Alexandre Salconi-Denis
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@38:57d5f36a0333, 2015-10-05 (annotated)
- Committer:
- salco
- Date:
- Mon Oct 05 23:46:11 2015 +0000
- Revision:
- 38:57d5f36a0333
- Parent:
- 37:f53e9f7a14df
- Child:
- 39:34d7802e8d15
analise du labirinte pas fini pas implementer mais le plus gros de la carcasse est mont? reste a faire les point technique
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 | 36:474d4795aafa | 31 | debug("\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 | 27:ea60d12dccdf | 36 | |
| salco | 27:ea60d12dccdf | 37 | //Serial pc(USBTX, USBRX); |
| salco | 27:ea60d12dccdf | 38 | |
| salco | 27:ea60d12dccdf | 39 | //ssc32->set_flow_control(0); |
| salco | 31:ed23647fd16e | 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 | 28:ac5c6350ed9a | 45 | |
| salco | 27:ea60d12dccdf | 46 | m_capteurUltrasonic= m_CtrlBridge->findModule(0,CAPTEUR,ULTRASONIQUE,0x27/*0b100111*/); |
| salco | 35:d81f6b927932 | 47 | if(!(m_capteurUltrasonic.empty())) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic found"); |
| salco | 35:d81f6b927932 | 48 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic not found"); |
| salco | 27:ea60d12dccdf | 49 | m_capteurIR= m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0x27/*0b100111*/); |
| salco | 35:d81f6b927932 | 50 | if(!(m_capteurIR.empty())) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR found"); |
| salco | 34:dfd82c744b26 | 51 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR not found"); |
| salco | 27:ea60d12dccdf | 52 | m_capteurProximiter= m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0x0E/*0b001110*/); |
| salco | 36:474d4795aafa | 53 | if(!(m_capteurProximiter.empty()))debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter found\n\r"); |
| salco | 36:474d4795aafa | 54 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter not found\n\r"); |
| salco | 28:ac5c6350ed9a | 55 | |
| salco | 28:ac5c6350ed9a | 56 | ctrDesPattes->moveUp(); |
| salco | 28:ac5c6350ed9a | 57 | |
| salco | 28:ac5c6350ed9a | 58 | bool getUp=true; |
| salco | 28:ac5c6350ed9a | 59 | while((getUp)&& (! ctrDesPattes->isSeqComplet())) { |
| salco | 28:ac5c6350ed9a | 60 | ctrDesPattes->exec(); |
| salco | 28:ac5c6350ed9a | 61 | |
| salco | 28:ac5c6350ed9a | 62 | if(ctrDesPattes->get_idFrame() >= 5) |
| salco | 28:ac5c6350ed9a | 63 | getUp = false; |
| salco | 28:ac5c6350ed9a | 64 | |
| salco | 28:ac5c6350ed9a | 65 | } |
| salco | 31:ed23647fd16e | 66 | |
| salco | 28:ac5c6350ed9a | 67 | ctrDesPattes->calibre(); |
| salco | 31:ed23647fd16e | 68 | |
| salco | 35:d81f6b927932 | 69 | #ifdef DEBUG_DIRECTIVE_GRAPHICAL_INTERFACE |
| salco | 38:57d5f36a0333 | 70 | //analiseMaze(); |
| salco | 38:57d5f36a0333 | 71 | ///wait(2); |
| salco | 38:57d5f36a0333 | 72 | //debug("\x1B[2J"); //clear screen |
| salco | 35:d81f6b927932 | 73 | /*debug("\x1B[25l");//hide cursor |
| salco | 35:d81f6b927932 | 74 | debug("\x1B[;H");*/ //cursor default position |
| salco | 31:ed23647fd16e | 75 | |
| salco | 35:d81f6b927932 | 76 | //createSLbox(0,0,5,15,"Mode"); |
| salco | 35:d81f6b927932 | 77 | /*createDLbox(0,0,10,20,"Menu");//(1,12,10,20,"test2"); |
| salco | 31:ed23647fd16e | 78 | setText(1,3,"1) BrainControle"); |
| salco | 35:d81f6b927932 | 79 | setText(1,4,"2) Show Maze");*/ |
| salco | 31:ed23647fd16e | 80 | //createDLbox(16,0,5,15,"Stage"); |
| salco | 31:ed23647fd16e | 81 | |
| salco | 38:57d5f36a0333 | 82 | myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C1); |
| salco | 38:57d5f36a0333 | 83 | myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C2); |
| salco | 38:57d5f36a0333 | 84 | myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C3); |
| salco | 38:57d5f36a0333 | 85 | myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C4); |
| salco | 38:57d5f36a0333 | 86 | myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C5); |
| salco | 38:57d5f36a0333 | 87 | myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C6); |
| salco | 38:57d5f36a0333 | 88 | myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C7); |
| salco | 38:57d5f36a0333 | 89 | myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C8); |
| salco | 38:57d5f36a0333 | 90 | myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C9); |
| salco | 35:d81f6b927932 | 91 | |
| salco | 38:57d5f36a0333 | 92 | myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C1); |
| salco | 38:57d5f36a0333 | 93 | myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C2); |
| salco | 38:57d5f36a0333 | 94 | myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C3); |
| salco | 38:57d5f36a0333 | 95 | myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C4); |
| salco | 38:57d5f36a0333 | 96 | myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C5); |
| salco | 38:57d5f36a0333 | 97 | myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C6); |
| salco | 38:57d5f36a0333 | 98 | myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C7); |
| salco | 38:57d5f36a0333 | 99 | myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C8); |
| salco | 38:57d5f36a0333 | 100 | myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C9); |
| salco | 38:57d5f36a0333 | 101 | |
| salco | 38:57d5f36a0333 | 102 | myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C1); |
| salco | 38:57d5f36a0333 | 103 | myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C2); |
| salco | 38:57d5f36a0333 | 104 | myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C3); |
| salco | 38:57d5f36a0333 | 105 | myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C4); |
| salco | 38:57d5f36a0333 | 106 | myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C5); |
| salco | 38:57d5f36a0333 | 107 | myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C6); |
| salco | 38:57d5f36a0333 | 108 | myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C7); |
| salco | 38:57d5f36a0333 | 109 | myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C8); |
| salco | 38:57d5f36a0333 | 110 | myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C9); |
| salco | 38:57d5f36a0333 | 111 | |
| salco | 38:57d5f36a0333 | 112 | myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C1); |
| salco | 38:57d5f36a0333 | 113 | myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C2); |
| salco | 38:57d5f36a0333 | 114 | myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C3); |
| salco | 38:57d5f36a0333 | 115 | myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C4); |
| salco | 38:57d5f36a0333 | 116 | myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C5); |
| salco | 38:57d5f36a0333 | 117 | myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C6); |
| salco | 38:57d5f36a0333 | 118 | myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C7); |
| salco | 38:57d5f36a0333 | 119 | myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C8); |
| salco | 38:57d5f36a0333 | 120 | myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C9); |
| salco | 38:57d5f36a0333 | 121 | |
| salco | 38:57d5f36a0333 | 122 | myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C1); |
| salco | 38:57d5f36a0333 | 123 | myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C2); |
| salco | 38:57d5f36a0333 | 124 | myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C3); |
| salco | 38:57d5f36a0333 | 125 | myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C4); |
| salco | 38:57d5f36a0333 | 126 | myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C5); |
| salco | 38:57d5f36a0333 | 127 | myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C6); |
| salco | 38:57d5f36a0333 | 128 | myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C7); |
| salco | 38:57d5f36a0333 | 129 | myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C8); |
| salco | 38:57d5f36a0333 | 130 | myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C9); |
| salco | 38:57d5f36a0333 | 131 | |
| salco | 38:57d5f36a0333 | 132 | myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C1); |
| salco | 38:57d5f36a0333 | 133 | myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C2); |
| salco | 38:57d5f36a0333 | 134 | myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C3); |
