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@40:ecef15b1dfad, 2017-01-31 (annotated)
- Committer:
- salco
- Date:
- Tue Jan 31 13:08:55 2017 +0000
- Revision:
- 40:ecef15b1dfad
- Parent:
- 39:34d7802e8d15
change the place of my customization.
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 | 40:ecef15b1dfad | 18 | |
salco | 28:ac5c6350ed9a | 19 | /* initialize random seed: */ |
salco | 31:ed23647fd16e | 20 | srand (time(NULL)); |
salco | 33:c8b4e5a392e6 | 21 | myMaze = new Labyrinthe(); |
salco | 33:c8b4e5a392e6 | 22 | |
salco | 28:ac5c6350ed9a | 23 | myMaze->setDirection(UP); |
salco | 28:ac5c6350ed9a | 24 | //c=0; |
salco | 35:d81f6b927932 | 25 | ssc32 = new Serial(PB_6, PB_7); |
salco | 27:ea60d12dccdf | 26 | ctrDesPattes = new Faculter_motrice(ssc32/*pc*/); |
salco | 28:ac5c6350ed9a | 27 | m_valueCapteurUltrasonic = 0; |
salco | 28:ac5c6350ed9a | 28 | m_valueCapteurIR = 0; |
salco | 28:ac5c6350ed9a | 29 | m_valueCapteurProximiter = 0; |
salco | 40:ecef15b1dfad | 30 | for(int i =0; i < DIRECTIVE_TABLEAUDECOMMANDE_SIZE; i++)tableauDeCommange[i]= 0; |
salco | 28:ac5c6350ed9a | 31 | size_tableauDeCommange=0; |
salco | 39:34d7802e8d15 | 32 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r set explorer \n\r"); |
salco | 36:474d4795aafa | 33 | myMaze->setMyPos(Labyrinthe::explorer); |
salco | 35:d81f6b927932 | 34 | //myMaze->setC(EXPLORER,C5); |
salco | 19:0ac80045ba4c | 35 | //m_CtrlBridge = m_CtrlBridge->getInstance(); |
salco | 19:0ac80045ba4c | 36 | //a enlever de commentaire//m_ListDesModules = m_CtrlBridge->findModule(0,1,0,0); |
salco | 39:34d7802e8d15 | 37 | |
salco | 27:ea60d12dccdf | 38 | //Serial pc(USBTX, USBRX); |
salco | 39:34d7802e8d15 | 39 | |
salco | 27:ea60d12dccdf | 40 | //ssc32->set_flow_control(0); |
salco | 39:34d7802e8d15 | 41 | |
salco | 35:d81f6b927932 | 42 | |
salco | 35:d81f6b927932 | 43 | //debug("\n\r directive Init"); |
salco | 27:ea60d12dccdf | 44 | m_ListDesModules = m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0); |
salco | 27:ea60d12dccdf | 45 | m_ListDesModules.append(m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0)); |
salco | 39:34d7802e8d15 | 46 | 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 | 47 | |
salco | 27:ea60d12dccdf | 48 | m_capteurUltrasonic= m_CtrlBridge->findModule(0,CAPTEUR,ULTRASONIQUE,0x27/*0b100111*/); |
salco | 39:34d7802e8d15 | 49 | if(!(m_capteurUltrasonic.empty())) |
salco | 39:34d7802e8d15 | 50 | { |
salco | 39:34d7802e8d15 | 51 | debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic found"); |
salco | 39:34d7802e8d15 | 52 | 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 | 53 | } |
salco | 39:34d7802e8d15 | 54 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic not found"); |
salco | 39:34d7802e8d15 | 55 | |
salco | 39:34d7802e8d15 | 56 | |
salco | 27:ea60d12dccdf | 57 | m_capteurIR= m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0x27/*0b100111*/); |
salco | 39:34d7802e8d15 | 58 | if(!(m_capteurIR.empty())) |
salco | 39:34d7802e8d15 | 59 | { |
salco | 39:34d7802e8d15 | 60 | debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR found"); |
salco | 39:34d7802e8d15 | 61 | 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 | 62 | } |
salco | 39:34d7802e8d15 | 63 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR not found"); |
salco | 39:34d7802e8d15 | 64 | |
salco | 27:ea60d12dccdf | 65 | m_capteurProximiter= m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0x0E/*0b001110*/); |
salco | 39:34d7802e8d15 | 66 | if(!(m_capteurProximiter.empty())) |
salco | 39:34d7802e8d15 | 67 | { |
salco | 39:34d7802e8d15 | 68 | debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter found"); |
salco | 39:34d7802e8d15 | 69 | 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 | 70 | } |
salco | 39:34d7802e8d15 | 71 | else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter not found"); |
salco | 39:34d7802e8d15 | 72 | |
salco | 28:ac5c6350ed9a | 73 | ctrDesPattes->moveUp(); |
salco | 39:34d7802e8d15 | 74 | |
salco | 28:ac5c6350ed9a | 75 | bool getUp=true; |
salco | 39:34d7802e8d15 | 76 | while((getUp)&& (! ctrDesPattes->isSeqComplet())) |
salco | 39:34d7802e8d15 | 77 | { |
salco | 28:ac5c6350ed9a | 78 | ctrDesPattes->exec(); |
salco | 39:34d7802e8d15 | 79 | |
salco | 28:ac5c6350ed9a | 80 | if(ctrDesPattes->get_idFrame() >= 5) |
salco | 39:34d7802e8d15 | 81 | getUp = false; |
salco | 39:34d7802e8d15 | 82 | |
salco | 28:ac5c6350ed9a | 83 | } |
salco | 31:ed23647fd16e | 84 | |
salco | 39:34d7802e8d15 | 85 | followThePath = false; |
salco | 28:ac5c6350ed9a | 86 | ctrDesPattes->calibre(); |
salco | 31:ed23647fd16e | 87 | |
salco | 39:34d7802e8d15 | 88 | |
salco | 35:d81f6b927932 | 89 | #ifdef DEBUG_DIRECTIVE_GRAPHICAL_INTERFACE |
salco | 39:34d7802e8d15 | 90 | //analiseMaze(); |
salco | 39:34d7802e8d15 | 91 | ///wait(2); |
salco | 39:34d7802e8d15 | 92 | //debug("\x1B[2J"); //clear screen |
salco | 39:34d7802e8d15 | 93 | /*debug("\x1B[25l");//hide cursor |
salco | 39:34d7802e8d15 | 94 | debug("\x1B[;H");*/ //cursor default position |
salco | 39:34d7802e8d15 | 95 | |
salco | 35:d81f6b927932 | 96 | //createSLbox(0,0,5,15,"Mode"); |
salco | 39:34d7802e8d15 | 97 | /*createDLbox(0,0,10,20,"Menu");//(1,12,10,20,"test2"); |
salco | 39:34d7802e8d15 | 98 | setText(1,3,"1) BrainControle"); |
salco | 39:34d7802e8d15 | 99 | setText(1,4,"2) Show Maze");*/ |
salco | 39:34d7802e8d15 | 100 | //createDLbox(16,0,5,15,"Stage"); |
salco | 39:34d7802e8d15 | 101 | |
salco | 39:34d7802e8d15 | 102 | myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C1); |
salco | 39:34d7802e8d15 | 103 | myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C2); |
salco | 39:34d7802e8d15 | 104 | myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C3); |
salco | 39:34d7802e8d15 | 105 | myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C4); |
salco | 39:34d7802e8d15 | 106 | myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C5); |
salco | 39:34d7802e8d15 | 107 | myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C6); |
salco | 39:34d7802e8d15 | 108 | myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C7); |
salco | 39:34d7802e8d15 | 109 | myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C8); |
salco | 39:34d7802e8d15 | 110 | myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C9); |
salco | 39:34d7802e8d15 | 111 | |
salco | 39:34d7802e8d15 | 112 | myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C1); |
salco | 39:34d7802e8d15 | 113 | myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C2); |
salco | 39:34d7802e8d15 | 114 | myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C3); |
salco | 39:34d7802e8d15 | 115 | myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C4); |
salco | 39:34d7802e8d15 | 116 | myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C5); |
salco | 39:34d7802e8d15 | 117 | myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C6); |
salco | 39:34d7802e8d15 | 118 | myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C7); |
salco | 39:34d7802e8d15 | 119 | myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C8); |
salco | 39:34d7802e8d15 | 120 | myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C9); |
salco | 39:34d7802e8d15 | 121 | |
salco | 39:34d7802e8d15 | 122 | myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C1); |
salco | 39:34d7802e8d15 | 123 | myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C2); |
salco | 39:34d7802e8d15 | 124 | myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C3); |
salco | 39:34d7802e8d15 | 125 | myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C4); |
salco | 39:34d7802e8d15 | 126 | myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C5); |
salco | 39:34d7802e8d15 | 127 | myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C6); |
salco | 39:34d7802e8d15 | 128 | myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C7); |
salco | 39:34d7802e8d15 | 129 | myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C8); |
salco | 39:34d7802e8d15 | 130 | myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C9); |
salco | 39:34d7802e8d15 | 131 | |
salco | 39:34d7802e8d15 | 132 | myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C1); |
salco | 39:34d7802e8d15 | 133 | myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C2); |
salco | 39:34d7802e8d15 | 134 | myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C3); |
salco | 39:34d7802e8d15 | 135 | myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C4); |
salco | 39:34d7802e8d15 | 136 | myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C5); |
salco | 39:34d7802e8d15 | 137 | myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C6); |
salco | 39:34d7802e8d15 | 138 | myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C7); |
salco | 39:34d7802e8d15 | 139 | myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C8); |
salco | 39:34d7802e8d15 | 140 | myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C9); |
salco | 39:34d7802e8d15 | 141 | |
salco | 39:34d7802e8d15 | 142 | myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C1); |
salco | 39:34d7802e8d15 | 143 | myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C2); |
salco | 39:34d7802e8d15 | 144 | myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C3); |
salco | 39:34d7802e8d15 | 145 | myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C4); |
salco | 39:34d7802e8d15 | 146 | myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C5); |
salco | 39:34d7802e8d15 | 147 | myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C6); |
salco | 39:34d7802e8d15 | 148 | myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C7); |
salco | 39:34d7802e8d15 | 149 | myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C8); |
salco | 39:34d7802e8d15 | 150 | myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C9); |
salco | 39:34d7802e8d15 | 151 | |
salco | 39:34d7802e8d15 | 152 | myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C1); |
salco | 39:34d7802e8d15 | 153 | myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C2); |
salco | 39:34d7802e8d15 | 154 | myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C3); |
salco | 39:34d7802e8d15 | 155 | myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C4); |
salco | 39:34d7802e8d15 | 156 | myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C5); |
salco | 39:34d7802e8d15 | 157 | myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C6); |
salco | 39:34d7802e8d15 | 158 | myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C7); |
salco | 39:34d7802e8d15 | 159 | myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C8); |
salco | 39:34d7802e8d15 | 160 | myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C9); |
salco | 39:34d7802e8d15 | 161 | #endif |
salco | 39:34d7802e8d15 | 162 | myMaze->setMyPos(Labyrinthe::explorer); |
salco | 38:57d5f36a0333 | 163 | |
salco | 39:34d7802e8d15 | 164 | #ifdef DEBUG_DIRECTIVE_TEST_CAPTEUR |
salco | 39:34d7802e8d15 | 165 | debug("\x1B[2J"); //clear screen |
salco | 39:34d7802e8d15 | 166 | char areaLatt =0; |
salco | 39:34d7802e8d15 | 167 | char areaVert =0; |
salco | 39:34d7802e8d15 | 168 | int idCommand = 0; |
salco | 39:34d7802e8d15 | 169 | while(idCommand != 9) |
salco | 39:34d7802e8d15 | 170 | { |
salco | 39:34d7802e8d15 | 171 | |
salco | 40:ecef15b1dfad | 172 | |
salco | 39:34d7802e8d15 | 173 | debug("\n\r press any key"); |
salco | 39:34d7802e8d15 | 174 | idCommand = fgetc(pc) - '0'; |
salco | 40:ecef15b1dfad | 175 | debug("\x1B[;H"); //cursor default position |
salco | 39:34d7802e8d15 | 176 | debug("\x1B[2J"); //clear screen |
salco | 39:34d7802e8d15 | 177 | |
salco | 39:34d7802e8d15 | 178 | updateModuleValue(); |
salco | 39:34d7802e8d15 | 179 | |
salco | 39:34d7802e8d15 | 180 | ////////////////////////////// |
salco | 39:34d7802e8d15 | 181 | // Traitement du Labyrinthe // |
salco | 39:34d7802e8d15 | 182 | ////////////////////////////// |
salco | 39:34d7802e8d15 | 183 | debug("\n\r -invert ultrasonicToCm: %02f ",inchToCm(ultrasonicToInch(m_valueCapteurIR))); |
salco | 39:34d7802e8d15 | 184 | debug("\n\r -invert IRToCm(%02f): %02f ",ADCTomv(m_valueCapteurUltrasonic),IRToCm(ADCTomv(m_valueCapteurUltrasonic))); |
salco | 39:34d7802e8d15 | 185 | //debug("\n\r -IR(value):%i ",m_valueCapteurIR); |
salco | 39:34d7802e8d15 | 186 | debug("\n\r -IRToCm(%02f): %02f ",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR))); |
salco | 39:34d7802e8d15 | 187 | |
salco | 39:34d7802e8d15 | 188 | debug("\n\r -ultrasonic(value):%f ",m_valueCapteurUltrasonic); |
salco | 39:34d7802e8d15 | 189 | debug("\n\r -ultrasonicToInch: %02f ",ultrasonicToInch(m_valueCapteurUltrasonic)); |
salco | 39:34d7802e8d15 | 190 | debug("\n\r -ultrasonicToCm: %02f ",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))); |
salco | 39:34d7802e8d15 | 191 | |
salco | 39:34d7802e8d15 | 192 | debug("\n\r -m_valueCapteurProximiter: %02d ",m_valueCapteurProximiter); |
salco | 39:34d7802e8d15 | 193 | //wait(.5); |
salco | 39:34d7802e8d15 | 194 | |
salco | 39:34d7802e8d15 | 195 | |
salco | 39:34d7802e8d15 | 196 | if((inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))<= 1) /*&& (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)*/)//enlever parce que il est lock avec des limites |
salco | 39:34d7802e8d15 | 197 | { //capteur ultrasson embrouiller/imprecis |
salco | 39:34d7802e8d15 | 198 | debug("\n\r -Capteur Ultrasson brouiller"); |
salco | 39:34d7802e8d15 | 199 | //addTableauDeCommande(6); |
salco | 39:34d7802e8d15 | 200 | } |
salco | 39:34d7802e8d15 | 201 | else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_SHORT) |
salco | 39:34d7802e8d15 | 202 | { //plus proche que 1 case |
salco | 40:ecef15b1dfad | 203 | debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_SHORT); |
salco | 39:34d7802e8d15 | 204 | |
salco | 39:34d7802e8d15 | 205 | areaLatt =0; |
salco | 39:34d7802e8d15 | 206 | |
salco | 39:34d7802e8d15 | 207 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= DIRECTIVE_IR_LIMIT_SHORT) |
salco | 39:34d7802e8d15 | 208 | { |
salco | 39:34d7802e8d15 | 209 | /* |
salco | 39:34d7802e8d15 | 210 | /---\ |
salco | 39:34d7802e8d15 | 211 | |?M?| //vert 0 |
salco | 39:34d7802e8d15 | 212 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 213 | |...| |
salco | 39:34d7802e8d15 | 214 | \---/ |
salco | 39:34d7802e8d15 | 215 | */ |
salco | 39:34d7802e8d15 | 216 | areaVert = 0; |
salco | 39:34d7802e8d15 | 217 | } |
salco | 39:34d7802e8d15 | 218 | else |
salco | 39:34d7802e8d15 | 219 | { |
salco | 39:34d7802e8d15 | 220 | /* |
salco | 39:34d7802e8d15 | 221 | /-M-\ |
salco | 39:34d7802e8d15 | 222 | |?V?| //vert 1 |
salco | 39:34d7802e8d15 | 223 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 224 | |...| |
salco | 39:34d7802e8d15 | 225 | \---/ |
salco | 39:34d7802e8d15 | 226 | */ |
salco | 39:34d7802e8d15 | 227 | areaVert = 1; |
salco | 39:34d7802e8d15 | 228 | } |
salco | 39:34d7802e8d15 | 229 | |
salco | 39:34d7802e8d15 | 230 | |
salco | 39:34d7802e8d15 | 231 | } |
salco | 39:34d7802e8d15 | 232 | else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE) |
salco | 39:34d7802e8d15 | 233 | { //plus proche que 2 case |
salco | 40:ecef15b1dfad | 234 | debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE); |
salco | 39:34d7802e8d15 | 235 | //modifier vue que il ne detecte pas asser loin |
salco | 39:34d7802e8d15 | 236 | /* |
salco | 39:34d7802e8d15 | 237 | /-M-\ |
salco | 39:34d7802e8d15 | 238 | |?V?| //vert 1 |
