	{
salco	39:34d7802e8d15	742	if(rand()%2)
salco	39:34d7802e8d15	743	{
salco	39:34d7802e8d15	744	addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	745	addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	746	}
salco	39:34d7802e8d15	747	else
salco	39:34d7802e8d15	748	{
salco	39:34d7802e8d15	749	addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	750	addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	751	}
salco	39:34d7802e8d15	752	}*/
salco	39:34d7802e8d15	753	break;
salco	38:57d5f36a0333	754	case DOWN:
salco	38:57d5f36a0333	755	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN");
salco	38:57d5f36a0333	756	myMaze->setDirection(DOWN);
salco	39:34d7802e8d15	757
salco	39:34d7802e8d15	758	break;
salco	38:57d5f36a0333	759	case LEFT:
salco	38:57d5f36a0333	760	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT");
salco	38:57d5f36a0333	761	myMaze->setDirection(LEFT);
salco	39:34d7802e8d15	762
salco	39:34d7802e8d15	763	break;
salco	38:57d5f36a0333	764	case RIGHT:
salco	38:57d5f36a0333	765	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT");
salco	38:57d5f36a0333	766	myMaze->setDirection(RIGHT);
salco	38:57d5f36a0333	767	break;
salco	38:57d5f36a0333	768	}
salco	39:34d7802e8d15	769	//bufferNewWay.pop_front();
salco	39:34d7802e8d15	770	}
salco	39:34d7802e8d15	771	else
salco	38:57d5f36a0333	772	{
salco	39:34d7802e8d15	773	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r le chemin a la meme direction");
salco	39:34d7802e8d15	774	//myMaze->getXY_Foward(tempPosition.posX,tempPosition.posY);
salco	39:34d7802e8d15	775	tempPosition.posX = myMaze->getX();
salco	39:34d7802e8d15	776	tempPosition.posY = myMaze->getY();
salco	39:34d7802e8d15	777	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r current X: %i",tempPosition.posX);
salco	39:34d7802e8d15	778	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r current Y: %i",tempPosition.posY);
salco	39:34d7802e8d15	779	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r buffer X: %i",(bufferNewWay.front()).posX);
salco	39:34d7802e8d15	780	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r buffer Y: %i",(bufferNewWay.front()).posY);
salco	39:34d7802e8d15	781	if((tempPosition.posX == (bufferNewWay.front()).posX) && (tempPosition.posY == (bufferNewWay.front()).posY))
salco	39:34d7802e8d15	782	{
salco	39:34d7802e8d15	783	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r aucun problem");
salco	39:34d7802e8d15	784	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	785	addTableauDeCommande(TBL_CMD_MARCHE);
salco	39:34d7802e8d15	786	#endif
salco	39:34d7802e8d15	787	myMaze->moveFoward();
salco	39:34d7802e8d15	788	myMaze->setMyPos(Labyrinthe::explorer);
salco	39:34d7802e8d15	789	bufferNewWay.pop_front();
salco	38:57d5f36a0333	790
salco	39:34d7802e8d15	791	}
salco	39:34d7802e8d15	792	else
salco	39:34d7802e8d15	793	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r problem");
salco	39:34d7802e8d15	794
salco	38:57d5f36a0333	795	}
salco	39:34d7802e8d15	796
salco	39:34d7802e8d15	797
salco	39:34d7802e8d15	798
salco	39:34d7802e8d15	799	if(bufferNewWay.empty())
salco	39:34d7802e8d15	800	followThePath = false;
salco	39:34d7802e8d15	801	/*do{
salco	39:34d7802e8d15	802	//tempPosition.posX = (bufferNewWay.front()).posX;
salco	39:34d7802e8d15	803	//tempPosition.posY = (bufferNewWay.front()).posY;
salco	39:34d7802e8d15	804
salco	39:34d7802e8d15	805	tempPosition = bufferNewWay.front();
salco	39:34d7802e8d15	806	bufferNewWay.pop_front();
salco	39:34d7802e8d15	807	debug("\n\r bufferNewWay: %i",bufferNewWay.size());
salco	39:34d7802e8d15	808	debug("\n\rtempPosition.posX: %i",tempPosition.posX);
salco	39:34d7802e8d15	809	debug("\n\rtempPosition.posY: %i",tempPosition.posY);
salco	39:34d7802e8d15	810	}while(bufferNewWay.size() != 0);*/
salco	39:34d7802e8d15	811	}
salco	39:34d7802e8d15	812	#ifdef DEBUG_DIRECTIVE_SHOW_MAP_LABYRINTH
salco	39:34d7802e8d15	813	string mymap = myMaze->showMap();
salco	39:34d7802e8d15	814	debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY()));
salco	39:34d7802e8d15	815	//char caseCaract = 0;
salco	39:34d7802e8d15	816	debug("\n\r");
salco	39:34d7802e8d15	817	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6]));
salco	39:34d7802e8d15	818	debug("\n\r");
salco	39:34d7802e8d15	819	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3]));
salco	39:34d7802e8d15	820	debug("\n\r");
salco	39:34d7802e8d15	821	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i]));
salco	39:34d7802e8d15	822	debug("\n\r");
salco	39:34d7802e8d15	823	#endif
salco	39:34d7802e8d15	824	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	825	/*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis
salco	39:34d7802e8d15	826	{
salco	39:34d7802e8d15	827	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
salco	39:34d7802e8d15	828	addTableauDeCommande(6);
salco	39:34d7802e8d15	829	}
salco	39:34d7802e8d15	830	else if(ultrasonicToInch(m_valueCapteurUltrasonic) < 10) { //plus proche que 10pouce
salco	39:34d7802e8d15	831	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche");
salco	39:34d7802e8d15	832	if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 10) {
salco	39:34d7802e8d15	833	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco	39:34d7802e8d15	834	addTableauDeCommande(7);
salco	39:34d7802e8d15	835
salco	39:34d7802e8d15	836
salco	39:34d7802e8d15	837	//ici potentielle scaning
salco	39:34d7802e8d15	838	} else {
salco	39:34d7802e8d15	839	addTableauDeCommande(4);
salco	39:34d7802e8d15	840	addTableauDeCommande(4);
salco	39:34d7802e8d15	841	addTableauDeCommande(4);
salco	39:34d7802e8d15	842	}
salco	39:34d7802e8d15	843	} else {
salco	39:34d7802e8d15	844	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Nothing:");
salco	39:34d7802e8d15	845	addTableauDeCommande(6);
salco	39:34d7802e8d15	846
salco	39:34d7802e8d15	847
salco	39:34d7802e8d15	848	int randomNbr = rand() % 4;
salco	39:34d7802e8d15	849	switch(randomNbr)
salco	39:34d7802e8d15	850	{
salco	39:34d7802e8d15	851	case 1:
salco	39:34d7802e8d15	852	debug(DEBUG_DIRECTIVE_TEST," Javance");
salco	39:34d7802e8d15	853	addTableauDeCommande(6);
salco	39:34d7802e8d15	854	break;
salco	39:34d7802e8d15	855	case 2:
salco	39:34d7802e8d15	856	debug(DEBUG_DIRECTIVE_TEST," Je tourne a gauche");
salco	39:34d7802e8d15	857	addTableauDeCommande(4);
salco	39:34d7802e8d15	858	break;
salco	39:34d7802e8d15	859	case 3:
salco	39:34d7802e8d15	860	debug(DEBUG_DIRECTIVE_TEST," Je tourne a droite");
salco	39:34d7802e8d15	861	addTableauDeCommande(5);
salco	39:34d7802e8d15	862	break;
salco	39:34d7802e8d15	863	default:
salco	39:34d7802e8d15	864	debug(DEBUG_DIRECTIVE_TEST," Jattend");
salco	39:34d7802e8d15	865	break;
salco	39:34d7802e8d15	866	}
salco	39:34d7802e8d15	867
salco	39:34d7802e8d15	868
salco	39:34d7802e8d15	869	//addTableauDeCommande(6);
salco	39:34d7802e8d15	870	}*/
salco	39:34d7802e8d15	871
salco	39:34d7802e8d15	872	///////////////
salco	39:34d7802e8d15	873	// Mouvement //
salco	39:34d7802e8d15	874	///////////////
salco	39:34d7802e8d15	875	}
salco	39:34d7802e8d15	876	else
salco	28:ac5c6350ed9a	877	{
salco	39:34d7802e8d15	878
salco	39:34d7802e8d15	879	switch(tableauDeCommange[0])
salco	28:ac5c6350ed9a	880	{
salco	39:34d7802e8d15	881	case 11:
salco	39:34d7802e8d15	882	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_calibre");
salco	39:34d7802e8d15	883	ctrDesPattes->calibre();
salco	39:34d7802e8d15	884	break;
salco	28:ac5c6350ed9a	885	case 2:
salco	39:34d7802e8d15	886	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveUp");
salco	39:34d7802e8d15	887	ctrDesPattes->moveUp();
salco	39:34d7802e8d15	888	break;
salco	28:ac5c6350ed9a	889	case 3:
salco	39:34d7802e8d15	890	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveDown");
salco	39:34d7802e8d15	891	ctrDesPattes->moveDown();
salco	39:34d7802e8d15	892	break;
salco	39:34d7802e8d15	893	case 4:
salco	39:34d7802e8d15	894	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_turnLeft");
salco	39:34d7802e8d15	895	ctrDesPattes->turnLeft();
salco	39:34d7802e8d15	896	break;
salco	39:34d7802e8d15	897	case 5:
salco	39:34d7802e8d15	898	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_trunRight");
salco	39:34d7802e8d15	899	ctrDesPattes->trunRight();
salco	39:34d7802e8d15	900	break;
salco	39:34d7802e8d15	901	case 6:
salco	39:34d7802e8d15	902	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveFront");
salco	39:34d7802e8d15	903	ctrDesPattes->moveFront();
salco	39:34d7802e8d15	904	break;
salco	39:34d7802e8d15	905	case 7:
salco	39:34d7802e8d15	906	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveBack");
salco	39:34d7802e8d15	907	ctrDesPattes->moveBack();
salco	39:34d7802e8d15	908	break;
salco	39:34d7802e8d15	909	/*case 8:
salco	39:34d7802e8d15	910	ctrDesPattes->moveBack();
salco	39:34d7802e8d15	911	break;*/
salco	39:34d7802e8d15	912	case 0x81:
salco	39:34d7802e8d15	913	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 1");