| salco | 38:57d5f36a0333 | 135 | myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C4); |
| salco | 38:57d5f36a0333 | 136 | myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C5); |
| salco | 38:57d5f36a0333 | 137 | myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C6); |
| salco | 38:57d5f36a0333 | 138 | myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C7); |
| salco | 38:57d5f36a0333 | 139 | myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C8); |
| salco | 38:57d5f36a0333 | 140 | myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C9); |
| salco | 31:ed23647fd16e | 141 | #endif |
| salco | 2:4c5b0f6d0a6b | 142 | } |
| salco | 2:4c5b0f6d0a6b | 143 | Directive::~Directive() |
| salco | 2:4c5b0f6d0a6b | 144 | { |
| salco | 11:496453b45e25 | 145 | |
| salco | 3:e0d6e081a9d3 | 146 | if(ctrDesPattes) |
| salco | 3:e0d6e081a9d3 | 147 | delete ctrDesPattes; |
| salco | 19:0ac80045ba4c | 148 | if(ssc32) |
| salco | 19:0ac80045ba4c | 149 | delete ssc32; |
| salco | 31:ed23647fd16e | 150 | if(myMaze) |
| salco | 28:ac5c6350ed9a | 151 | delete myMaze; |
| salco | 2:4c5b0f6d0a6b | 152 | } |
| salco | 3:e0d6e081a9d3 | 153 | void Directive::task(void)//ALL CODE HERE// |
| salco | 2:4c5b0f6d0a6b | 154 | { |
| salco | 31:ed23647fd16e | 155 | |
| salco | 31:ed23647fd16e | 156 | #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE |
| salco | 37:f53e9f7a14df | 157 | debug("\x1B[2J"); //clear screen |
| salco | 37:f53e9f7a14df | 158 | debug("\x1B[25l");//hide cursor |
| salco | 37:f53e9f7a14df | 159 | debug("\x1B[;H"); //cursor default position |
| salco | 38:57d5f36a0333 | 160 | debug("\n\r--------In task directive--------"); |
| salco | 37:f53e9f7a14df | 161 | /* |
| salco | 37:f53e9f7a14df | 162 | createDLbox(0,0,10,25,"BrainControle"); |
| salco | 37:f53e9f7a14df | 163 | setText(1,3,"1) Move Up"); |
| salco | 37:f53e9f7a14df | 164 | setText(1,4,"2) Move Down"); |
| salco | 37:f53e9f7a14df | 165 | setText(1,5,"3) Move Left"); |
| salco | 37:f53e9f7a14df | 166 | setText(1,6,"4) Move Right"); |
| salco | 37:f53e9f7a14df | 167 | |
| salco | 37:f53e9f7a14df | 168 | int idCommand; |
| salco | 37:f53e9f7a14df | 169 | do{ |
| salco | 37:f53e9f7a14df | 170 | if(pc.readable()){ |
| salco | 37:f53e9f7a14df | 171 | idCommand = fgetc(pc) - '0'; |
| salco | 37:f53e9f7a14df | 172 | switch(idCommand) |
| salco | 37:f53e9f7a14df | 173 | { |
| salco | 37:f53e9f7a14df | 174 | case 1: |
| salco | 37:f53e9f7a14df | 175 | myMaze->goUp(); |
| salco | 37:f53e9f7a14df | 176 | break; |
| salco | 37:f53e9f7a14df | 177 | case 2: |
| salco | 37:f53e9f7a14df | 178 | myMaze->goDown(); |
| salco | 37:f53e9f7a14df | 179 | break; |
| salco | 37:f53e9f7a14df | 180 | case 3: |
| salco | 37:f53e9f7a14df | 181 | myMaze->goLeft(); |
| salco | 37:f53e9f7a14df | 182 | break; |
| salco | 37:f53e9f7a14df | 183 | case 4: |
| salco | 37:f53e9f7a14df | 184 | myMaze->goRight(); |
| salco | 37:f53e9f7a14df | 185 | break; |
| salco | 37:f53e9f7a14df | 186 | } |
| salco | 37:f53e9f7a14df | 187 | myMaze->setMyPos(Labyrinthe::explorer); |
| salco | 37:f53e9f7a14df | 188 | |
| salco | 37:f53e9f7a14df | 189 | string mymap = myMaze->showMap(); |
| salco | 37:f53e9f7a14df | 190 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY()); |
| salco | 37:f53e9f7a14df | 191 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]); |
| salco | 37:f53e9f7a14df | 192 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 37:f53e9f7a14df | 193 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]); |
| salco | 37:f53e9f7a14df | 194 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 37:f53e9f7a14df | 195 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]); |
| salco | 37:f53e9f7a14df | 196 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 37:f53e9f7a14df | 197 | |
| salco | 37:f53e9f7a14df | 198 | #ifdef DBG_MAIN_DELAY_SEC |
| salco | 37:f53e9f7a14df | 199 | debug("\n\r\n wait \n\r\n"); |
| salco | 37:f53e9f7a14df | 200 | wait(DBG_MAIN_DELAY_SEC); |
| salco | 37:f53e9f7a14df | 201 | #endif |
| salco | 37:f53e9f7a14df | 202 | |
| salco | 37:f53e9f7a14df | 203 | debug("\x1B[2J"); //clear screen |
| salco | 37:f53e9f7a14df | 204 | debug("\x1B[;H"); //cursor default position |
| salco | 37:f53e9f7a14df | 205 | createDLbox(0,0,10,25,"BrainControle"); |
| salco | 37:f53e9f7a14df | 206 | setText(1,3,"1) Move Up"); |
| salco | 37:f53e9f7a14df | 207 | setText(1,4,"2) Move Down"); |
| salco | 37:f53e9f7a14df | 208 | setText(1,5,"3) Move Left"); |
| salco | 37:f53e9f7a14df | 209 | setText(1,6,"4) Move Right"); |
| salco | 37:f53e9f7a14df | 210 | } |
| salco | 37:f53e9f7a14df | 211 | }while(1); */ |
| salco | 31:ed23647fd16e | 212 | #endif |
| salco | 36:474d4795aafa | 213 | |
| salco | 28:ac5c6350ed9a | 214 | //debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive"); |
| salco | 37:f53e9f7a14df | 215 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
| salco | 28:ac5c6350ed9a | 216 | if(ctrDesPattes->isSeqComplet()) { |
| salco | 37:f53e9f7a14df | 217 | |
| salco | 28:ac5c6350ed9a | 218 | if((tableauDeCommange[0] == 6) && (size_tableauDeCommange == 1)) { |
| salco | 28:ac5c6350ed9a | 219 | //addTableauDeCommande(0x81); |
| salco | 28:ac5c6350ed9a | 220 | //addTableauDeCommande(0x82); |
| salco | 28:ac5c6350ed9a | 221 | //mabey//addTableauDeCommande(0x83); |
| salco | 28:ac5c6350ed9a | 222 | addTableauDeCommande(0x84); |
| salco | 28:ac5c6350ed9a | 223 | |
| salco | 28:ac5c6350ed9a | 224 | //addTableauDeCommande(0x85); |
| salco | 28:ac5c6350ed9a | 225 | //mabey//addTableauDeCommande(0x86); |
| salco | 28:ac5c6350ed9a | 226 | addTableauDeCommande(0x87); |
| salco | 28:ac5c6350ed9a | 227 | addTableauDeCommande(0x88); |
| salco | 28:ac5c6350ed9a | 228 | } |
| salco | 37:f53e9f7a14df | 229 | |
| salco | 37:f53e9f7a14df | 230 | |
| salco | 28:ac5c6350ed9a | 231 | if(tableauDeCommange[0] == 0) { |
| salco | 28:ac5c6350ed9a | 232 | //pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment. |
| salco | 28:ac5c6350ed9a | 233 | |
| salco | 28:ac5c6350ed9a | 234 | //////////////// |
| salco | 28:ac5c6350ed9a | 235 | // Inspection // |
| salco | 28:ac5c6350ed9a | 236 | //////////////// |
| salco | 28:ac5c6350ed9a | 237 | //flag.append(1,0);//0x02); |
| salco | 28:ac5c6350ed9a | 238 | /*for(int i=0; i<m_ListDesModules.length(); ++i) { |
| salco | 28:ac5c6350ed9a | 239 | wait_us(300); |
| salco | 28:ac5c6350ed9a | 240 | flag.clear(); |
| salco | 28:ac5c6350ed9a | 241 | flag.append(1,7); |
| salco | 28:ac5c6350ed9a | 242 | data.clear(); |
| salco | 28:ac5c6350ed9a | 243 | debug("\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data)); |
| salco | 28:ac5c6350ed9a | 244 | |
| salco | 28:ac5c6350ed9a | 245 | debug("\n\r flag: %d",flag[0]); |
| salco | 28:ac5c6350ed9a | 246 | debug("\n\r data: %x",data[0]); |
| salco | 28:ac5c6350ed9a | 247 | }*/ |
| salco | 37:f53e9f7a14df | 248 | |
| salco | 28:ac5c6350ed9a | 249 | updateModuleValue(); |
| salco | 28:ac5c6350ed9a | 250 | |
| salco | 28:ac5c6350ed9a | 251 | ////////////////////////////// |
| salco | 28:ac5c6350ed9a | 252 | // Traitement du Labyrinthe // |
| salco | 28:ac5c6350ed9a | 253 | ////////////////////////////// |
| salco | 28:ac5c6350ed9a | 254 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR))); |
| salco | 28:ac5c6350ed9a | 255 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -ultrasonicToInch: %02f",ultrasonicToInch(m_valueCapteurUltrasonic)); |
| salco | 28:ac5c6350ed9a | 256 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter); |
| salco | 37:f53e9f7a14df | 257 | #endif //DEBUG_DIRECTIVE_LEG_DISABLE |
| salco | 28:ac5c6350ed9a | 258 | analiseMaze(); |
| salco | 28:ac5c6350ed9a | 259 | char nextCase=0; |
| salco | 38:57d5f36a0333 | 260 | /*switch(myMaze->getDirection()) { |
| salco | 31:ed23647fd16e | 261 | case UP: |
| salco | 31:ed23647fd16e | 262 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()+1); |
| salco | 31:ed23647fd16e | 263 | break; |
| salco | 31:ed23647fd16e | 264 | |
| salco | 31:ed23647fd16e | 265 | case DOWN: |
| salco | 31:ed23647fd16e | 266 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1); |
| salco | 31:ed23647fd16e | 267 | break; |
| salco | 31:ed23647fd16e | 268 | |
| salco | 31:ed23647fd16e | 269 | case LEFT: |
| salco | 31:ed23647fd16e | 270 | nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY()); |