salco | 39:34d7802e8d15 | 239 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 240 | |...| |
salco | 39:34d7802e8d15 | 241 | \---/ |
salco | 39:34d7802e8d15 | 242 | */ |
salco | 39:34d7802e8d15 | 243 | areaLatt =0; |
salco | 39:34d7802e8d15 | 244 | areaVert =1; |
salco | 39:34d7802e8d15 | 245 | } |
salco | 39:34d7802e8d15 | 246 | else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_LONG) |
salco | 39:34d7802e8d15 | 247 | { //plus proche que 2 case |
salco | 40:ecef15b1dfad | 248 | debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG); |
salco | 39:34d7802e8d15 | 249 | //modifier vue que il ne detecte pas asser loin |
salco | 39:34d7802e8d15 | 250 | /* |
salco | 39:34d7802e8d15 | 251 | /-M-\ |
salco | 39:34d7802e8d15 | 252 | |?V?| //vert 1 |
salco | 39:34d7802e8d15 | 253 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 254 | |...| |
salco | 39:34d7802e8d15 | 255 | \---/ |
salco | 39:34d7802e8d15 | 256 | */ |
salco | 39:34d7802e8d15 | 257 | areaLatt =0; |
salco | 39:34d7802e8d15 | 258 | areaVert =1; |
salco | 39:34d7802e8d15 | 259 | } |
salco | 39:34d7802e8d15 | 260 | else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) > DIRECTIVE_ULTRASONIC_LIMIT_LONG) |
salco | 39:34d7802e8d15 | 261 | { //plus proche que 2 case |
salco | 40:ecef15b1dfad | 262 | debug("\n\r -Objet proche %g >= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG); |
salco | 39:34d7802e8d15 | 263 | //modifier vue que il ne detecte pas asser loin |
salco | 39:34d7802e8d15 | 264 | /* |
salco | 39:34d7802e8d15 | 265 | /?V?\ |
salco | 39:34d7802e8d15 | 266 | |?V?| //vert 2 |
salco | 39:34d7802e8d15 | 267 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 268 | |...| // objet possiblement a proximiter |
salco | 39:34d7802e8d15 | 269 | \---/ |
salco | 39:34d7802e8d15 | 270 | */ |
salco | 39:34d7802e8d15 | 271 | |
salco | 39:34d7802e8d15 | 272 | areaLatt =0; |
salco | 39:34d7802e8d15 | 273 | areaVert =2; |
salco | 39:34d7802e8d15 | 274 | } |
salco | 39:34d7802e8d15 | 275 | |
salco | 39:34d7802e8d15 | 276 | |
salco | 39:34d7802e8d15 | 277 | |
salco | 39:34d7802e8d15 | 278 | /*if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) |
salco | 39:34d7802e8d15 | 279 | { |
salco | 39:34d7802e8d15 | 280 | debug("\n\r -Confirmation IR"); |
salco | 39:34d7802e8d15 | 281 | areaVert =2; |
salco | 39:34d7802e8d15 | 282 | } |
salco | 39:34d7802e8d15 | 283 | else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30) |
salco | 39:34d7802e8d15 | 284 | { |
salco | 39:34d7802e8d15 | 285 | debug("\n\r -Confirmation IR"); |
salco | 39:34d7802e8d15 | 286 | areaVert =1; |
salco | 39:34d7802e8d15 | 287 | }*/ |
salco | 39:34d7802e8d15 | 288 | |
salco | 39:34d7802e8d15 | 289 | |
salco | 39:34d7802e8d15 | 290 | if(areaVert >= areaLatt) |
salco | 39:34d7802e8d15 | 291 | { |
salco | 39:34d7802e8d15 | 292 | switch(areaVert) |
salco | 39:34d7802e8d15 | 293 | { |
salco | 39:34d7802e8d15 | 294 | case 0: |
salco | 39:34d7802e8d15 | 295 | /* |
salco | 39:34d7802e8d15 | 296 | /---\ |
salco | 39:34d7802e8d15 | 297 | |?M?| //vert 0 |
salco | 39:34d7802e8d15 | 298 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 299 | |...| |
salco | 39:34d7802e8d15 | 300 | \---/ |
salco | 39:34d7802e8d15 | 301 | */ |
salco | 39:34d7802e8d15 | 302 | |
salco | 39:34d7802e8d15 | 303 | debug("\n\r +---+ "); |
salco | 39:34d7802e8d15 | 304 | debug("\n\r |?M?| //vert 0 "); |
salco | 39:34d7802e8d15 | 305 | debug("\n\r |.X.| //latt 0 "); |
salco | 39:34d7802e8d15 | 306 | debug("\n\r |...| "); |
salco | 39:34d7802e8d15 | 307 | debug("\n\r +---+ "); |
salco | 39:34d7802e8d15 | 308 | break; |
salco | 39:34d7802e8d15 | 309 | case 1://impossible pour le moment IR trop instable// |
salco | 39:34d7802e8d15 | 310 | |
salco | 39:34d7802e8d15 | 311 | |
salco | 39:34d7802e8d15 | 312 | |
salco | 39:34d7802e8d15 | 313 | if(areaLatt == 1) |
salco | 39:34d7802e8d15 | 314 | { |
salco | 39:34d7802e8d15 | 315 | /* |
salco | 39:34d7802e8d15 | 316 | /?M?\ |
salco | 39:34d7802e8d15 | 317 | |VVV| //vert 1 |
salco | 39:34d7802e8d15 | 318 | |.X.| //latt 1 |
salco | 39:34d7802e8d15 | 319 | |...| // objet possiblement a proximiter |
salco | 39:34d7802e8d15 | 320 | \---/ |
salco | 39:34d7802e8d15 | 321 | */ |
salco | 39:34d7802e8d15 | 322 | debug("\n\r +-M-+ "); |
salco | 39:34d7802e8d15 | 323 | debug("\n\r |VVV| //vert 1 "); |
salco | 39:34d7802e8d15 | 324 | debug("\n\r |.X.| //latt 1 "); |
salco | 39:34d7802e8d15 | 325 | debug("\n\r |...| // objet possiblement a proximiter "); |
salco | 39:34d7802e8d15 | 326 | debug("\n\r +---+ "); |
salco | 39:34d7802e8d15 | 327 | } |
salco | 39:34d7802e8d15 | 328 | else |
salco | 39:34d7802e8d15 | 329 | { |
salco | 39:34d7802e8d15 | 330 | /* |
salco | 39:34d7802e8d15 | 331 | /-M-\ |
salco | 39:34d7802e8d15 | 332 | |?V?| //vert 1 |
salco | 39:34d7802e8d15 | 333 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 334 | |...| |
salco | 39:34d7802e8d15 | 335 | \---/ |
salco | 39:34d7802e8d15 | 336 | */ |
salco | 39:34d7802e8d15 | 337 | |
salco | 39:34d7802e8d15 | 338 | debug("\n\r +-M-+ "); |
salco | 39:34d7802e8d15 | 339 | debug("\n\r |?V?| //vert 1 "); |
salco | 39:34d7802e8d15 | 340 | debug("\n\r |.X.| //latt 0 "); |
salco | 39:34d7802e8d15 | 341 | debug("\n\r |...| "); |
salco | 39:34d7802e8d15 | 342 | debug("\n\r +---+ "); |
salco | 39:34d7802e8d15 | 343 | } |
salco | 39:34d7802e8d15 | 344 | break; |
salco | 39:34d7802e8d15 | 345 | case 2: |
salco | 39:34d7802e8d15 | 346 | |
salco | 39:34d7802e8d15 | 347 | switch(areaLatt) |
salco | 39:34d7802e8d15 | 348 | { |
salco | 39:34d7802e8d15 | 349 | case 0://impossible pour le moment IR trop instable// |
salco | 39:34d7802e8d15 | 350 | /* |
salco | 39:34d7802e8d15 | 351 | /?V?\ |
salco | 39:34d7802e8d15 | 352 | |?V?| //vert 2 |
salco | 39:34d7802e8d15 | 353 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 354 | |...| // objet possiblement a proximiter |
salco | 39:34d7802e8d15 | 355 | \---/ |
salco | 39:34d7802e8d15 | 356 | */ |
salco | 39:34d7802e8d15 | 357 | debug("\n\r +?V?+ "); |
salco | 39:34d7802e8d15 | 358 | debug("\n\r |?V?| //vert 2 "); |
salco | 39:34d7802e8d15 | 359 | debug("\n\r |.X.| //latt 0 "); |
salco | 39:34d7802e8d15 | 360 | debug("\n\r |...| // objet possiblement a proximiter "); |
salco | 39:34d7802e8d15 | 361 | debug("\n\r +---+ "); |
salco | 39:34d7802e8d15 | 362 | break; |
salco | 39:34d7802e8d15 | 363 | case 1://impossible pour le moment IR trop instable// |
salco | 39:34d7802e8d15 | 364 | /* |
salco | 39:34d7802e8d15 | 365 | /?V?\ |
salco | 39:34d7802e8d15 | 366 | |VVV| //vert 2 |
salco | 39:34d7802e8d15 | 367 | |.X.| //latt 1 |
salco | 39:34d7802e8d15 | 368 | |...| // objet possiblement a proximiter |
salco | 39:34d7802e8d15 | 369 | \---/ |
salco | 39:34d7802e8d15 | 370 | */ |
salco | 39:34d7802e8d15 | 371 | debug("\n\r +-M-+ "); |
salco | 39:34d7802e8d15 | 372 | debug("\n\r |VVV| //vert 2 "); |
salco | 39:34d7802e8d15 | 373 | debug("\n\r |.X.| //latt 1 "); |
salco | 39:34d7802e8d15 | 374 | debug("\n\r |...| // objet possiblement a proximiter "); |
salco | 39:34d7802e8d15 | 375 | debug("\n\r +---+ "); |
salco | 39:34d7802e8d15 | 376 | break; |
salco | 39:34d7802e8d15 | 377 | case 2: |
salco | 39:34d7802e8d15 | 378 | /* |
salco | 39:34d7802e8d15 | 379 | /VVV\ |
salco | 39:34d7802e8d15 | 380 | |VVV| //vert 2 |
salco | 39:34d7802e8d15 | 381 | |.X.| //latt 2 |
salco | 39:34d7802e8d15 | 382 | |...| |
salco | 39:34d7802e8d15 | 383 | \---/ |
salco | 39:34d7802e8d15 | 384 | */ |
salco | 39:34d7802e8d15 | 385 | debug("\n\r +VVV+ "); |
salco | 39:34d7802e8d15 | 386 | debug("\n\r |VVV| //vert 2 "); |
salco | 39:34d7802e8d15 | 387 | debug("\n\r |.X.| //latt 2 "); |
salco | 39:34d7802e8d15 | 388 | debug("\n\r |...| "); |
salco | 39:34d7802e8d15 | 389 | debug("\n\r +---+ "); |
salco | 39:34d7802e8d15 | 390 | break; |
salco | 39:34d7802e8d15 | 391 | } |
salco | 39:34d7802e8d15 | 392 | break; |
salco | 39:34d7802e8d15 | 393 | } |
salco | 39:34d7802e8d15 | 394 | } |
salco | 39:34d7802e8d15 | 395 | /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) |
salco | 39:34d7802e8d15 | 396 | { //capteur ultrasson embrouiller/imprecis |
salco | 39:34d7802e8d15 | 397 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); |
salco | 39:34d7802e8d15 | 398 | //addTableauDeCommande(6); |
salco | 39:34d7802e8d15 | 399 | } |
salco | 39:34d7802e8d15 | 400 | else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24) |
salco | 39:34d7802e8d15 | 401 | { //plus proche que 10pouce |
salco | 39:34d7802e8d15 | 402 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); |
salco | 39:34d7802e8d15 | 403 | areaLatt =2; |
salco | 39:34d7802e8d15 | 404 | areaVert =2; |
salco | 39:34d7802e8d15 | 405 | } |
salco | 39:34d7802e8d15 | 406 | else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12) |
salco | 39:34d7802e8d15 | 407 | { //plus proche que 10pouce |
salco | 39:34d7802e8d15 | 408 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); |
salco | 39:34d7802e8d15 | 409 | areaLatt =1; |
salco | 39:34d7802e8d15 | 410 | areaVert =1; |
salco | 39:34d7802e8d15 | 411 | } |
salco | 39:34d7802e8d15 | 412 | debug(DEBUG_DIRECTIVE_TEST,": %i",ultrasonicToInch(m_valueCapteurUltrasonic)); |
salco | 39:34d7802e8d15 | 413 | |
salco | 39:34d7802e8d15 | 414 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) |
salco | 39:34d7802e8d15 | 415 | { |
salco | 39:34d7802e8d15 | 416 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 39:34d7802e8d15 | 417 | areaVert =2; |
salco | 39:34d7802e8d15 | 418 | } |
salco | 39:34d7802e8d15 | 419 | else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30) |
salco | 39:34d7802e8d15 | 420 | { |
salco | 39:34d7802e8d15 | 421 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 39:34d7802e8d15 | 422 | areaVert =1; |
salco | 39:34d7802e8d15 | 423 | } |
salco | 39:34d7802e8d15 | 424 | debug(DEBUG_DIRECTIVE_TEST,": %i",IRToCm(ADCTomv(m_valueCapteurIR)));*/ |
salco | 39:34d7802e8d15 | 425 | } |
salco | 31:ed23647fd16e | 426 | #endif |
salco | 40:ecef15b1dfad | 427 | |
salco | 2:4c5b0f6d0a6b | 428 | } |
salco | 2:4c5b0f6d0a6b | 429 | Directive::~Directive() |
salco | 2:4c5b0f6d0a6b | 430 | { |
salco | 39:34d7802e8d15 | 431 | |
salco | 3:e0d6e081a9d3 | 432 | if(ctrDesPattes) |
salco | 39:34d7802e8d15 | 433 | delete ctrDesPattes; |
salco | 19:0ac80045ba4c | 434 | if(ssc32) |
salco | 39:34d7802e8d15 | 435 | delete ssc32; |
salco | 31:ed23647fd16e | 436 | if(myMaze) |
salco | 39:34d7802e8d15 | 437 | delete myMaze; |
salco | 2:4c5b0f6d0a6b | 438 | } |
salco | 3:e0d6e081a9d3 | 439 | void Directive::task(void)//ALL CODE HERE// |
salco | 2:4c5b0f6d0a6b | 440 | { |
salco | 40:ecef15b1dfad | 441 | #ifdef DEBUG_DIRECTIVE_MINIMAL_PRESENTATION |
salco | 40:ecef15b1dfad | 442 | if(pc.readable()) |
salco | 40:ecef15b1dfad | 443 | { |
salco | 40:ecef15b1dfad | 444 | int idCommand=0; |
salco | 40:ecef15b1dfad | 445 | idCommand = fgetc(pc) - '0'; |
salco | 40:ecef15b1dfad | 446 | string mymap; |
salco | 40:ecef15b1dfad | 447 | switch(idCommand) |
salco | 40:ecef15b1dfad | 448 | { |
salco | 40:ecef15b1dfad | 449 | case 1: |
salco | 40:ecef15b1dfad | 450 | debug("\n\r 1: Show Map "); |
salco | 40:ecef15b1dfad | 451 | |
salco | 40:ecef15b1dfad | 452 | mymap = myMaze->showMap(); |
salco | 40:ecef15b1dfad | 453 | debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY())); |
salco | 40:ecef15b1dfad | 454 | //char caseCaract = 0; |
salco | 40:ecef15b1dfad | 455 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 456 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); |
salco | 40:ecef15b1dfad | 457 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 458 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); |
salco | 40:ecef15b1dfad | 459 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 460 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); |
salco | 40:ecef15b1dfad | 461 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 462 | break; |
salco | 40:ecef15b1dfad | 463 | |
salco | 40:ecef15b1dfad | 464 | case 2: |
salco | 40:ecef15b1dfad | 465 | debug("\n\r *2: Show tableauDeCommange[]"); |
salco | 40:ecef15b1dfad | 466 | debug("\n\r -TAB:"); |
salco | 40:ecef15b1dfad | 467 | for(int i =0; i<DIRECTIVE_TABLEAUDECOMMANDE_SIZE; i++) debug("[%02x]",tableauDeCommange[i]); |
salco | 40:ecef15b1dfad | 468 | if(followThePath == true) |
salco | 40:ecef15b1dfad | 469 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r EN MODE FOLLOW THE PATH"); |
salco | 40:ecef15b1dfad | 470 | else |
salco | 40:ecef15b1dfad | 471 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r HORS MODE FOLLOW THE PATH"); |
salco | 40:ecef15b1dfad | 472 | break; |
salco | 40:ecef15b1dfad | 473 | |
salco | 40:ecef15b1dfad | 474 | case 3: |
salco | 40:ecef15b1dfad | 475 | debug("\n\r *3: Show value Capteurs"); |
salco | 40:ecef15b1dfad | 476 | debug("\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR))); |
salco | 40:ecef15b1dfad | 477 | debug("\n\r -ultrasonicToInch to cm: %02f",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))); |
salco | 40:ecef15b1dfad | 478 | debug("\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter); |
salco | 40:ecef15b1dfad | 479 | break; |
salco | 40:ecef15b1dfad | 480 | |
salco | 40:ecef15b1dfad | 481 | default: |
salco | 40:ecef15b1dfad | 482 | debug("\n\n\r Press key 0-9 to select an option"); |
salco | 40:ecef15b1dfad | 483 | debug("\n\r *1: Show Map"); |
salco | 40:ecef15b1dfad | 484 | debug("\n\r *2: Show tableauDeCommange[]"); |
salco | 40:ecef15b1dfad | 485 | debug("\n\r *3: Show value Capteurs"); |
salco | 40:ecef15b1dfad | 486 | break; |
salco | 40:ecef15b1dfad | 487 | } |
salco | 40:ecef15b1dfad | 488 | } |
salco | 40:ecef15b1dfad | 489 | #endif |
salco | 39:34d7802e8d15 | 490 | |
salco | 39:34d7802e8d15 | 491 | #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE |
salco | 39:34d7802e8d15 | 492 | debug("\x1B[2J"); //clear screen |
salco | 39:34d7802e8d15 | 493 | debug("\x1B[25l");//hide cursor |
salco | 39:34d7802e8d15 | 494 | debug("\x1B[;H"); //cursor default position |
salco | 39:34d7802e8d15 | 495 | debug("\n\r--------In task directive--------"); |
salco | 40:ecef15b1dfad | 496 | for(int i = 0; i<size_tableauDeCommange; i++) debug("\n\r tableauDeCommange[%i]: %x",i,tableauDeCommange[i]); |
salco | 39:34d7802e8d15 | 497 | |
salco | 39:34d7802e8d15 | 498 | /* |
salco | 39:34d7802e8d15 | 499 | createDLbox(0,0,10,25,"BrainControle"); |
salco | 39:34d7802e8d15 | 500 | setText(1,3,"1) Move Up"); |
salco | 39:34d7802e8d15 | 501 | setText(1,4,"2) Move Down"); |
salco | 39:34d7802e8d15 | 502 | setText(1,5,"3) Move Left"); |
salco | 39:34d7802e8d15 | 503 | setText(1,6,"4) Move Right"); |
salco | 39:34d7802e8d15 | 504 | |
salco | 39:34d7802e8d15 | 505 | int idCommand; |
salco | 39:34d7802e8d15 | 506 | do{ |
salco | 37:f53e9f7a14df | 507 | if(pc.readable()){ |
salco | 39:34d7802e8d15 | 508 | idCommand = fgetc(pc) - '0'; |
salco | 39:34d7802e8d15 | 509 | switch(idCommand) |
salco | 39:34d7802e8d15 | 510 | { |
salco | 39:34d7802e8d15 | 511 | case 1: |
salco | 39:34d7802e8d15 | 512 | myMaze->goUp(); |
salco | 39:34d7802e8d15 | 513 | break; |
salco | 39:34d7802e8d15 | 514 | case 2: |
salco | 39:34d7802e8d15 | 515 | myMaze->goDown(); |
salco | 39:34d7802e8d15 | 516 | break; |
salco | 39:34d7802e8d15 | 517 | case 3: |
salco | 39:34d7802e8d15 | 518 | myMaze->goLeft(); |
salco | 39:34d7802e8d15 | 519 | break; |
salco | 39:34d7802e8d15 | 520 | case 4: |
salco | 39:34d7802e8d15 | 521 | myMaze->goRight(); |
salco | 39:34d7802e8d15 | 522 | break; |