salco	39:34d7802e8d15	914	ctrDesPattes->repositioner(1);
salco	39:34d7802e8d15	915	break;
salco	39:34d7802e8d15	916	case 0x82:
salco	39:34d7802e8d15	917	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 2");
salco	39:34d7802e8d15	918	ctrDesPattes->repositioner(2);
salco	39:34d7802e8d15	919	break;
salco	39:34d7802e8d15	920	case 0x83:
salco	39:34d7802e8d15	921	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 3");
salco	39:34d7802e8d15	922	ctrDesPattes->repositioner(3);
salco	39:34d7802e8d15	923	break;
salco	39:34d7802e8d15	924	case 0x84:
salco	39:34d7802e8d15	925	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 4");
salco	39:34d7802e8d15	926	ctrDesPattes->repositioner(4);
salco	39:34d7802e8d15	927	break;
salco	39:34d7802e8d15	928	case 0x85:
salco	39:34d7802e8d15	929	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 5");
salco	39:34d7802e8d15	930	ctrDesPattes->repositioner(5);
salco	39:34d7802e8d15	931	break;
salco	39:34d7802e8d15	932	case 0x86:
salco	39:34d7802e8d15	933	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 6");
salco	39:34d7802e8d15	934	ctrDesPattes->repositioner(6);
salco	39:34d7802e8d15	935	break;
salco	39:34d7802e8d15	936	case 0x87:
salco	39:34d7802e8d15	937	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 7");
salco	39:34d7802e8d15	938	ctrDesPattes->repositioner(7);
salco	39:34d7802e8d15	939	break;
salco	39:34d7802e8d15	940	case 0x88:
salco	39:34d7802e8d15	941	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 8");
salco	39:34d7802e8d15	942	ctrDesPattes->repositioner(8);
salco	39:34d7802e8d15	943	break;
salco	39:34d7802e8d15	944	}
salco	39:34d7802e8d15	945	debug(DEBUG_DIRECTIVE_TEST,"\n\r -TAB:");
salco	39:34d7802e8d15	946	for(int i =0; i<10; i++) debug(DEBUG_DIRECTIVE_TEST,"[%02x]",tableauDeCommange[i]);
salco	39:34d7802e8d15	947	for(int i =0; i<9; i++)tableauDeCommange[i]= tableauDeCommange[i+1];
salco	39:34d7802e8d15	948	tableauDeCommange[9]=0;
salco	39:34d7802e8d15	949	if(size_tableauDeCommange != 0) size_tableauDeCommange--;
salco	39:34d7802e8d15	950	}
salco	37:f53e9f7a14df	951
salco	39:34d7802e8d15	952	}
salco	39:34d7802e8d15	953	else
salco	39:34d7802e8d15	954	{
salco	39:34d7802e8d15	955	ctrDesPattes->exec();
salco	28:ac5c6350ed9a	956	}
salco	37:f53e9f7a14df	957	#endif //DEBUG_DIRECTIVE_LEG_DISABLE
salco	28:ac5c6350ed9a	958	////////////////////
salco	28:ac5c6350ed9a	959	// Update memoire //
salco	28:ac5c6350ed9a	960	////////////////////
salco	39:34d7802e8d15	961
salco	28:ac5c6350ed9a	962	////////////
salco	28:ac5c6350ed9a	963	// Autre? //
salco	28:ac5c6350ed9a	964	////////////
salco	39:34d7802e8d15	965
salco	39:34d7802e8d15	966
salco	28:ac5c6350ed9a	967	//debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive");
salco	39:34d7802e8d15	968	#ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
salco	39:34d7802e8d15	969	#ifdef DBG_MAIN_DELAY_SEC
salco	39:34d7802e8d15	970	debug("\n\r\n wait \n\r\n");
salco	39:34d7802e8d15	971	wait(DBG_MAIN_DELAY_SEC);
salco	39:34d7802e8d15	972	#endif
salco	39:34d7802e8d15	973	debug("\n\r---------------------");
salco	37:f53e9f7a14df	974	#endif
salco	28:ac5c6350ed9a	975	}
salco	28:ac5c6350ed9a	976	double Directive::IRToCm (double miliVolt)
salco	28:ac5c6350ed9a	977	{
salco	28:ac5c6350ed9a	978	double result=0;
salco	39:34d7802e8d15	979	//debug("\n\r double value: %02f",miliVolt);
salco	28:ac5c6350ed9a	980	if(miliVolt < tabIR[0][1])result = tabIR[0][0];
salco	28:ac5c6350ed9a	981	else if(miliVolt > tabIR[11][1])result = tabIR[11][0];
salco	39:34d7802e8d15	982
salco	39:34d7802e8d15	983	for(int i =1; (result==0)&&(i<12); i++)
salco	39:34d7802e8d15	984	{
salco	39:34d7802e8d15	985	if((tabIR[i-1][1]<=miliVolt) && (tabIR[i][1]>miliVolt))
salco	39:34d7802e8d15	986	{
salco	28:ac5c6350ed9a	987	result=tabIR[i-1][0]+((tabIR[i][0]-tabIR[i-1][0])*((tabIR[i-1][1]-miliVolt)/(tabIR[i-1][1]-tabIR[i][1])));
salco	28:ac5c6350ed9a	988	}
salco	28:ac5c6350ed9a	989	}
salco	28:ac5c6350ed9a	990	return result;
salco	28:ac5c6350ed9a	991	}
salco	28:ac5c6350ed9a	992	void Directive::addTableauDeCommande(unsigned char value)
salco	28:ac5c6350ed9a	993	{
salco	39:34d7802e8d15	994	if(size_tableauDeCommange!=10)
salco	39:34d7802e8d15	995	{
salco	28:ac5c6350ed9a	996	tableauDeCommange[size_tableauDeCommange]=value;
salco	28:ac5c6350ed9a	997	size_tableauDeCommange++;
salco	39:34d7802e8d15	998
salco	28:ac5c6350ed9a	999	}
salco	28:ac5c6350ed9a	1000	}
salco	28:ac5c6350ed9a	1001
salco	28:ac5c6350ed9a	1002	void Directive::updateModuleValue(void)
salco	28:ac5c6350ed9a	1003	{
salco	28:ac5c6350ed9a	1004	string flag,data;
salco	39:34d7802e8d15	1005	double tempValue=0;
salco	28:ac5c6350ed9a	1006	flag.clear();
salco	28:ac5c6350ed9a	1007	data.clear();
salco	28:ac5c6350ed9a	1008	flag.append(1,7);
salco	39:34d7802e8d15	1009	//debug("\n\n\r flag size:%i \n\r",flag.size());
salco	28:ac5c6350ed9a	1010	if(m_CtrlBridge->send(m_capteurUltrasonic[0],flag,data))
salco	39:34d7802e8d15	1011	{
salco	39:34d7802e8d15	1012	/*if(data[0] != 1)//patch?
salco	39:34d7802e8d15	1013	tempValue = data[0];*/
salco	39:34d7802e8d15	1014
salco	39:34d7802e8d15	1015	if(data.size() == 2)
salco	39:34d7802e8d15	1016	{
salco	39:34d7802e8d15	1017	tempValue = data[0];
salco	39:34d7802e8d15	1018	//tempValue = (tempValue<<8) + data[1];
salco	39:34d7802e8d15	1019	tempValue = (data[0]<<8) + data[1];
salco	39:34d7802e8d15	1020	}
salco	39:34d7802e8d15	1021	else
salco	39:34d7802e8d15	1022	tempValue = data[0];
salco	39:34d7802e8d15	1023
salco	39:34d7802e8d15	1024	m_valueCapteurUltrasonic = m_valueCapteurUltrasonic+((tempValue -m_valueCapteurUltrasonic)/DIRECTIVE_ULTRASONIC_BUFFER_LENGHT);
salco	39:34d7802e8d15	1025	}
salco	39:34d7802e8d15	1026	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	39:34d7802e8d15	1027	debug("\n\n\r data size:%i \n\r",data.size());
salco	39:34d7802e8d15	1028	debug("\n\r -data(value):%i ",data[0]);
salco	39:34d7802e8d15	1029	debug("\n\r -tempValue(value):%02f ",tempValue);
salco	39:34d7802e8d15	1030	#endif
salco	39:34d7802e8d15	1031	tempValue=0;
salco	28:ac5c6350ed9a	1032	flag.clear();
salco	28:ac5c6350ed9a	1033	data.clear();
salco	28:ac5c6350ed9a	1034	flag.append(1,7);
salco	39:34d7802e8d15	1035
salco	39:34d7802e8d15	1036	//debug("\n\n\r flag size:%i \n\r",flag.size());
salco	39:34d7802e8d15	1037	if(m_CtrlBridge->send(m_capteurIR[0],flag,data))
salco	39:34d7802e8d15	1038	{
salco	39:34d7802e8d15	1039
salco	39:34d7802e8d15	1040	if(data.size() == 2)
salco	39:34d7802e8d15	1041	{
salco	39:34d7802e8d15	1042	//tempValue = data[0]<<8;
salco	39:34d7802e8d15	1043	//debug("\n\n\r monI: %02f",tempValue);
salco	39:34d7802e8d15	1044	//debug("\n\n\r mondata: %i",data[0]<<8);
salco	39:34d7802e8d15	1045	//tempValue = (tempValue<<8) + data[1];
salco	39:34d7802e8d15	1046	tempValue = (data[0]<<8) + data[1];
salco	39:34d7802e8d15	1047	}
salco	39:34d7802e8d15	1048	else
salco	39:34d7802e8d15	1049	tempValue = data[0];
salco	39:34d7802e8d15	1050
salco	39:34d7802e8d15	1051	m_valueCapteurIR=m_valueCapteurIR+((tempValue-m_valueCapteurIR)/DIRECTIVE_IR_BUFFER_LENGHT);
salco	28:ac5c6350ed9a	1052	}
salco	39:34d7802e8d15	1053	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	39:34d7802e8d15	1054	debug("\n\n\r data size:%i \n\r",data.size());
salco	39:34d7802e8d15	1055	debug("\n\r -data(value):%i ",data[0]);
salco	39:34d7802e8d15	1056	debug("\n\r -tempValue(value):%02f ",tempValue);
salco	39:34d7802e8d15	1057	#endif
salco	39:34d7802e8d15	1058	//debug("\n\n\r data size:%i \n\r",data.size());
salco	39:34d7802e8d15	1059	// debug("\n\r -IR(value):%f ",m_valueCapteurIR);
salco	39:34d7802e8d15	1060	//for(int i=0; i<data.size();i++)debug("\n\r -data[%i]:%i",i,data[i]);
salco	39:34d7802e8d15	1061
salco	28:ac5c6350ed9a	1062	flag.clear();
salco	28:ac5c6350ed9a	1063	data.clear();
salco	28:ac5c6350ed9a	1064	flag.append(1,7);
salco	39:34d7802e8d15	1065	//debug("\n\n\r flag size:%i \n\r",flag.size());
salco	28:ac5c6350ed9a	1066	if(m_CtrlBridge->send(m_capteurProximiter[0],flag,data))
salco	28:ac5c6350ed9a	1067	m_valueCapteurProximiter = data[0];
salco	39:34d7802e8d15	1068
salco	39:34d7802e8d15	1069	// debug("\n\n\r data size:%i \n\r",data.size());
salco	39:34d7802e8d15	1070	// debug("\n\r -m_valueCapteurProximiter(value):%i ",m_valueCapteurProximiter);
salco	28:ac5c6350ed9a	1071	}
salco	28:ac5c6350ed9a	1072
salco	28:ac5c6350ed9a	1073	void Directive::analiseMaze(void)
salco	28:ac5c6350ed9a	1074	{
salco	28:ac5c6350ed9a	1075	char areaLatt =0;
salco	28:ac5c6350ed9a	1076	char areaVert =0;
salco	28:ac5c6350ed9a	1077	string mymap = myMaze->showMap();
salco	38:57d5f36a0333	1078	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY()));
salco	37:f53e9f7a14df	1079
salco	39:34d7802e8d15	1080	debug(DEBUG_DIRECTIVE_LABYRINTH,"Direction: ");
salco	39:34d7802e8d15	1081	switch(myMaze->getDirection())
salco	39:34d7802e8d15	1082	{
salco	37:f53e9f7a14df	1083	case UP:
salco	37:f53e9f7a14df	1084	debug(DEBUG_DIRECTIVE_LABYRINTH,"Up \n\r");
salco	37:f53e9f7a14df	1085	break;