| salco | 31:ed23647fd16e | 271 | break; |
| salco | 31:ed23647fd16e | 272 | |
| salco | 31:ed23647fd16e | 273 | case RIGHT: |
| salco | 31:ed23647fd16e | 274 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()); |
| salco | 31:ed23647fd16e | 275 | break; |
| salco | 38:57d5f36a0333 | 276 | }*/ |
| salco | 38:57d5f36a0333 | 277 | |
| salco | 38:57d5f36a0333 | 278 | nextCase = myMaze->getC_Foward(); |
| salco | 38:57d5f36a0333 | 279 | |
| salco | 38:57d5f36a0333 | 280 | debug("\n\r nextCase: [%02x]",nextCase); |
| salco | 31:ed23647fd16e | 281 | switch(nextCase ) { |
| salco | 37:f53e9f7a14df | 282 | case Labyrinthe::vide : |
| salco | 37:f53e9f7a14df | 283 | #ifdef DEBUG_DIRECTIVE_LEG_DISABLE |
| salco | 37:f53e9f7a14df | 284 | debug("nextCase Vide\n\r"); |
| salco | 37:f53e9f7a14df | 285 | #endif |
| salco | 31:ed23647fd16e | 286 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
| salco | 37:f53e9f7a14df | 287 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
| salco | 28:ac5c6350ed9a | 288 | addTableauDeCommande(6); |
| salco | 37:f53e9f7a14df | 289 | #endif |
| salco | 38:57d5f36a0333 | 290 | myMaze->moveFoward(); |
| salco | 38:57d5f36a0333 | 291 | myMaze->setMyPos(Labyrinthe::explorer); |
| salco | 31:ed23647fd16e | 292 | break; |
| salco | 31:ed23647fd16e | 293 | |
| salco | 37:f53e9f7a14df | 294 | case Labyrinthe::explorer :// ici pt amiliorer |
| salco | 38:57d5f36a0333 | 295 | debug(DEBUG_DIRECTIVE_TEST," \n\rnext case deja explorer"); |
| salco | 38:57d5f36a0333 | 296 | if(rand()%2) |
| salco | 38:57d5f36a0333 | 297 | { |
| salco | 38:57d5f36a0333 | 298 | debug(DEBUG_DIRECTIVE_TEST,"\n\r jeverifie si alternative"); |
| salco | 38:57d5f36a0333 | 299 | |
| salco | 38:57d5f36a0333 | 300 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
| salco | 38:57d5f36a0333 | 301 | addTableauDeCommande(6); |
| salco | 38:57d5f36a0333 | 302 | #endif |
| salco | 38:57d5f36a0333 | 303 | nextCase = checkOtherWay(myMaze->getDirection(),1); |
| salco | 38:57d5f36a0333 | 304 | debug("\n\rnextcase: %i",nextCase); |
| salco | 38:57d5f36a0333 | 305 | switch(nextCase)// on verifie si on a une direction possible |
| salco | 38:57d5f36a0333 | 306 | { |
| salco | 38:57d5f36a0333 | 307 | case UP: |
| salco | 38:57d5f36a0333 | 308 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP"); |
| salco | 38:57d5f36a0333 | 309 | myMaze->setDirection(UP); |
| salco | 38:57d5f36a0333 | 310 | |
| salco | 38:57d5f36a0333 | 311 | break; |
| salco | 38:57d5f36a0333 | 312 | case DOWN: |
| salco | 38:57d5f36a0333 | 313 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN"); |
| salco | 38:57d5f36a0333 | 314 | myMaze->setDirection(DOWN); |
| salco | 38:57d5f36a0333 | 315 | |
| salco | 38:57d5f36a0333 | 316 | break; |
| salco | 38:57d5f36a0333 | 317 | case LEFT: |
| salco | 38:57d5f36a0333 | 318 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT"); |
| salco | 38:57d5f36a0333 | 319 | myMaze->setDirection(LEFT); |
| salco | 38:57d5f36a0333 | 320 | |
| salco | 38:57d5f36a0333 | 321 | break; |
| salco | 38:57d5f36a0333 | 322 | case RIGHT: |
| salco | 38:57d5f36a0333 | 323 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT"); |
| salco | 38:57d5f36a0333 | 324 | myMaze->setDirection(RIGHT); |
| salco | 38:57d5f36a0333 | 325 | |
| salco | 38:57d5f36a0333 | 326 | break; |
| salco | 38:57d5f36a0333 | 327 | default://aucun autre chemin |
| salco | 38:57d5f36a0333 | 328 | debug(DEBUG_DIRECTIVE_TEST,"\n\r aucune autre place alors J'avance"); |
| salco | 38:57d5f36a0333 | 329 | myMaze->moveFoward(); |
| salco | 38:57d5f36a0333 | 330 | myMaze->setMyPos(Labyrinthe::explorer); |
| salco | 38:57d5f36a0333 | 331 | break; |
| salco | 38:57d5f36a0333 | 332 | } |
| salco | 38:57d5f36a0333 | 333 | } |
| salco | 38:57d5f36a0333 | 334 | else |
| salco | 38:57d5f36a0333 | 335 | { |
| salco | 38:57d5f36a0333 | 336 | debug(DEBUG_DIRECTIVE_TEST,"\n\r jeverifie pas si alternative"); |
| salco | 38:57d5f36a0333 | 337 | myMaze->moveFoward(); |
| salco | 38:57d5f36a0333 | 338 | } |
| salco | 38:57d5f36a0333 | 339 | //myMaze->moveFoward(); |
| salco | 38:57d5f36a0333 | 340 | //myMaze->setMyPos(Labyrinthe::explorer); |
| salco | 38:57d5f36a0333 | 341 | break; |
| salco | 38:57d5f36a0333 | 342 | |
| salco | 38:57d5f36a0333 | 343 | case Labyrinthe::mur: |
| salco | 38:57d5f36a0333 | 344 | |
| salco | 38:57d5f36a0333 | 345 | switch(checkOtherWay(myMaze->getDirection()))// on verifie si on a une direction possible |
| salco | 38:57d5f36a0333 | 346 | { |
| salco | 38:57d5f36a0333 | 347 | case UP: |
| salco | 38:57d5f36a0333 | 348 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP "); |
| salco | 38:57d5f36a0333 | 349 | myMaze->setDirection(UP); |
| salco | 38:57d5f36a0333 | 350 | //myMaze->moveFoward(); |
| salco | 38:57d5f36a0333 | 351 | break; |
| salco | 38:57d5f36a0333 | 352 | case DOWN: |
| salco | 38:57d5f36a0333 | 353 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN "); |
| salco | 38:57d5f36a0333 | 354 | myMaze->setDirection(DOWN); |
| salco | 38:57d5f36a0333 | 355 | //myMaze->moveFoward(); |
| salco | 38:57d5f36a0333 | 356 | break; |
| salco | 38:57d5f36a0333 | 357 | case LEFT: |
| salco | 38:57d5f36a0333 | 358 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT"); |
| salco | 38:57d5f36a0333 | 359 | myMaze->setDirection(LEFT); |
| salco | 38:57d5f36a0333 | 360 | //myMaze->moveFoward(); |
| salco | 38:57d5f36a0333 | 361 | break; |
| salco | 38:57d5f36a0333 | 362 | case RIGHT: |
| salco | 38:57d5f36a0333 | 363 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT"); |
| salco | 38:57d5f36a0333 | 364 | myMaze->setDirection(RIGHT); |
| salco | 38:57d5f36a0333 | 365 | //myMaze->moveFoward(); |
| salco | 38:57d5f36a0333 | 366 | break; |
| salco | 38:57d5f36a0333 | 367 | default://aucun autre chemin |
| salco | 38:57d5f36a0333 | 368 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne completement "); |
| salco | 38:57d5f36a0333 | 369 | if(myMaze->getDirection() %2) |
| salco | 38:57d5f36a0333 | 370 | myMaze->setDirection(myMaze->getDirection()+1); |
| salco | 38:57d5f36a0333 | 371 | else |
| salco | 38:57d5f36a0333 | 372 | myMaze->setDirection(myMaze->getDirection()-1); |
| salco | 38:57d5f36a0333 | 373 | |
| salco | 38:57d5f36a0333 | 374 | //myMaze->moveFoward(); |
| salco | 38:57d5f36a0333 | 375 | break; |
| salco | 38:57d5f36a0333 | 376 | } |
| salco | 38:57d5f36a0333 | 377 | myMaze->setMyPos(Labyrinthe::explorer); |
| salco | 31:ed23647fd16e | 378 | break; |
| salco | 31:ed23647fd16e | 379 | |
| salco | 38:57d5f36a0333 | 380 | case Labyrinthe::pasExplorer ://pas sur |
| salco | 38:57d5f36a0333 | 381 | debug(DEBUG_DIRECTIVE_TEST," pasExplorer"); |
| salco | 37:f53e9f7a14df | 382 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
| salco | 31:ed23647fd16e | 383 | addTableauDeCommande(6); |
| salco | 37:f53e9f7a14df | 384 | #endif |
| salco | 31:ed23647fd16e | 385 | break; |
| salco | 28:ac5c6350ed9a | 386 | } |
| salco | 38:57d5f36a0333 | 387 | #ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL |
| salco | 38:57d5f36a0333 | 388 | string mymap = myMaze->showMap(); |
| salco | 38:57d5f36a0333 | 389 | //char caseCaract = 0; |
| salco | 38:57d5f36a0333 | 390 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 38:57d5f36a0333 | 391 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); |
| salco | 38:57d5f36a0333 | 392 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 38:57d5f36a0333 | 393 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); |
| salco | 38:57d5f36a0333 | 394 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 38:57d5f36a0333 | 395 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); |
| salco | 38:57d5f36a0333 | 396 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 38:57d5f36a0333 | 397 | #endif |
| salco | 37:f53e9f7a14df | 398 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
| salco | 28:ac5c6350ed9a | 399 | /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis |
| salco | 28:ac5c6350ed9a | 400 | { |
| salco | 28:ac5c6350ed9a | 401 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); |
| salco | 28:ac5c6350ed9a | 402 | addTableauDeCommande(6); |
| salco | 31:ed23647fd16e | 403 | } |
