Alexandre Salconi-Denis
/
ProjetOctopode
Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.
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 | } |