salco	37:f53e9f7a14df	1086	case DOWN:
salco	37:f53e9f7a14df	1087	debug(DEBUG_DIRECTIVE_LABYRINTH,"Down \n\r");
salco	37:f53e9f7a14df	1088	break;
salco	37:f53e9f7a14df	1089	case LEFT:
salco	37:f53e9f7a14df	1090	debug(DEBUG_DIRECTIVE_LABYRINTH,"Left \n\r");
salco	37:f53e9f7a14df	1091	break;
salco	37:f53e9f7a14df	1092	case RIGHT:
salco	37:f53e9f7a14df	1093	debug(DEBUG_DIRECTIVE_LABYRINTH,"Right \n\r");
salco	37:f53e9f7a14df	1094	break;
salco	39:34d7802e8d15	1095	}
salco	37:f53e9f7a14df	1096
salco	38:57d5f36a0333	1097	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6]));
salco	28:ac5c6350ed9a	1098	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	38:57d5f36a0333	1099	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3]));
salco	28:ac5c6350ed9a	1100	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	38:57d5f36a0333	1101	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i]));
salco	28:ac5c6350ed9a	1102	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	1103
salco	37:f53e9f7a14df	1104
salco	39:34d7802e8d15	1105	#ifndef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
salco	39:34d7802e8d15	1106	/*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80))
salco	39:34d7802e8d15	1107	{ //capteur ultrasson embrouiller/imprecis
salco	39:34d7802e8d15	1108	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
salco	39:34d7802e8d15	1109	//addTableauDeCommande(6);
salco	39:34d7802e8d15	1110	}
salco	39:34d7802e8d15	1111	else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24)
salco	39:34d7802e8d15	1112	{ //plus proche que 10pouce
salco	39:34d7802e8d15	1113	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi");
salco	39:34d7802e8d15	1114	areaLatt =2;
salco	39:34d7802e8d15	1115	areaVert =2;
salco	39:34d7802e8d15	1116	}
salco	39:34d7802e8d15	1117	else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12)
salco	39:34d7802e8d15	1118	{ //plus proche que 10pouce
salco	39:34d7802e8d15	1119	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi");
salco	39:34d7802e8d15	1120	areaLatt =1;
salco	39:34d7802e8d15	1121	areaVert =1;
salco	39:34d7802e8d15	1122	}
salco	39:34d7802e8d15	1123	debug(DEBUG_DIRECTIVE_TEST,": %i",ultrasonicToInch(m_valueCapteurUltrasonic));
salco	39:34d7802e8d15	1124
salco	39:34d7802e8d15	1125	if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60)
salco	39:34d7802e8d15	1126	{
salco	39:34d7802e8d15	1127	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco	39:34d7802e8d15	1128	areaVert =2;
salco	39:34d7802e8d15	1129	}
salco	39:34d7802e8d15	1130	else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30)
salco	39:34d7802e8d15	1131	{
salco	39:34d7802e8d15	1132	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco	39:34d7802e8d15	1133	areaVert =1;
salco	39:34d7802e8d15	1134	}
salco	39:34d7802e8d15	1135	debug(DEBUG_DIRECTIVE_TEST,": %i",IRToCm(ADCTomv(m_valueCapteurIR)));*///old one
salco	39:34d7802e8d15	1136	if((inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))<= 1) /&& (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)/)//enlever parce que il est lock avec des limites
salco	39:34d7802e8d15	1137	{ //capteur ultrasson embrouiller/imprecis
salco	39:34d7802e8d15	1138
salco	39:34d7802e8d15	1139	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
salco	39:34d7802e8d15	1140	//addTableauDeCommande(6);
salco	39:34d7802e8d15	1141	}
salco	39:34d7802e8d15	1142	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_SHORT)
salco	39:34d7802e8d15	1143	{ //plus proche que 1 case
salco	39:34d7802e8d15	1144	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	39:34d7802e8d15	1145	debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_SHORT);
salco	39:34d7802e8d15	1146	#endif
salco	39:34d7802e8d15	1147	areaLatt =0;
salco	39:34d7802e8d15	1148
salco	39:34d7802e8d15	1149	if(IRToCm(ADCTomv(m_valueCapteurIR)) <= DIRECTIVE_IR_LIMIT_SHORT)
salco	39:34d7802e8d15	1150	{
salco	39:34d7802e8d15	1151	/*
salco	39:34d7802e8d15	1152	/---\
salco	39:34d7802e8d15	1153	\|?M?\| //vert 0
salco	39:34d7802e8d15	1154	\|.X.\| //latt 0
salco	39:34d7802e8d15	1155	\|...\|
salco	39:34d7802e8d15	1156	\---/
salco	39:34d7802e8d15	1157	*/
salco	39:34d7802e8d15	1158	areaVert = 0;
salco	39:34d7802e8d15	1159	}
salco	39:34d7802e8d15	1160	else
salco	39:34d7802e8d15	1161	{
salco	39:34d7802e8d15	1162	/*
salco	39:34d7802e8d15	1163	/-M-\
salco	39:34d7802e8d15	1164	\|?V?\| //vert 1
salco	39:34d7802e8d15	1165	\|.X.\| //latt 0
salco	39:34d7802e8d15	1166	\|...\|
salco	39:34d7802e8d15	1167	\---/
salco	39:34d7802e8d15	1168	*/
salco	39:34d7802e8d15	1169	areaVert = 1;
salco	39:34d7802e8d15	1170	}
salco	39:34d7802e8d15	1171	}
salco	39:34d7802e8d15	1172	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE)
salco	39:34d7802e8d15	1173	{ //plus proche que 2 case
salco	39:34d7802e8d15	1174	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	39:34d7802e8d15	1175	debug("\n\r -Objet proche %g <= %g cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE);
salco	39:34d7802e8d15	1176	#endif
salco	39:34d7802e8d15	1177	//modifier vue que il ne detecte pas asser loin
salco	39:34d7802e8d15	1178	/*
salco	39:34d7802e8d15	1179	/-M-\
salco	39:34d7802e8d15	1180	\|?V?\| //vert 1
salco	39:34d7802e8d15	1181	\|.X.\| //latt 0
salco	39:34d7802e8d15	1182	\|...\|
salco	39:34d7802e8d15	1183	\---/
salco	39:34d7802e8d15	1184	*/
salco	39:34d7802e8d15	1185	areaLatt =0;
salco	39:34d7802e8d15	1186	areaVert =1;
salco	39:34d7802e8d15	1187	}
salco	39:34d7802e8d15	1188	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_LONG)
salco	39:34d7802e8d15	1189	{ //plus proche que 2 case
salco	39:34d7802e8d15	1190	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	39:34d7802e8d15	1191	debug("\n\r -Objet proche %g <= %g cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG);
salco	39:34d7802e8d15	1192	#endif
salco	39:34d7802e8d15	1193	//modifier vue que il ne detecte pas asser loin
salco	39:34d7802e8d15	1194	/*
salco	39:34d7802e8d15	1195	/-M-\
salco	39:34d7802e8d15	1196	\|?V?\| //vert 1
salco	39:34d7802e8d15	1197	\|.X.\| //latt 0
salco	39:34d7802e8d15	1198	\|...\|
salco	39:34d7802e8d15	1199	\---/
salco	39:34d7802e8d15	1200	*/
salco	39:34d7802e8d15	1201	areaLatt =0;
salco	39:34d7802e8d15	1202	areaVert =1;
salco	39:34d7802e8d15	1203	}
salco	39:34d7802e8d15	1204	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) > DIRECTIVE_ULTRASONIC_LIMIT_LONG)
salco	39:34d7802e8d15	1205	{ //plus proche que 2 case
salco	39:34d7802e8d15	1206	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	39:34d7802e8d15	1207	debug("\n\r -Objet proche %g >= %g cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG);
salco	39:34d7802e8d15	1208	#endif
salco	39:34d7802e8d15	1209	//modifier vue que il ne detecte pas asser loin
salco	39:34d7802e8d15	1210	/*
salco	39:34d7802e8d15	1211	/?V?\
salco	39:34d7802e8d15	1212	\|?V?\| //vert 2
salco	39:34d7802e8d15	1213	\|.X.\| //latt 0
salco	39:34d7802e8d15	1214	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1215	\---/
salco	39:34d7802e8d15	1216	*/
salco	39:34d7802e8d15	1217
salco	39:34d7802e8d15	1218	areaLatt =0;
salco	39:34d7802e8d15	1219	areaVert =2;
salco	39:34d7802e8d15	1220	}
salco	39:34d7802e8d15	1221
salco	39:34d7802e8d15	1222	//debug("\n\r areaLatt: %i, areaVert: %i",areaLatt,areaVert);
salco	39:34d7802e8d15	1223	#endif
salco	37:f53e9f7a14df	1224
salco	39:34d7802e8d15	1225	#ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
salco	39:34d7802e8d15	1226	debug("\n\r---analise maze(manualy CTRL)---\n\r");
salco	39:34d7802e8d15	1227	int idCommand = -1;
salco	39:34d7802e8d15	1228	areaVert = 9;
salco	39:34d7802e8d15	1229	areaLatt = 9;
salco	39:34d7802e8d15	1230	/*do {
salco	39:34d7802e8d15	1231	debug("\n\r Enter areaVert [0,1,2]: ");
salco	39:34d7802e8d15	1232	idCommand = fgetc(pc) - '0';
salco	39:34d7802e8d15	1233	debug(" %i",idCommand);
salco	39:34d7802e8d15	1234	} while((idCommand < 0) && (idCommand > 2));
salco	39:34d7802e8d15	1235	areaVert = idCommand;
salco	39:34d7802e8d15	1236
salco	39:34d7802e8d15	1237	do {
salco	39:34d7802e8d15	1238	debug("\n\r Enter areaLatt [0,1,2]: ");
salco	39:34d7802e8d15	1239	idCommand = fgetc(pc) - '0';
salco	39:34d7802e8d15	1240	debug(" %i",idCommand);
salco	39:34d7802e8d15	1241	} while((idCommand < 0) && (idCommand > 2));
salco	39:34d7802e8d15	1242	areaLatt = idCommand;*/
salco	37:f53e9f7a14df	1243
salco	39:34d7802e8d15	1244	debug("\n\r");
salco	39:34d7802e8d15	1245	#endif
salco	39:34d7802e8d15	1246	//changer lalgoritme ici
salco	39:34d7802e8d15	1247
salco	39:34d7802e8d15	1248	/*
salco	39:34d7802e8d15	1249	/---\
salco	39:34d7802e8d15	1250	\|?M?\| //vert 0
salco	39:34d7802e8d15	1251	\|.X.\| //latt 0
salco	39:34d7802e8d15	1252	\|...\|
salco	39:34d7802e8d15	1253	\---/
salco	39:34d7802e8d15	1254
salco	39:34d7802e8d15	1255	/-M-\
salco	39:34d7802e8d15	1256	\|?V?\| //vert 1
salco	39:34d7802e8d15	1257	\|.X.\| //latt 0
salco	39:34d7802e8d15	1258	\|...\|
salco	39:34d7802e8d15	1259	\---/
salco	37:f53e9f7a14df	1260