salco | 39:34d7802e8d15 | 523 | } |
salco | 39:34d7802e8d15 | 524 | myMaze->setMyPos(Labyrinthe::explorer); |
salco | 39:34d7802e8d15 | 525 | |
salco | 39:34d7802e8d15 | 526 | string mymap = myMaze->showMap(); |
salco | 39:34d7802e8d15 | 527 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY()); |
salco | 39:34d7802e8d15 | 528 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]); |
salco | 39:34d7802e8d15 | 529 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
salco | 39:34d7802e8d15 | 530 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]); |
salco | 39:34d7802e8d15 | 531 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
salco | 39:34d7802e8d15 | 532 | for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]); |
salco | 39:34d7802e8d15 | 533 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); |
salco | 39:34d7802e8d15 | 534 | |
salco | 39:34d7802e8d15 | 535 | #ifdef DBG_MAIN_DELAY_SEC |
salco | 39:34d7802e8d15 | 536 | debug("\n\r\n wait \n\r\n"); |
salco | 39:34d7802e8d15 | 537 | wait(DBG_MAIN_DELAY_SEC); |
salco | 39:34d7802e8d15 | 538 | #endif |
salco | 39:34d7802e8d15 | 539 | |
salco | 39:34d7802e8d15 | 540 | debug("\x1B[2J"); //clear screen |
salco | 39:34d7802e8d15 | 541 | debug("\x1B[;H"); //cursor default position |
salco | 39:34d7802e8d15 | 542 | createDLbox(0,0,10,25,"BrainControle"); |
salco | 39:34d7802e8d15 | 543 | setText(1,3,"1) Move Up"); |
salco | 39:34d7802e8d15 | 544 | setText(1,4,"2) Move Down"); |
salco | 39:34d7802e8d15 | 545 | setText(1,5,"3) Move Left"); |
salco | 39:34d7802e8d15 | 546 | setText(1,6,"4) Move Right"); |
salco | 37:f53e9f7a14df | 547 | } |
salco | 37:f53e9f7a14df | 548 | }while(1); */ |
salco | 31:ed23647fd16e | 549 | #endif |
salco | 36:474d4795aafa | 550 | |
salco | 28:ac5c6350ed9a | 551 | //debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive"); |
salco | 37:f53e9f7a14df | 552 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
salco | 39:34d7802e8d15 | 553 | if(ctrDesPattes->isSeqComplet()) |
salco | 39:34d7802e8d15 | 554 | { |
salco | 40:ecef15b1dfad | 555 | |
salco | 28:ac5c6350ed9a | 556 | //////////////// |
salco | 28:ac5c6350ed9a | 557 | // Inspection // |
salco | 28:ac5c6350ed9a | 558 | //////////////// |
salco | 40:ecef15b1dfad | 559 | //updateModuleValue(); |
salco | 39:34d7802e8d15 | 560 | |
salco | 39:34d7802e8d15 | 561 | if((tableauDeCommange[0] == TBL_CMD_MARCHE) && (size_tableauDeCommange == 1)) |
salco | 39:34d7802e8d15 | 562 | { |
salco | 39:34d7802e8d15 | 563 | //addTableauDeCommande(0x81); |
salco | 39:34d7802e8d15 | 564 | //addTableauDeCommande(0x82); |
salco | 39:34d7802e8d15 | 565 | //mabey//addTableauDeCommande(0x83); |
salco | 39:34d7802e8d15 | 566 | addTableauDeCommande(0x84); |
salco | 39:34d7802e8d15 | 567 | |
salco | 39:34d7802e8d15 | 568 | //addTableauDeCommande(0x85); |
salco | 39:34d7802e8d15 | 569 | //mabey//addTableauDeCommande(0x86); |
salco | 39:34d7802e8d15 | 570 | addTableauDeCommande(0x87); |
salco | 39:34d7802e8d15 | 571 | addTableauDeCommande(0x88); |
salco | 39:34d7802e8d15 | 572 | } |
salco | 39:34d7802e8d15 | 573 | |
salco | 39:34d7802e8d15 | 574 | |
salco | 39:34d7802e8d15 | 575 | if(tableauDeCommange[0] == 0) |
salco | 39:34d7802e8d15 | 576 | { |
salco | 39:34d7802e8d15 | 577 | //pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment. |
salco | 39:34d7802e8d15 | 578 | |
salco | 39:34d7802e8d15 | 579 | //////////////// |
salco | 39:34d7802e8d15 | 580 | // Inspection // |
salco | 39:34d7802e8d15 | 581 | //////////////// |
salco | 39:34d7802e8d15 | 582 | //flag.append(1,0);//0x02); |
salco | 39:34d7802e8d15 | 583 | /*for(int i=0; i<m_ListDesModules.length(); ++i) { |
salco | 39:34d7802e8d15 | 584 | wait_us(300); |
salco | 39:34d7802e8d15 | 585 | flag.clear(); |
salco | 39:34d7802e8d15 | 586 | flag.append(1,7); |
salco | 39:34d7802e8d15 | 587 | data.clear(); |
salco | 39:34d7802e8d15 | 588 | debug("\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data)); |
salco | 39:34d7802e8d15 | 589 | |
salco | 39:34d7802e8d15 | 590 | debug("\n\r flag: %d",flag[0]); |
salco | 39:34d7802e8d15 | 591 | debug("\n\r data: %x",data[0]); |
salco | 39:34d7802e8d15 | 592 | }*/ |
salco | 39:34d7802e8d15 | 593 | |
salco | 39:34d7802e8d15 | 594 | updateModuleValue(); |
salco | 39:34d7802e8d15 | 595 | |
salco | 39:34d7802e8d15 | 596 | ////////////////////////////// |
salco | 39:34d7802e8d15 | 597 | // Traitement du Labyrinthe // |
salco | 39:34d7802e8d15 | 598 | ////////////////////////////// |
salco | 40:ecef15b1dfad | 599 | #ifdef DEBUG_DIRECTIVE_LABYRINTH |
salco | 40:ecef15b1dfad | 600 | debug("\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR))); |
salco | 40:ecef15b1dfad | 601 | debug("\n\r -ultrasonicToInch: %02f",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))); |
salco | 40:ecef15b1dfad | 602 | debug("\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter); |
salco | 40:ecef15b1dfad | 603 | #endif |
salco | 39:34d7802e8d15 | 604 | #endif //DEBUG_DIRECTIVE_LEG_DISABLE |
salco | 39:34d7802e8d15 | 605 | if(followThePath == true) |
salco | 39:34d7802e8d15 | 606 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r EN MODE FOLLOW THE PATH"); |
salco | 39:34d7802e8d15 | 607 | else |
salco | 39:34d7802e8d15 | 608 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r HORS MODE FOLLOW THE PATH"); |
salco | 39:34d7802e8d15 | 609 | |
salco | 39:34d7802e8d15 | 610 | analiseMaze(); |
salco | 39:34d7802e8d15 | 611 | char nextCase=0; |
salco | 39:34d7802e8d15 | 612 | /*switch(myMaze->getDirection()) { |
salco | 39:34d7802e8d15 | 613 | case UP: |
salco | 31:ed23647fd16e | 614 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()+1); |
salco | 31:ed23647fd16e | 615 | break; |
salco | 39:34d7802e8d15 | 616 | |
salco | 39:34d7802e8d15 | 617 | case DOWN: |
salco | 31:ed23647fd16e | 618 | nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1); |
salco | 31:ed23647fd16e | 619 | break; |
salco | 39:34d7802e8d15 | 620 | |
salco | 39:34d7802e8d15 | 621 | case LEFT: |
salco | 31:ed23647fd16e | 622 | nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY()); |
salco | 31:ed23647fd16e | 623 | break; |
salco | 39:34d7802e8d15 | 624 | |
salco | 39:34d7802e8d15 | 625 | case RIGHT: |
salco | 31:ed23647fd16e | 626 | nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()); |
salco | 31:ed23647fd16e | 627 | break; |
salco | 39:34d7802e8d15 | 628 | }*/ |
salco | 40:ecef15b1dfad | 629 | if(( myMaze->getC_Foward() == Labyrinthe::vide ) || (myMaze->getC_Foward() == Labyrinthe::pasExplorer )) |
salco | 39:34d7802e8d15 | 630 | followThePath = false; |
salco | 39:34d7802e8d15 | 631 | |
salco | 39:34d7802e8d15 | 632 | |
salco | 38:57d5f36a0333 | 633 | |
salco | 39:34d7802e8d15 | 634 | if(followThePath == false) |
salco | 39:34d7802e8d15 | 635 | { |
salco | 39:34d7802e8d15 | 636 | nextCase = myMaze->getC_Foward(); |
salco | 39:34d7802e8d15 | 637 | |
salco | 39:34d7802e8d15 | 638 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",nextCase); |
salco | 39:34d7802e8d15 | 639 | switch(nextCase ) |
salco | 38:57d5f36a0333 | 640 | { |
salco | 39:34d7802e8d15 | 641 | case Labyrinthe::vide : |
salco | 39:34d7802e8d15 | 642 | #ifdef DEBUG_DIRECTIVE_LEG_DISABLE |
salco | 39:34d7802e8d15 | 643 | debug("nextCase Vide\n\r"); |
salco | 39:34d7802e8d15 | 644 | #endif |
salco | 39:34d7802e8d15 | 645 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 39:34d7802e8d15 | 646 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
salco | 39:34d7802e8d15 | 647 | addTableauDeCommande(TBL_CMD_MARCHE); |
salco | 39:34d7802e8d15 | 648 | #endif |
salco | 39:34d7802e8d15 | 649 | //if(followThePath == true) |
salco | 39:34d7802e8d15 | 650 | //followThePath = false; |
salco | 39:34d7802e8d15 | 651 | myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 652 | myMaze->setMyPos(Labyrinthe::explorer); |
salco | 39:34d7802e8d15 | 653 | break; |
salco | 39:34d7802e8d15 | 654 | |
salco | 39:34d7802e8d15 | 655 | case Labyrinthe::explorer :// ici pt amiliorer |
salco | 39:34d7802e8d15 | 656 | debug(DEBUG_DIRECTIVE_TEST," \n\rnext case deja explorer"); |
salco | 39:34d7802e8d15 | 657 | if(rand()%2) |
salco | 39:34d7802e8d15 | 658 | { |
salco | 39:34d7802e8d15 | 659 | debug(DEBUG_DIRECTIVE_TEST,"\n\r jeverifie si alternative"); |
salco | 39:34d7802e8d15 | 660 | |
salco | 40:ecef15b1dfad | 661 | /*#ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
salco | 39:34d7802e8d15 | 662 | addTableauDeCommande(TBL_CMD_MARCHE); |
salco | 40:ecef15b1dfad | 663 | #endif*/ |
salco | 39:34d7802e8d15 | 664 | nextCase = checkOtherWay(myMaze->getDirection(),1); |
salco | 40:ecef15b1dfad | 665 | |
salco | 40:ecef15b1dfad | 666 | turnRightDirection(myMaze->getDirection(),nextCase); |
salco | 39:34d7802e8d15 | 667 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rnextcase: %i",nextCase); |
salco | 39:34d7802e8d15 | 668 | switch(nextCase) |
salco | 39:34d7802e8d15 | 669 | { // on verifie si on a une direction possible |
salco | 39:34d7802e8d15 | 670 | case UP: |
salco | 39:34d7802e8d15 | 671 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP"); |
salco | 39:34d7802e8d15 | 672 | turnRightDirection(myMaze->getDirection(),UP); |
salco | 39:34d7802e8d15 | 673 | myMaze->setDirection(UP); |
salco | 39:34d7802e8d15 | 674 | |
salco | 39:34d7802e8d15 | 675 | |
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 | turnRightDirection(myMaze->getDirection(),DOWN); |
salco | 39:34d7802e8d15 | 680 | myMaze->setDirection(DOWN); |
salco | 39:34d7802e8d15 | 681 | |
salco | 39:34d7802e8d15 | 682 | break; |
salco | 39:34d7802e8d15 | 683 | case LEFT: |
salco | 39:34d7802e8d15 | 684 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT"); |
salco | 39:34d7802e8d15 | 685 | turnRightDirection(myMaze->getDirection(),LEFT); |
salco | 39:34d7802e8d15 | 686 | myMaze->setDirection(LEFT); |
salco | 39:34d7802e8d15 | 687 | |
salco | 39:34d7802e8d15 | 688 | break; |
salco | 39:34d7802e8d15 | 689 | case RIGHT: |
salco | 39:34d7802e8d15 | 690 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT"); |
salco | 39:34d7802e8d15 | 691 | turnRightDirection(myMaze->getDirection(),RIGHT); |
salco | 39:34d7802e8d15 | 692 | myMaze->setDirection(RIGHT); |
salco | 39:34d7802e8d15 | 693 | |
salco | 39:34d7802e8d15 | 694 | break; |
salco | 39:34d7802e8d15 | 695 | default: //aucun autre chemin |
salco | 39:34d7802e8d15 | 696 | debug(DEBUG_DIRECTIVE_TEST,"\n\r aucune autre place alors J'avance"); |
salco | 39:34d7802e8d15 | 697 | myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 698 | myMaze->setMyPos(Labyrinthe::explorer); |
salco | 39:34d7802e8d15 | 699 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
salco | 39:34d7802e8d15 | 700 | addTableauDeCommande(TBL_CMD_MARCHE); |
salco | 39:34d7802e8d15 | 701 | #endif |
salco | 39:34d7802e8d15 | 702 | break; |
salco | 39:34d7802e8d15 | 703 | } |
salco | 39:34d7802e8d15 | 704 | } |
salco | 39:34d7802e8d15 | 705 | else |
salco | 39:34d7802e8d15 | 706 | { |
salco | 39:34d7802e8d15 | 707 | debug(DEBUG_DIRECTIVE_TEST,"\n\r jeverifie pas si alternative"); |
salco | 39:34d7802e8d15 | 708 | myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 709 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
salco | 39:34d7802e8d15 | 710 | addTableauDeCommande(TBL_CMD_MARCHE); |
salco | 39:34d7802e8d15 | 711 | #endif |
salco | 39:34d7802e8d15 | 712 | } |
salco | 39:34d7802e8d15 | 713 | //myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 714 | //myMaze->setMyPos(Labyrinthe::explorer); |
salco | 39:34d7802e8d15 | 715 | break; |
salco | 39:34d7802e8d15 | 716 | |
salco | 39:34d7802e8d15 | 717 | case Labyrinthe::mur: |
salco | 39:34d7802e8d15 | 718 | debug(DEBUG_DIRECTIVE_TEST,"\n\r UN MURRRRRRRR\n\r"); |
salco | 39:34d7802e8d15 | 719 | if(searchNewWay()) |
salco | 39:34d7802e8d15 | 720 | { |
salco | 39:34d7802e8d15 | 721 | debug(DEBUG_DIRECTIVE_TEST,"\n\r New Path found "); |
salco | 39:34d7802e8d15 | 722 | followThePath = true; |
salco | 39:34d7802e8d15 | 723 | } |
salco | 39:34d7802e8d15 | 724 | else |
salco | 39:34d7802e8d15 | 725 | { |
salco | 39:34d7802e8d15 | 726 | debug(DEBUG_DIRECTIVE_TEST,"\n\r New Path not found "); |
salco | 39:34d7802e8d15 | 727 | } |
salco | 39:34d7802e8d15 | 728 | /* switch(checkOtherWay(myMaze->getDirection()))// on verifie si on a une direction possible |
salco | 39:34d7802e8d15 | 729 | { |
salco | 39:34d7802e8d15 | 730 | case UP: |
salco | 39:34d7802e8d15 | 731 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP "); |
salco | 39:34d7802e8d15 | 732 | myMaze->setDirection(UP); |
salco | 39:34d7802e8d15 | 733 | //myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 734 | break; |
salco | 39:34d7802e8d15 | 735 | case DOWN: |
salco | 39:34d7802e8d15 | 736 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN "); |
salco | 39:34d7802e8d15 | 737 | myMaze->setDirection(DOWN); |
salco | 39:34d7802e8d15 | 738 | //myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 739 | break; |
salco | 39:34d7802e8d15 | 740 | case LEFT: |
salco | 39:34d7802e8d15 | 741 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT"); |
salco | 39:34d7802e8d15 | 742 | myMaze->setDirection(LEFT); |
salco | 39:34d7802e8d15 | 743 | //myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 744 | break; |
salco | 39:34d7802e8d15 | 745 | case RIGHT: |
salco | 39:34d7802e8d15 | 746 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT"); |
salco | 39:34d7802e8d15 | 747 | myMaze->setDirection(RIGHT); |
salco | 39:34d7802e8d15 | 748 | //myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 749 | break; |
salco | 39:34d7802e8d15 | 750 | default://aucun autre chemin |
salco | 39:34d7802e8d15 | 751 | /debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne completement "); |
salco | 39:34d7802e8d15 | 752 | if(myMaze->getDirection() %2) |
salco | 39:34d7802e8d15 | 753 | myMaze->setDirection(myMaze->getDirection()+1); |
salco | 39:34d7802e8d15 | 754 | else |
salco | 39:34d7802e8d15 | 755 | myMaze->setDirection(myMaze->getDirection()-1); |
salco | 39:34d7802e8d15 | 756 | |
salco | 39:34d7802e8d15 | 757 | //myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 758 | |
salco | 39:34d7802e8d15 | 759 | break; |
salco | 39:34d7802e8d15 | 760 | } |
salco | 39:34d7802e8d15 | 761 | myMaze->setMyPos(Labyrinthe::explorer);*/ |
salco | 39:34d7802e8d15 | 762 | break; |
salco | 39:34d7802e8d15 | 763 | |
salco | 39:34d7802e8d15 | 764 | case Labyrinthe::pasExplorer ://pas sur |
salco | 39:34d7802e8d15 | 765 | debug(DEBUG_DIRECTIVE_TEST," pasExplorer"); |
salco | 39:34d7802e8d15 | 766 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
salco | 39:34d7802e8d15 | 767 | addTableauDeCommande(TBL_CMD_MARCHE); |
salco | 39:34d7802e8d15 | 768 | #endif |
salco | 39:34d7802e8d15 | 769 | break; |
salco | 39:34d7802e8d15 | 770 | } |
salco | 39:34d7802e8d15 | 771 | } |
salco | 39:34d7802e8d15 | 772 | else |
salco | 39:34d7802e8d15 | 773 | { // on suis un chemin |
salco | 39:34d7802e8d15 | 774 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rmode follow the path\n\n\r"); |
salco | 39:34d7802e8d15 | 775 | positionXY tempPosition; |
salco | 40:ecef15b1dfad | 776 | |
salco | 39:34d7802e8d15 | 777 | //std::list<positionXY>::iterator it=bufferNewWay.begin(); |
salco | 39:34d7802e8d15 | 778 | for (std::list<positionXY>::iterator it=bufferNewWay.begin(); it != bufferNewWay.end(); ++it) |
salco | 39:34d7802e8d15 | 779 | { |
salco | 39:34d7802e8d15 | 780 | //tempPosition = *(it); |
salco | 39:34d7802e8d15 | 781 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",(*it).posX); |