| salco | 28:ac5c6350ed9a | 404 | else if(ultrasonicToInch(m_valueCapteurUltrasonic) < 10) { //plus proche que 10pouce |
| salco | 28:ac5c6350ed9a | 405 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche"); |
| salco | 28:ac5c6350ed9a | 406 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 10) { |
| salco | 28:ac5c6350ed9a | 407 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
| salco | 28:ac5c6350ed9a | 408 | addTableauDeCommande(7); |
| salco | 28:ac5c6350ed9a | 409 | |
| salco | 19:0ac80045ba4c | 410 | |
| salco | 28:ac5c6350ed9a | 411 | //ici potentielle scaning |
| salco | 28:ac5c6350ed9a | 412 | } else { |
| salco | 28:ac5c6350ed9a | 413 | addTableauDeCommande(4); |
| salco | 28:ac5c6350ed9a | 414 | addTableauDeCommande(4); |
| salco | 28:ac5c6350ed9a | 415 | addTableauDeCommande(4); |
| salco | 28:ac5c6350ed9a | 416 | } |
| salco | 28:ac5c6350ed9a | 417 | } else { |
| salco | 28:ac5c6350ed9a | 418 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Nothing:"); |
| salco | 28:ac5c6350ed9a | 419 | addTableauDeCommande(6); |
| salco | 31:ed23647fd16e | 420 | |
| salco | 31:ed23647fd16e | 421 | |
| salco | 28:ac5c6350ed9a | 422 | int randomNbr = rand() % 4; |
| salco | 28:ac5c6350ed9a | 423 | switch(randomNbr) |
| salco | 28:ac5c6350ed9a | 424 | { |
| salco | 28:ac5c6350ed9a | 425 | case 1: |
| salco | 28:ac5c6350ed9a | 426 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
| salco | 28:ac5c6350ed9a | 427 | addTableauDeCommande(6); |
| salco | 28:ac5c6350ed9a | 428 | break; |
| salco | 28:ac5c6350ed9a | 429 | case 2: |
| salco | 28:ac5c6350ed9a | 430 | debug(DEBUG_DIRECTIVE_TEST," Je tourne a gauche"); |
| salco | 28:ac5c6350ed9a | 431 | addTableauDeCommande(4); |
| salco | 28:ac5c6350ed9a | 432 | break; |
| salco | 28:ac5c6350ed9a | 433 | case 3: |
| salco | 28:ac5c6350ed9a | 434 | debug(DEBUG_DIRECTIVE_TEST," Je tourne a droite"); |
| salco | 28:ac5c6350ed9a | 435 | addTableauDeCommande(5); |
| salco | 28:ac5c6350ed9a | 436 | break; |
| salco | 28:ac5c6350ed9a | 437 | default: |
| salco | 28:ac5c6350ed9a | 438 | debug(DEBUG_DIRECTIVE_TEST," Jattend"); |
| salco | 28:ac5c6350ed9a | 439 | break; |
| salco | 28:ac5c6350ed9a | 440 | } |
| salco | 31:ed23647fd16e | 441 | |
| salco | 31:ed23647fd16e | 442 | |
| salco | 28:ac5c6350ed9a | 443 | //addTableauDeCommande(6); |
| salco | 28:ac5c6350ed9a | 444 | }*/ |
| salco | 37:f53e9f7a14df | 445 | |
| salco | 28:ac5c6350ed9a | 446 | /////////////// |
| salco | 28:ac5c6350ed9a | 447 | // Mouvement // |
| salco | 28:ac5c6350ed9a | 448 | /////////////// |
| salco | 37:f53e9f7a14df | 449 | } |
| salco | 37:f53e9f7a14df | 450 | else { |
| salco | 37:f53e9f7a14df | 451 | |
| salco | 28:ac5c6350ed9a | 452 | switch(tableauDeCommange[0]) { |
| salco | 28:ac5c6350ed9a | 453 | case 11: |
| salco | 28:ac5c6350ed9a | 454 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_calibre"); |
| salco | 28:ac5c6350ed9a | 455 | ctrDesPattes->calibre(); |
| salco | 28:ac5c6350ed9a | 456 | break; |
| salco | 28:ac5c6350ed9a | 457 | case 2: |
| salco | 28:ac5c6350ed9a | 458 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveUp"); |
| salco | 28:ac5c6350ed9a | 459 | ctrDesPattes->moveUp(); |
| salco | 28:ac5c6350ed9a | 460 | break; |
| salco | 28:ac5c6350ed9a | 461 | case 3: |
| salco | 28:ac5c6350ed9a | 462 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveDown"); |
| salco | 28:ac5c6350ed9a | 463 | ctrDesPattes->moveDown(); |
| salco | 28:ac5c6350ed9a | 464 | break; |
| salco | 28:ac5c6350ed9a | 465 | case 4: |
| salco | 28:ac5c6350ed9a | 466 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_turnLeft"); |
| salco | 28:ac5c6350ed9a | 467 | ctrDesPattes->turnLeft(); |
| salco | 28:ac5c6350ed9a | 468 | break; |
| salco | 28:ac5c6350ed9a | 469 | case 5: |
| salco | 28:ac5c6350ed9a | 470 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_trunRight"); |
| salco | 28:ac5c6350ed9a | 471 | ctrDesPattes->trunRight(); |
| salco | 28:ac5c6350ed9a | 472 | break; |
| salco | 28:ac5c6350ed9a | 473 | case 6: |
| salco | 28:ac5c6350ed9a | 474 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveFront"); |
| salco | 28:ac5c6350ed9a | 475 | ctrDesPattes->moveFront(); |
| salco | 28:ac5c6350ed9a | 476 | break; |
| salco | 28:ac5c6350ed9a | 477 | case 7: |
| salco | 28:ac5c6350ed9a | 478 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveBack"); |
| salco | 28:ac5c6350ed9a | 479 | ctrDesPattes->moveBack(); |
| salco | 28:ac5c6350ed9a | 480 | break; |
| salco | 28:ac5c6350ed9a | 481 | /*case 8: |
| salco | 28:ac5c6350ed9a | 482 | ctrDesPattes->moveBack(); |
| salco | 28:ac5c6350ed9a | 483 | break;*/ |
| salco | 28:ac5c6350ed9a | 484 | case 0x81: |
| salco | 28:ac5c6350ed9a | 485 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 1"); |
| salco | 28:ac5c6350ed9a | 486 | ctrDesPattes->repositioner(1); |
| salco | 28:ac5c6350ed9a | 487 | break; |
| salco | 28:ac5c6350ed9a | 488 | case 0x82: |
| salco | 28:ac5c6350ed9a | 489 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 2"); |
| salco | 28:ac5c6350ed9a | 490 | ctrDesPattes->repositioner(2); |
| salco | 28:ac5c6350ed9a | 491 | break; |
| salco | 28:ac5c6350ed9a | 492 | case 0x83: |
| salco | 28:ac5c6350ed9a | 493 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 3"); |
| salco | 28:ac5c6350ed9a | 494 | ctrDesPattes->repositioner(3); |
| salco | 28:ac5c6350ed9a | 495 | break; |
| salco | 28:ac5c6350ed9a | 496 | case 0x84: |
| salco | 28:ac5c6350ed9a | 497 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 4"); |
| salco | 28:ac5c6350ed9a | 498 | ctrDesPattes->repositioner(4); |
| salco | 28:ac5c6350ed9a | 499 | break; |
| salco | 28:ac5c6350ed9a | 500 | case 0x85: |
| salco | 28:ac5c6350ed9a | 501 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 5"); |
| salco | 28:ac5c6350ed9a | 502 | ctrDesPattes->repositioner(5); |
| salco | 28:ac5c6350ed9a | 503 | break; |
| salco | 28:ac5c6350ed9a | 504 | case 0x86: |
| salco | 28:ac5c6350ed9a | 505 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 6"); |
| salco | 28:ac5c6350ed9a | 506 | ctrDesPattes->repositioner(6); |
| salco | 28:ac5c6350ed9a | 507 | break; |
| salco | 28:ac5c6350ed9a | 508 | case 0x87: |
| salco | 28:ac5c6350ed9a | 509 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 7"); |
| salco | 28:ac5c6350ed9a | 510 | ctrDesPattes->repositioner(7); |
| salco | 28:ac5c6350ed9a | 511 | break; |
| salco | 28:ac5c6350ed9a | 512 | case 0x88: |
| salco | 28:ac5c6350ed9a | 513 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 8"); |
| salco | 28:ac5c6350ed9a | 514 | ctrDesPattes->repositioner(8); |
| salco | 28:ac5c6350ed9a | 515 | break; |
| salco | 28:ac5c6350ed9a | 516 | } |
| salco | 28:ac5c6350ed9a | 517 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -TAB:"); |
| salco | 28:ac5c6350ed9a | 518 | for(int i =0; i<10; i++) debug(DEBUG_DIRECTIVE_TEST,"[%02x]",tableauDeCommange[i]); |
| salco | 28:ac5c6350ed9a | 519 | for(int i =0; i<9; i++)tableauDeCommange[i]= tableauDeCommange[i+1]; |
| salco | 28:ac5c6350ed9a | 520 | tableauDeCommange[9]=0; |
| salco | 28:ac5c6350ed9a | 521 | if(size_tableauDeCommange != 0) size_tableauDeCommange--; |
| salco | 28:ac5c6350ed9a | 522 | } |
| salco | 37:f53e9f7a14df | 523 | |
| salco | 37:f53e9f7a14df | 524 | } else { |
| salco | 28:ac5c6350ed9a | 525 | ctrDesPattes->exec(); |
| salco | 28:ac5c6350ed9a | 526 | } |
| salco | 37:f53e9f7a14df | 527 | #endif //DEBUG_DIRECTIVE_LEG_DISABLE |
| salco | 28:ac5c6350ed9a | 528 | //////////////////// |
| salco | 28:ac5c6350ed9a | 529 | // Update memoire // |
| salco | 28:ac5c6350ed9a | 530 | //////////////////// |
| salco | 28:ac5c6350ed9a | 531 | |
| salco | 28:ac5c6350ed9a | 532 | //////////// |
| salco | 28:ac5c6350ed9a | 533 | // Autre? // |
| salco | 28:ac5c6350ed9a | 534 | //////////// |
| salco | 28:ac5c6350ed9a | 535 | |
| salco | 28:ac5c6350ed9a | 536 | |
| salco | 28:ac5c6350ed9a | 537 | //debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive"); |
| salco | 37:f53e9f7a14df | 538 | #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE |
| salco | 37:f53e9f7a14df | 539 | #ifdef DBG_MAIN_DELAY_SEC |
| salco | 37:f53e9f7a14df | 540 | debug("\n\r\n wait \n\r\n"); |
| salco | 37:f53e9f7a14df | 541 | wait(DBG_MAIN_DELAY_SEC); |
| salco | 37:f53e9f7a14df | 542 | #endif |