salco	39:34d7802e8d15	1261	/?M?\
salco	39:34d7802e8d15	1262	\|VVV\| //vert 1
salco	39:34d7802e8d15	1263	\|.X.\| //latt 1
salco	39:34d7802e8d15	1264	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1265	\---/
salco	39:34d7802e8d15	1266
salco	39:34d7802e8d15	1267	/?M?\
salco	39:34d7802e8d15	1268	\|VVV\| //vert 1
salco	39:34d7802e8d15	1269	\|.X.\| //latt 2
salco	39:34d7802e8d15	1270	\|...\| // cas impossible
salco	39:34d7802e8d15	1271	\---/
salco	39:34d7802e8d15	1272
salco	39:34d7802e8d15	1273	/?V?\
salco	39:34d7802e8d15	1274	\|?V?\| //vert 2
salco	39:34d7802e8d15	1275	\|.X.\| //latt 0
salco	39:34d7802e8d15	1276	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1277	\---/
salco	39:34d7802e8d15	1278
salco	39:34d7802e8d15	1279	/?V?\
salco	39:34d7802e8d15	1280	\|VVV\| //vert 2
salco	39:34d7802e8d15	1281	\|.X.\| //latt 1
salco	39:34d7802e8d15	1282	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1283	\---/
salco	37:f53e9f7a14df	1284
salco	39:34d7802e8d15	1285	/VVV\
salco	39:34d7802e8d15	1286	\|VVV\| //vert 2
salco	39:34d7802e8d15	1287	\|.X.\| //latt 2
salco	39:34d7802e8d15	1288	\|...\|
salco	39:34d7802e8d15	1289	\---/
salco	39:34d7802e8d15	1290	*/
salco	39:34d7802e8d15	1291	//vertical==0 latt==0 //mur devant
salco	39:34d7802e8d15	1292	//vertical==1 latt==1
salco	39:34d7802e8d15	1293	////////////////////////////////////
salco	39:34d7802e8d15	1294	//345
salco	39:34d7802e8d15	1295	//012 \| numerotation des case
salco	39:34d7802e8d15	1296	///////////////////////////////////
salco	39:34d7802e8d15	1297	signed char fieldX[6]= {0,0,0,0,0,0};
salco	39:34d7802e8d15	1298	signed char fieldY[6]= {0,0,0,0,0,0};
salco	39:34d7802e8d15	1299	bool fieldSet = false;
salco	39:34d7802e8d15	1300
salco	39:34d7802e8d15	1301	switch(myMaze->getDirection())
salco	39:34d7802e8d15	1302	{
salco	39:34d7802e8d15	1303	case UP:
salco	39:34d7802e8d15	1304	fieldX[0] = myMaze->getX()-1;
salco	39:34d7802e8d15	1305	fieldY[0] = myMaze->getY()+1;
salco	39:34d7802e8d15	1306	fieldX[1] = myMaze->getX();
salco	39:34d7802e8d15	1307	fieldY[1] = myMaze->getY()+1;
salco	39:34d7802e8d15	1308	fieldX[2] = myMaze->getX()+1;
salco	39:34d7802e8d15	1309	fieldY[2] = myMaze->getY()+1;
salco	39:34d7802e8d15	1310	fieldX[3] = myMaze->getX()-1;
salco	39:34d7802e8d15	1311	fieldY[3] = myMaze->getY()+2;
salco	39:34d7802e8d15	1312	fieldX[4] = myMaze->getX();
salco	39:34d7802e8d15	1313	fieldY[4] = myMaze->getY()+2;
salco	39:34d7802e8d15	1314	fieldX[5] = myMaze->getX()+1;
salco	39:34d7802e8d15	1315	fieldY[5] = myMaze->getY()+2;
salco	39:34d7802e8d15	1316	break;
salco	37:f53e9f7a14df	1317
salco	39:34d7802e8d15	1318	case DOWN:
salco	39:34d7802e8d15	1319	fieldX[0] = myMaze->getX()-1;
salco	39:34d7802e8d15	1320	fieldY[0] = myMaze->getY()-1;
salco	39:34d7802e8d15	1321	fieldX[1] = myMaze->getX();
salco	39:34d7802e8d15	1322	fieldY[1] = myMaze->getY()-1;
salco	39:34d7802e8d15	1323	fieldX[2] = myMaze->getX()+1;
salco	39:34d7802e8d15	1324	fieldY[2] = myMaze->getY()-1;
salco	39:34d7802e8d15	1325	fieldX[3] = myMaze->getX()-1;
salco	39:34d7802e8d15	1326	fieldY[3] = myMaze->getY()-2;
salco	39:34d7802e8d15	1327	fieldX[4] = myMaze->getX();
salco	39:34d7802e8d15	1328	fieldY[4] = myMaze->getY()-2;
salco	39:34d7802e8d15	1329	fieldX[5] = myMaze->getX()+1;
salco	39:34d7802e8d15	1330	fieldY[5] = myMaze->getY()-2;
salco	39:34d7802e8d15	1331	break;
salco	39:34d7802e8d15	1332
salco	39:34d7802e8d15	1333	case LEFT:
salco	39:34d7802e8d15	1334	fieldX[0] = myMaze->getX()-1;
salco	39:34d7802e8d15	1335	fieldY[0] = myMaze->getY()-1;
salco	39:34d7802e8d15	1336	fieldX[1] = myMaze->getX()-1;
salco	39:34d7802e8d15	1337	fieldY[1] = myMaze->getY();
salco	39:34d7802e8d15	1338	fieldX[2] = myMaze->getX()-1;
salco	39:34d7802e8d15	1339	fieldY[2] = myMaze->getY()+1;
salco	39:34d7802e8d15	1340	fieldX[3] = myMaze->getX()-2;
salco	39:34d7802e8d15	1341	fieldY[3] = myMaze->getY()-1;
salco	39:34d7802e8d15	1342	fieldX[4] = myMaze->getX()-2;
salco	39:34d7802e8d15	1343	fieldY[4] = myMaze->getY();
salco	39:34d7802e8d15	1344	fieldX[5] = myMaze->getX()-2;
salco	39:34d7802e8d15	1345	fieldY[5] = myMaze->getY()+1;
salco	39:34d7802e8d15	1346	break;
salco	39:34d7802e8d15	1347
salco	39:34d7802e8d15	1348	case RIGHT:
salco	39:34d7802e8d15	1349	fieldX[0] = myMaze->getX()+1;
salco	39:34d7802e8d15	1350	fieldY[0] = myMaze->getY()-1;
salco	39:34d7802e8d15	1351	fieldX[1] = myMaze->getX()+1;
salco	39:34d7802e8d15	1352	fieldY[1] = myMaze->getY();
salco	39:34d7802e8d15	1353	fieldX[2] = myMaze->getX()+1;
salco	39:34d7802e8d15	1354	fieldY[2] = myMaze->getY()+1;
salco	39:34d7802e8d15	1355	fieldX[3] = myMaze->getX()+2;
salco	39:34d7802e8d15	1356	fieldY[3] = myMaze->getY()-1;
salco	39:34d7802e8d15	1357	fieldX[4] = myMaze->getX()+2;
salco	39:34d7802e8d15	1358	fieldY[4] = myMaze->getY();
salco	39:34d7802e8d15	1359	fieldX[5] = myMaze->getX()+2;
salco	39:34d7802e8d15	1360	fieldY[5] = myMaze->getY()+1;
salco	39:34d7802e8d15	1361	break;
salco	39:34d7802e8d15	1362	}
salco	39:34d7802e8d15	1363	if(areaVert >= areaLatt)
salco	37:f53e9f7a14df	1364	{
salco	39:34d7802e8d15	1365	switch(areaVert)
salco	37:f53e9f7a14df	1366	{
salco	39:34d7802e8d15	1367	case 0:
salco	39:34d7802e8d15	1368	/*
salco	39:34d7802e8d15	1369	/---\
salco	39:34d7802e8d15	1370	\|?M?\| //vert 0
salco	39:34d7802e8d15	1371	\|.X.\| //latt 0
salco	39:34d7802e8d15	1372	\|...\|
salco	37:f53e9f7a14df	1373	\---/
salco	39:34d7802e8d15	1374	*/
salco	39:34d7802e8d15	1375	myMaze->setC(Labyrinthe::mur,fieldX[1],fieldY[1]);
salco	39:34d7802e8d15	1376	fieldSet = true;
salco	39:34d7802e8d15	1377	break;
salco	39:34d7802e8d15	1378	case 1:
salco	39:34d7802e8d15	1379	/*
salco	39:34d7802e8d15	1380	/-M-\
salco	39:34d7802e8d15	1381	\|?V?\| //vert 1
salco	37:f53e9f7a14df	1382	\|.X.\| //latt 0
salco	39:34d7802e8d15	1383	\|...\|
salco	37:f53e9f7a14df	1384	\---/
salco	37:f53e9f7a14df	1385	*/
salco	37:f53e9f7a14df	1386	myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]);
salco	39:34d7802e8d15	1387	myMaze->setC(Labyrinthe::mur,fieldX[4],fieldY[4]);
salco	39:34d7802e8d15	1388	fieldSet = true;
salco	39:34d7802e8d15	1389
salco	39:34d7802e8d15	1390	if(areaLatt == 1)
salco	39:34d7802e8d15	1391	{
salco	39:34d7802e8d15	1392	/*
salco	39:34d7802e8d15	1393	/?M?\
salco	39:34d7802e8d15	1394	\|VVV\| //vert 1
salco	39:34d7802e8d15	1395	\|.X.\| //latt 1
salco	39:34d7802e8d15	1396	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1397	\---/
salco	39:34d7802e8d15	1398	*/
salco	39:34d7802e8d15	1399	myMaze->setC(Labyrinthe::vide,fieldX[0],fieldY[0]);
salco	39:34d7802e8d15	1400	myMaze->setC(Labyrinthe::vide,fieldX[2],fieldY[2]);
salco	39:34d7802e8d15	1401	}
salco	39:34d7802e8d15	1402	break;
salco	39:34d7802e8d15	1403	case 2:
salco	39:34d7802e8d15	1404	fieldSet = true;
salco	39:34d7802e8d15	1405	switch(areaLatt)
salco	39:34d7802e8d15	1406	{
salco	39:34d7802e8d15	1407	case 0:
salco	39:34d7802e8d15	1408	/*
salco	39:34d7802e8d15	1409	/?V?\
salco	39:34d7802e8d15	1410	\|?V?\| //vert 2
salco	39:34d7802e8d15	1411	\|.X.\| //latt 0
salco	39:34d7802e8d15	1412	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1413	\---/
salco	39:34d7802e8d15	1414	*/
salco	39:34d7802e8d15	1415	myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]);
salco	39:34d7802e8d15	1416	myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]);
salco	39:34d7802e8d15	1417	break;
salco	39:34d7802e8d15	1418	case 1:
salco	39:34d7802e8d15	1419	/*
salco	39:34d7802e8d15	1420	/?V?\
salco	39:34d7802e8d15	1421	\|VVV\| //vert 2
salco	39:34d7802e8d15	1422	\|.X.\| //latt 1
salco	39:34d7802e8d15	1423	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1424	\---/
salco	39:34d7802e8d15	1425	*/
salco	39:34d7802e8d15	1426	for(int i = 0; i<3; i++)myMaze->setC(Labyrinthe::vide,fieldX[i],fieldY[i]);
salco	39:34d7802e8d15	1427	myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]);
salco	39:34d7802e8d15	1428	break;
salco	39:34d7802e8d15	1429	case 2:
salco	39:34d7802e8d15	1430	/*
salco	39:34d7802e8d15	1431	/VVV\
salco	39:34d7802e8d15	1432	\|VVV\| //vert 2
salco	39:34d7802e8d15	1433	\|.X.\| //latt 2
salco	39:34d7802e8d15	1434	\|...\|
salco	39:34d7802e8d15	1435	\---/
salco	39:34d7802e8d15	1436	*/
salco	39:34d7802e8d15	1437	for(int i = 0; i<6; i++)myMaze->setC( Labyrinthe::vide,fieldX[i],fieldY[i]);
salco	39:34d7802e8d15	1438	break;
salco	39:34d7802e8d15	1439	}
salco	39:34d7802e8d15	1440	break;
salco	39:34d7802e8d15	1441	}
salco	37:f53e9f7a14df	1442	}
salco	37:f53e9f7a14df	1443
salco	39:34d7802e8d15	1444	if(fieldSet == false)
salco	39:34d7802e8d15	1445	{ // on a un cas impossible
salco	39:34d7802e8d15	1446	//myMaze->setC(Labyrinthe::error,fieldX[1],fieldY[1]);
salco	37:f53e9f7a14df	1447	}
salco	39:34d7802e8d15	1448
salco	39:34d7802e8d15	1449	////////////////////////////////////
salco	39:34d7802e8d15	1450
salco	39:34d7802e8d15	1451
salco	37:f53e9f7a14df	1452	#ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
salco	39:34d7802e8d15	1453	mymap = myMaze->showMap();
salco	39:34d7802e8d15	1454	//char caseCaract = 0;