salco | 39:34d7802e8d15 | 782 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",(*it).posY); |
salco | 39:34d7802e8d15 | 783 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",(*it).direction); |
salco | 39:34d7802e8d15 | 784 | } //std::cout << ' ' << *it; |
salco | 38:57d5f36a0333 | 785 | |
salco | 39:34d7802e8d15 | 786 | if((bufferNewWay.front()).direction != myMaze->getDirection()) //turn time |
salco | 39:34d7802e8d15 | 787 | { |
salco | 39:34d7802e8d15 | 788 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r le chemin a pas la meme direction"); |
salco | 39:34d7802e8d15 | 789 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r current dir : %i",myMaze->getDirection()); |
salco | 39:34d7802e8d15 | 790 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r next dir : %i",(bufferNewWay.front()).direction); |
salco | 39:34d7802e8d15 | 791 | |
salco | 40:ecef15b1dfad | 792 | addTableauDeCommande(TBL_CMD_RECULE); |
salco | 40:ecef15b1dfad | 793 | addTableauDeCommande(TBL_CMD_RECULE); |
salco | 39:34d7802e8d15 | 794 | turnRightDirection(myMaze->getDirection(),(bufferNewWay.front()).direction); |
salco | 39:34d7802e8d15 | 795 | switch((bufferNewWay.front()).direction) |
salco | 38:57d5f36a0333 | 796 | { |
salco | 38:57d5f36a0333 | 797 | case UP: |
salco | 38:57d5f36a0333 | 798 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP"); |
salco | 38:57d5f36a0333 | 799 | myMaze->setDirection(UP); |
salco | 39:34d7802e8d15 | 800 | |
salco | 39:34d7802e8d15 | 801 | /*if(((bufferNewWay.front()).direction + myMaze->getDirection()) == (UP + DOWN)) |
salco | 39:34d7802e8d15 | 802 | { |
salco | 39:34d7802e8d15 | 803 | if(rand()%2) |
salco | 39:34d7802e8d15 | 804 | { |
salco | 39:34d7802e8d15 | 805 | addTableauDeCommande(TBL_CMD_TURN_LEFT); |
salco | 39:34d7802e8d15 | 806 | addTableauDeCommande(TBL_CMD_TURN_LEFT); |
salco | 39:34d7802e8d15 | 807 | } |
salco | 39:34d7802e8d15 | 808 | else |
salco | 39:34d7802e8d15 | 809 | { |
salco | 39:34d7802e8d15 | 810 | addTableauDeCommande(TBL_CMD_TURN_RIGHT); |
salco | 39:34d7802e8d15 | 811 | addTableauDeCommande(TBL_CMD_TURN_RIGHT); |
salco | 39:34d7802e8d15 | 812 | } |
salco | 39:34d7802e8d15 | 813 | }*/ |
salco | 39:34d7802e8d15 | 814 | break; |
salco | 38:57d5f36a0333 | 815 | case DOWN: |
salco | 38:57d5f36a0333 | 816 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN"); |
salco | 38:57d5f36a0333 | 817 | myMaze->setDirection(DOWN); |
salco | 39:34d7802e8d15 | 818 | |
salco | 39:34d7802e8d15 | 819 | break; |
salco | 38:57d5f36a0333 | 820 | case LEFT: |
salco | 38:57d5f36a0333 | 821 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT"); |
salco | 38:57d5f36a0333 | 822 | myMaze->setDirection(LEFT); |
salco | 39:34d7802e8d15 | 823 | |
salco | 39:34d7802e8d15 | 824 | break; |
salco | 38:57d5f36a0333 | 825 | case RIGHT: |
salco | 38:57d5f36a0333 | 826 | debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT"); |
salco | 38:57d5f36a0333 | 827 | myMaze->setDirection(RIGHT); |
salco | 38:57d5f36a0333 | 828 | break; |
salco | 38:57d5f36a0333 | 829 | } |
salco | 39:34d7802e8d15 | 830 | //bufferNewWay.pop_front(); |
salco | 39:34d7802e8d15 | 831 | } |
salco | 39:34d7802e8d15 | 832 | else |
salco | 38:57d5f36a0333 | 833 | { |
salco | 39:34d7802e8d15 | 834 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r le chemin a la meme direction"); |
salco | 39:34d7802e8d15 | 835 | //myMaze->getXY_Foward(tempPosition.posX,tempPosition.posY); |
salco | 39:34d7802e8d15 | 836 | tempPosition.posX = myMaze->getX(); |
salco | 39:34d7802e8d15 | 837 | tempPosition.posY = myMaze->getY(); |
salco | 39:34d7802e8d15 | 838 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r current X: %i",tempPosition.posX); |
salco | 39:34d7802e8d15 | 839 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r current Y: %i",tempPosition.posY); |
salco | 39:34d7802e8d15 | 840 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r buffer X: %i",(bufferNewWay.front()).posX); |
salco | 39:34d7802e8d15 | 841 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r buffer Y: %i",(bufferNewWay.front()).posY); |
salco | 39:34d7802e8d15 | 842 | if((tempPosition.posX == (bufferNewWay.front()).posX) && (tempPosition.posY == (bufferNewWay.front()).posY)) |
salco | 39:34d7802e8d15 | 843 | { |
salco | 40:ecef15b1dfad | 844 | updateMaze(); |
salco | 40:ecef15b1dfad | 845 | |
salco | 40:ecef15b1dfad | 846 | nextCase = myMaze->getC_Foward(); |
salco | 40:ecef15b1dfad | 847 | |
salco | 40:ecef15b1dfad | 848 | if(nextCase == Labyrinthe::mur) |
salco | 40:ecef15b1dfad | 849 | { |
salco | 40:ecef15b1dfad | 850 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r problem"); |
salco | 40:ecef15b1dfad | 851 | followThePath = false; |
salco | 40:ecef15b1dfad | 852 | } |
salco | 40:ecef15b1dfad | 853 | else |
salco | 40:ecef15b1dfad | 854 | { |
salco | 39:34d7802e8d15 | 855 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r aucun problem"); |
salco | 39:34d7802e8d15 | 856 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
salco | 39:34d7802e8d15 | 857 | addTableauDeCommande(TBL_CMD_MARCHE); |
salco | 39:34d7802e8d15 | 858 | #endif |
salco | 39:34d7802e8d15 | 859 | myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 860 | myMaze->setMyPos(Labyrinthe::explorer); |
salco | 39:34d7802e8d15 | 861 | bufferNewWay.pop_front(); |
salco | 40:ecef15b1dfad | 862 | } |
salco | 39:34d7802e8d15 | 863 | } |
salco | 39:34d7802e8d15 | 864 | else |
salco | 39:34d7802e8d15 | 865 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r problem"); |
salco | 39:34d7802e8d15 | 866 | |
salco | 38:57d5f36a0333 | 867 | } |
salco | 39:34d7802e8d15 | 868 | |
salco | 39:34d7802e8d15 | 869 | |
salco | 39:34d7802e8d15 | 870 | |
salco | 39:34d7802e8d15 | 871 | if(bufferNewWay.empty()) |
salco | 39:34d7802e8d15 | 872 | followThePath = false; |
salco | 40:ecef15b1dfad | 873 | |
salco | 40:ecef15b1dfad | 874 | |
salco | 40:ecef15b1dfad | 875 | |
salco | 40:ecef15b1dfad | 876 | |
salco | 40:ecef15b1dfad | 877 | |
salco | 40:ecef15b1dfad | 878 | |
salco | 40:ecef15b1dfad | 879 | |
salco | 39:34d7802e8d15 | 880 | /*do{ |
salco | 39:34d7802e8d15 | 881 | //tempPosition.posX = (bufferNewWay.front()).posX; |
salco | 39:34d7802e8d15 | 882 | //tempPosition.posY = (bufferNewWay.front()).posY; |
salco | 39:34d7802e8d15 | 883 | |
salco | 39:34d7802e8d15 | 884 | tempPosition = bufferNewWay.front(); |
salco | 39:34d7802e8d15 | 885 | bufferNewWay.pop_front(); |
salco | 39:34d7802e8d15 | 886 | debug("\n\r bufferNewWay: %i",bufferNewWay.size()); |
salco | 39:34d7802e8d15 | 887 | debug("\n\rtempPosition.posX: %i",tempPosition.posX); |
salco | 39:34d7802e8d15 | 888 | debug("\n\rtempPosition.posY: %i",tempPosition.posY); |
salco | 39:34d7802e8d15 | 889 | }while(bufferNewWay.size() != 0);*/ |
salco | 39:34d7802e8d15 | 890 | } |
salco | 39:34d7802e8d15 | 891 | #ifdef DEBUG_DIRECTIVE_SHOW_MAP_LABYRINTH |
salco | 39:34d7802e8d15 | 892 | string mymap = myMaze->showMap(); |
salco | 39:34d7802e8d15 | 893 | debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY())); |
salco | 39:34d7802e8d15 | 894 | //char caseCaract = 0; |
salco | 39:34d7802e8d15 | 895 | debug("\n\r"); |
salco | 39:34d7802e8d15 | 896 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); |
salco | 39:34d7802e8d15 | 897 | debug("\n\r"); |
salco | 39:34d7802e8d15 | 898 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); |
salco | 39:34d7802e8d15 | 899 | debug("\n\r"); |
salco | 39:34d7802e8d15 | 900 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); |
salco | 39:34d7802e8d15 | 901 | debug("\n\r"); |
salco | 39:34d7802e8d15 | 902 | #endif |
salco | 39:34d7802e8d15 | 903 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
salco | 39:34d7802e8d15 | 904 | /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis |
salco | 39:34d7802e8d15 | 905 | { |
salco | 39:34d7802e8d15 | 906 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); |
salco | 39:34d7802e8d15 | 907 | addTableauDeCommande(6); |
salco | 39:34d7802e8d15 | 908 | } |
salco | 39:34d7802e8d15 | 909 | else if(ultrasonicToInch(m_valueCapteurUltrasonic) < 10) { //plus proche que 10pouce |
salco | 39:34d7802e8d15 | 910 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche"); |
salco | 39:34d7802e8d15 | 911 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 10) { |
salco | 39:34d7802e8d15 | 912 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 39:34d7802e8d15 | 913 | addTableauDeCommande(7); |
salco | 39:34d7802e8d15 | 914 | |
salco | 39:34d7802e8d15 | 915 | |
salco | 39:34d7802e8d15 | 916 | //ici potentielle scaning |
salco | 39:34d7802e8d15 | 917 | } else { |
salco | 39:34d7802e8d15 | 918 | addTableauDeCommande(4); |
salco | 39:34d7802e8d15 | 919 | addTableauDeCommande(4); |
salco | 39:34d7802e8d15 | 920 | addTableauDeCommande(4); |
salco | 39:34d7802e8d15 | 921 | } |
salco | 39:34d7802e8d15 | 922 | } else { |
salco | 39:34d7802e8d15 | 923 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Nothing:"); |
salco | 39:34d7802e8d15 | 924 | addTableauDeCommande(6); |
salco | 39:34d7802e8d15 | 925 | |
salco | 39:34d7802e8d15 | 926 | |
salco | 39:34d7802e8d15 | 927 | int randomNbr = rand() % 4; |
salco | 39:34d7802e8d15 | 928 | switch(randomNbr) |
salco | 39:34d7802e8d15 | 929 | { |
salco | 39:34d7802e8d15 | 930 | case 1: |
salco | 39:34d7802e8d15 | 931 | debug(DEBUG_DIRECTIVE_TEST," Javance"); |
salco | 39:34d7802e8d15 | 932 | addTableauDeCommande(6); |
salco | 39:34d7802e8d15 | 933 | break; |
salco | 39:34d7802e8d15 | 934 | case 2: |
salco | 39:34d7802e8d15 | 935 | debug(DEBUG_DIRECTIVE_TEST," Je tourne a gauche"); |
salco | 39:34d7802e8d15 | 936 | addTableauDeCommande(4); |
salco | 39:34d7802e8d15 | 937 | break; |
salco | 39:34d7802e8d15 | 938 | case 3: |
salco | 39:34d7802e8d15 | 939 | debug(DEBUG_DIRECTIVE_TEST," Je tourne a droite"); |
salco | 39:34d7802e8d15 | 940 | addTableauDeCommande(5); |
salco | 39:34d7802e8d15 | 941 | break; |
salco | 39:34d7802e8d15 | 942 | default: |
salco | 39:34d7802e8d15 | 943 | debug(DEBUG_DIRECTIVE_TEST," Jattend"); |
salco | 39:34d7802e8d15 | 944 | break; |
salco | 39:34d7802e8d15 | 945 | } |
salco | 39:34d7802e8d15 | 946 | |
salco | 39:34d7802e8d15 | 947 | |
salco | 39:34d7802e8d15 | 948 | //addTableauDeCommande(6); |
salco | 39:34d7802e8d15 | 949 | }*/ |
salco | 40:ecef15b1dfad | 950 | #ifdef DEBUG_DIRECTIVE_TASK_PAUSE |
salco | 40:ecef15b1dfad | 951 | debug("\n\r press any 9 key"); |
salco | 40:ecef15b1dfad | 952 | for(int idCmd=0; idCmd != 9; idCmd = fgetc(pc) - '0'); |
salco | 40:ecef15b1dfad | 953 | #endif |
salco | 39:34d7802e8d15 | 954 | /////////////// |
salco | 39:34d7802e8d15 | 955 | // Mouvement // |
salco | 39:34d7802e8d15 | 956 | /////////////// |
salco | 39:34d7802e8d15 | 957 | } |
salco | 39:34d7802e8d15 | 958 | else |
salco | 28:ac5c6350ed9a | 959 | { |
salco | 39:34d7802e8d15 | 960 | |
salco | 39:34d7802e8d15 | 961 | switch(tableauDeCommange[0]) |
salco | 28:ac5c6350ed9a | 962 | { |
salco | 39:34d7802e8d15 | 963 | case 11: |
salco | 39:34d7802e8d15 | 964 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_calibre"); |
salco | 39:34d7802e8d15 | 965 | ctrDesPattes->calibre(); |
salco | 39:34d7802e8d15 | 966 | break; |
salco | 28:ac5c6350ed9a | 967 | case 2: |
salco | 39:34d7802e8d15 | 968 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveUp"); |
salco | 39:34d7802e8d15 | 969 | ctrDesPattes->moveUp(); |
salco | 39:34d7802e8d15 | 970 | break; |
salco | 28:ac5c6350ed9a | 971 | case 3: |
salco | 39:34d7802e8d15 | 972 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveDown"); |
salco | 39:34d7802e8d15 | 973 | ctrDesPattes->moveDown(); |
salco | 39:34d7802e8d15 | 974 | break; |
salco | 39:34d7802e8d15 | 975 | case 4: |
salco | 39:34d7802e8d15 | 976 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_turnLeft"); |
salco | 39:34d7802e8d15 | 977 | ctrDesPattes->turnLeft(); |
salco | 39:34d7802e8d15 | 978 | break; |
salco | 39:34d7802e8d15 | 979 | case 5: |
salco | 39:34d7802e8d15 | 980 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_trunRight"); |
salco | 39:34d7802e8d15 | 981 | ctrDesPattes->trunRight(); |
salco | 39:34d7802e8d15 | 982 | break; |
salco | 39:34d7802e8d15 | 983 | case 6: |
salco | 39:34d7802e8d15 | 984 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveFront"); |
salco | 39:34d7802e8d15 | 985 | ctrDesPattes->moveFront(); |
salco | 39:34d7802e8d15 | 986 | break; |
salco | 39:34d7802e8d15 | 987 | case 7: |
salco | 39:34d7802e8d15 | 988 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveBack"); |
salco | 39:34d7802e8d15 | 989 | ctrDesPattes->moveBack(); |
salco | 39:34d7802e8d15 | 990 | break; |
salco | 39:34d7802e8d15 | 991 | /*case 8: |
salco | 39:34d7802e8d15 | 992 | ctrDesPattes->moveBack(); |
salco | 39:34d7802e8d15 | 993 | break;*/ |
salco | 39:34d7802e8d15 | 994 | case 0x81: |
salco | 39:34d7802e8d15 | 995 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 1"); |
salco | 39:34d7802e8d15 | 996 | ctrDesPattes->repositioner(1); |
salco | 39:34d7802e8d15 | 997 | break; |
salco | 39:34d7802e8d15 | 998 | case 0x82: |
salco | 39:34d7802e8d15 | 999 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 2"); |
salco | 39:34d7802e8d15 | 1000 | ctrDesPattes->repositioner(2); |
salco | 39:34d7802e8d15 | 1001 | break; |
salco | 39:34d7802e8d15 | 1002 | case 0x83: |
salco | 39:34d7802e8d15 | 1003 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 3"); |
salco | 39:34d7802e8d15 | 1004 | ctrDesPattes->repositioner(3); |
salco | 39:34d7802e8d15 | 1005 | break; |
salco | 39:34d7802e8d15 | 1006 | case 0x84: |
salco | 39:34d7802e8d15 | 1007 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 4"); |
salco | 39:34d7802e8d15 | 1008 | ctrDesPattes->repositioner(4); |
salco | 39:34d7802e8d15 | 1009 | break; |
salco | 39:34d7802e8d15 | 1010 | case 0x85: |
salco | 39:34d7802e8d15 | 1011 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 5"); |
salco | 39:34d7802e8d15 | 1012 | ctrDesPattes->repositioner(5); |
salco | 39:34d7802e8d15 | 1013 | break; |
salco | 39:34d7802e8d15 | 1014 | case 0x86: |
salco | 39:34d7802e8d15 | 1015 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 6"); |
salco | 39:34d7802e8d15 | 1016 | ctrDesPattes->repositioner(6); |
salco | 39:34d7802e8d15 | 1017 | break; |
salco | 39:34d7802e8d15 | 1018 | case 0x87: |
salco | 39:34d7802e8d15 | 1019 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 7"); |
salco | 39:34d7802e8d15 | 1020 | ctrDesPattes->repositioner(7); |
salco | 39:34d7802e8d15 | 1021 | break; |
salco | 39:34d7802e8d15 | 1022 | case 0x88: |
salco | 39:34d7802e8d15 | 1023 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 8"); |
salco | 39:34d7802e8d15 | 1024 | ctrDesPattes->repositioner(8); |
salco | 39:34d7802e8d15 | 1025 | break; |
salco | 39:34d7802e8d15 | 1026 | } |
salco | 39:34d7802e8d15 | 1027 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -TAB:"); |
salco | 40:ecef15b1dfad | 1028 | for(int i =0; i<DIRECTIVE_TABLEAUDECOMMANDE_SIZE; i++) debug(DEBUG_DIRECTIVE_TEST,"[%02x]",tableauDeCommange[i]); |
salco | 40:ecef15b1dfad | 1029 | for(int i =0; i<DIRECTIVE_TABLEAUDECOMMANDE_SIZE; i++) tableauDeCommange[i]= tableauDeCommange[i+1]; |
salco | 40:ecef15b1dfad | 1030 | tableauDeCommange[DIRECTIVE_TABLEAUDECOMMANDE_SIZE-1] = 0; |
salco | 39:34d7802e8d15 | 1031 | if(size_tableauDeCommange != 0) size_tableauDeCommange--; |
salco | 39:34d7802e8d15 | 1032 | } |
salco | 37:f53e9f7a14df | 1033 | |
salco | 39:34d7802e8d15 | 1034 | } |