| salco | 38:57d5f36a0333 | 543 | debug("\n\r---------------------"); |
| salco | 37:f53e9f7a14df | 544 | #endif |
| salco | 28:ac5c6350ed9a | 545 | } |
| salco | 28:ac5c6350ed9a | 546 | double Directive::IRToCm (double miliVolt) |
| salco | 28:ac5c6350ed9a | 547 | { |
| salco | 28:ac5c6350ed9a | 548 | double result=0; |
| salco | 28:ac5c6350ed9a | 549 | |
| salco | 28:ac5c6350ed9a | 550 | if(miliVolt < tabIR[0][1])result = tabIR[0][0]; |
| salco | 28:ac5c6350ed9a | 551 | else if(miliVolt > tabIR[11][1])result = tabIR[11][0]; |
| salco | 28:ac5c6350ed9a | 552 | |
| salco | 28:ac5c6350ed9a | 553 | for(int i =1; (result==0)&&(i<12); i++) { |
| salco | 28:ac5c6350ed9a | 554 | if((tabIR[i-1][1]<=miliVolt) && (tabIR[i][1]>miliVolt)) { |
| salco | 28:ac5c6350ed9a | 555 | 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 | 556 | } |
| salco | 28:ac5c6350ed9a | 557 | } |
| salco | 28:ac5c6350ed9a | 558 | return result; |
| salco | 28:ac5c6350ed9a | 559 | } |
| salco | 28:ac5c6350ed9a | 560 | void Directive::addTableauDeCommande(unsigned char value) |
| salco | 28:ac5c6350ed9a | 561 | { |
| salco | 28:ac5c6350ed9a | 562 | if(size_tableauDeCommange!=10) { |
| salco | 28:ac5c6350ed9a | 563 | tableauDeCommange[size_tableauDeCommange]=value; |
| salco | 28:ac5c6350ed9a | 564 | size_tableauDeCommange++; |
| salco | 28:ac5c6350ed9a | 565 | |
| salco | 28:ac5c6350ed9a | 566 | } |
| salco | 28:ac5c6350ed9a | 567 | } |
| salco | 28:ac5c6350ed9a | 568 | |
| salco | 28:ac5c6350ed9a | 569 | void Directive::updateModuleValue(void) |
| salco | 28:ac5c6350ed9a | 570 | { |
| salco | 28:ac5c6350ed9a | 571 | string flag,data; |
| salco | 28:ac5c6350ed9a | 572 | flag.clear(); |
| salco | 28:ac5c6350ed9a | 573 | data.clear(); |
| salco | 28:ac5c6350ed9a | 574 | flag.append(1,7); |
| salco | 28:ac5c6350ed9a | 575 | if(m_CtrlBridge->send(m_capteurUltrasonic[0],flag,data)) |
| salco | 28:ac5c6350ed9a | 576 | m_valueCapteurUltrasonic = data[0]; |
| salco | 28:ac5c6350ed9a | 577 | |
| salco | 28:ac5c6350ed9a | 578 | |
| salco | 28:ac5c6350ed9a | 579 | flag.clear(); |
| salco | 28:ac5c6350ed9a | 580 | data.clear(); |
| salco | 28:ac5c6350ed9a | 581 | flag.append(1,7); |
| salco | 28:ac5c6350ed9a | 582 | if(m_CtrlBridge->send(m_capteurIR[0],flag,data)) { |
| salco | 28:ac5c6350ed9a | 583 | if(data.size() == 2) { |
| salco | 28:ac5c6350ed9a | 584 | m_valueCapteurIR = data[0]; |
| salco | 28:ac5c6350ed9a | 585 | m_valueCapteurIR = (m_valueCapteurIR<<8) + data[1]; |
| salco | 28:ac5c6350ed9a | 586 | } else |
| salco | 28:ac5c6350ed9a | 587 | m_valueCapteurIR = data[0]; |
| salco | 28:ac5c6350ed9a | 588 | } |
| salco | 28:ac5c6350ed9a | 589 | |
| salco | 28:ac5c6350ed9a | 590 | flag.clear(); |
| salco | 28:ac5c6350ed9a | 591 | data.clear(); |
| salco | 28:ac5c6350ed9a | 592 | flag.append(1,7); |
| salco | 28:ac5c6350ed9a | 593 | if(m_CtrlBridge->send(m_capteurProximiter[0],flag,data)) |
| salco | 28:ac5c6350ed9a | 594 | m_valueCapteurProximiter = data[0]; |
| salco | 28:ac5c6350ed9a | 595 | } |
| salco | 28:ac5c6350ed9a | 596 | |
| salco | 28:ac5c6350ed9a | 597 | void Directive::analiseMaze(void) |
| salco | 28:ac5c6350ed9a | 598 | { |
| salco | 28:ac5c6350ed9a | 599 | char areaLatt =0; |
| salco | 28:ac5c6350ed9a | 600 | char areaVert =0; |
| salco | 28:ac5c6350ed9a | 601 | string mymap = myMaze->showMap(); |
| salco | 38:57d5f36a0333 | 602 | 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 | 603 | |
| salco | 37:f53e9f7a14df | 604 | debug("Direction: "); |
| salco | 37:f53e9f7a14df | 605 | switch(myMaze->getDirection()) { |
| salco | 37:f53e9f7a14df | 606 | case UP: |
| salco | 37:f53e9f7a14df | 607 | debug(DEBUG_DIRECTIVE_LABYRINTH,"Up \n\r"); |
| salco | 37:f53e9f7a14df | 608 | break; |
| salco | 37:f53e9f7a14df | 609 | case DOWN: |
| salco | 37:f53e9f7a14df | 610 | debug(DEBUG_DIRECTIVE_LABYRINTH,"Down \n\r"); |
| salco | 37:f53e9f7a14df | 611 | break; |
| salco | 37:f53e9f7a14df | 612 | case LEFT: |
| salco | 37:f53e9f7a14df | 613 | debug(DEBUG_DIRECTIVE_LABYRINTH,"Left \n\r"); |
| salco | 37:f53e9f7a14df | 614 | break; |
| salco | 37:f53e9f7a14df | 615 | case RIGHT: |
| salco | 37:f53e9f7a14df | 616 | debug(DEBUG_DIRECTIVE_LABYRINTH,"Right \n\r"); |
| salco | 37:f53e9f7a14df | 617 | break; |
| salco | 37:f53e9f7a14df | 618 | } |
| salco | 37:f53e9f7a14df | 619 | |
| salco | 38:57d5f36a0333 | 620 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); |
| salco | 28:ac5c6350ed9a | 621 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 38:57d5f36a0333 | 622 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); |
| salco | 28:ac5c6350ed9a | 623 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 38:57d5f36a0333 | 624 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); |
| salco | 28:ac5c6350ed9a | 625 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 31:ed23647fd16e | 626 | |
| salco | 31:ed23647fd16e | 627 | |
| salco | 37:f53e9f7a14df | 628 | #ifndef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL |
| salco | 31:ed23647fd16e | 629 | if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) { //capteur ultrasson embrouiller/imprecis |
| salco | 31:ed23647fd16e | 630 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); |
| salco | 31:ed23647fd16e | 631 | //addTableauDeCommande(6); |
| salco | 31:ed23647fd16e | 632 | } else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24) { //plus proche que 10pouce |
| salco | 31:ed23647fd16e | 633 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); |
| salco | 31:ed23647fd16e | 634 | areaLatt =2; |
| salco | 31:ed23647fd16e | 635 | areaVert =2; |
| salco | 31:ed23647fd16e | 636 | } else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12) { //plus proche que 10pouce |
| salco | 31:ed23647fd16e | 637 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); |
| salco | 31:ed23647fd16e | 638 | areaLatt =1; |
| salco | 31:ed23647fd16e | 639 | areaVert =1; |
| salco | 31:ed23647fd16e | 640 | } |
| salco | 37:f53e9f7a14df | 641 | debug(DEBUG_DIRECTIVE_TEST,": %i",ultrasonicToInch(m_valueCapteurUltrasonic)); |
| salco | 37:f53e9f7a14df | 642 | |
| salco | 31:ed23647fd16e | 643 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) { |
| salco | 31:ed23647fd16e | 644 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
| salco | 31:ed23647fd16e | 645 | areaVert =2; |
| salco | 31:ed23647fd16e | 646 | } else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30) { |
| salco | 31:ed23647fd16e | 647 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
| salco | 31:ed23647fd16e | 648 | areaVert =1; |
| salco | 31:ed23647fd16e | 649 | } |
| salco | 37:f53e9f7a14df | 650 | debug(DEBUG_DIRECTIVE_TEST,": %i",IRToCm(ADCTomv(m_valueCapteurIR)); |
| salco | 37:f53e9f7a14df | 651 | #endif |
| salco | 31:ed23647fd16e | 652 | |
| salco | 37:f53e9f7a14df | 653 | #ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL |
| salco | 37:f53e9f7a14df | 654 | debug("\n\r---analise maze(manualy CTRL)---\n\r"); |
| salco | 37:f53e9f7a14df | 655 | int idCommand = -1; |
| salco | 37:f53e9f7a14df | 656 | do{ |
| salco | 37:f53e9f7a14df | 657 | debug("\n\r Enter areaVert [0,1,2]: "); idCommand = fgetc(pc) - '0'; |
| salco | 37:f53e9f7a14df | 658 | debug(" %i",idCommand); |
| salco | 37:f53e9f7a14df | 659 | }while((idCommand < 0) && (idCommand > 2)); |
| salco | 37:f53e9f7a14df | 660 | areaVert = idCommand; |
| salco | 37:f53e9f7a14df | 661 | |
| salco | 37:f53e9f7a14df | 662 | do{ |
| salco | 37:f53e9f7a14df | 663 | debug("\n\r Enter areaLatt [0,1,2]: "); idCommand = fgetc(pc) - '0'; |
| salco | 37:f53e9f7a14df | 664 | debug(" %i",idCommand); |
| salco | 37:f53e9f7a14df | 665 | }while((idCommand < 0) && (idCommand > 2)); |
| salco | 37:f53e9f7a14df | 666 | areaLatt = idCommand; |
| salco | 31:ed23647fd16e | 667 | |
| salco | 37:f53e9f7a14df | 668 | debug("\n\r"); |
| salco | 37:f53e9f7a14df | 669 | #endif |
| salco | 37:f53e9f7a14df | 670 | //changer lalgoritme ici |
| salco | 37:f53e9f7a14df | 671 | |
| salco | 37:f53e9f7a14df | 672 | /* |
| salco | 37:f53e9f7a14df | 673 | /---\ |
| salco | 37:f53e9f7a14df | 674 | |?M?| //vert 0 |
| salco | 37:f53e9f7a14df | 675 | |.X.| //latt 0 |
| salco | 37:f53e9f7a14df | 676 | |...| |
| salco | 37:f53e9f7a14df | 677 | \---/ |