salco	39:34d7802e8d15	1455	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6]));
salco	39:34d7802e8d15	1456	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	1457	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3]));
salco	39:34d7802e8d15	1458	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	1459	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i]));
salco	39:34d7802e8d15	1460	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	1461
salco	39:34d7802e8d15	1462	debug("\n\r-------------------\n\r");
salco	37:f53e9f7a14df	1463	#endif
salco	38:57d5f36a0333	1464	}
salco	38:57d5f36a0333	1465
salco	38:57d5f36a0333	1466	char Directive::checkOtherWay(char dir, bool checkExplorer)
salco	38:57d5f36a0333	1467	{
salco	38:57d5f36a0333	1468	char result = 0;
salco	38:57d5f36a0333	1469	char order[3];
salco	38:57d5f36a0333	1470
salco	38:57d5f36a0333	1471
salco	38:57d5f36a0333	1472
salco	38:57d5f36a0333	1473	bool fini = false;
salco	38:57d5f36a0333	1474
salco	39:34d7802e8d15	1475	switch(rand() % 6)
salco	38:57d5f36a0333	1476	{
salco	38:57d5f36a0333	1477	case 0://[0],[1],[2]
salco	38:57d5f36a0333	1478	order[0] = 0;
salco	38:57d5f36a0333	1479	order[1] = 1;
salco	38:57d5f36a0333	1480	order[2] = 2;
salco	38:57d5f36a0333	1481	break;
salco	38:57d5f36a0333	1482	case 1://[0],[2],[1]
salco	38:57d5f36a0333	1483	order[0] = 0;
salco	38:57d5f36a0333	1484	order[1] = 2;
salco	38:57d5f36a0333	1485	order[2] = 1;
salco	38:57d5f36a0333	1486	break;
salco	38:57d5f36a0333	1487	case 2://[1],[0],[2]
salco	38:57d5f36a0333	1488	order[0] = 1;
salco	38:57d5f36a0333	1489	order[1] = 0;
salco	38:57d5f36a0333	1490	order[2] = 2;
salco	38:57d5f36a0333	1491	break;
salco	38:57d5f36a0333	1492	case 3://[2],[0],[1]
salco	38:57d5f36a0333	1493	order[0] = 2;
salco	38:57d5f36a0333	1494	order[1] = 0;
salco	38:57d5f36a0333	1495	order[2] = 1;
salco	38:57d5f36a0333	1496	break;
salco	38:57d5f36a0333	1497	case 4://[1],[2],[0]
salco	38:57d5f36a0333	1498	order[0] = 1;
salco	38:57d5f36a0333	1499	order[1] = 2;
salco	38:57d5f36a0333	1500	order[2] = 0;
salco	38:57d5f36a0333	1501	break;
salco	38:57d5f36a0333	1502	case 5://[2],[1],[0]
salco	38:57d5f36a0333	1503	order[0] = 2;
salco	38:57d5f36a0333	1504	order[1] = 1;
salco	38:57d5f36a0333	1505	order[2] = 0;
salco	38:57d5f36a0333	1506	break;
salco	38:57d5f36a0333	1507	}
salco	39:34d7802e8d15	1508	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rresult: ");
salco	39:34d7802e8d15	1509	for(int i=0; (i<3)&&(!fini); i++)
salco	38:57d5f36a0333	1510	{
salco	39:34d7802e8d15	1511	switch(order[i])
salco	39:34d7802e8d15	1512	{ // inclure un état memoir affin que si il a le choix entre une case vide et une explorer il priorise la vide// pt faire de meme avec pas explorer
salco	38:57d5f36a0333	1513	case 0:
salco	38:57d5f36a0333	1514	result = myMaze->getC_ToLeft();
salco	39:34d7802e8d15	1515	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r getC_ToLeft: %i %i ****",result,myMaze->getC_ToLeft());
salco	38:57d5f36a0333	1516	//if(((Labyrinthe::case_t)result != Labyrinthe::error)&&((Labyrinthe::case_t)result != Labyrinthe::mur) &&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1) )
salco	39:34d7802e8d15	1517	if(((Labyrinthe::case_t)result == Labyrinthe::vide)&&((Labyrinthe::case_t)result != Labyrinthe::mur) &&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1) )
salco	38:57d5f36a0333	1518	{
salco	39:34d7802e8d15	1519	fini = true;
salco	38:57d5f36a0333	1520	result = LEFT;
salco	38:57d5f36a0333	1521	}
salco	38:57d5f36a0333	1522	break;
salco	38:57d5f36a0333	1523	case 1:
salco	38:57d5f36a0333	1524	result = myMaze->getC_Backward();
salco	39:34d7802e8d15	1525	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r getC_Backward: %i %i ****",result,myMaze->getC_Backward());
salco	39:34d7802e8d15	1526	if(/((Labyrinthe::case_t)result != Labyrinthe::error)&&/((Labyrinthe::case_t)result != Labyrinthe::mur)&&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1))
salco	38:57d5f36a0333	1527	{
salco	39:34d7802e8d15	1528	fini = true;
salco	38:57d5f36a0333	1529	result = DOWN;
salco	38:57d5f36a0333	1530	}
salco	38:57d5f36a0333	1531	break;
salco	38:57d5f36a0333	1532	case 2:
salco	38:57d5f36a0333	1533	result = myMaze->getC_ToRight();
salco	39:34d7802e8d15	1534	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r getC_ToRight: %i %i ****",result,myMaze->getC_ToRight());
salco	39:34d7802e8d15	1535	if(/((Labyrinthe::case_t)result != Labyrinthe::error)&&/((Labyrinthe::case_t)result != Labyrinthe::mur)&&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1))
salco	38:57d5f36a0333	1536	{
salco	39:34d7802e8d15	1537	fini = true;
salco	38:57d5f36a0333	1538	result = RIGHT;
salco	38:57d5f36a0333	1539	}
salco	38:57d5f36a0333	1540	break;
salco	38:57d5f36a0333	1541	}
salco	38:57d5f36a0333	1542	}
salco	38:57d5f36a0333	1543
salco	39:34d7802e8d15	1544	if(fini)
salco	38:57d5f36a0333	1545	{
salco	39:34d7802e8d15	1546	switch(dir)
salco	39:34d7802e8d15	1547	{
salco	39:34d7802e8d15	1548	/*case UP:
salco	38:57d5f36a0333	1549	break;*/
salco	39:34d7802e8d15	1550	case DOWN:
salco	39:34d7802e8d15	1551	switch(result)
salco	39:34d7802e8d15	1552	{
salco	39:34d7802e8d15	1553	case LEFT:
salco	39:34d7802e8d15	1554	result = RIGHT;
salco	39:34d7802e8d15	1555	break;
salco	39:34d7802e8d15	1556	case DOWN:
salco	39:34d7802e8d15	1557	result = UP;
salco	39:34d7802e8d15	1558	break;
salco	39:34d7802e8d15	1559	case RIGHT:
salco	39:34d7802e8d15	1560	result = LEFT;
salco	39:34d7802e8d15	1561	break;
salco	39:34d7802e8d15	1562	}
salco	39:34d7802e8d15	1563	break;
salco	39:34d7802e8d15	1564	case LEFT:
salco	39:34d7802e8d15	1565	switch(result)
salco	39:34d7802e8d15	1566	{
salco	39:34d7802e8d15	1567	case LEFT:
salco	39:34d7802e8d15	1568	result = DOWN;
salco	39:34d7802e8d15	1569	break;
salco	39:34d7802e8d15	1570	case DOWN:
salco	39:34d7802e8d15	1571	result = RIGHT;
salco	39:34d7802e8d15	1572	break;
salco	39:34d7802e8d15	1573	case RIGHT:
salco	39:34d7802e8d15	1574	result = UP;
salco	39:34d7802e8d15	1575	break;
salco	39:34d7802e8d15	1576	}
salco	39:34d7802e8d15	1577	break;
salco	39:34d7802e8d15	1578	case RIGHT:
salco	39:34d7802e8d15	1579	switch(result)
salco	39:34d7802e8d15	1580	{
salco	39:34d7802e8d15	1581	case LEFT:
salco	39:34d7802e8d15	1582	result = UP;
salco	39:34d7802e8d15	1583	break;
salco	39:34d7802e8d15	1584	case DOWN:
salco	39:34d7802e8d15	1585	result = LEFT;
salco	39:34d7802e8d15	1586	break;
salco	39:34d7802e8d15	1587	case RIGHT:
salco	39:34d7802e8d15	1588	result = DOWN;
salco	39:34d7802e8d15	1589	break;
salco	39:34d7802e8d15	1590	}
salco	39:34d7802e8d15	1591	break;
salco	39:34d7802e8d15	1592	}
salco	39:34d7802e8d15	1593	}
salco	38:57d5f36a0333	1594	else
salco	39:34d7802e8d15	1595	result =0;
salco	38:57d5f36a0333	1596	return result;
salco	38:57d5f36a0333	1597	}
salco	39:34d7802e8d15	1598	void Directive::checkOtherWay(char &caseFront, char &caseBack, char &caseLeft, char &caseRight)
salco	39:34d7802e8d15	1599	{
salco	39:34d7802e8d15	1600	caseFront = myMaze->getC_Foward();
salco	39:34d7802e8d15	1601	caseBack = myMaze->getC_Backward();
salco	39:34d7802e8d15	1602	caseRight = myMaze->getC_ToRight();
salco	39:34d7802e8d15	1603	caseLeft = myMaze->getC_ToLeft();
salco	39:34d7802e8d15	1604	}
salco	38:57d5f36a0333	1605	bool Directive::searchNewWay(void)
salco	38:57d5f36a0333	1606	{
salco	39:34d7802e8d15	1607	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r ---- Search new way ----\n\r");
salco	39:34d7802e8d15	1608	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY()));
salco	38:57d5f36a0333	1609	bool result=false;
salco	38:57d5f36a0333	1610	string backupMap = myMaze->getAllMap();
salco	38:57d5f36a0333	1611	signed char backupPosX = myMaze->getX();
salco	38:57d5f36a0333	1612	signed char backupPosY = myMaze->getY();
salco	38:57d5f36a0333	1613	string searchMap = backupMap;
salco	38:57d5f36a0333	1614	char tempdir,nextCase=0;
salco	38:57d5f36a0333	1615	positionXY tempPosition;
salco	39:34d7802e8d15	1616	char backupDir = myMaze->getDirection();
salco	39:34d7802e8d15	1617
salco	38:57d5f36a0333	1618
salco	38:57d5f36a0333	1619	bool noOtherWay = false;//si apres un moment tu est entourer de mur
salco	38:57d5f36a0333	1620	bool wrongWay = false; //si jamais vien un moment que tu est pris /doit rebrousser chemin
salco	39:34d7802e8d15	1621	//bool checkAutour = false;
salco	38:57d5f36a0333	1622
salco	38:57d5f36a0333	1623	bufferNewWay.clear();
salco	38:57d5f36a0333	1624	tempPosition.posX = myMaze->getX();
salco	38:57d5f36a0333	1625	tempPosition.posY = myMaze->getY();
salco	39:34d7802e8d15	1626	//bufferNewWay.push_back(tempPosition); // pas sur de lutiliter
salco	38:57d5f36a0333	1627
salco	39:34d7802e8d15	1628	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Debut Boucle");
salco	39:34d7802e8d15	1629	//asdfasda// Ici voire pour pt amiliorer et cheker a gauche et a droite au cas ou tu verai une case vide parce que la tu cours direct dans un mur avant de tourner.