salco | 39:34d7802e8d15 | 1035 | else |
salco | 39:34d7802e8d15 | 1036 | { |
salco | 39:34d7802e8d15 | 1037 | ctrDesPattes->exec(); |
salco | 28:ac5c6350ed9a | 1038 | } |
salco | 37:f53e9f7a14df | 1039 | #endif //DEBUG_DIRECTIVE_LEG_DISABLE |
salco | 28:ac5c6350ed9a | 1040 | //////////////////// |
salco | 28:ac5c6350ed9a | 1041 | // Update memoire // |
salco | 28:ac5c6350ed9a | 1042 | //////////////////// |
salco | 39:34d7802e8d15 | 1043 | |
salco | 28:ac5c6350ed9a | 1044 | //////////// |
salco | 28:ac5c6350ed9a | 1045 | // Autre? // |
salco | 28:ac5c6350ed9a | 1046 | //////////// |
salco | 39:34d7802e8d15 | 1047 | |
salco | 39:34d7802e8d15 | 1048 | |
salco | 28:ac5c6350ed9a | 1049 | //debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive"); |
salco | 39:34d7802e8d15 | 1050 | #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE |
salco | 39:34d7802e8d15 | 1051 | #ifdef DBG_MAIN_DELAY_SEC |
salco | 39:34d7802e8d15 | 1052 | debug("\n\r\n wait \n\r\n"); |
salco | 39:34d7802e8d15 | 1053 | wait(DBG_MAIN_DELAY_SEC); |
salco | 39:34d7802e8d15 | 1054 | #endif |
salco | 39:34d7802e8d15 | 1055 | debug("\n\r---------------------"); |
salco | 37:f53e9f7a14df | 1056 | #endif |
salco | 28:ac5c6350ed9a | 1057 | } |
salco | 28:ac5c6350ed9a | 1058 | double Directive::IRToCm (double miliVolt) |
salco | 28:ac5c6350ed9a | 1059 | { |
salco | 28:ac5c6350ed9a | 1060 | double result=0; |
salco | 39:34d7802e8d15 | 1061 | //debug("\n\r double value: %02f",miliVolt); |
salco | 28:ac5c6350ed9a | 1062 | if(miliVolt < tabIR[0][1])result = tabIR[0][0]; |
salco | 28:ac5c6350ed9a | 1063 | else if(miliVolt > tabIR[11][1])result = tabIR[11][0]; |
salco | 39:34d7802e8d15 | 1064 | |
salco | 39:34d7802e8d15 | 1065 | for(int i =1; (result==0)&&(i<12); i++) |
salco | 39:34d7802e8d15 | 1066 | { |
salco | 39:34d7802e8d15 | 1067 | if((tabIR[i-1][1]<=miliVolt) && (tabIR[i][1]>miliVolt)) |
salco | 39:34d7802e8d15 | 1068 | { |
salco | 28:ac5c6350ed9a | 1069 | 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 | 1070 | } |
salco | 28:ac5c6350ed9a | 1071 | } |
salco | 28:ac5c6350ed9a | 1072 | return result; |
salco | 28:ac5c6350ed9a | 1073 | } |
salco | 28:ac5c6350ed9a | 1074 | void Directive::addTableauDeCommande(unsigned char value) |
salco | 28:ac5c6350ed9a | 1075 | { |
salco | 40:ecef15b1dfad | 1076 | if(size_tableauDeCommange!=DIRECTIVE_TABLEAUDECOMMANDE_SIZE) |
salco | 39:34d7802e8d15 | 1077 | { |
salco | 28:ac5c6350ed9a | 1078 | tableauDeCommange[size_tableauDeCommange]=value; |
salco | 28:ac5c6350ed9a | 1079 | size_tableauDeCommange++; |
salco | 39:34d7802e8d15 | 1080 | |
salco | 28:ac5c6350ed9a | 1081 | } |
salco | 28:ac5c6350ed9a | 1082 | } |
salco | 28:ac5c6350ed9a | 1083 | |
salco | 28:ac5c6350ed9a | 1084 | void Directive::updateModuleValue(void) |
salco | 28:ac5c6350ed9a | 1085 | { |
salco | 28:ac5c6350ed9a | 1086 | string flag,data; |
salco | 39:34d7802e8d15 | 1087 | double tempValue=0; |
salco | 28:ac5c6350ed9a | 1088 | flag.clear(); |
salco | 28:ac5c6350ed9a | 1089 | data.clear(); |
salco | 28:ac5c6350ed9a | 1090 | flag.append(1,7); |
salco | 39:34d7802e8d15 | 1091 | //debug("\n\n\r flag size:%i \n\r",flag.size()); |
salco | 28:ac5c6350ed9a | 1092 | if(m_CtrlBridge->send(m_capteurUltrasonic[0],flag,data)) |
salco | 39:34d7802e8d15 | 1093 | { |
salco | 39:34d7802e8d15 | 1094 | /*if(data[0] != 1)//patch? |
salco | 39:34d7802e8d15 | 1095 | tempValue = data[0];*/ |
salco | 39:34d7802e8d15 | 1096 | |
salco | 39:34d7802e8d15 | 1097 | if(data.size() == 2) |
salco | 39:34d7802e8d15 | 1098 | { |
salco | 39:34d7802e8d15 | 1099 | tempValue = data[0]; |
salco | 39:34d7802e8d15 | 1100 | //tempValue = (tempValue<<8) + data[1]; |
salco | 39:34d7802e8d15 | 1101 | tempValue = (data[0]<<8) + data[1]; |
salco | 39:34d7802e8d15 | 1102 | } |
salco | 39:34d7802e8d15 | 1103 | else |
salco | 39:34d7802e8d15 | 1104 | tempValue = data[0]; |
salco | 39:34d7802e8d15 | 1105 | |
salco | 40:ecef15b1dfad | 1106 | if(data.size() != 0) |
salco | 40:ecef15b1dfad | 1107 | m_valueCapteurUltrasonic = m_valueCapteurUltrasonic+((tempValue -m_valueCapteurUltrasonic)/DIRECTIVE_ULTRASONIC_BUFFER_LENGHT); |
salco | 39:34d7802e8d15 | 1108 | } |
salco | 39:34d7802e8d15 | 1109 | #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE |
salco | 40:ecef15b1dfad | 1110 | debug("\n\r m_valueCapteurUltrasonic"); |
salco | 39:34d7802e8d15 | 1111 | debug("\n\n\r data size:%i \n\r",data.size()); |
salco | 40:ecef15b1dfad | 1112 | switch(data.size()) |
salco | 40:ecef15b1dfad | 1113 | { |
salco | 40:ecef15b1dfad | 1114 | case 1: |
salco | 40:ecef15b1dfad | 1115 | debug("\n\r -data(value):%i ",data[0]); |
salco | 40:ecef15b1dfad | 1116 | break; |
salco | 40:ecef15b1dfad | 1117 | case 2: |
salco | 40:ecef15b1dfad | 1118 | debug("\n\r -data(value):%i ",(data[0]<<8) + data[1]); |
salco | 40:ecef15b1dfad | 1119 | break; |
salco | 40:ecef15b1dfad | 1120 | } |
salco | 40:ecef15b1dfad | 1121 | //debug("\n\r -data(value):%i ",data[0]); |
salco | 39:34d7802e8d15 | 1122 | debug("\n\r -tempValue(value):%02f ",tempValue); |
salco | 39:34d7802e8d15 | 1123 | #endif |
salco | 39:34d7802e8d15 | 1124 | tempValue=0; |
salco | 28:ac5c6350ed9a | 1125 | flag.clear(); |
salco | 28:ac5c6350ed9a | 1126 | data.clear(); |
salco | 28:ac5c6350ed9a | 1127 | flag.append(1,7); |
salco | 39:34d7802e8d15 | 1128 | |
salco | 39:34d7802e8d15 | 1129 | //debug("\n\n\r flag size:%i \n\r",flag.size()); |
salco | 39:34d7802e8d15 | 1130 | if(m_CtrlBridge->send(m_capteurIR[0],flag,data)) |
salco | 39:34d7802e8d15 | 1131 | { |
salco | 39:34d7802e8d15 | 1132 | |
salco | 39:34d7802e8d15 | 1133 | if(data.size() == 2) |
salco | 39:34d7802e8d15 | 1134 | { |
salco | 39:34d7802e8d15 | 1135 | //tempValue = data[0]<<8; |
salco | 39:34d7802e8d15 | 1136 | //debug("\n\n\r monI: %02f",tempValue); |
salco | 39:34d7802e8d15 | 1137 | //debug("\n\n\r mondata: %i",data[0]<<8); |
salco | 39:34d7802e8d15 | 1138 | //tempValue = (tempValue<<8) + data[1]; |
salco | 39:34d7802e8d15 | 1139 | tempValue = (data[0]<<8) + data[1]; |
salco | 39:34d7802e8d15 | 1140 | } |
salco | 39:34d7802e8d15 | 1141 | else |
salco | 39:34d7802e8d15 | 1142 | tempValue = data[0]; |
salco | 39:34d7802e8d15 | 1143 | |
salco | 40:ecef15b1dfad | 1144 | if(data.size() != 0) |
salco | 40:ecef15b1dfad | 1145 | m_valueCapteurIR=m_valueCapteurIR+((tempValue-m_valueCapteurIR)/DIRECTIVE_IR_BUFFER_LENGHT); |
salco | 28:ac5c6350ed9a | 1146 | } |
salco | 39:34d7802e8d15 | 1147 | #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE |
salco | 40:ecef15b1dfad | 1148 | debug("\n\r m_valueCapteurIR"); |
salco | 39:34d7802e8d15 | 1149 | debug("\n\n\r data size:%i \n\r",data.size()); |
salco | 40:ecef15b1dfad | 1150 | switch(data.size()) |
salco | 40:ecef15b1dfad | 1151 | { |
salco | 40:ecef15b1dfad | 1152 | case 1: |
salco | 40:ecef15b1dfad | 1153 | debug("\n\r -data(value):%i ",data[0]); |
salco | 40:ecef15b1dfad | 1154 | break; |
salco | 40:ecef15b1dfad | 1155 | case 2: |
salco | 40:ecef15b1dfad | 1156 | debug("\n\r -data(value):%i ",(data[0]<<8) + data[1]); |
salco | 40:ecef15b1dfad | 1157 | break; |
salco | 40:ecef15b1dfad | 1158 | } |
salco | 40:ecef15b1dfad | 1159 | //debug("\n\r -data(value):%i ",data[0]); |
salco | 39:34d7802e8d15 | 1160 | debug("\n\r -tempValue(value):%02f ",tempValue); |
salco | 39:34d7802e8d15 | 1161 | #endif |
salco | 39:34d7802e8d15 | 1162 | //debug("\n\n\r data size:%i \n\r",data.size()); |
salco | 39:34d7802e8d15 | 1163 | // debug("\n\r -IR(value):%f ",m_valueCapteurIR); |
salco | 39:34d7802e8d15 | 1164 | //for(int i=0; i<data.size();i++)debug("\n\r -data[%i]:%i",i,data[i]); |
salco | 39:34d7802e8d15 | 1165 | |
salco | 28:ac5c6350ed9a | 1166 | flag.clear(); |
salco | 28:ac5c6350ed9a | 1167 | data.clear(); |
salco | 28:ac5c6350ed9a | 1168 | flag.append(1,7); |
salco | 39:34d7802e8d15 | 1169 | //debug("\n\n\r flag size:%i \n\r",flag.size()); |
salco | 28:ac5c6350ed9a | 1170 | if(m_CtrlBridge->send(m_capteurProximiter[0],flag,data)) |
salco | 40:ecef15b1dfad | 1171 | |
salco | 28:ac5c6350ed9a | 1172 | m_valueCapteurProximiter = data[0]; |
salco | 39:34d7802e8d15 | 1173 | |
salco | 39:34d7802e8d15 | 1174 | // debug("\n\n\r data size:%i \n\r",data.size()); |
salco | 39:34d7802e8d15 | 1175 | // debug("\n\r -m_valueCapteurProximiter(value):%i ",m_valueCapteurProximiter); |
salco | 28:ac5c6350ed9a | 1176 | } |
salco | 28:ac5c6350ed9a | 1177 | |
salco | 28:ac5c6350ed9a | 1178 | void Directive::analiseMaze(void) |
salco | 28:ac5c6350ed9a | 1179 | { |
salco | 40:ecef15b1dfad | 1180 | string mymap = myMaze->showMap(); |
salco | 40:ecef15b1dfad | 1181 | |
salco | 40:ecef15b1dfad | 1182 | #ifdef DEBUG_DIRECTIVE_LABYRINTH |
salco | 40:ecef15b1dfad | 1183 | debug("\n\r ----------------analiseMaze--------------\n\r"); |
salco | 40:ecef15b1dfad | 1184 | debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY())); |
salco | 40:ecef15b1dfad | 1185 | |
salco | 40:ecef15b1dfad | 1186 | debug("Direction: "); |
salco | 39:34d7802e8d15 | 1187 | switch(myMaze->getDirection()) |
salco | 39:34d7802e8d15 | 1188 | { |
salco | 37:f53e9f7a14df | 1189 | case UP: |
salco | 40:ecef15b1dfad | 1190 | debug("Up \n\r"); |
salco | 37:f53e9f7a14df | 1191 | break; |
salco | 37:f53e9f7a14df | 1192 | case DOWN: |
salco | 40:ecef15b1dfad | 1193 | debug("Down \n\r"); |
salco | 37:f53e9f7a14df | 1194 | break; |
salco | 37:f53e9f7a14df | 1195 | case LEFT: |
salco | 40:ecef15b1dfad | 1196 | debug("Left \n\r"); |
salco | 37:f53e9f7a14df | 1197 | break; |
salco | 37:f53e9f7a14df | 1198 | case RIGHT: |
salco | 40:ecef15b1dfad | 1199 | debug("Right \n\r"); |
salco | 37:f53e9f7a14df | 1200 | break; |
salco | 39:34d7802e8d15 | 1201 | } |
salco | 37:f53e9f7a14df | 1202 | |
salco | 40:ecef15b1dfad | 1203 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); |
salco | 40:ecef15b1dfad | 1204 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 1205 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); |
salco | 40:ecef15b1dfad | 1206 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 1207 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); |
salco | 40:ecef15b1dfad | 1208 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 1209 | #endif |
salco | 40:ecef15b1dfad | 1210 | |
salco | 40:ecef15b1dfad | 1211 | |
salco | 40:ecef15b1dfad | 1212 | |
salco | 40:ecef15b1dfad | 1213 | |
salco | 40:ecef15b1dfad | 1214 | |
salco | 40:ecef15b1dfad | 1215 | |
salco | 40:ecef15b1dfad | 1216 | |
salco | 39:34d7802e8d15 | 1217 | |
salco | 37:f53e9f7a14df | 1218 | |
salco | 39:34d7802e8d15 | 1219 | #ifndef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL |
salco | 39:34d7802e8d15 | 1220 | /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) |
salco | 39:34d7802e8d15 | 1221 | { //capteur ultrasson embrouiller/imprecis |
salco | 39:34d7802e8d15 | 1222 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); |
salco | 39:34d7802e8d15 | 1223 | //addTableauDeCommande(6); |
salco | 39:34d7802e8d15 | 1224 | } |
salco | 39:34d7802e8d15 | 1225 | else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24) |
salco | 39:34d7802e8d15 | 1226 | { //plus proche que 10pouce |
salco | 39:34d7802e8d15 | 1227 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); |
salco | 39:34d7802e8d15 | 1228 | areaLatt =2; |
salco | 39:34d7802e8d15 | 1229 | areaVert =2; |
salco | 39:34d7802e8d15 | 1230 | } |
salco | 39:34d7802e8d15 | 1231 | else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12) |
salco | 39:34d7802e8d15 | 1232 | { //plus proche que 10pouce |
salco | 39:34d7802e8d15 | 1233 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); |
salco | 39:34d7802e8d15 | 1234 | areaLatt =1; |
salco | 39:34d7802e8d15 | 1235 | areaVert =1; |
salco | 39:34d7802e8d15 | 1236 | } |
salco | 39:34d7802e8d15 | 1237 | debug(DEBUG_DIRECTIVE_TEST,": %i",ultrasonicToInch(m_valueCapteurUltrasonic)); |
salco | 39:34d7802e8d15 | 1238 | |
salco | 39:34d7802e8d15 | 1239 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) |
salco | 39:34d7802e8d15 | 1240 | { |
salco | 39:34d7802e8d15 | 1241 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 39:34d7802e8d15 | 1242 | areaVert =2; |
salco | 39:34d7802e8d15 | 1243 | } |
salco | 39:34d7802e8d15 | 1244 | else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30) |
salco | 39:34d7802e8d15 | 1245 | { |
salco | 39:34d7802e8d15 | 1246 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); |
salco | 39:34d7802e8d15 | 1247 | areaVert =1; |
salco | 39:34d7802e8d15 | 1248 | } |
salco | 39:34d7802e8d15 | 1249 | debug(DEBUG_DIRECTIVE_TEST,": %i",IRToCm(ADCTomv(m_valueCapteurIR)));*///old one |
salco | 40:ecef15b1dfad | 1250 | |
salco | 40:ecef15b1dfad | 1251 | updateMaze(); |
salco | 40:ecef15b1dfad | 1252 | |
salco | 40:ecef15b1dfad | 1253 | #ifdef DEBUG_DIRECTIVE_LABYRINTH |
salco | 40:ecef15b1dfad | 1254 | mymap = myMaze->showMap(); |
salco | 40:ecef15b1dfad | 1255 | //char caseCaract = 0; |
salco | 40:ecef15b1dfad | 1256 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 1257 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); |
salco | 40:ecef15b1dfad | 1258 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 1259 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); |
salco | 40:ecef15b1dfad | 1260 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 1261 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); |
salco | 40:ecef15b1dfad | 1262 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 1263 | |
salco | 40:ecef15b1dfad | 1264 | debug("\n\r-------------------\n\r"); |
salco | 40:ecef15b1dfad | 1265 | #endif |
salco | 40:ecef15b1dfad | 1266 | |
salco | 40:ecef15b1dfad | 1267 | } |
salco | 40:ecef15b1dfad | 1268 | |
salco | 40:ecef15b1dfad | 1269 | char Directive::checkOtherWay(char dir, bool checkExplorer) |
salco | 40:ecef15b1dfad | 1270 | { |
salco | 40:ecef15b1dfad | 1271 | char result = 0; |
salco | 40:ecef15b1dfad | 1272 | char order[3]; |
salco | 40:ecef15b1dfad | 1273 | |
salco | 40:ecef15b1dfad | 1274 | |
salco | 40:ecef15b1dfad | 1275 | |
salco | 40:ecef15b1dfad | 1276 | bool fini = false; |
salco | 40:ecef15b1dfad | 1277 | |
salco | 40:ecef15b1dfad | 1278 | switch(rand() % 6) |
salco | 40:ecef15b1dfad | 1279 | { |
salco | 40:ecef15b1dfad | 1280 | case 0://[0],[1],[2] |
salco | 40:ecef15b1dfad | 1281 | order[0] = 0; |
salco | 40:ecef15b1dfad | 1282 | order[1] = 1; |
salco | 40:ecef15b1dfad | 1283 | order[2] = 2; |
salco | 40:ecef15b1dfad | 1284 | break; |
salco | 40:ecef15b1dfad | 1285 | case 1://[0],[2],[1] |
salco | 40:ecef15b1dfad | 1286 | order[0] = 0; |
salco | 40:ecef15b1dfad | 1287 | order[1] = 2; |
salco | 40:ecef15b1dfad | 1288 | order[2] = 1; |
salco | 40:ecef15b1dfad | 1289 | break; |
salco | 40:ecef15b1dfad | 1290 | case 2://[1],[0],[2] |
salco | 40:ecef15b1dfad | 1291 | order[0] = 1; |
salco | 40:ecef15b1dfad | 1292 | order[1] = 0; |
salco | 40:ecef15b1dfad | 1293 | order[2] = 2; |
salco | 40:ecef15b1dfad | 1294 | break; |
salco | 40:ecef15b1dfad | 1295 | case 3://[2],[0],[1] |
salco | 40:ecef15b1dfad | 1296 | order[0] = 2; |
salco | 40:ecef15b1dfad | 1297 | order[1] = 0; |
salco | 40:ecef15b1dfad | 1298 | order[2] = 1; |
salco | 40:ecef15b1dfad | 1299 | break; |
salco | 40:ecef15b1dfad | 1300 | case 4://[1],[2],[0] |
salco | 40:ecef15b1dfad | 1301 | order[0] = 1; |
salco | 40:ecef15b1dfad | 1302 | order[1] = 2; |
salco | 40:ecef15b1dfad | 1303 | order[2] = 0; |
salco | 40:ecef15b1dfad | 1304 | break; |
salco | 40:ecef15b1dfad | 1305 | case 5://[2],[1],[0] |
salco | 40:ecef15b1dfad | 1306 | order[0] = 2; |