| salco | 31:ed23647fd16e | 678 | |
| salco | 37:f53e9f7a14df | 679 | /-M-\ |
| salco | 37:f53e9f7a14df | 680 | |?V?| //vert 1 |
| salco | 37:f53e9f7a14df | 681 | |.X.| //latt 0 |
| salco | 37:f53e9f7a14df | 682 | |...| |
| salco | 37:f53e9f7a14df | 683 | \---/ |
| salco | 37:f53e9f7a14df | 684 | |
| salco | 37:f53e9f7a14df | 685 | /?M?\ |
| salco | 37:f53e9f7a14df | 686 | |VVV| //vert 1 |
| salco | 37:f53e9f7a14df | 687 | |.X.| //latt 1 |
| salco | 37:f53e9f7a14df | 688 | |...| // objet possiblement a proximiter |
| salco | 37:f53e9f7a14df | 689 | \---/ |
| salco | 31:ed23647fd16e | 690 | |
| salco | 37:f53e9f7a14df | 691 | /?M?\ |
| salco | 37:f53e9f7a14df | 692 | |VVV| //vert 1 |
| salco | 37:f53e9f7a14df | 693 | |.X.| //latt 2 |
| salco | 37:f53e9f7a14df | 694 | |...| // cas impossible |
| salco | 37:f53e9f7a14df | 695 | \---/ |
| salco | 31:ed23647fd16e | 696 | |
| salco | 37:f53e9f7a14df | 697 | /?V?\ |
| salco | 37:f53e9f7a14df | 698 | |?V?| //vert 2 |
| salco | 37:f53e9f7a14df | 699 | |.X.| //latt 0 |
| salco | 37:f53e9f7a14df | 700 | |...| // objet possiblement a proximiter |
| salco | 37:f53e9f7a14df | 701 | \---/ |
| salco | 37:f53e9f7a14df | 702 | |
| salco | 37:f53e9f7a14df | 703 | /?V?\ |
| salco | 37:f53e9f7a14df | 704 | |VVV| //vert 2 |
| salco | 37:f53e9f7a14df | 705 | |.X.| //latt 1 |
| salco | 37:f53e9f7a14df | 706 | |...| // objet possiblement a proximiter |
| salco | 37:f53e9f7a14df | 707 | \---/ |
| salco | 31:ed23647fd16e | 708 | |
| salco | 37:f53e9f7a14df | 709 | /VVV\ |
| salco | 37:f53e9f7a14df | 710 | |VVV| //vert 2 |
| salco | 37:f53e9f7a14df | 711 | |.X.| //latt 2 |
| salco | 37:f53e9f7a14df | 712 | |...| |
| salco | 37:f53e9f7a14df | 713 | \---/ |
| salco | 37:f53e9f7a14df | 714 | */ |
| salco | 37:f53e9f7a14df | 715 | //vertical==0 latt==0 //mur devant |
| salco | 37:f53e9f7a14df | 716 | //vertical==1 latt==1 |
| salco | 37:f53e9f7a14df | 717 | //////////////////////////////////// |
| salco | 37:f53e9f7a14df | 718 | //345 415 |
| salco | 37:f53e9f7a14df | 719 | //012 203| numerotation des case |
| salco | 37:f53e9f7a14df | 720 | /////////////////////////////////// |
| salco | 37:f53e9f7a14df | 721 | signed char fieldX[6]={0,0,0,0,0,0}; |
| salco | 37:f53e9f7a14df | 722 | signed char fieldY[6]={0,0,0,0,0,0}; |
| salco | 37:f53e9f7a14df | 723 | bool fieldSet = false; |
| salco | 31:ed23647fd16e | 724 | |
| salco | 37:f53e9f7a14df | 725 | switch(myMaze->getDirection()) |
| salco | 37:f53e9f7a14df | 726 | { |
| salco | 37:f53e9f7a14df | 727 | case UP: |
| salco | 37:f53e9f7a14df | 728 | fieldX[0] = myMaze->getX()-1; |
| salco | 37:f53e9f7a14df | 729 | fieldY[0] = myMaze->getY()+1; |
| salco | 37:f53e9f7a14df | 730 | fieldX[1] = myMaze->getX(); |
| salco | 37:f53e9f7a14df | 731 | fieldY[1] = myMaze->getY()+1; |
| salco | 37:f53e9f7a14df | 732 | fieldX[2] = myMaze->getX()+1; |
| salco | 37:f53e9f7a14df | 733 | fieldY[2] = myMaze->getY()+1; |
| salco | 37:f53e9f7a14df | 734 | fieldX[3] = myMaze->getX()-1; |
| salco | 37:f53e9f7a14df | 735 | fieldY[3] = myMaze->getY()+2; |
| salco | 37:f53e9f7a14df | 736 | fieldX[4] = myMaze->getX(); |
| salco | 37:f53e9f7a14df | 737 | fieldY[4] = myMaze->getY()+2; |
| salco | 37:f53e9f7a14df | 738 | fieldX[5] = myMaze->getX()+1; |
| salco | 37:f53e9f7a14df | 739 | fieldY[5] = myMaze->getY()+2; |
| salco | 37:f53e9f7a14df | 740 | break; |
| salco | 37:f53e9f7a14df | 741 | |
| salco | 37:f53e9f7a14df | 742 | case DOWN: |
| salco | 37:f53e9f7a14df | 743 | fieldX[0] = myMaze->getX()-1; |
| salco | 37:f53e9f7a14df | 744 | fieldY[0] = myMaze->getY()-1; |
| salco | 37:f53e9f7a14df | 745 | fieldX[1] = myMaze->getX(); |
| salco | 37:f53e9f7a14df | 746 | fieldY[1] = myMaze->getY()-1; |
| salco | 37:f53e9f7a14df | 747 | fieldX[2] = myMaze->getX()+1; |
| salco | 37:f53e9f7a14df | 748 | fieldY[2] = myMaze->getY()-1; |
| salco | 37:f53e9f7a14df | 749 | fieldX[3] = myMaze->getX()-1; |
| salco | 37:f53e9f7a14df | 750 | fieldY[3] = myMaze->getY()-2; |
| salco | 37:f53e9f7a14df | 751 | fieldX[4] = myMaze->getX(); |
| salco | 37:f53e9f7a14df | 752 | fieldY[4] = myMaze->getY()-2; |
| salco | 37:f53e9f7a14df | 753 | fieldX[5] = myMaze->getX()+1; |
| salco | 37:f53e9f7a14df | 754 | fieldY[5] = myMaze->getY()-2; |
| salco | 37:f53e9f7a14df | 755 | break; |
| salco | 37:f53e9f7a14df | 756 | |
| salco | 37:f53e9f7a14df | 757 | case LEFT: |
| salco | 37:f53e9f7a14df | 758 | fieldX[0] = myMaze->getX()-1; |
| salco | 37:f53e9f7a14df | 759 | fieldY[0] = myMaze->getY()-1; |
| salco | 37:f53e9f7a14df | 760 | fieldX[1] = myMaze->getX()-1; |
| salco | 37:f53e9f7a14df | 761 | fieldY[1] = myMaze->getY(); |
| salco | 37:f53e9f7a14df | 762 | fieldX[2] = myMaze->getX()-1; |
| salco | 37:f53e9f7a14df | 763 | fieldY[2] = myMaze->getY()+1; |
| salco | 37:f53e9f7a14df | 764 | fieldX[3] = myMaze->getX()-2; |
| salco | 37:f53e9f7a14df | 765 | fieldY[3] = myMaze->getY()-1; |
| salco | 37:f53e9f7a14df | 766 | fieldX[4] = myMaze->getX()-2; |
| salco | 37:f53e9f7a14df | 767 | fieldY[4] = myMaze->getY(); |
| salco | 37:f53e9f7a14df | 768 | fieldX[5] = myMaze->getX()-2; |
| salco | 37:f53e9f7a14df | 769 | fieldY[5] = myMaze->getY()+1; |
| salco | 37:f53e9f7a14df | 770 | break; |
| salco | 37:f53e9f7a14df | 771 | |
| salco | 37:f53e9f7a14df | 772 | case RIGHT: |
| salco | 37:f53e9f7a14df | 773 | fieldX[0] = myMaze->getX()+1; |
| salco | 37:f53e9f7a14df | 774 | fieldY[0] = myMaze->getY()-1; |
| salco | 37:f53e9f7a14df | 775 | fieldX[1] = myMaze->getX()+1; |
| salco | 37:f53e9f7a14df | 776 | fieldY[1] = myMaze->getY(); |
| salco | 37:f53e9f7a14df | 777 | fieldX[2] = myMaze->getX()+1; |
| salco | 37:f53e9f7a14df | 778 | fieldY[2] = myMaze->getY()+1; |
| salco | 37:f53e9f7a14df | 779 | fieldX[3] = myMaze->getX()+2; |
| salco | 37:f53e9f7a14df | 780 | fieldY[3] = myMaze->getY()-1; |
| salco | 37:f53e9f7a14df | 781 | fieldX[4] = myMaze->getX()+2; |
| salco | 37:f53e9f7a14df | 782 | fieldY[4] = myMaze->getY(); |
| salco | 37:f53e9f7a14df | 783 | fieldX[5] = myMaze->getX()+2; |
| salco | 37:f53e9f7a14df | 784 | fieldY[5] = myMaze->getY()+1; |
| salco | 37:f53e9f7a14df | 785 | break; |
| salco | 37:f53e9f7a14df | 786 | } |
| salco | 37:f53e9f7a14df | 787 | if(areaVert >= areaLatt) |
| salco | 37:f53e9f7a14df | 788 | { |
| salco | 37:f53e9f7a14df | 789 | switch(areaVert) |
| salco | 37:f53e9f7a14df | 790 | { |
| salco | 37:f53e9f7a14df | 791 | case 0: |
| salco | 37:f53e9f7a14df | 792 | /* |
| salco | 37:f53e9f7a14df | 793 | /---\ |
| salco | 37:f53e9f7a14df | 794 | |?M?| //vert 0 |
| salco | 37:f53e9f7a14df | 795 | |.X.| //latt 0 |
| salco | 37:f53e9f7a14df | 796 | |...| |
| salco | 37:f53e9f7a14df | 797 | \---/ |
| salco | 37:f53e9f7a14df | 798 | */ |
| salco | 37:f53e9f7a14df | 799 | myMaze->setC(Labyrinthe::mur,fieldX[1],fieldY[1]); |
| salco | 37:f53e9f7a14df | 800 | fieldSet = true; |
| salco | 28:ac5c6350ed9a | 801 | break; |
| salco | 37:f53e9f7a14df | 802 | case 1: |
| salco | 37:f53e9f7a14df | 803 | /* |
| salco | 37:f53e9f7a14df | 804 | /-M-\ |
| salco | 37:f53e9f7a14df | 805 | |?V?| //vert 1 |
| salco | 37:f53e9f7a14df | 806 | |.X.| //latt 0 |
| salco | 37:f53e9f7a14df | 807 | |...| |
| salco | 37:f53e9f7a14df | 808 | \---/ |
| salco | 37:f53e9f7a14df | 809 | */ |
| salco | 37:f53e9f7a14df | 810 | myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]); |
| salco | 37:f53e9f7a14df | 811 | myMaze->setC(Labyrinthe::mur,fieldX[4],fieldY[4]); |
| salco | 37:f53e9f7a14df | 812 | fieldSet = true; |
| salco | 37:f53e9f7a14df | 813 | |
| salco | 37:f53e9f7a14df | 814 | if(areaLatt == 1) |
| salco | 37:f53e9f7a14df | 815 | { |
| salco | 37:f53e9f7a14df | 816 | /* |
| salco | 37:f53e9f7a14df | 817 | /?M?\ |
| salco | 37:f53e9f7a14df | 818 | |VVV| //vert 1 |
| salco | 37:f53e9f7a14df | 819 | |.X.| //latt 1 |
| salco | 37:f53e9f7a14df | 820 | |...| // objet possiblement a proximiter |
| salco | 37:f53e9f7a14df | 821 | \---/ |
| salco | 37:f53e9f7a14df | 822 | */ |
| salco | 37:f53e9f7a14df | 823 | myMaze->setC(Labyrinthe::vide,fieldX[0],fieldY[0]); |
| salco | 37:f53e9f7a14df | 824 | myMaze->setC(Labyrinthe::vide,fieldX[2],fieldY[2]); |
| salco | 28:ac5c6350ed9a | 825 | } |
| salco | 28:ac5c6350ed9a | 826 | break; |
| salco | 37:f53e9f7a14df | 827 | case 2: |