salco	39:34d7802e8d15	1630	while((!result)&&(!noOtherWay))
salco	38:57d5f36a0333	1631	{
salco	39:34d7802e8d15	1632	// nextCase = 0;
salco	39:34d7802e8d15	1633	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Cycle Boucle\n\r");
salco	39:34d7802e8d15	1634	nextCase = myMaze->getC_Foward();
salco	39:34d7802e8d15	1635
salco	39:34d7802e8d15	1636	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",nextCase);
salco	39:34d7802e8d15	1637	switch(nextCase )
salco	39:34d7802e8d15	1638	{
salco	38:57d5f36a0333	1639
salco	39:34d7802e8d15	1640	case Labyrinthe::pasExplorer :
salco	39:34d7802e8d15	1641	case Labyrinthe::vide :
salco	39:34d7802e8d15	1642	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r vide ou pas explorer: ");
salco	39:34d7802e8d15	1643	myMaze->moveFoward();
salco	39:34d7802e8d15	1644	result = true;
salco	39:34d7802e8d15	1645	break;
salco	38:57d5f36a0333	1646
salco	39:34d7802e8d15	1647	case Labyrinthe::explorer :// ici pt amiliorer
salco	39:34d7802e8d15	1648	//add position a la liste
salco	39:34d7802e8d15	1649	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Explorer");
salco	39:34d7802e8d15	1650	myMaze->moveFoward();
salco	39:34d7802e8d15	1651	//myMaze->setMyPos(Labyrinthe::error);
salco	39:34d7802e8d15	1652	break;
salco	38:57d5f36a0333	1653
salco	39:34d7802e8d15	1654	case Labyrinthe::mur:
salco	39:34d7802e8d15	1655	tempdir = rand() % 2;
salco	39:34d7802e8d15	1656	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Mur: %i",tempdir);
salco	39:34d7802e8d15	1657	if(tempdir == 1)
salco	39:34d7802e8d15	1658	{
salco	39:34d7802e8d15	1659	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r left right");
salco	39:34d7802e8d15	1660	tempdir = myMaze->getC_ToLeft();
salco	39:34d7802e8d15	1661	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir);
salco	39:34d7802e8d15	1662	if((Labyrinthe::case_t)tempdir != Labyrinthe::mur)
salco	38:57d5f36a0333	1663	{
salco	39:34d7802e8d15	1664	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Left");
salco	39:34d7802e8d15	1665	myMaze->turnLeft();
salco	39:34d7802e8d15	1666
salco	39:34d7802e8d15	1667	//backupDir = myMaze->getDirection();
salco	39:34d7802e8d15	1668	}
salco	39:34d7802e8d15	1669	else
salco	38:57d5f36a0333	1670	{
salco	38:57d5f36a0333	1671	tempdir = myMaze->getC_ToRight();
salco	39:34d7802e8d15	1672	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir);
salco	39:34d7802e8d15	1673	if((Labyrinthe::case_t)tempdir != Labyrinthe::mur)
salco	39:34d7802e8d15	1674	{
salco	39:34d7802e8d15	1675	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Right");
salco	38:57d5f36a0333	1676	myMaze->turnRight();
salco	39:34d7802e8d15	1677
salco	39:34d7802e8d15	1678	//backupDir = myMaze->getDirection();
salco	39:34d7802e8d15	1679	}
salco	39:34d7802e8d15	1680	else
salco	39:34d7802e8d15	1681	{
salco	39:34d7802e8d15	1682	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r aucun coter");
salco	39:34d7802e8d15	1683	wrongWay = true; // verifie dans la liste
salco	39:34d7802e8d15	1684	}
salco	39:34d7802e8d15	1685	}
salco	39:34d7802e8d15	1686
salco	39:34d7802e8d15	1687	}
salco	39:34d7802e8d15	1688	else
salco	39:34d7802e8d15	1689	{
salco	39:34d7802e8d15	1690	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r right left");
salco	39:34d7802e8d15	1691	tempdir = myMaze->getC_ToRight();
salco	39:34d7802e8d15	1692	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir);
salco	39:34d7802e8d15	1693	if((Labyrinthe::case_t)tempdir != Labyrinthe::mur)
salco	39:34d7802e8d15	1694	{
salco	39:34d7802e8d15	1695	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Right");
salco	39:34d7802e8d15	1696	myMaze->turnRight();
salco	39:34d7802e8d15	1697
salco	39:34d7802e8d15	1698	//backupDir = myMaze->getDirection();
salco	39:34d7802e8d15	1699	}
salco	39:34d7802e8d15	1700	else
salco	39:34d7802e8d15	1701	{
salco	39:34d7802e8d15	1702	tempdir = myMaze->getC_ToLeft();
salco	39:34d7802e8d15	1703	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir);
salco	39:34d7802e8d15	1704	if((Labyrinthe::case_t)tempdir != Labyrinthe::mur)
salco	39:34d7802e8d15	1705	{
salco	39:34d7802e8d15	1706	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Left");
salco	39:34d7802e8d15	1707	myMaze->turnLeft();
salco	39:34d7802e8d15	1708
salco	39:34d7802e8d15	1709	//backupDir = myMaze->getDirection();
salco	39:34d7802e8d15	1710	}
salco	39:34d7802e8d15	1711	else
salco	39:34d7802e8d15	1712	{
salco	39:34d7802e8d15	1713	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r aucun coter");
salco	39:34d7802e8d15	1714	wrongWay = true; // verifie dans la liste
salco	39:34d7802e8d15	1715	}
salco	38:57d5f36a0333	1716	}
salco	39:34d7802e8d15	1717	/* if(wrongWay == false)
salco	39:34d7802e8d15	1718	myMaze->moveFoward();*/
salco	39:34d7802e8d15	1719	}
salco	39:34d7802e8d15	1720
salco	39:34d7802e8d15	1721	//myMaze->setMyPos(Labyrinthe::error);
salco	39:34d7802e8d15	1722	break;
salco	39:34d7802e8d15	1723	}
salco	39:34d7802e8d15	1724
salco	39:34d7802e8d15	1725	tempPosition.posX = myMaze->getX();
salco	39:34d7802e8d15	1726	tempPosition.posY = myMaze->getY();
salco	39:34d7802e8d15	1727	tempPosition.direction = myMaze->getDirection();
salco	39:34d7802e8d15	1728
salco	39:34d7802e8d15	1729	/*debug("\n\rtempPosition.posX: %i",tempPosition.posX);
salco	39:34d7802e8d15	1730	debug("\n\rtempPosition.posY: %i",tempPosition.posY);
salco	39:34d7802e8d15	1731	debug("\n\rbufferNewWay.posX: %i",(bufferNewWay.back().posX));
salco	39:34d7802e8d15	1732	debug("\n\rbufferNewWay.posY: %i",(bufferNewWay.back().posY));*/
salco	39:34d7802e8d15	1733
salco	39:34d7802e8d15	1734	if((bufferNewWay.empty())\|\|(((bufferNewWay.back().posX) != tempPosition.posX) \|\| ((bufferNewWay.back().posY) != tempPosition.posY)))
salco	39:34d7802e8d15	1735	{
salco	39:34d7802e8d15	1736	bufferNewWay.push_back(tempPosition);
salco	39:34d7802e8d15	1737	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size());
salco	39:34d7802e8d15	1738	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",tempPosition.posX);
salco	39:34d7802e8d15	1739	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",tempPosition.posY);
salco	39:34d7802e8d15	1740	}
salco	39:34d7802e8d15	1741	else if((bufferNewWay.empty())&& ((backupPosX != myMaze->getX()) \|\| (backupPosY != myMaze->getY())) )
salco	39:34d7802e8d15	1742	{
salco	39:34d7802e8d15	1743	bufferNewWay.push_back(tempPosition);
salco	39:34d7802e8d15	1744	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size());
salco	39:34d7802e8d15	1745	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",tempPosition.posX);
salco	39:34d7802e8d15	1746	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",tempPosition.posY);
salco	39:34d7802e8d15	1747	}
salco	39:34d7802e8d15	1748	else if(((bufferNewWay.back()).posX == tempPosition.posX) && ((bufferNewWay.back()).posY == tempPosition.posY) && ((bufferNewWay.back()).direction != tempPosition.direction))//ra fait un tours
salco	39:34d7802e8d15	1749	{
salco	39:34d7802e8d15	1750	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back a cause dun tournie");
salco	39:34d7802e8d15	1751	bufferNewWay.pop_back();
salco	39:34d7802e8d15	1752	bufferNewWay.push_back(tempPosition);
salco	39:34d7802e8d15	1753	}
salco	39:34d7802e8d15	1754
salco	39:34d7802e8d15	1755	else
salco	39:34d7802e8d15	1756	{
salco	39:34d7802e8d15	1757	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r buffer non adder");
salco	39:34d7802e8d15	1758
salco	39:34d7802e8d15	1759	}
salco	39:34d7802e8d15	1760
salco	38:57d5f36a0333	1761
salco	39:34d7802e8d15	1762	if(wrongWay)
salco	39:34d7802e8d15	1763	{
salco	39:34d7802e8d15	1764	char caseFront,caseBack,caseLeft,caseRight;
salco	39:34d7802e8d15	1765	char wallCount;
salco	39:34d7802e8d15	1766	char directive;
salco	39:34d7802e8d15	1767	bool haveValuesChange = false;
salco	39:34d7802e8d15	1768	bool caseVideTrouver = false;
salco	39:34d7802e8d15	1769	bool caseExplorerTrouver = false;
salco	39:34d7802e8d15	1770	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\n\r wrong way patching");
salco	39:34d7802e8d15	1771	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay size: %i",bufferNewWay.size());
salco	39:34d7802e8d15	1772	std::list<positionXY>::iterator it;
salco	39:34d7802e8d15	1773	do
salco	39:34d7802e8d15	1774	{
salco	39:34d7802e8d15	1775	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r --wrong way boucle");
salco	39:34d7802e8d15	1776
salco	39:34d7802e8d15	1777	//bufferNewWay.pop_back();
salco	39:34d7802e8d15	1778	if(!bufferNewWay.empty())
salco	39:34d7802e8d15	1779	{
salco	39:34d7802e8d15	1780	directive = 0;//defenir fait rien
salco	39:34d7802e8d15	1781	it=bufferNewWay.end();
salco	39:34d7802e8d15	1782	haveValuesChange = false;
salco	39:34d7802e8d15	1783	caseVideTrouver = false;
salco	39:34d7802e8d15	1784	caseExplorerTrouver = false;
salco	39:34d7802e8d15	1785	tempPosition.posX = (bufferNewWay.back()).posX;
salco	39:34d7802e8d15	1786	tempPosition.posY = bufferNewWay.back().posY;
salco	39:34d7802e8d15	1787
salco	39:34d7802e8d15	1788
salco	39:34d7802e8d15	1789	myMaze->setX(bufferNewWay.back().posX);
salco	39:34d7802e8d15	1790	myMaze->setY(bufferNewWay.back().posY);
salco	39:34d7802e8d15	1791	wallCount = 0;
salco	39:34d7802e8d15	1792	checkOtherWay(caseFront,caseBack,caseLeft,caseRight);
salco	39:34d7802e8d15	1793
salco	39:34d7802e8d15	1794	if((Labyrinthe::case_t)caseFront == Labyrinthe::mur)wallCount++;
salco	39:34d7802e8d15	1795	if((Labyrinthe::case_t)caseBack == Labyrinthe::mur)wallCount++;
salco	39:34d7802e8d15	1796	if((Labyrinthe::case_t)caseLeft == Labyrinthe::mur)wallCount++;
salco	39:34d7802e8d15	1797	if((Labyrinthe::case_t)caseRight == Labyrinthe::mur)wallCount++;
salco	39:34d7802e8d15	1798
salco	39:34d7802e8d15	1799	if(wallCount == 3)
salco	39:34d7802e8d15	1800	{
salco	39:34d7802e8d15	1801	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r PATH trouver ");