salco | 40:ecef15b1dfad | 1307 | order[1] = 1; |
salco | 40:ecef15b1dfad | 1308 | order[2] = 0; |
salco | 40:ecef15b1dfad | 1309 | break; |
salco | 40:ecef15b1dfad | 1310 | } |
salco | 40:ecef15b1dfad | 1311 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rresult: "); |
salco | 40:ecef15b1dfad | 1312 | for(int i=0; (i<3)&&(!fini); i++) |
salco | 40:ecef15b1dfad | 1313 | { |
salco | 40:ecef15b1dfad | 1314 | switch(order[i]) |
salco | 40:ecef15b1dfad | 1315 | { // 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 | 40:ecef15b1dfad | 1316 | case 0: |
salco | 40:ecef15b1dfad | 1317 | result = myMaze->getC_ToLeft(); |
salco | 40:ecef15b1dfad | 1318 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r getC_ToLeft: %i %i ****",result,myMaze->getC_ToLeft()); |
salco | 40:ecef15b1dfad | 1319 | //if(((Labyrinthe::case_t)result != Labyrinthe::error)&&((Labyrinthe::case_t)result != Labyrinthe::mur) &&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1) ) |
salco | 40:ecef15b1dfad | 1320 | if(((Labyrinthe::case_t)result == Labyrinthe::vide)&&((Labyrinthe::case_t)result != Labyrinthe::mur) &&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1) ) |
salco | 40:ecef15b1dfad | 1321 | { |
salco | 40:ecef15b1dfad | 1322 | fini = true; |
salco | 40:ecef15b1dfad | 1323 | result = LEFT; |
salco | 40:ecef15b1dfad | 1324 | } |
salco | 40:ecef15b1dfad | 1325 | break; |
salco | 40:ecef15b1dfad | 1326 | case 1: |
salco | 40:ecef15b1dfad | 1327 | result = myMaze->getC_Backward(); |
salco | 40:ecef15b1dfad | 1328 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r getC_Backward: %i %i ****",result,myMaze->getC_Backward()); |
salco | 40:ecef15b1dfad | 1329 | if(/*((Labyrinthe::case_t)result != Labyrinthe::error)&&*/((Labyrinthe::case_t)result != Labyrinthe::mur)&&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1)) |
salco | 40:ecef15b1dfad | 1330 | { |
salco | 40:ecef15b1dfad | 1331 | fini = true; |
salco | 40:ecef15b1dfad | 1332 | result = DOWN; |
salco | 40:ecef15b1dfad | 1333 | } |
salco | 40:ecef15b1dfad | 1334 | break; |
salco | 40:ecef15b1dfad | 1335 | case 2: |
salco | 40:ecef15b1dfad | 1336 | result = myMaze->getC_ToRight(); |
salco | 40:ecef15b1dfad | 1337 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r getC_ToRight: %i %i ****",result,myMaze->getC_ToRight()); |
salco | 40:ecef15b1dfad | 1338 | if(/*((Labyrinthe::case_t)result != Labyrinthe::error)&&*/((Labyrinthe::case_t)result != Labyrinthe::mur)&&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1)) |
salco | 40:ecef15b1dfad | 1339 | { |
salco | 40:ecef15b1dfad | 1340 | fini = true; |
salco | 40:ecef15b1dfad | 1341 | result = RIGHT; |
salco | 40:ecef15b1dfad | 1342 | } |
salco | 40:ecef15b1dfad | 1343 | break; |
salco | 40:ecef15b1dfad | 1344 | } |
salco | 40:ecef15b1dfad | 1345 | } |
salco | 40:ecef15b1dfad | 1346 | |
salco | 40:ecef15b1dfad | 1347 | if(fini) |
salco | 40:ecef15b1dfad | 1348 | { |
salco | 40:ecef15b1dfad | 1349 | switch(dir) |
salco | 40:ecef15b1dfad | 1350 | { |
salco | 40:ecef15b1dfad | 1351 | /*case UP: |
salco | 40:ecef15b1dfad | 1352 | break;*/ |
salco | 40:ecef15b1dfad | 1353 | case DOWN: |
salco | 40:ecef15b1dfad | 1354 | switch(result) |
salco | 40:ecef15b1dfad | 1355 | { |
salco | 40:ecef15b1dfad | 1356 | case LEFT: |
salco | 40:ecef15b1dfad | 1357 | result = RIGHT; |
salco | 40:ecef15b1dfad | 1358 | break; |
salco | 40:ecef15b1dfad | 1359 | case DOWN: |
salco | 40:ecef15b1dfad | 1360 | result = UP; |
salco | 40:ecef15b1dfad | 1361 | break; |
salco | 40:ecef15b1dfad | 1362 | case RIGHT: |
salco | 40:ecef15b1dfad | 1363 | result = LEFT; |
salco | 40:ecef15b1dfad | 1364 | break; |
salco | 40:ecef15b1dfad | 1365 | } |
salco | 40:ecef15b1dfad | 1366 | break; |
salco | 40:ecef15b1dfad | 1367 | case LEFT: |
salco | 40:ecef15b1dfad | 1368 | switch(result) |
salco | 40:ecef15b1dfad | 1369 | { |
salco | 40:ecef15b1dfad | 1370 | case LEFT: |
salco | 40:ecef15b1dfad | 1371 | result = DOWN; |
salco | 40:ecef15b1dfad | 1372 | break; |
salco | 40:ecef15b1dfad | 1373 | case DOWN: |
salco | 40:ecef15b1dfad | 1374 | result = RIGHT; |
salco | 40:ecef15b1dfad | 1375 | break; |
salco | 40:ecef15b1dfad | 1376 | case RIGHT: |
salco | 40:ecef15b1dfad | 1377 | result = UP; |
salco | 40:ecef15b1dfad | 1378 | break; |
salco | 40:ecef15b1dfad | 1379 | } |
salco | 40:ecef15b1dfad | 1380 | break; |
salco | 40:ecef15b1dfad | 1381 | case RIGHT: |
salco | 40:ecef15b1dfad | 1382 | switch(result) |
salco | 40:ecef15b1dfad | 1383 | { |
salco | 40:ecef15b1dfad | 1384 | case LEFT: |
salco | 40:ecef15b1dfad | 1385 | result = UP; |
salco | 40:ecef15b1dfad | 1386 | break; |
salco | 40:ecef15b1dfad | 1387 | case DOWN: |
salco | 40:ecef15b1dfad | 1388 | result = LEFT; |
salco | 40:ecef15b1dfad | 1389 | break; |
salco | 40:ecef15b1dfad | 1390 | case RIGHT: |
salco | 40:ecef15b1dfad | 1391 | result = DOWN; |
salco | 40:ecef15b1dfad | 1392 | break; |
salco | 40:ecef15b1dfad | 1393 | } |
salco | 40:ecef15b1dfad | 1394 | break; |
salco | 40:ecef15b1dfad | 1395 | } |
salco | 40:ecef15b1dfad | 1396 | } |
salco | 40:ecef15b1dfad | 1397 | else |
salco | 40:ecef15b1dfad | 1398 | result =0; |
salco | 40:ecef15b1dfad | 1399 | return result; |
salco | 40:ecef15b1dfad | 1400 | } |
salco | 40:ecef15b1dfad | 1401 | |
salco | 40:ecef15b1dfad | 1402 | void Directive::updateMaze(void) |
salco | 40:ecef15b1dfad | 1403 | { |
salco | 40:ecef15b1dfad | 1404 | char areaLatt =0; |
salco | 40:ecef15b1dfad | 1405 | char areaVert =0; |
salco | 40:ecef15b1dfad | 1406 | |
salco | 40:ecef15b1dfad | 1407 | if((inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))<= 1) /*&& (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)*/)//enlever parce que il est lock avec des limites |
salco | 39:34d7802e8d15 | 1408 | { //capteur ultrasson embrouiller/imprecis |
salco | 39:34d7802e8d15 | 1409 | |
salco | 39:34d7802e8d15 | 1410 | debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); |
salco | 39:34d7802e8d15 | 1411 | //addTableauDeCommande(6); |
salco | 39:34d7802e8d15 | 1412 | } |
salco | 40:ecef15b1dfad | 1413 | else if((inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))) <= DIRECTIVE_ULTRASONIC_LIMIT_SHORT) |
salco | 39:34d7802e8d15 | 1414 | { //plus proche que 1 case |
salco | 39:34d7802e8d15 | 1415 | #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE |
salco | 40:ecef15b1dfad | 1416 | debug("\n\r -Objet proche %02f <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_SHORT); |
salco | 39:34d7802e8d15 | 1417 | #endif |
salco | 39:34d7802e8d15 | 1418 | areaLatt =0; |
salco | 39:34d7802e8d15 | 1419 | |
salco | 39:34d7802e8d15 | 1420 | if(IRToCm(ADCTomv(m_valueCapteurIR)) <= DIRECTIVE_IR_LIMIT_SHORT) |
salco | 39:34d7802e8d15 | 1421 | { |
salco | 39:34d7802e8d15 | 1422 | /* |
salco | 39:34d7802e8d15 | 1423 | /---\ |
salco | 39:34d7802e8d15 | 1424 | |?M?| //vert 0 |
salco | 39:34d7802e8d15 | 1425 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 1426 | |...| |
salco | 39:34d7802e8d15 | 1427 | \---/ |
salco | 39:34d7802e8d15 | 1428 | */ |
salco | 39:34d7802e8d15 | 1429 | areaVert = 0; |
salco | 39:34d7802e8d15 | 1430 | } |
salco | 39:34d7802e8d15 | 1431 | else |
salco | 39:34d7802e8d15 | 1432 | { |
salco | 39:34d7802e8d15 | 1433 | /* |
salco | 39:34d7802e8d15 | 1434 | /-M-\ |
salco | 39:34d7802e8d15 | 1435 | |?V?| //vert 1 |
salco | 39:34d7802e8d15 | 1436 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 1437 | |...| |
salco | 39:34d7802e8d15 | 1438 | \---/ |
salco | 39:34d7802e8d15 | 1439 | */ |
salco | 39:34d7802e8d15 | 1440 | areaVert = 1; |
salco | 39:34d7802e8d15 | 1441 | } |
salco | 39:34d7802e8d15 | 1442 | } |
salco | 39:34d7802e8d15 | 1443 | else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE) |
salco | 39:34d7802e8d15 | 1444 | { //plus proche que 2 case |
salco | 39:34d7802e8d15 | 1445 | #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE |
salco | 40:ecef15b1dfad | 1446 | debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE); |
salco | 39:34d7802e8d15 | 1447 | #endif |
salco | 39:34d7802e8d15 | 1448 | //modifier vue que il ne detecte pas asser loin |
salco | 39:34d7802e8d15 | 1449 | /* |
salco | 39:34d7802e8d15 | 1450 | /-M-\ |
salco | 39:34d7802e8d15 | 1451 | |?V?| //vert 1 |
salco | 39:34d7802e8d15 | 1452 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 1453 | |...| |
salco | 39:34d7802e8d15 | 1454 | \---/ |
salco | 39:34d7802e8d15 | 1455 | */ |
salco | 39:34d7802e8d15 | 1456 | areaLatt =0; |
salco | 39:34d7802e8d15 | 1457 | areaVert =1; |
salco | 39:34d7802e8d15 | 1458 | } |
salco | 39:34d7802e8d15 | 1459 | else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_LONG) |
salco | 39:34d7802e8d15 | 1460 | { //plus proche que 2 case |
salco | 39:34d7802e8d15 | 1461 | #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE |
salco | 40:ecef15b1dfad | 1462 | debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG); |
salco | 39:34d7802e8d15 | 1463 | #endif |
salco | 39:34d7802e8d15 | 1464 | //modifier vue que il ne detecte pas asser loin |
salco | 39:34d7802e8d15 | 1465 | /* |
salco | 39:34d7802e8d15 | 1466 | /-M-\ |
salco | 39:34d7802e8d15 | 1467 | |?V?| //vert 1 |
salco | 39:34d7802e8d15 | 1468 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 1469 | |...| |
salco | 39:34d7802e8d15 | 1470 | \---/ |
salco | 39:34d7802e8d15 | 1471 | */ |
salco | 39:34d7802e8d15 | 1472 | areaLatt =0; |
salco | 39:34d7802e8d15 | 1473 | areaVert =1; |
salco | 39:34d7802e8d15 | 1474 | } |
salco | 39:34d7802e8d15 | 1475 | else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) > DIRECTIVE_ULTRASONIC_LIMIT_LONG) |
salco | 39:34d7802e8d15 | 1476 | { //plus proche que 2 case |
salco | 39:34d7802e8d15 | 1477 | #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE |
salco | 40:ecef15b1dfad | 1478 | debug("\n\r -Objet proche %g >= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG); |
salco | 39:34d7802e8d15 | 1479 | #endif |
salco | 39:34d7802e8d15 | 1480 | //modifier vue que il ne detecte pas asser loin |
salco | 39:34d7802e8d15 | 1481 | /* |
salco | 39:34d7802e8d15 | 1482 | /?V?\ |
salco | 39:34d7802e8d15 | 1483 | |?V?| //vert 2 |
salco | 39:34d7802e8d15 | 1484 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 1485 | |...| // objet possiblement a proximiter |
salco | 39:34d7802e8d15 | 1486 | \---/ |
salco | 39:34d7802e8d15 | 1487 | */ |
salco | 39:34d7802e8d15 | 1488 | |
salco | 39:34d7802e8d15 | 1489 | areaLatt =0; |
salco | 39:34d7802e8d15 | 1490 | areaVert =2; |
salco | 39:34d7802e8d15 | 1491 | } |
salco | 39:34d7802e8d15 | 1492 | |
salco | 39:34d7802e8d15 | 1493 | //debug("\n\r areaLatt: %i, areaVert: %i",areaLatt,areaVert); |
salco | 39:34d7802e8d15 | 1494 | #endif |
salco | 37:f53e9f7a14df | 1495 | |
salco | 39:34d7802e8d15 | 1496 | #ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL |
salco | 39:34d7802e8d15 | 1497 | debug("\n\r---analise maze(manualy CTRL)---\n\r"); |
salco | 39:34d7802e8d15 | 1498 | int idCommand = -1; |
salco | 39:34d7802e8d15 | 1499 | areaVert = 9; |
salco | 39:34d7802e8d15 | 1500 | areaLatt = 9; |
salco | 39:34d7802e8d15 | 1501 | /*do { |
salco | 39:34d7802e8d15 | 1502 | debug("\n\r Enter areaVert [0,1,2]: "); |
salco | 39:34d7802e8d15 | 1503 | idCommand = fgetc(pc) - '0'; |
salco | 39:34d7802e8d15 | 1504 | debug(" %i",idCommand); |
salco | 39:34d7802e8d15 | 1505 | } while((idCommand < 0) && (idCommand > 2)); |
salco | 39:34d7802e8d15 | 1506 | areaVert = idCommand; |
salco | 39:34d7802e8d15 | 1507 | |
salco | 39:34d7802e8d15 | 1508 | do { |
salco | 39:34d7802e8d15 | 1509 | debug("\n\r Enter areaLatt [0,1,2]: "); |
salco | 39:34d7802e8d15 | 1510 | idCommand = fgetc(pc) - '0'; |
salco | 39:34d7802e8d15 | 1511 | debug(" %i",idCommand); |
salco | 39:34d7802e8d15 | 1512 | } while((idCommand < 0) && (idCommand > 2)); |
salco | 39:34d7802e8d15 | 1513 | areaLatt = idCommand;*/ |
salco | 37:f53e9f7a14df | 1514 | |
salco | 39:34d7802e8d15 | 1515 | debug("\n\r"); |
salco | 39:34d7802e8d15 | 1516 | #endif |
salco | 39:34d7802e8d15 | 1517 | //changer lalgoritme ici |
salco | 39:34d7802e8d15 | 1518 | |
salco | 39:34d7802e8d15 | 1519 | /* |
salco | 39:34d7802e8d15 | 1520 | /---\ |
salco | 39:34d7802e8d15 | 1521 | |?M?| //vert 0 |
salco | 39:34d7802e8d15 | 1522 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 1523 | |...| |
salco | 39:34d7802e8d15 | 1524 | \---/ |
salco | 39:34d7802e8d15 | 1525 | |
salco | 39:34d7802e8d15 | 1526 | /-M-\ |
salco | 39:34d7802e8d15 | 1527 | |?V?| //vert 1 |
salco | 39:34d7802e8d15 | 1528 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 1529 | |...| |
salco | 39:34d7802e8d15 | 1530 | \---/ |
salco | 37:f53e9f7a14df | 1531 | |
salco | 39:34d7802e8d15 | 1532 | /?M?\ |
salco | 39:34d7802e8d15 | 1533 | |VVV| //vert 1 |
salco | 39:34d7802e8d15 | 1534 | |.X.| //latt 1 |
salco | 39:34d7802e8d15 | 1535 | |...| // objet possiblement a proximiter |
salco | 39:34d7802e8d15 | 1536 | \---/ |
salco | 39:34d7802e8d15 | 1537 | |
salco | 39:34d7802e8d15 | 1538 | /?M?\ |
salco | 39:34d7802e8d15 | 1539 | |VVV| //vert 1 |
salco | 39:34d7802e8d15 | 1540 | |.X.| //latt 2 |
salco | 39:34d7802e8d15 | 1541 | |...| // cas impossible |
salco | 39:34d7802e8d15 | 1542 | \---/ |
salco | 39:34d7802e8d15 | 1543 | |
salco | 39:34d7802e8d15 | 1544 | /?V?\ |
salco | 39:34d7802e8d15 | 1545 | |?V?| //vert 2 |
salco | 39:34d7802e8d15 | 1546 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 1547 | |...| // objet possiblement a proximiter |
salco | 39:34d7802e8d15 | 1548 | \---/ |
salco | 39:34d7802e8d15 | 1549 | |
salco | 39:34d7802e8d15 | 1550 | /?V?\ |
salco | 39:34d7802e8d15 | 1551 | |VVV| //vert 2 |
salco | 39:34d7802e8d15 | 1552 | |.X.| //latt 1 |
salco | 39:34d7802e8d15 | 1553 | |...| // objet possiblement a proximiter |
salco | 39:34d7802e8d15 | 1554 | \---/ |
salco | 37:f53e9f7a14df | 1555 | |
salco | 39:34d7802e8d15 | 1556 | /VVV\ |
salco | 39:34d7802e8d15 | 1557 | |VVV| //vert 2 |
salco | 39:34d7802e8d15 | 1558 | |.X.| //latt 2 |
salco | 39:34d7802e8d15 | 1559 | |...| |
salco | 39:34d7802e8d15 | 1560 | \---/ |
salco | 39:34d7802e8d15 | 1561 | */ |
salco | 39:34d7802e8d15 | 1562 | //vertical==0 latt==0 //mur devant |
salco | 39:34d7802e8d15 | 1563 | //vertical==1 latt==1 |
salco | 40:ecef15b1dfad | 1564 | #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE |
salco | 40:ecef15b1dfad | 1565 | debug("\n\r vertical:%i \n\r latt: %i",areaVert,areaLatt); |
salco | 40:ecef15b1dfad | 1566 | #endif |
salco | 39:34d7802e8d15 | 1567 | //////////////////////////////////// |
salco | 39:34d7802e8d15 | 1568 | //345 |
salco | 39:34d7802e8d15 | 1569 | //012 | numerotation des case |
salco | 39:34d7802e8d15 | 1570 | /////////////////////////////////// |
salco | 39:34d7802e8d15 | 1571 | signed char fieldX[6]= {0,0,0,0,0,0}; |
salco | 39:34d7802e8d15 | 1572 | signed char fieldY[6]= {0,0,0,0,0,0}; |
salco | 39:34d7802e8d15 | 1573 | bool fieldSet = false; |
salco | 39:34d7802e8d15 | 1574 | |
salco | 39:34d7802e8d15 | 1575 | switch(myMaze->getDirection()) |
salco | 39:34d7802e8d15 | 1576 | { |
salco | 39:34d7802e8d15 | 1577 | case UP: |
salco | 39:34d7802e8d15 | 1578 | fieldX[0] = myMaze->getX()-1; |
salco | 39:34d7802e8d15 | 1579 | fieldY[0] = myMaze->getY()+1; |
salco | 39:34d7802e8d15 | 1580 | fieldX[1] = myMaze->getX(); |
salco | 39:34d7802e8d15 | 1581 | fieldY[1] = myMaze->getY()+1; |
salco | 39:34d7802e8d15 | 1582 | fieldX[2] = myMaze->getX()+1; |
salco | 39:34d7802e8d15 | 1583 | fieldY[2] = myMaze->getY()+1; |
salco | 39:34d7802e8d15 | 1584 | fieldX[3] = myMaze->getX()-1; |