| salco | 37:f53e9f7a14df | 828 | fieldSet = true; |
| salco | 37:f53e9f7a14df | 829 | switch(areaLatt) |
| salco | 37:f53e9f7a14df | 830 | { |
| salco | 37:f53e9f7a14df | 831 | case 0: |
| salco | 37:f53e9f7a14df | 832 | /* |
| salco | 37:f53e9f7a14df | 833 | /?V?\ |
| salco | 37:f53e9f7a14df | 834 | |?V?| //vert 2 |
| salco | 37:f53e9f7a14df | 835 | |.X.| //latt 0 |
| salco | 37:f53e9f7a14df | 836 | |...| // objet possiblement a proximiter |
| salco | 37:f53e9f7a14df | 837 | \---/ |
| salco | 37:f53e9f7a14df | 838 | */ |
| salco | 37:f53e9f7a14df | 839 | myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]); |
| salco | 37:f53e9f7a14df | 840 | myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]); |
| salco | 37:f53e9f7a14df | 841 | break; |
| salco | 37:f53e9f7a14df | 842 | case 1: |
| salco | 37:f53e9f7a14df | 843 | /* |
| salco | 37:f53e9f7a14df | 844 | /?V?\ |
| salco | 37:f53e9f7a14df | 845 | |VVV| //vert 2 |
| salco | 37:f53e9f7a14df | 846 | |.X.| //latt 1 |
| salco | 37:f53e9f7a14df | 847 | |...| // objet possiblement a proximiter |
| salco | 37:f53e9f7a14df | 848 | \---/ |
| salco | 37:f53e9f7a14df | 849 | */ |
| salco | 37:f53e9f7a14df | 850 | for(int i = 0;i<3;i++)myMaze->setC(Labyrinthe::vide,fieldX[i],fieldY[i]); |
| salco | 37:f53e9f7a14df | 851 | myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]); |
| salco | 37:f53e9f7a14df | 852 | break; |
| salco | 37:f53e9f7a14df | 853 | case 2: |
| salco | 37:f53e9f7a14df | 854 | /* |
| salco | 37:f53e9f7a14df | 855 | /VVV\ |
| salco | 37:f53e9f7a14df | 856 | |VVV| //vert 2 |
| salco | 37:f53e9f7a14df | 857 | |.X.| //latt 2 |
| salco | 37:f53e9f7a14df | 858 | |...| |
| salco | 37:f53e9f7a14df | 859 | \---/ |
| salco | 37:f53e9f7a14df | 860 | */ |
| salco | 37:f53e9f7a14df | 861 | for(int i = 0;i<6;i++)myMaze->setC( Labyrinthe::vide,fieldX[i],fieldY[i]); |
| salco | 37:f53e9f7a14df | 862 | break; |
| salco | 37:f53e9f7a14df | 863 | } |
| salco | 28:ac5c6350ed9a | 864 | break; |
| salco | 37:f53e9f7a14df | 865 | } |
| salco | 37:f53e9f7a14df | 866 | } |
| salco | 37:f53e9f7a14df | 867 | |
| salco | 37:f53e9f7a14df | 868 | if(fieldSet == false)// on a un cas impossible |
| salco | 37:f53e9f7a14df | 869 | { |
| salco | 38:57d5f36a0333 | 870 | //myMaze->setC(Labyrinthe::error,fieldX[1],fieldY[1]); |
| salco | 37:f53e9f7a14df | 871 | } |
| salco | 31:ed23647fd16e | 872 | |
| salco | 37:f53e9f7a14df | 873 | //////////////////////////////////// |
| salco | 31:ed23647fd16e | 874 | |
| salco | 31:ed23647fd16e | 875 | |
| salco | 37:f53e9f7a14df | 876 | #ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL |
| salco | 37:f53e9f7a14df | 877 | mymap = myMaze->showMap(); |
| salco | 38:57d5f36a0333 | 878 | //char caseCaract = 0; |
| salco | 38:57d5f36a0333 | 879 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); |
| salco | 37:f53e9f7a14df | 880 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 38:57d5f36a0333 | 881 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); |
| salco | 37:f53e9f7a14df | 882 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 38:57d5f36a0333 | 883 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); |
| salco | 37:f53e9f7a14df | 884 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
| salco | 37:f53e9f7a14df | 885 | |
| salco | 37:f53e9f7a14df | 886 | debug("\n\r-------------------\n\r"); |
| salco | 37:f53e9f7a14df | 887 | #endif |
| salco | 38:57d5f36a0333 | 888 | } |
| salco | 38:57d5f36a0333 | 889 | |
| salco | 38:57d5f36a0333 | 890 | char Directive::checkOtherWay(char dir, bool checkExplorer) |
| salco | 38:57d5f36a0333 | 891 | { |
| salco | 38:57d5f36a0333 | 892 | char result = 0; |
| salco | 38:57d5f36a0333 | 893 | char order[3]; |
| salco | 38:57d5f36a0333 | 894 | |
| salco | 38:57d5f36a0333 | 895 | |
| salco | 38:57d5f36a0333 | 896 | |
| salco | 38:57d5f36a0333 | 897 | bool fini = false; |
| salco | 38:57d5f36a0333 | 898 | |
| salco | 38:57d5f36a0333 | 899 | switch(rand() % 6) |
| salco | 38:57d5f36a0333 | 900 | { |
| salco | 38:57d5f36a0333 | 901 | case 0://[0],[1],[2] |
| salco | 38:57d5f36a0333 | 902 | order[0] = 0; |
| salco | 38:57d5f36a0333 | 903 | order[1] = 1; |
| salco | 38:57d5f36a0333 | 904 | order[2] = 2; |
| salco | 38:57d5f36a0333 | 905 | break; |
| salco | 38:57d5f36a0333 | 906 | case 1://[0],[2],[1] |
| salco | 38:57d5f36a0333 | 907 | order[0] = 0; |
| salco | 38:57d5f36a0333 | 908 | order[1] = 2; |
| salco | 38:57d5f36a0333 | 909 | order[2] = 1; |
| salco | 38:57d5f36a0333 | 910 | break; |
| salco | 38:57d5f36a0333 | 911 | case 2://[1],[0],[2] |
| salco | 38:57d5f36a0333 | 912 | order[0] = 1; |
| salco | 38:57d5f36a0333 | 913 | order[1] = 0; |
| salco | 38:57d5f36a0333 | 914 | order[2] = 2; |
| salco | 38:57d5f36a0333 | 915 | break; |
| salco | 38:57d5f36a0333 | 916 | case 3://[2],[0],[1] |
| salco | 38:57d5f36a0333 | 917 | order[0] = 2; |
| salco | 38:57d5f36a0333 | 918 | order[1] = 0; |
| salco | 38:57d5f36a0333 | 919 | order[2] = 1; |
| salco | 38:57d5f36a0333 | 920 | break; |
| salco | 38:57d5f36a0333 | 921 | case 4://[1],[2],[0] |
| salco | 38:57d5f36a0333 | 922 | order[0] = 1; |
| salco | 38:57d5f36a0333 | 923 | order[1] = 2; |
| salco | 38:57d5f36a0333 | 924 | order[2] = 0; |
| salco | 38:57d5f36a0333 | 925 | break; |
| salco | 38:57d5f36a0333 | 926 | case 5://[2],[1],[0] |
| salco | 38:57d5f36a0333 | 927 | order[0] = 2; |
| salco | 38:57d5f36a0333 | 928 | order[1] = 1; |
| salco | 38:57d5f36a0333 | 929 | order[2] = 0; |
| salco | 38:57d5f36a0333 | 930 | break; |
| salco | 38:57d5f36a0333 | 931 | } |
| salco | 38:57d5f36a0333 | 932 | debug("\n\rresult: "); |
| salco | 38:57d5f36a0333 | 933 | for(int i=0;(i<3)&&(!fini);i++) |
| salco | 38:57d5f36a0333 | 934 | { |
| salco | 38:57d5f36a0333 | 935 | switch(order[i])// 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 | 936 | { |
| salco | 38:57d5f36a0333 | 937 | case 0: |
| salco | 38:57d5f36a0333 | 938 | result = myMaze->getC_ToLeft(); |
| salco | 38:57d5f36a0333 | 939 | debug("\n\r getC_ToLeft: %i %i ****",result,myMaze->getC_ToLeft()); |
| salco | 38:57d5f36a0333 | 940 | //if(((Labyrinthe::case_t)result != Labyrinthe::error)&&((Labyrinthe::case_t)result != Labyrinthe::mur) &&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1) ) |
| salco | 38:57d5f36a0333 | 941 | if(((Labyrinthe::case_t)result == Labyrinthe::vide)&&((Labyrinthe::case_t)result != Labyrinthe::mur) &&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1) ) |
| salco | 38:57d5f36a0333 | 942 | { |
| salco | 38:57d5f36a0333 | 943 | fini = true; |
| salco | 38:57d5f36a0333 | 944 | result = LEFT; |
| salco | 38:57d5f36a0333 | 945 | } |
| salco | 38:57d5f36a0333 | 946 | break; |
| salco | 38:57d5f36a0333 | 947 | case 1: |
| salco | 38:57d5f36a0333 | 948 | result = myMaze->getC_Backward(); |
| salco | 38:57d5f36a0333 | 949 | debug("\n\r getC_Backward: %i %i ****",result,myMaze->getC_Backward()); |
| salco | 38:57d5f36a0333 | 950 | if(((Labyrinthe::case_t)result != Labyrinthe::error)&&((Labyrinthe::case_t)result != Labyrinthe::mur)&&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1)) |
| salco | 38:57d5f36a0333 | 951 | { |
| salco | 38:57d5f36a0333 | 952 | fini = true; |
| salco | 38:57d5f36a0333 | 953 | result = DOWN; |
| salco | 38:57d5f36a0333 | 954 | } |
| salco | 38:57d5f36a0333 | 955 | break; |
| salco | 38:57d5f36a0333 | 956 | case 2: |
| salco | 38:57d5f36a0333 | 957 | result = myMaze->getC_ToRight(); |
| salco | 38:57d5f36a0333 | 958 | debug("\n\r getC_ToRight: %i %i ****",result,myMaze->getC_ToRight()); |
| salco | 38:57d5f36a0333 | 959 | if(((Labyrinthe::case_t)result != Labyrinthe::error)&&((Labyrinthe::case_t)result != Labyrinthe::mur)&&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1)) |
| salco | 38:57d5f36a0333 | 960 | { |
| salco | 38:57d5f36a0333 | 961 | fini = true; |
| salco | 38:57d5f36a0333 | 962 | result = RIGHT; |
| salco | 38:57d5f36a0333 | 963 | } |
| salco | 38:57d5f36a0333 | 964 | break; |
| salco | 38:57d5f36a0333 | 965 | } |
| salco | 38:57d5f36a0333 | 966 | } |
| salco | 38:57d5f36a0333 | 967 | |
| salco | 38:57d5f36a0333 | 968 | if(fini) |
| salco | 38:57d5f36a0333 | 969 | { |
| salco | 38:57d5f36a0333 | 970 | switch(dir) |
| salco | 38:57d5f36a0333 | 971 | { |
| salco | 38:57d5f36a0333 | 972 | /*case UP: |