salco	39:34d7802e8d15	1802	myMaze->setC(Labyrinthe::mur,tempPosition.posX,tempPosition.posY);
salco	39:34d7802e8d15	1803	}
salco	39:34d7802e8d15	1804	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r checkOtherWay front: %i, back: %i, LEFT: %i, RIGHT: %i",caseFront,caseBack,caseLeft,caseRight);
salco	39:34d7802e8d15	1805	//tempPosition.posX = (bufferNewWay.back()).posX;
salco	39:34d7802e8d15	1806	//tempPosition.posY = bufferNewWay.back().posY;
salco	39:34d7802e8d15	1807	/*if(((Labyrinthe::case_t)caseFront == Labyrinthe::vide) \|\| ((Labyrinthe::case_t)caseBack == Labyrinthe::vide) \|\| ((Labyrinthe::case_t)caseLeft == Labyrinthe::vide) \|\| ((Labyrinthe::case_t)caseRight == Labyrinthe::vide))
salco	39:34d7802e8d15	1808	{
salco	39:34d7802e8d15	1809	debug("\n\r Path vide trouver!!!");
salco	39:34d7802e8d15	1810	caseVideTrouver = true;
salco	39:34d7802e8d15	1811	wrongWay = false;
salco	39:34d7802e8d15	1812	}*/
salco	39:34d7802e8d15	1813
salco	39:34d7802e8d15	1814	//else
salco	39:34d7802e8d15	1815	//{
salco	39:34d7802e8d15	1816	it--;
salco	39:34d7802e8d15	1817	if(/((Labyrinthe::case_t)caseFront != Labyrinthe::error) &&/ ((Labyrinthe::case_t)caseFront != Labyrinthe::mur))
salco	39:34d7802e8d15	1818	{ // une anciene case est potentiele,emt bonne
salco	39:34d7802e8d15	1819	myMaze->getXY_Foward(tempPosition.posX,tempPosition.posY);
salco	39:34d7802e8d15	1820
salco	39:34d7802e8d15	1821	if((Labyrinthe::case_t)caseFront == Labyrinthe::vide)
salco	39:34d7802e8d15	1822	{
salco	39:34d7802e8d15	1823	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!");
salco	39:34d7802e8d15	1824	caseVideTrouver = true;
salco	39:34d7802e8d15	1825	haveValuesChange = true;
salco	39:34d7802e8d15	1826	directive = 1;
salco	39:34d7802e8d15	1827	wrongWay = false;
salco	39:34d7802e8d15	1828	//debug("\n\r moveFoward");
salco	39:34d7802e8d15	1829	}
salco	39:34d7802e8d15	1830	if((!caseVideTrouver) && (!caseExplorerTrouver))
salco	39:34d7802e8d15	1831	{
salco	39:34d7802e8d15	1832	caseExplorerTrouver = true;
salco	39:34d7802e8d15	1833	/if(((it).posX != tempPosition.posX) && ((*it).posY != tempPosition.posY)) {
salco	39:34d7802e8d15	1834	wrongWay = false;
salco	39:34d7802e8d15	1835	myMaze->moveFoward();//setDirection(UP);
salco	39:34d7802e8d15	1836	debug("\n\r moveFoward");
salco	39:34d7802e8d15	1837	debug("\n\r chemin trouver");
salco	39:34d7802e8d15	1838	haveValuesChange = true;
salco	39:34d7802e8d15	1839	} else if(bufferNewWay.size() == 1) {*/
salco	39:34d7802e8d15	1840	// debug("\n\r Last thing in buffer");
salco	39:34d7802e8d15	1841	//myMaze->moveFoward();//setDirection(UP);
salco	39:34d7802e8d15	1842	directive = 1;// move foward
salco	39:34d7802e8d15	1843	haveValuesChange = true;
salco	39:34d7802e8d15	1844	// debug("\n\r moveFoward");
salco	39:34d7802e8d15	1845	}
salco	39:34d7802e8d15	1846	}
salco	39:34d7802e8d15	1847
salco	39:34d7802e8d15	1848	if(/((Labyrinthe::case_t)caseBack != Labyrinthe::error) &&/ ((Labyrinthe::case_t)caseBack != Labyrinthe::mur))
salco	39:34d7802e8d15	1849	{ // une anciene case est potentiele,emt bonne
salco	39:34d7802e8d15	1850	myMaze->getXY_Backward(tempPosition.posX,tempPosition.posY);
salco	39:34d7802e8d15	1851
salco	39:34d7802e8d15	1852	if((Labyrinthe::case_t)caseBack == Labyrinthe::vide)
salco	39:34d7802e8d15	1853	{
salco	39:34d7802e8d15	1854	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!");
salco	39:34d7802e8d15	1855	caseVideTrouver = true;
salco	39:34d7802e8d15	1856	haveValuesChange = true;
salco	39:34d7802e8d15	1857	directive = 2;
salco	39:34d7802e8d15	1858	wrongWay = false;
salco	39:34d7802e8d15	1859	//debug("\n\r moveFoward");
salco	39:34d7802e8d15	1860	}
salco	39:34d7802e8d15	1861	if((!caseVideTrouver) && (!caseExplorerTrouver))
salco	39:34d7802e8d15	1862	{
salco	39:34d7802e8d15	1863	caseExplorerTrouver = true;
salco	39:34d7802e8d15	1864	/if(((it).posX != tempPosition.posX) && ((*it).posY != tempPosition.posY)) {
salco	39:34d7802e8d15	1865	wrongWay = false;
salco	39:34d7802e8d15	1866	myMaze->turnBack();//setDirection(DOWN);
salco	39:34d7802e8d15	1867	debug("\n\r turn Back");
salco	39:34d7802e8d15	1868	debug("\n\r chemin trouver");
salco	39:34d7802e8d15	1869	haveValuesChange = true;
salco	39:34d7802e8d15	1870	} else if(bufferNewWay.size() == 1) {*/
salco	39:34d7802e8d15	1871	//debug("\n\r Last thing in buffer");
salco	39:34d7802e8d15	1872	//myMaze->turnBack();//setDirection(DOWN);
salco	39:34d7802e8d15	1873	directive = 2;
salco	39:34d7802e8d15	1874	//debug("\n\r turn Back");
salco	39:34d7802e8d15	1875	haveValuesChange = true;
salco	39:34d7802e8d15	1876	}
salco	39:34d7802e8d15	1877	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r direction: %i",myMaze->getDirection());
salco	39:34d7802e8d15	1878	}
salco	39:34d7802e8d15	1879
salco	39:34d7802e8d15	1880	if(/((Labyrinthe::case_t)caseLeft != Labyrinthe::error) &&/ ((Labyrinthe::case_t)caseLeft != Labyrinthe::mur))
salco	39:34d7802e8d15	1881	{ // une anciene case est potentiele,emt bonne
salco	39:34d7802e8d15	1882	myMaze->getXY_Left(tempPosition.posX,tempPosition.posY);
salco	39:34d7802e8d15	1883
salco	39:34d7802e8d15	1884	if((Labyrinthe::case_t)caseLeft == Labyrinthe::vide)
salco	39:34d7802e8d15	1885	{
salco	39:34d7802e8d15	1886	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!");
salco	39:34d7802e8d15	1887	caseVideTrouver = true;
salco	39:34d7802e8d15	1888	haveValuesChange = true;
salco	39:34d7802e8d15	1889	directive = 3;
salco	39:34d7802e8d15	1890	wrongWay = false;
salco	39:34d7802e8d15	1891	//debug("\n\r moveFoward");
salco	39:34d7802e8d15	1892	}
salco	39:34d7802e8d15	1893	if((!!caseVideTrouver) && (!caseExplorerTrouver))
salco	39:34d7802e8d15	1894	{
salco	39:34d7802e8d15	1895	caseExplorerTrouver = true;
salco	39:34d7802e8d15	1896	/if(((it).posX != tempPosition.posX) && ((*it).posY != tempPosition.posY)) {
salco	39:34d7802e8d15	1897	wrongWay = false;
salco	39:34d7802e8d15	1898	myMaze->turnLeft();//setDirection(LEFT);
salco	39:34d7802e8d15	1899	debug("\n\r turn Left");
salco	39:34d7802e8d15	1900	debug("\n\r chemin trouver");
salco	39:34d7802e8d15	1901	haveValuesChange = true;
salco	39:34d7802e8d15	1902	} else if(bufferNewWay.size() == 1) {*/
salco	39:34d7802e8d15	1903	//debug("\n\r Last thing in buffer");
salco	39:34d7802e8d15	1904	//myMaze->turnLeft();//setDirection(LEFT);
salco	39:34d7802e8d15	1905	directive = 3;
salco	39:34d7802e8d15	1906	//debug("\n\r turn Left");
salco	39:34d7802e8d15	1907	haveValuesChange = true;
salco	39:34d7802e8d15	1908	}
salco	39:34d7802e8d15	1909	}
salco	39:34d7802e8d15	1910
salco	39:34d7802e8d15	1911	if(/((Labyrinthe::case_t)caseRight != Labyrinthe::error) &&/ ((Labyrinthe::case_t)caseRight != Labyrinthe::mur))
salco	39:34d7802e8d15	1912	{ // une anciene case est potentiele,emt bonne
salco	39:34d7802e8d15	1913	myMaze->getXY_Right(tempPosition.posX,tempPosition.posY);
salco	39:34d7802e8d15	1914
salco	39:34d7802e8d15	1915	if((Labyrinthe::case_t)caseRight == Labyrinthe::vide)
salco	39:34d7802e8d15	1916	{
salco	39:34d7802e8d15	1917	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!");
salco	39:34d7802e8d15	1918	caseVideTrouver = true;
salco	39:34d7802e8d15	1919	haveValuesChange = true;
salco	39:34d7802e8d15	1920	directive = 4;
salco	39:34d7802e8d15	1921	wrongWay = false;
salco	39:34d7802e8d15	1922	//debug("\n\r moveFoward");
salco	39:34d7802e8d15	1923	}
salco	39:34d7802e8d15	1924	if((!caseVideTrouver)&& (!caseExplorerTrouver))
salco	39:34d7802e8d15	1925	{
salco	39:34d7802e8d15	1926	caseExplorerTrouver = true;
salco	39:34d7802e8d15	1927	/*if(((bufferNewWay.back()).posX != tempPosition.posX) && ((bufferNewWay.back()).posY != tempPosition.posY)) {
salco	39:34d7802e8d15	1928	wrongWay = false;
salco	39:34d7802e8d15	1929	myMaze->turnRight();//setDirection(RIGHT);
salco	39:34d7802e8d15	1930	debug("\n\r turn Right");
salco	39:34d7802e8d15	1931	debug("\n\r chemin trouver");
salco	39:34d7802e8d15	1932	haveValuesChange = true;
salco	39:34d7802e8d15	1933	} else if(bufferNewWay.size() == 1) {*/
salco	39:34d7802e8d15	1934	//debug("\n\r Last thing in buffer");
salco	39:34d7802e8d15	1935	//myMaze->turnRight();//setDirection(RIGHT);
salco	39:34d7802e8d15	1936	directive = 4;
salco	39:34d7802e8d15	1937	// debug("\n\r turn Right");
salco	39:34d7802e8d15	1938	haveValuesChange = true;
salco	39:34d7802e8d15	1939	}
salco	39:34d7802e8d15	1940	}
salco	39:34d7802e8d15	1941
salco	39:34d7802e8d15	1942	//}
salco	39:34d7802e8d15	1943
salco	39:34d7802e8d15	1944
salco	39:34d7802e8d15	1945	}
salco	39:34d7802e8d15	1946	else
salco	39:34d7802e8d15	1947	noOtherWay = true;
salco	39:34d7802e8d15	1948
salco	39:34d7802e8d15	1949
salco	39:34d7802e8d15	1950	if(haveValuesChange)
salco	39:34d7802e8d15	1951	{
salco	39:34d7802e8d15	1952	switch(directive)
salco	39:34d7802e8d15	1953	{
salco	39:34d7802e8d15	1954	case 0:
salco	39:34d7802e8d15	1955	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r doNothing");
salco	39:34d7802e8d15	1956	break;
salco	39:34d7802e8d15	1957	case 1:
salco	39:34d7802e8d15	1958	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r moveFoward");
salco	39:34d7802e8d15	1959	myMaze->moveFoward();
salco	39:34d7802e8d15	1960	break;
salco	39:34d7802e8d15	1961	case 2:
salco	39:34d7802e8d15	1962	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Back");
salco	39:34d7802e8d15	1963	myMaze->turnBack();
salco	39:34d7802e8d15	1964	break;
salco	39:34d7802e8d15	1965	case 3:
salco	39:34d7802e8d15	1966	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Left");
salco	39:34d7802e8d15	1967	myMaze->turnLeft();
salco	39:34d7802e8d15	1968	break;
salco	39:34d7802e8d15	1969	case 4:
salco	39:34d7802e8d15	1970	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Right");
salco	39:34d7802e8d15	1971	myMaze->turnRight();
salco	39:34d7802e8d15	1972	break;