salco | 39:34d7802e8d15 | 1585 | fieldY[3] = myMaze->getY()+2; |
salco | 39:34d7802e8d15 | 1586 | fieldX[4] = myMaze->getX(); |
salco | 39:34d7802e8d15 | 1587 | fieldY[4] = myMaze->getY()+2; |
salco | 39:34d7802e8d15 | 1588 | fieldX[5] = myMaze->getX()+1; |
salco | 39:34d7802e8d15 | 1589 | fieldY[5] = myMaze->getY()+2; |
salco | 39:34d7802e8d15 | 1590 | break; |
salco | 37:f53e9f7a14df | 1591 | |
salco | 39:34d7802e8d15 | 1592 | case DOWN: |
salco | 39:34d7802e8d15 | 1593 | fieldX[0] = myMaze->getX()-1; |
salco | 39:34d7802e8d15 | 1594 | fieldY[0] = myMaze->getY()-1; |
salco | 39:34d7802e8d15 | 1595 | fieldX[1] = myMaze->getX(); |
salco | 39:34d7802e8d15 | 1596 | fieldY[1] = myMaze->getY()-1; |
salco | 39:34d7802e8d15 | 1597 | fieldX[2] = myMaze->getX()+1; |
salco | 39:34d7802e8d15 | 1598 | fieldY[2] = myMaze->getY()-1; |
salco | 39:34d7802e8d15 | 1599 | fieldX[3] = myMaze->getX()-1; |
salco | 39:34d7802e8d15 | 1600 | fieldY[3] = myMaze->getY()-2; |
salco | 39:34d7802e8d15 | 1601 | fieldX[4] = myMaze->getX(); |
salco | 39:34d7802e8d15 | 1602 | fieldY[4] = myMaze->getY()-2; |
salco | 39:34d7802e8d15 | 1603 | fieldX[5] = myMaze->getX()+1; |
salco | 39:34d7802e8d15 | 1604 | fieldY[5] = myMaze->getY()-2; |
salco | 39:34d7802e8d15 | 1605 | break; |
salco | 39:34d7802e8d15 | 1606 | |
salco | 39:34d7802e8d15 | 1607 | case LEFT: |
salco | 39:34d7802e8d15 | 1608 | fieldX[0] = myMaze->getX()-1; |
salco | 39:34d7802e8d15 | 1609 | fieldY[0] = myMaze->getY()-1; |
salco | 39:34d7802e8d15 | 1610 | fieldX[1] = myMaze->getX()-1; |
salco | 39:34d7802e8d15 | 1611 | fieldY[1] = myMaze->getY(); |
salco | 39:34d7802e8d15 | 1612 | fieldX[2] = myMaze->getX()-1; |
salco | 39:34d7802e8d15 | 1613 | fieldY[2] = myMaze->getY()+1; |
salco | 39:34d7802e8d15 | 1614 | fieldX[3] = myMaze->getX()-2; |
salco | 39:34d7802e8d15 | 1615 | fieldY[3] = myMaze->getY()-1; |
salco | 39:34d7802e8d15 | 1616 | fieldX[4] = myMaze->getX()-2; |
salco | 39:34d7802e8d15 | 1617 | fieldY[4] = myMaze->getY(); |
salco | 39:34d7802e8d15 | 1618 | fieldX[5] = myMaze->getX()-2; |
salco | 39:34d7802e8d15 | 1619 | fieldY[5] = myMaze->getY()+1; |
salco | 39:34d7802e8d15 | 1620 | break; |
salco | 39:34d7802e8d15 | 1621 | |
salco | 39:34d7802e8d15 | 1622 | case RIGHT: |
salco | 39:34d7802e8d15 | 1623 | fieldX[0] = myMaze->getX()+1; |
salco | 39:34d7802e8d15 | 1624 | fieldY[0] = myMaze->getY()-1; |
salco | 39:34d7802e8d15 | 1625 | fieldX[1] = myMaze->getX()+1; |
salco | 39:34d7802e8d15 | 1626 | fieldY[1] = myMaze->getY(); |
salco | 39:34d7802e8d15 | 1627 | fieldX[2] = myMaze->getX()+1; |
salco | 39:34d7802e8d15 | 1628 | fieldY[2] = myMaze->getY()+1; |
salco | 39:34d7802e8d15 | 1629 | fieldX[3] = myMaze->getX()+2; |
salco | 39:34d7802e8d15 | 1630 | fieldY[3] = myMaze->getY()-1; |
salco | 39:34d7802e8d15 | 1631 | fieldX[4] = myMaze->getX()+2; |
salco | 39:34d7802e8d15 | 1632 | fieldY[4] = myMaze->getY(); |
salco | 39:34d7802e8d15 | 1633 | fieldX[5] = myMaze->getX()+2; |
salco | 39:34d7802e8d15 | 1634 | fieldY[5] = myMaze->getY()+1; |
salco | 39:34d7802e8d15 | 1635 | break; |
salco | 39:34d7802e8d15 | 1636 | } |
salco | 39:34d7802e8d15 | 1637 | if(areaVert >= areaLatt) |
salco | 37:f53e9f7a14df | 1638 | { |
salco | 39:34d7802e8d15 | 1639 | switch(areaVert) |
salco | 37:f53e9f7a14df | 1640 | { |
salco | 39:34d7802e8d15 | 1641 | case 0: |
salco | 39:34d7802e8d15 | 1642 | /* |
salco | 39:34d7802e8d15 | 1643 | /---\ |
salco | 39:34d7802e8d15 | 1644 | |?M?| //vert 0 |
salco | 39:34d7802e8d15 | 1645 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 1646 | |...| |
salco | 37:f53e9f7a14df | 1647 | \---/ |
salco | 39:34d7802e8d15 | 1648 | */ |
salco | 39:34d7802e8d15 | 1649 | myMaze->setC(Labyrinthe::mur,fieldX[1],fieldY[1]); |
salco | 39:34d7802e8d15 | 1650 | fieldSet = true; |
salco | 39:34d7802e8d15 | 1651 | break; |
salco | 39:34d7802e8d15 | 1652 | case 1: |
salco | 39:34d7802e8d15 | 1653 | /* |
salco | 39:34d7802e8d15 | 1654 | /-M-\ |
salco | 39:34d7802e8d15 | 1655 | |?V?| //vert 1 |
salco | 37:f53e9f7a14df | 1656 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 1657 | |...| |
salco | 37:f53e9f7a14df | 1658 | \---/ |
salco | 37:f53e9f7a14df | 1659 | */ |
salco | 37:f53e9f7a14df | 1660 | myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]); |
salco | 39:34d7802e8d15 | 1661 | myMaze->setC(Labyrinthe::mur,fieldX[4],fieldY[4]); |
salco | 39:34d7802e8d15 | 1662 | fieldSet = true; |
salco | 39:34d7802e8d15 | 1663 | |
salco | 39:34d7802e8d15 | 1664 | if(areaLatt == 1) |
salco | 39:34d7802e8d15 | 1665 | { |
salco | 39:34d7802e8d15 | 1666 | /* |
salco | 39:34d7802e8d15 | 1667 | /?M?\ |
salco | 39:34d7802e8d15 | 1668 | |VVV| //vert 1 |
salco | 39:34d7802e8d15 | 1669 | |.X.| //latt 1 |
salco | 39:34d7802e8d15 | 1670 | |...| // objet possiblement a proximiter |
salco | 39:34d7802e8d15 | 1671 | \---/ |
salco | 39:34d7802e8d15 | 1672 | */ |
salco | 39:34d7802e8d15 | 1673 | myMaze->setC(Labyrinthe::vide,fieldX[0],fieldY[0]); |
salco | 39:34d7802e8d15 | 1674 | myMaze->setC(Labyrinthe::vide,fieldX[2],fieldY[2]); |
salco | 39:34d7802e8d15 | 1675 | } |
salco | 39:34d7802e8d15 | 1676 | break; |
salco | 39:34d7802e8d15 | 1677 | case 2: |
salco | 39:34d7802e8d15 | 1678 | fieldSet = true; |
salco | 39:34d7802e8d15 | 1679 | switch(areaLatt) |
salco | 39:34d7802e8d15 | 1680 | { |
salco | 39:34d7802e8d15 | 1681 | case 0: |
salco | 39:34d7802e8d15 | 1682 | /* |
salco | 39:34d7802e8d15 | 1683 | /?V?\ |
salco | 39:34d7802e8d15 | 1684 | |?V?| //vert 2 |
salco | 39:34d7802e8d15 | 1685 | |.X.| //latt 0 |
salco | 39:34d7802e8d15 | 1686 | |...| // objet possiblement a proximiter |
salco | 39:34d7802e8d15 | 1687 | \---/ |
salco | 39:34d7802e8d15 | 1688 | */ |
salco | 39:34d7802e8d15 | 1689 | myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]); |
salco | 39:34d7802e8d15 | 1690 | myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]); |
salco | 39:34d7802e8d15 | 1691 | break; |
salco | 39:34d7802e8d15 | 1692 | case 1: |
salco | 39:34d7802e8d15 | 1693 | /* |
salco | 39:34d7802e8d15 | 1694 | /?V?\ |
salco | 39:34d7802e8d15 | 1695 | |VVV| //vert 2 |
salco | 39:34d7802e8d15 | 1696 | |.X.| //latt 1 |
salco | 39:34d7802e8d15 | 1697 | |...| // objet possiblement a proximiter |
salco | 39:34d7802e8d15 | 1698 | \---/ |
salco | 39:34d7802e8d15 | 1699 | */ |
salco | 39:34d7802e8d15 | 1700 | for(int i = 0; i<3; i++)myMaze->setC(Labyrinthe::vide,fieldX[i],fieldY[i]); |
salco | 39:34d7802e8d15 | 1701 | myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]); |
salco | 39:34d7802e8d15 | 1702 | break; |
salco | 39:34d7802e8d15 | 1703 | case 2: |
salco | 39:34d7802e8d15 | 1704 | /* |
salco | 39:34d7802e8d15 | 1705 | /VVV\ |
salco | 39:34d7802e8d15 | 1706 | |VVV| //vert 2 |
salco | 39:34d7802e8d15 | 1707 | |.X.| //latt 2 |
salco | 39:34d7802e8d15 | 1708 | |...| |
salco | 39:34d7802e8d15 | 1709 | \---/ |
salco | 39:34d7802e8d15 | 1710 | */ |
salco | 39:34d7802e8d15 | 1711 | for(int i = 0; i<6; i++)myMaze->setC( Labyrinthe::vide,fieldX[i],fieldY[i]); |
salco | 39:34d7802e8d15 | 1712 | break; |
salco | 39:34d7802e8d15 | 1713 | } |
salco | 39:34d7802e8d15 | 1714 | break; |
salco | 39:34d7802e8d15 | 1715 | } |
salco | 37:f53e9f7a14df | 1716 | } |
salco | 37:f53e9f7a14df | 1717 | |
salco | 39:34d7802e8d15 | 1718 | if(fieldSet == false) |
salco | 39:34d7802e8d15 | 1719 | { // on a un cas impossible |
salco | 39:34d7802e8d15 | 1720 | //myMaze->setC(Labyrinthe::error,fieldX[1],fieldY[1]); |
salco | 37:f53e9f7a14df | 1721 | } |
salco | 39:34d7802e8d15 | 1722 | |
salco | 39:34d7802e8d15 | 1723 | //////////////////////////////////// |
salco | 38:57d5f36a0333 | 1724 | } |
salco | 39:34d7802e8d15 | 1725 | void Directive::checkOtherWay(char &caseFront, char &caseBack, char &caseLeft, char &caseRight) |
salco | 39:34d7802e8d15 | 1726 | { |
salco | 39:34d7802e8d15 | 1727 | caseFront = myMaze->getC_Foward(); |
salco | 39:34d7802e8d15 | 1728 | caseBack = myMaze->getC_Backward(); |
salco | 39:34d7802e8d15 | 1729 | caseRight = myMaze->getC_ToRight(); |
salco | 39:34d7802e8d15 | 1730 | caseLeft = myMaze->getC_ToLeft(); |
salco | 39:34d7802e8d15 | 1731 | } |
salco | 38:57d5f36a0333 | 1732 | bool Directive::searchNewWay(void) |
salco | 38:57d5f36a0333 | 1733 | { |
salco | 39:34d7802e8d15 | 1734 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r ---- Search new way ----\n\r"); |
salco | 39:34d7802e8d15 | 1735 | 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 | 1736 | bool result=false; |
salco | 38:57d5f36a0333 | 1737 | string backupMap = myMaze->getAllMap(); |
salco | 38:57d5f36a0333 | 1738 | signed char backupPosX = myMaze->getX(); |
salco | 38:57d5f36a0333 | 1739 | signed char backupPosY = myMaze->getY(); |
salco | 38:57d5f36a0333 | 1740 | string searchMap = backupMap; |
salco | 38:57d5f36a0333 | 1741 | char tempdir,nextCase=0; |
salco | 38:57d5f36a0333 | 1742 | positionXY tempPosition; |
salco | 39:34d7802e8d15 | 1743 | char backupDir = myMaze->getDirection(); |
salco | 39:34d7802e8d15 | 1744 | |
salco | 38:57d5f36a0333 | 1745 | |
salco | 38:57d5f36a0333 | 1746 | bool noOtherWay = false;//si apres un moment tu est entourer de mur |
salco | 38:57d5f36a0333 | 1747 | bool wrongWay = false; //si jamais vien un moment que tu est pris /doit rebrousser chemin |
salco | 39:34d7802e8d15 | 1748 | //bool checkAutour = false; |
salco | 38:57d5f36a0333 | 1749 | |
salco | 38:57d5f36a0333 | 1750 | bufferNewWay.clear(); |
salco | 38:57d5f36a0333 | 1751 | tempPosition.posX = myMaze->getX(); |
salco | 38:57d5f36a0333 | 1752 | tempPosition.posY = myMaze->getY(); |
salco | 39:34d7802e8d15 | 1753 | //bufferNewWay.push_back(tempPosition); // pas sur de lutiliter |
salco | 38:57d5f36a0333 | 1754 | |
salco | 39:34d7802e8d15 | 1755 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Debut Boucle"); |
salco | 39:34d7802e8d15 | 1756 | //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 | 1757 | while((!result)&&(!noOtherWay)) |
salco | 38:57d5f36a0333 | 1758 | { |
salco | 39:34d7802e8d15 | 1759 | // nextCase = 0; |
salco | 39:34d7802e8d15 | 1760 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Cycle Boucle\n\r"); |
salco | 39:34d7802e8d15 | 1761 | nextCase = myMaze->getC_Foward(); |
salco | 39:34d7802e8d15 | 1762 | |
salco | 39:34d7802e8d15 | 1763 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",nextCase); |
salco | 39:34d7802e8d15 | 1764 | switch(nextCase ) |
salco | 39:34d7802e8d15 | 1765 | { |
salco | 38:57d5f36a0333 | 1766 | |
salco | 39:34d7802e8d15 | 1767 | case Labyrinthe::pasExplorer : |
salco | 39:34d7802e8d15 | 1768 | case Labyrinthe::vide : |
salco | 39:34d7802e8d15 | 1769 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r vide ou pas explorer: "); |
salco | 39:34d7802e8d15 | 1770 | myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 1771 | result = true; |
salco | 39:34d7802e8d15 | 1772 | break; |
salco | 38:57d5f36a0333 | 1773 | |
salco | 39:34d7802e8d15 | 1774 | case Labyrinthe::explorer :// ici pt amiliorer |
salco | 39:34d7802e8d15 | 1775 | //add position a la liste |
salco | 39:34d7802e8d15 | 1776 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Explorer"); |
salco | 39:34d7802e8d15 | 1777 | myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 1778 | //myMaze->setMyPos(Labyrinthe::error); |
salco | 39:34d7802e8d15 | 1779 | break; |
salco | 38:57d5f36a0333 | 1780 | |
salco | 39:34d7802e8d15 | 1781 | case Labyrinthe::mur: |
salco | 39:34d7802e8d15 | 1782 | tempdir = rand() % 2; |
salco | 39:34d7802e8d15 | 1783 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Mur: %i",tempdir); |
salco | 39:34d7802e8d15 | 1784 | if(tempdir == 1) |
salco | 39:34d7802e8d15 | 1785 | { |
salco | 39:34d7802e8d15 | 1786 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r left right"); |
salco | 39:34d7802e8d15 | 1787 | tempdir = myMaze->getC_ToLeft(); |
salco | 39:34d7802e8d15 | 1788 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir); |
salco | 39:34d7802e8d15 | 1789 | if((Labyrinthe::case_t)tempdir != Labyrinthe::mur) |
salco | 38:57d5f36a0333 | 1790 | { |
salco | 39:34d7802e8d15 | 1791 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Left"); |
salco | 39:34d7802e8d15 | 1792 | myMaze->turnLeft(); |
salco | 39:34d7802e8d15 | 1793 | |
salco | 39:34d7802e8d15 | 1794 | //backupDir = myMaze->getDirection(); |
salco | 39:34d7802e8d15 | 1795 | } |
salco | 39:34d7802e8d15 | 1796 | else |
salco | 38:57d5f36a0333 | 1797 | { |
salco | 38:57d5f36a0333 | 1798 | tempdir = myMaze->getC_ToRight(); |
salco | 39:34d7802e8d15 | 1799 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir); |
salco | 39:34d7802e8d15 | 1800 | if((Labyrinthe::case_t)tempdir != Labyrinthe::mur) |
salco | 39:34d7802e8d15 | 1801 | { |
salco | 39:34d7802e8d15 | 1802 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Right"); |
salco | 38:57d5f36a0333 | 1803 | myMaze->turnRight(); |
salco | 39:34d7802e8d15 | 1804 | |
salco | 39:34d7802e8d15 | 1805 | //backupDir = myMaze->getDirection(); |
salco | 39:34d7802e8d15 | 1806 | } |
salco | 39:34d7802e8d15 | 1807 | else |
salco | 39:34d7802e8d15 | 1808 | { |
salco | 39:34d7802e8d15 | 1809 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r aucun coter"); |
salco | 39:34d7802e8d15 | 1810 | wrongWay = true; // verifie dans la liste |
salco | 39:34d7802e8d15 | 1811 | } |
salco | 39:34d7802e8d15 | 1812 | } |
salco | 39:34d7802e8d15 | 1813 | |
salco | 39:34d7802e8d15 | 1814 | } |
salco | 39:34d7802e8d15 | 1815 | else |
salco | 39:34d7802e8d15 | 1816 | { |
salco | 39:34d7802e8d15 | 1817 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r right left"); |
salco | 39:34d7802e8d15 | 1818 | tempdir = myMaze->getC_ToRight(); |
salco | 39:34d7802e8d15 | 1819 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir); |
salco | 39:34d7802e8d15 | 1820 | if((Labyrinthe::case_t)tempdir != Labyrinthe::mur) |
salco | 39:34d7802e8d15 | 1821 | { |
salco | 39:34d7802e8d15 | 1822 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Right"); |
salco | 39:34d7802e8d15 | 1823 | myMaze->turnRight(); |
salco | 39:34d7802e8d15 | 1824 | |
salco | 39:34d7802e8d15 | 1825 | //backupDir = myMaze->getDirection(); |
salco | 39:34d7802e8d15 | 1826 | } |
salco | 39:34d7802e8d15 | 1827 | else |
salco | 39:34d7802e8d15 | 1828 | { |
salco | 39:34d7802e8d15 | 1829 | tempdir = myMaze->getC_ToLeft(); |
salco | 39:34d7802e8d15 | 1830 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir); |
salco | 39:34d7802e8d15 | 1831 | if((Labyrinthe::case_t)tempdir != Labyrinthe::mur) |
salco | 39:34d7802e8d15 | 1832 | { |
salco | 39:34d7802e8d15 | 1833 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Left"); |
salco | 39:34d7802e8d15 | 1834 | myMaze->turnLeft(); |
salco | 39:34d7802e8d15 | 1835 | |
salco | 39:34d7802e8d15 | 1836 | //backupDir = myMaze->getDirection(); |
salco | 39:34d7802e8d15 | 1837 | } |
salco | 39:34d7802e8d15 | 1838 | else |
salco | 39:34d7802e8d15 | 1839 | { |
salco | 39:34d7802e8d15 | 1840 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r aucun coter"); |
salco | 39:34d7802e8d15 | 1841 | wrongWay = true; // verifie dans la liste |
salco | 39:34d7802e8d15 | 1842 | } |
salco | 38:57d5f36a0333 | 1843 | } |
salco | 39:34d7802e8d15 | 1844 | /* if(wrongWay == false) |
salco | 39:34d7802e8d15 | 1845 | myMaze->moveFoward();*/ |
salco | 39:34d7802e8d15 | 1846 | } |
salco | 39:34d7802e8d15 | 1847 | |
salco | 39:34d7802e8d15 | 1848 | //myMaze->setMyPos(Labyrinthe::error); |
salco | 39:34d7802e8d15 | 1849 | break; |
salco | 39:34d7802e8d15 | 1850 | } |