| salco | 38:57d5f36a0333 | 973 | break;*/ |
| salco | 38:57d5f36a0333 | 974 | case DOWN: |
| salco | 38:57d5f36a0333 | 975 | switch(result) |
| salco | 38:57d5f36a0333 | 976 | { |
| salco | 38:57d5f36a0333 | 977 | case LEFT: |
| salco | 38:57d5f36a0333 | 978 | result = RIGHT; |
| salco | 38:57d5f36a0333 | 979 | break; |
| salco | 38:57d5f36a0333 | 980 | case DOWN: |
| salco | 38:57d5f36a0333 | 981 | result = UP; |
| salco | 38:57d5f36a0333 | 982 | break; |
| salco | 38:57d5f36a0333 | 983 | case RIGHT: |
| salco | 38:57d5f36a0333 | 984 | result = LEFT; |
| salco | 38:57d5f36a0333 | 985 | break; |
| salco | 38:57d5f36a0333 | 986 | } |
| salco | 38:57d5f36a0333 | 987 | break; |
| salco | 38:57d5f36a0333 | 988 | case LEFT: |
| salco | 38:57d5f36a0333 | 989 | switch(result) |
| salco | 38:57d5f36a0333 | 990 | { |
| salco | 38:57d5f36a0333 | 991 | case LEFT: |
| salco | 38:57d5f36a0333 | 992 | result = DOWN; |
| salco | 38:57d5f36a0333 | 993 | break; |
| salco | 38:57d5f36a0333 | 994 | case DOWN: |
| salco | 38:57d5f36a0333 | 995 | result = RIGHT; |
| salco | 38:57d5f36a0333 | 996 | break; |
| salco | 38:57d5f36a0333 | 997 | case RIGHT: |
| salco | 38:57d5f36a0333 | 998 | result = UP; |
| salco | 38:57d5f36a0333 | 999 | break; |
| salco | 38:57d5f36a0333 | 1000 | } |
| salco | 38:57d5f36a0333 | 1001 | break; |
| salco | 38:57d5f36a0333 | 1002 | case RIGHT: |
| salco | 38:57d5f36a0333 | 1003 | switch(result) |
| salco | 38:57d5f36a0333 | 1004 | { |
| salco | 38:57d5f36a0333 | 1005 | case LEFT: |
| salco | 38:57d5f36a0333 | 1006 | result = UP; |
| salco | 38:57d5f36a0333 | 1007 | break; |
| salco | 38:57d5f36a0333 | 1008 | case DOWN: |
| salco | 38:57d5f36a0333 | 1009 | result = LEFT; |
| salco | 38:57d5f36a0333 | 1010 | break; |
| salco | 38:57d5f36a0333 | 1011 | case RIGHT: |
| salco | 38:57d5f36a0333 | 1012 | result = DOWN; |
| salco | 38:57d5f36a0333 | 1013 | break; |
| salco | 38:57d5f36a0333 | 1014 | } |
| salco | 38:57d5f36a0333 | 1015 | break; |
| salco | 38:57d5f36a0333 | 1016 | } |
| salco | 38:57d5f36a0333 | 1017 | |
| salco | 38:57d5f36a0333 | 1018 | } |
| salco | 38:57d5f36a0333 | 1019 | else |
| salco | 38:57d5f36a0333 | 1020 | result =0; |
| salco | 38:57d5f36a0333 | 1021 | return result; |
| salco | 38:57d5f36a0333 | 1022 | } |
| salco | 38:57d5f36a0333 | 1023 | |
| salco | 38:57d5f36a0333 | 1024 | bool Directive::searchNewWay(void) |
| salco | 38:57d5f36a0333 | 1025 | { |
| salco | 38:57d5f36a0333 | 1026 | bool result=false; |
| salco | 38:57d5f36a0333 | 1027 | string backupMap = myMaze->getAllMap(); |
| salco | 38:57d5f36a0333 | 1028 | signed char backupPosX = myMaze->getX(); |
| salco | 38:57d5f36a0333 | 1029 | signed char backupPosY = myMaze->getY(); |
| salco | 38:57d5f36a0333 | 1030 | string searchMap = backupMap; |
| salco | 38:57d5f36a0333 | 1031 | char tempdir,nextCase=0; |
| salco | 38:57d5f36a0333 | 1032 | positionXY tempPosition; |
| salco | 38:57d5f36a0333 | 1033 | |
| salco | 38:57d5f36a0333 | 1034 | bool noOtherWay = false;//si apres un moment tu est entourer de mur |
| salco | 38:57d5f36a0333 | 1035 | bool wrongWay = false; //si jamais vien un moment que tu est pris /doit rebrousser chemin |
| salco | 38:57d5f36a0333 | 1036 | |
| salco | 38:57d5f36a0333 | 1037 | bufferNewWay.clear(); |
| salco | 38:57d5f36a0333 | 1038 | tempPosition.posX = myMaze->getX(); |
| salco | 38:57d5f36a0333 | 1039 | tempPosition.posY = myMaze->getY(); |
| salco | 38:57d5f36a0333 | 1040 | bufferNewWay.push_back(tempPosition); |
| salco | 38:57d5f36a0333 | 1041 | |
| salco | 38:57d5f36a0333 | 1042 | while(!result) |
| salco | 38:57d5f36a0333 | 1043 | { |
| salco | 38:57d5f36a0333 | 1044 | // nextCase = 0; |
| salco | 38:57d5f36a0333 | 1045 | |
| salco | 38:57d5f36a0333 | 1046 | nextCase = myMaze->getC_Foward(); |
| salco | 38:57d5f36a0333 | 1047 | |
| salco | 38:57d5f36a0333 | 1048 | debug("\n\r nextCase: [%02x]",nextCase); |
| salco | 38:57d5f36a0333 | 1049 | switch(nextCase ) { |
| salco | 38:57d5f36a0333 | 1050 | |
| salco | 38:57d5f36a0333 | 1051 | case Labyrinthe::pasExplorer : |
| salco | 38:57d5f36a0333 | 1052 | case Labyrinthe::vide : |
| salco | 38:57d5f36a0333 | 1053 | result = true; |
| salco | 38:57d5f36a0333 | 1054 | break; |
| salco | 38:57d5f36a0333 | 1055 | |
| salco | 38:57d5f36a0333 | 1056 | case Labyrinthe::explorer :// ici pt amiliorer |
| salco | 38:57d5f36a0333 | 1057 | //add position a la liste |
| salco | 38:57d5f36a0333 | 1058 | myMaze->moveFoward(); |
| salco | 38:57d5f36a0333 | 1059 | myMaze->setMyPos(Labyrinthe::error); |
| salco | 38:57d5f36a0333 | 1060 | break; |
| salco | 38:57d5f36a0333 | 1061 | |
| salco | 38:57d5f36a0333 | 1062 | case Labyrinthe::mur: |
| salco | 38:57d5f36a0333 | 1063 | if(rand() % 2) |
| salco | 38:57d5f36a0333 | 1064 | { |
| salco | 38:57d5f36a0333 | 1065 | tempdir = myMaze->getC_ToLeft(); |
| salco | 38:57d5f36a0333 | 1066 | if((Labyrinthe::case_t)tempdir != Labyrinthe::mur) |
| salco | 38:57d5f36a0333 | 1067 | myMaze->turnLeft(); |
| salco | 38:57d5f36a0333 | 1068 | else |
| salco | 38:57d5f36a0333 | 1069 | { |
| salco | 38:57d5f36a0333 | 1070 | tempdir = myMaze->getC_ToRight(); |
| salco | 38:57d5f36a0333 | 1071 | if((Labyrinthe::case_t)tempdir != Labyrinthe::mur) |
| salco | 38:57d5f36a0333 | 1072 | myMaze->turnRight(); |
| salco | 38:57d5f36a0333 | 1073 | else |
| salco | 38:57d5f36a0333 | 1074 | { |
| salco | 38:57d5f36a0333 | 1075 | wrongWay = true; // verifie dans la liste |
| salco | 38:57d5f36a0333 | 1076 | } |
| salco | 38:57d5f36a0333 | 1077 | } |
| salco | 38:57d5f36a0333 | 1078 | |
| salco | 38:57d5f36a0333 | 1079 | } |
| salco | 38:57d5f36a0333 | 1080 | else |
| salco | 38:57d5f36a0333 | 1081 | { |
| salco | 38:57d5f36a0333 | 1082 | tempdir = myMaze->getC_ToRight(); |
| salco | 38:57d5f36a0333 | 1083 | if((Labyrinthe::case_t)tempdir != Labyrinthe::mur) |
| salco | 38:57d5f36a0333 | 1084 | myMaze->turnRight(); |
| salco | 38:57d5f36a0333 | 1085 | else |
| salco | 38:57d5f36a0333 | 1086 | { |
| salco | 38:57d5f36a0333 | 1087 | tempdir = myMaze->getC_ToLeft(); |
| salco | 38:57d5f36a0333 | 1088 | if((Labyrinthe::case_t)tempdir != Labyrinthe::mur) |
| salco | 38:57d5f36a0333 | 1089 | myMaze->turnLeft(); |
| salco | 38:57d5f36a0333 | 1090 | else |
| salco | 38:57d5f36a0333 | 1091 | { |
| salco | 38:57d5f36a0333 | 1092 | wrongWay = true; // verifie dans la liste |
| salco | 38:57d5f36a0333 | 1093 | } |
| salco | 38:57d5f36a0333 | 1094 | } |
| salco | 38:57d5f36a0333 | 1095 | } |
| salco | 38:57d5f36a0333 | 1096 | |
| salco | 38:57d5f36a0333 | 1097 | myMaze->setMyPos(Labyrinthe::error); |
| salco | 38:57d5f36a0333 | 1098 | break; |
| salco | 38:57d5f36a0333 | 1099 | } |
| salco | 38:57d5f36a0333 | 1100 | |
| salco | 38:57d5f36a0333 | 1101 | tempPosition.posX = myMaze->getX(); |
| salco | 38:57d5f36a0333 | 1102 | tempPosition.posY = myMaze->getY(); |
| salco | 38:57d5f36a0333 | 1103 | bufferNewWay.push_back(tempPosition); |
| salco | 38:57d5f36a0333 | 1104 | |
| salco | 38:57d5f36a0333 | 1105 | if(wrongWay) |
| salco | 38:57d5f36a0333 | 1106 | { do{ |
| salco | 38:57d5f36a0333 | 1107 | tempPosition.posX = (bufferNewWay.back()).posX; |
| salco | 38:57d5f36a0333 | 1108 | tempPosition.posY = bufferNewWay.back().posY; |
| salco | 38:57d5f36a0333 | 1109 | myMaze->setC(Labyrinthe::error,tempPosition.posX,tempPosition.posY); |
| salco | 38:57d5f36a0333 | 1110 | |
| salco | 38:57d5f36a0333 | 1111 | |
| salco | 38:57d5f36a0333 | 1112 | }while((wrongWay) && (!noOtherWay)); |
| salco | 38:57d5f36a0333 | 1113 | } |
| salco | 38:57d5f36a0333 | 1114 | |
| salco | 38:57d5f36a0333 | 1115 | } |
| salco | 38:57d5f36a0333 | 1116 | |
| salco | 38:57d5f36a0333 | 1117 | myMaze->setX(backupPosX); |
| salco | 38:57d5f36a0333 | 1118 | myMaze->setY(backupPosY); |
| salco | 38:57d5f36a0333 | 1119 | myMaze->setAllMap(backupMap); |
| salco | 38:57d5f36a0333 | 1120 | return result; |
| salco | 38:57d5f36a0333 | 1121 | } |
| salco | 38:57d5f36a0333 | 1122 | |
| salco | 38:57d5f36a0333 | 1123 | bool Directive::isAnotherWay(void) |
| salco | 38:57d5f36a0333 | 1124 | { |
| salco | 38:57d5f36a0333 | 1125 | bool result=false; |
| salco | 38:57d5f36a0333 | 1126 | |
| salco | 38:57d5f36a0333 | 1127 | return result; |
| salco | 2:4c5b0f6d0a6b | 1128 | } |