salco	39:34d7802e8d15	1973	}
salco	39:34d7802e8d15	1974	tempPosition.posX = myMaze->getX();
salco	39:34d7802e8d15	1975	tempPosition.posY = myMaze->getY();
salco	39:34d7802e8d15	1976	tempPosition.direction = myMaze->getDirection();
salco	39:34d7802e8d15	1977	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size());
salco	39:34d7802e8d15	1978	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",tempPosition.posX);
salco	39:34d7802e8d15	1979	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",tempPosition.posY);
salco	39:34d7802e8d15	1980	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",tempPosition.direction);
salco	39:34d7802e8d15	1981	for (std::list<positionXY>::iterator it=bufferNewWay.begin(),itEnd;( it != bufferNewWay.end()) && (!bufferNewWay.empty()); ++it)
salco	39:34d7802e8d15	1982	{
salco	39:34d7802e8d15	1983	//tempPosition = *(it);
salco	39:34d7802e8d15	1984	itEnd = bufferNewWay.end();
salco	39:34d7802e8d15	1985	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Bouble de meme position");
salco	39:34d7802e8d15	1986	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",(*it).posX);
salco	39:34d7802e8d15	1987	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",(*it).posY);
salco	39:34d7802e8d15	1988	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",(*it).direction);
salco	39:34d7802e8d15	1989	if(((it).posX == tempPosition.posX) && ((it).posY == tempPosition.posY) && ((*it).direction == tempPosition.direction))
salco	39:34d7802e8d15	1990	{
salco	39:34d7802e8d15	1991	while(((it).posX != (itEnd).posX) &&
salco	39:34d7802e8d15	1992	((it).posY != (itEnd).posY) &&
salco	39:34d7802e8d15	1993	((it).direction != (itEnd).direction) && (!bufferNewWay.empty()))
salco	39:34d7802e8d15	1994	{
salco	39:34d7802e8d15	1995	itEnd = bufferNewWay.end();
salco	39:34d7802e8d15	1996	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back et enmurer");
salco	39:34d7802e8d15	1997	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r tempPosition.posX: %i",(bufferNewWay.back()).posX);
salco	39:34d7802e8d15	1998	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r tempPosition.posY: %i",(bufferNewWay.back()).posY);
salco	39:34d7802e8d15	1999	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r tempPosition.direction: %i",(bufferNewWay.back()).direction);
salco	39:34d7802e8d15	2000	myMaze->setC(Labyrinthe::mur,(bufferNewWay.back()).posX,(bufferNewWay.back()).posY);
salco	39:34d7802e8d15	2001	bufferNewWay.pop_back();
salco	39:34d7802e8d15	2002	}
salco	39:34d7802e8d15	2003	//it--;
salco	39:34d7802e8d15	2004	noOtherWay = true;//placer ici pour patcher vue que je suis taner
salco	39:34d7802e8d15	2005	//checkAutour = true;
salco	39:34d7802e8d15	2006	}
salco	39:34d7802e8d15	2007	}
salco	39:34d7802e8d15	2008	if(((bufferNewWay.back()).posX == tempPosition.posX) && ((bufferNewWay.back()).posY == tempPosition.posY) && ((bufferNewWay.back()).direction != tempPosition.direction))//ra fait un tours
salco	39:34d7802e8d15	2009	{
salco	39:34d7802e8d15	2010	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back a cause dun tournie");
salco	39:34d7802e8d15	2011	bufferNewWay.pop_back();
salco	39:34d7802e8d15	2012	}
salco	39:34d7802e8d15	2013	bufferNewWay.push_back(tempPosition);
salco	39:34d7802e8d15	2014	//bufferNewWay.pop_back();//on enleve pour pouvoir lire le dernier
salco	39:34d7802e8d15	2015	}
salco	39:34d7802e8d15	2016	else
salco	39:34d7802e8d15	2017	{
salco	39:34d7802e8d15	2018	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back");
salco	39:34d7802e8d15	2019	bufferNewWay.pop_back();//on enleve pour pouvoir lire le dernier
salco	39:34d7802e8d15	2020	}
salco	39:34d7802e8d15	2021	string mymap = myMaze->showMap();
salco	39:34d7802e8d15	2022	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY()));
salco	39:34d7802e8d15	2023	//char caseCaract = 0;
salco	39:34d7802e8d15	2024	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r direction: %i",myMaze->getDirection());
salco	39:34d7802e8d15	2025	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	2026	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6]));
salco	39:34d7802e8d15	2027	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	2028	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3]));
salco	39:34d7802e8d15	2029	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	2030	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i]));
salco	39:34d7802e8d15	2031	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r press any key...\n\r");
salco	39:34d7802e8d15	2032
salco	39:34d7802e8d15	2033	fgetc(pc);
salco	39:34d7802e8d15	2034
salco	39:34d7802e8d15	2035
salco	39:34d7802e8d15	2036	} while((wrongWay) && (!noOtherWay));
salco	39:34d7802e8d15	2037	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Fin Boucle");
salco	38:57d5f36a0333	2038	}
salco	39:34d7802e8d15	2039	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r press any key...\n\r"); fgetc(pc);
salco	38:57d5f36a0333	2040	}
salco	38:57d5f36a0333	2041
salco	39:34d7802e8d15	2042	myMaze->setX(backupPosX);
salco	39:34d7802e8d15	2043	myMaze->setY(backupPosY);
salco	39:34d7802e8d15	2044	myMaze->setAllMap(backupMap);
salco	39:34d7802e8d15	2045	myMaze->setDirection(backupDir);
salco	39:34d7802e8d15	2046	if(noOtherWay)
salco	39:34d7802e8d15	2047	{
salco	39:34d7802e8d15	2048	result = false;
salco	39:34d7802e8d15	2049	myMaze->setAllMap("");
salco	39:34d7802e8d15	2050	myMaze->setX(0);
salco	39:34d7802e8d15	2051	myMaze->setY(0);
salco	39:34d7802e8d15	2052	myMaze->setDirection(backupDir);
salco	39:34d7802e8d15	2053	}
salco	39:34d7802e8d15	2054
salco	39:34d7802e8d15	2055	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\n\r dans le buffer");
salco	39:34d7802e8d15	2056	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size());
salco	39:34d7802e8d15	2057	for (std::list<positionXY>::iterator it=bufferNewWay.begin(); it != bufferNewWay.end(); ++it) {
salco	39:34d7802e8d15	2058	//tempPosition = *(it);
salco	39:34d7802e8d15	2059	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",(*it).posX);
salco	39:34d7802e8d15	2060	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",(*it).posY);
salco	39:34d7802e8d15	2061	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",(*it).direction);
salco	39:34d7802e8d15	2062	}
salco	39:34d7802e8d15	2063	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r ----------------");
salco	39:34d7802e8d15	2064	return result;
salco	38:57d5f36a0333	2065	}
salco	38:57d5f36a0333	2066
salco	38:57d5f36a0333	2067	bool Directive::isAnotherWay(void)
salco	38:57d5f36a0333	2068	{
salco	38:57d5f36a0333	2069	bool result=false;
salco	38:57d5f36a0333	2070
salco	38:57d5f36a0333	2071	return result;
salco	39:34d7802e8d15	2072	}
salco	39:34d7802e8d15	2073	void Directive::turnRightDirection(char currentDir, char nextDir)
salco	39:34d7802e8d15	2074	{
salco	39:34d7802e8d15	2075
salco	39:34d7802e8d15	2076
salco	39:34d7802e8d15	2077	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	2078	if(((nextDir + currentDir) == (UP + DOWN)) \|\|
salco	39:34d7802e8d15	2079	((nextDir + currentDir) == (LEFT + RIGHT)))
salco	39:34d7802e8d15	2080	{
salco	39:34d7802e8d15	2081	if(rand()%2)
salco	39:34d7802e8d15	2082	{
salco	39:34d7802e8d15	2083	addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	2084	addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	2085	}
salco	39:34d7802e8d15	2086	else
salco	39:34d7802e8d15	2087	{
salco	39:34d7802e8d15	2088	addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	2089	addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	2090	}
salco	39:34d7802e8d15	2091	}
salco	39:34d7802e8d15	2092	else
salco	39:34d7802e8d15	2093	{
salco	39:34d7802e8d15	2094	switch(currentDir)
salco	39:34d7802e8d15	2095	{
salco	39:34d7802e8d15	2096	case UP:
salco	39:34d7802e8d15	2097	if(nextDir == LEFT)
salco	39:34d7802e8d15	2098	{
salco	39:34d7802e8d15	2099	addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	2100	}
salco	39:34d7802e8d15	2101	else if(nextDir == RIGHT)
salco	39:34d7802e8d15	2102	{
salco	39:34d7802e8d15	2103	addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	2104	}
salco	39:34d7802e8d15	2105	break;
salco	39:34d7802e8d15	2106	case DOWN:
salco	39:34d7802e8d15	2107	if(nextDir == LEFT)
salco	39:34d7802e8d15	2108	{
salco	39:34d7802e8d15	2109	addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	2110	}
salco	39:34d7802e8d15	2111	else if(nextDir == LEFT)
salco	39:34d7802e8d15	2112	{
salco	39:34d7802e8d15	2113	addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	2114	}
salco	39:34d7802e8d15	2115	break;
salco	39:34d7802e8d15	2116	case LEFT:
salco	39:34d7802e8d15	2117	if(nextDir == UP)
salco	39:34d7802e8d15	2118	{
salco	39:34d7802e8d15	2119	addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	2120	}
salco	39:34d7802e8d15	2121	else if(nextDir == DOWN)
salco	39:34d7802e8d15	2122	{
salco	39:34d7802e8d15	2123	addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	2124	}
salco	39:34d7802e8d15	2125	break;
salco	39:34d7802e8d15	2126	case RIGHT:
salco	39:34d7802e8d15	2127	if(nextDir == UP)
salco	39:34d7802e8d15	2128	{
salco	39:34d7802e8d15	2129	addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	2130	}
salco	39:34d7802e8d15	2131	else if(nextDir == DOWN)
salco	39:34d7802e8d15	2132	{
salco	39:34d7802e8d15	2133	addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	2134	}
salco	39:34d7802e8d15	2135	break;
salco	39:34d7802e8d15	2136	}
salco	39:34d7802e8d15	2137	}
salco	39:34d7802e8d15	2138	#endif
salco	2:4c5b0f6d0a6b	2139	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	31 Jan 2017
Imports:	0
Forks:	0
Commits:	42
Dependents:	0
Dependencies:	2
Followers:	1

The code in this repository is Apache licensed.

directive.cpp@39:34d7802e8d15, 2015-10-15 (annotated)

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