salco | 39:34d7802e8d15 | 1851 | |
salco | 39:34d7802e8d15 | 1852 | tempPosition.posX = myMaze->getX(); |
salco | 39:34d7802e8d15 | 1853 | tempPosition.posY = myMaze->getY(); |
salco | 39:34d7802e8d15 | 1854 | tempPosition.direction = myMaze->getDirection(); |
salco | 39:34d7802e8d15 | 1855 | |
salco | 39:34d7802e8d15 | 1856 | /*debug("\n\rtempPosition.posX: %i",tempPosition.posX); |
salco | 39:34d7802e8d15 | 1857 | debug("\n\rtempPosition.posY: %i",tempPosition.posY); |
salco | 39:34d7802e8d15 | 1858 | debug("\n\rbufferNewWay.posX: %i",(bufferNewWay.back().posX)); |
salco | 39:34d7802e8d15 | 1859 | debug("\n\rbufferNewWay.posY: %i",(bufferNewWay.back().posY));*/ |
salco | 39:34d7802e8d15 | 1860 | |
salco | 39:34d7802e8d15 | 1861 | if((bufferNewWay.empty())||(((bufferNewWay.back().posX) != tempPosition.posX) || ((bufferNewWay.back().posY) != tempPosition.posY))) |
salco | 39:34d7802e8d15 | 1862 | { |
salco | 39:34d7802e8d15 | 1863 | bufferNewWay.push_back(tempPosition); |
salco | 39:34d7802e8d15 | 1864 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size()); |
salco | 39:34d7802e8d15 | 1865 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",tempPosition.posX); |
salco | 39:34d7802e8d15 | 1866 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",tempPosition.posY); |
salco | 39:34d7802e8d15 | 1867 | } |
salco | 39:34d7802e8d15 | 1868 | else if((bufferNewWay.empty())&& ((backupPosX != myMaze->getX()) || (backupPosY != myMaze->getY())) ) |
salco | 39:34d7802e8d15 | 1869 | { |
salco | 39:34d7802e8d15 | 1870 | bufferNewWay.push_back(tempPosition); |
salco | 39:34d7802e8d15 | 1871 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size()); |
salco | 39:34d7802e8d15 | 1872 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",tempPosition.posX); |
salco | 39:34d7802e8d15 | 1873 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",tempPosition.posY); |
salco | 39:34d7802e8d15 | 1874 | } |
salco | 39:34d7802e8d15 | 1875 | else if(((bufferNewWay.back()).posX == tempPosition.posX) && ((bufferNewWay.back()).posY == tempPosition.posY) && ((bufferNewWay.back()).direction != tempPosition.direction))//ra fait un tours |
salco | 39:34d7802e8d15 | 1876 | { |
salco | 39:34d7802e8d15 | 1877 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back a cause dun tournie"); |
salco | 39:34d7802e8d15 | 1878 | bufferNewWay.pop_back(); |
salco | 39:34d7802e8d15 | 1879 | bufferNewWay.push_back(tempPosition); |
salco | 39:34d7802e8d15 | 1880 | } |
salco | 39:34d7802e8d15 | 1881 | |
salco | 39:34d7802e8d15 | 1882 | else |
salco | 39:34d7802e8d15 | 1883 | { |
salco | 39:34d7802e8d15 | 1884 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r buffer non adder"); |
salco | 39:34d7802e8d15 | 1885 | |
salco | 39:34d7802e8d15 | 1886 | } |
salco | 39:34d7802e8d15 | 1887 | |
salco | 38:57d5f36a0333 | 1888 | |
salco | 39:34d7802e8d15 | 1889 | if(wrongWay) |
salco | 39:34d7802e8d15 | 1890 | { |
salco | 39:34d7802e8d15 | 1891 | char caseFront,caseBack,caseLeft,caseRight; |
salco | 39:34d7802e8d15 | 1892 | char wallCount; |
salco | 39:34d7802e8d15 | 1893 | char directive; |
salco | 39:34d7802e8d15 | 1894 | bool haveValuesChange = false; |
salco | 39:34d7802e8d15 | 1895 | bool caseVideTrouver = false; |
salco | 39:34d7802e8d15 | 1896 | bool caseExplorerTrouver = false; |
salco | 39:34d7802e8d15 | 1897 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\n\r wrong way patching"); |
salco | 39:34d7802e8d15 | 1898 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay size: %i",bufferNewWay.size()); |
salco | 39:34d7802e8d15 | 1899 | std::list<positionXY>::iterator it; |
salco | 39:34d7802e8d15 | 1900 | do |
salco | 39:34d7802e8d15 | 1901 | { |
salco | 39:34d7802e8d15 | 1902 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r --wrong way boucle"); |
salco | 39:34d7802e8d15 | 1903 | |
salco | 39:34d7802e8d15 | 1904 | //bufferNewWay.pop_back(); |
salco | 39:34d7802e8d15 | 1905 | if(!bufferNewWay.empty()) |
salco | 39:34d7802e8d15 | 1906 | { |
salco | 39:34d7802e8d15 | 1907 | directive = 0;//defenir fait rien |
salco | 39:34d7802e8d15 | 1908 | it=bufferNewWay.end(); |
salco | 39:34d7802e8d15 | 1909 | haveValuesChange = false; |
salco | 39:34d7802e8d15 | 1910 | caseVideTrouver = false; |
salco | 39:34d7802e8d15 | 1911 | caseExplorerTrouver = false; |
salco | 39:34d7802e8d15 | 1912 | tempPosition.posX = (bufferNewWay.back()).posX; |
salco | 39:34d7802e8d15 | 1913 | tempPosition.posY = bufferNewWay.back().posY; |
salco | 39:34d7802e8d15 | 1914 | |
salco | 39:34d7802e8d15 | 1915 | |
salco | 39:34d7802e8d15 | 1916 | myMaze->setX(bufferNewWay.back().posX); |
salco | 39:34d7802e8d15 | 1917 | myMaze->setY(bufferNewWay.back().posY); |
salco | 39:34d7802e8d15 | 1918 | wallCount = 0; |
salco | 39:34d7802e8d15 | 1919 | checkOtherWay(caseFront,caseBack,caseLeft,caseRight); |
salco | 39:34d7802e8d15 | 1920 | |
salco | 39:34d7802e8d15 | 1921 | if((Labyrinthe::case_t)caseFront == Labyrinthe::mur)wallCount++; |
salco | 39:34d7802e8d15 | 1922 | if((Labyrinthe::case_t)caseBack == Labyrinthe::mur)wallCount++; |
salco | 39:34d7802e8d15 | 1923 | if((Labyrinthe::case_t)caseLeft == Labyrinthe::mur)wallCount++; |
salco | 39:34d7802e8d15 | 1924 | if((Labyrinthe::case_t)caseRight == Labyrinthe::mur)wallCount++; |
salco | 39:34d7802e8d15 | 1925 | |
salco | 39:34d7802e8d15 | 1926 | if(wallCount == 3) |
salco | 39:34d7802e8d15 | 1927 | { |
salco | 39:34d7802e8d15 | 1928 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r PATH trouver "); |
salco | 39:34d7802e8d15 | 1929 | myMaze->setC(Labyrinthe::mur,tempPosition.posX,tempPosition.posY); |
salco | 39:34d7802e8d15 | 1930 | } |
salco | 39:34d7802e8d15 | 1931 | 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 | 1932 | //tempPosition.posX = (bufferNewWay.back()).posX; |
salco | 39:34d7802e8d15 | 1933 | //tempPosition.posY = bufferNewWay.back().posY; |
salco | 39:34d7802e8d15 | 1934 | /*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 | 1935 | { |
salco | 39:34d7802e8d15 | 1936 | debug("\n\r Path vide trouver!!!"); |
salco | 39:34d7802e8d15 | 1937 | caseVideTrouver = true; |
salco | 39:34d7802e8d15 | 1938 | wrongWay = false; |
salco | 39:34d7802e8d15 | 1939 | }*/ |
salco | 39:34d7802e8d15 | 1940 | |
salco | 39:34d7802e8d15 | 1941 | //else |
salco | 39:34d7802e8d15 | 1942 | //{ |
salco | 39:34d7802e8d15 | 1943 | it--; |
salco | 39:34d7802e8d15 | 1944 | if(/*((Labyrinthe::case_t)caseFront != Labyrinthe::error) &&*/ ((Labyrinthe::case_t)caseFront != Labyrinthe::mur)) |
salco | 39:34d7802e8d15 | 1945 | { // une anciene case est potentiele,emt bonne |
salco | 39:34d7802e8d15 | 1946 | myMaze->getXY_Foward(tempPosition.posX,tempPosition.posY); |
salco | 39:34d7802e8d15 | 1947 | |
salco | 39:34d7802e8d15 | 1948 | if((Labyrinthe::case_t)caseFront == Labyrinthe::vide) |
salco | 39:34d7802e8d15 | 1949 | { |
salco | 39:34d7802e8d15 | 1950 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!"); |
salco | 39:34d7802e8d15 | 1951 | caseVideTrouver = true; |
salco | 39:34d7802e8d15 | 1952 | haveValuesChange = true; |
salco | 39:34d7802e8d15 | 1953 | directive = 1; |
salco | 39:34d7802e8d15 | 1954 | wrongWay = false; |
salco | 39:34d7802e8d15 | 1955 | //debug("\n\r moveFoward"); |
salco | 39:34d7802e8d15 | 1956 | } |
salco | 39:34d7802e8d15 | 1957 | if((!caseVideTrouver) && (!caseExplorerTrouver)) |
salco | 39:34d7802e8d15 | 1958 | { |
salco | 39:34d7802e8d15 | 1959 | caseExplorerTrouver = true; |
salco | 39:34d7802e8d15 | 1960 | /*if(((*it).posX != tempPosition.posX) && ((*it).posY != tempPosition.posY)) { |
salco | 39:34d7802e8d15 | 1961 | wrongWay = false; |
salco | 39:34d7802e8d15 | 1962 | myMaze->moveFoward();//setDirection(UP); |
salco | 39:34d7802e8d15 | 1963 | debug("\n\r moveFoward"); |
salco | 39:34d7802e8d15 | 1964 | debug("\n\r chemin trouver"); |
salco | 39:34d7802e8d15 | 1965 | haveValuesChange = true; |
salco | 39:34d7802e8d15 | 1966 | } else if(bufferNewWay.size() == 1) {*/ |
salco | 39:34d7802e8d15 | 1967 | // debug("\n\r Last thing in buffer"); |
salco | 39:34d7802e8d15 | 1968 | //myMaze->moveFoward();//setDirection(UP); |
salco | 39:34d7802e8d15 | 1969 | directive = 1;// move foward |
salco | 39:34d7802e8d15 | 1970 | haveValuesChange = true; |
salco | 39:34d7802e8d15 | 1971 | // debug("\n\r moveFoward"); |
salco | 39:34d7802e8d15 | 1972 | } |
salco | 39:34d7802e8d15 | 1973 | } |
salco | 39:34d7802e8d15 | 1974 | |
salco | 39:34d7802e8d15 | 1975 | if(/*((Labyrinthe::case_t)caseBack != Labyrinthe::error) &&*/ ((Labyrinthe::case_t)caseBack != Labyrinthe::mur)) |
salco | 39:34d7802e8d15 | 1976 | { // une anciene case est potentiele,emt bonne |
salco | 39:34d7802e8d15 | 1977 | myMaze->getXY_Backward(tempPosition.posX,tempPosition.posY); |
salco | 39:34d7802e8d15 | 1978 | |
salco | 39:34d7802e8d15 | 1979 | if((Labyrinthe::case_t)caseBack == Labyrinthe::vide) |
salco | 39:34d7802e8d15 | 1980 | { |
salco | 39:34d7802e8d15 | 1981 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!"); |
salco | 39:34d7802e8d15 | 1982 | caseVideTrouver = true; |
salco | 39:34d7802e8d15 | 1983 | haveValuesChange = true; |
salco | 39:34d7802e8d15 | 1984 | directive = 2; |
salco | 39:34d7802e8d15 | 1985 | wrongWay = false; |
salco | 39:34d7802e8d15 | 1986 | //debug("\n\r moveFoward"); |
salco | 39:34d7802e8d15 | 1987 | } |
salco | 39:34d7802e8d15 | 1988 | if((!caseVideTrouver) && (!caseExplorerTrouver)) |
salco | 39:34d7802e8d15 | 1989 | { |
salco | 39:34d7802e8d15 | 1990 | caseExplorerTrouver = true; |
salco | 39:34d7802e8d15 | 1991 | /*if(((*it).posX != tempPosition.posX) && ((*it).posY != tempPosition.posY)) { |
salco | 39:34d7802e8d15 | 1992 | wrongWay = false; |
salco | 39:34d7802e8d15 | 1993 | myMaze->turnBack();//setDirection(DOWN); |
salco | 39:34d7802e8d15 | 1994 | debug("\n\r turn Back"); |
salco | 39:34d7802e8d15 | 1995 | debug("\n\r chemin trouver"); |
salco | 39:34d7802e8d15 | 1996 | haveValuesChange = true; |
salco | 39:34d7802e8d15 | 1997 | } else if(bufferNewWay.size() == 1) {*/ |
salco | 39:34d7802e8d15 | 1998 | //debug("\n\r Last thing in buffer"); |
salco | 39:34d7802e8d15 | 1999 | //myMaze->turnBack();//setDirection(DOWN); |
salco | 39:34d7802e8d15 | 2000 | directive = 2; |
salco | 39:34d7802e8d15 | 2001 | //debug("\n\r turn Back"); |
salco | 39:34d7802e8d15 | 2002 | haveValuesChange = true; |
salco | 39:34d7802e8d15 | 2003 | } |
salco | 39:34d7802e8d15 | 2004 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r direction: %i",myMaze->getDirection()); |
salco | 39:34d7802e8d15 | 2005 | } |
salco | 39:34d7802e8d15 | 2006 | |
salco | 39:34d7802e8d15 | 2007 | if(/*((Labyrinthe::case_t)caseLeft != Labyrinthe::error) &&*/ ((Labyrinthe::case_t)caseLeft != Labyrinthe::mur)) |
salco | 39:34d7802e8d15 | 2008 | { // une anciene case est potentiele,emt bonne |
salco | 39:34d7802e8d15 | 2009 | myMaze->getXY_Left(tempPosition.posX,tempPosition.posY); |
salco | 39:34d7802e8d15 | 2010 | |
salco | 39:34d7802e8d15 | 2011 | if((Labyrinthe::case_t)caseLeft == Labyrinthe::vide) |
salco | 39:34d7802e8d15 | 2012 | { |
salco | 39:34d7802e8d15 | 2013 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!"); |
salco | 39:34d7802e8d15 | 2014 | caseVideTrouver = true; |
salco | 39:34d7802e8d15 | 2015 | haveValuesChange = true; |
salco | 39:34d7802e8d15 | 2016 | directive = 3; |
salco | 39:34d7802e8d15 | 2017 | wrongWay = false; |
salco | 39:34d7802e8d15 | 2018 | //debug("\n\r moveFoward"); |
salco | 39:34d7802e8d15 | 2019 | } |
salco | 39:34d7802e8d15 | 2020 | if((!!caseVideTrouver) && (!caseExplorerTrouver)) |
salco | 39:34d7802e8d15 | 2021 | { |
salco | 39:34d7802e8d15 | 2022 | caseExplorerTrouver = true; |
salco | 39:34d7802e8d15 | 2023 | /*if(((*it).posX != tempPosition.posX) && ((*it).posY != tempPosition.posY)) { |
salco | 39:34d7802e8d15 | 2024 | wrongWay = false; |
salco | 39:34d7802e8d15 | 2025 | myMaze->turnLeft();//setDirection(LEFT); |
salco | 39:34d7802e8d15 | 2026 | debug("\n\r turn Left"); |
salco | 39:34d7802e8d15 | 2027 | debug("\n\r chemin trouver"); |
salco | 39:34d7802e8d15 | 2028 | haveValuesChange = true; |
salco | 39:34d7802e8d15 | 2029 | } else if(bufferNewWay.size() == 1) {*/ |
salco | 39:34d7802e8d15 | 2030 | //debug("\n\r Last thing in buffer"); |
salco | 39:34d7802e8d15 | 2031 | //myMaze->turnLeft();//setDirection(LEFT); |
salco | 39:34d7802e8d15 | 2032 | directive = 3; |
salco | 39:34d7802e8d15 | 2033 | //debug("\n\r turn Left"); |
salco | 39:34d7802e8d15 | 2034 | haveValuesChange = true; |
salco | 39:34d7802e8d15 | 2035 | } |
salco | 39:34d7802e8d15 | 2036 | } |
salco | 39:34d7802e8d15 | 2037 | |
salco | 39:34d7802e8d15 | 2038 | if(/*((Labyrinthe::case_t)caseRight != Labyrinthe::error) &&*/ ((Labyrinthe::case_t)caseRight != Labyrinthe::mur)) |
salco | 39:34d7802e8d15 | 2039 | { // une anciene case est potentiele,emt bonne |
salco | 39:34d7802e8d15 | 2040 | myMaze->getXY_Right(tempPosition.posX,tempPosition.posY); |
salco | 39:34d7802e8d15 | 2041 | |
salco | 39:34d7802e8d15 | 2042 | if((Labyrinthe::case_t)caseRight == Labyrinthe::vide) |
salco | 39:34d7802e8d15 | 2043 | { |
salco | 39:34d7802e8d15 | 2044 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!"); |
salco | 39:34d7802e8d15 | 2045 | caseVideTrouver = true; |
salco | 39:34d7802e8d15 | 2046 | haveValuesChange = true; |
salco | 39:34d7802e8d15 | 2047 | directive = 4; |
salco | 39:34d7802e8d15 | 2048 | wrongWay = false; |
salco | 39:34d7802e8d15 | 2049 | //debug("\n\r moveFoward"); |
salco | 39:34d7802e8d15 | 2050 | } |
salco | 39:34d7802e8d15 | 2051 | if((!caseVideTrouver)&& (!caseExplorerTrouver)) |
salco | 39:34d7802e8d15 | 2052 | { |
salco | 39:34d7802e8d15 | 2053 | caseExplorerTrouver = true; |
salco | 39:34d7802e8d15 | 2054 | /*if(((bufferNewWay.back()).posX != tempPosition.posX) && ((bufferNewWay.back()).posY != tempPosition.posY)) { |
salco | 39:34d7802e8d15 | 2055 | wrongWay = false; |
salco | 39:34d7802e8d15 | 2056 | myMaze->turnRight();//setDirection(RIGHT); |
salco | 39:34d7802e8d15 | 2057 | debug("\n\r turn Right"); |
salco | 39:34d7802e8d15 | 2058 | debug("\n\r chemin trouver"); |
salco | 39:34d7802e8d15 | 2059 | haveValuesChange = true; |
salco | 39:34d7802e8d15 | 2060 | } else if(bufferNewWay.size() == 1) {*/ |
salco | 39:34d7802e8d15 | 2061 | //debug("\n\r Last thing in buffer"); |
salco | 39:34d7802e8d15 | 2062 | //myMaze->turnRight();//setDirection(RIGHT); |
salco | 39:34d7802e8d15 | 2063 | directive = 4; |
salco | 39:34d7802e8d15 | 2064 | // debug("\n\r turn Right"); |
salco | 39:34d7802e8d15 | 2065 | haveValuesChange = true; |
salco | 39:34d7802e8d15 | 2066 | } |
salco | 39:34d7802e8d15 | 2067 | } |
salco | 39:34d7802e8d15 | 2068 | |
salco | 39:34d7802e8d15 | 2069 | //} |
salco | 39:34d7802e8d15 | 2070 | |
salco | 39:34d7802e8d15 | 2071 | |
salco | 39:34d7802e8d15 | 2072 | } |
salco | 39:34d7802e8d15 | 2073 | else |
salco | 39:34d7802e8d15 | 2074 | noOtherWay = true; |
salco | 39:34d7802e8d15 | 2075 | |
salco | 39:34d7802e8d15 | 2076 | |
salco | 39:34d7802e8d15 | 2077 | if(haveValuesChange) |
salco | 39:34d7802e8d15 | 2078 | { |
salco | 39:34d7802e8d15 | 2079 | switch(directive) |
salco | 39:34d7802e8d15 | 2080 | { |
salco | 39:34d7802e8d15 | 2081 | case 0: |
salco | 39:34d7802e8d15 | 2082 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r doNothing"); |
salco | 39:34d7802e8d15 | 2083 | break; |
salco | 39:34d7802e8d15 | 2084 | case 1: |
salco | 39:34d7802e8d15 | 2085 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r moveFoward"); |
salco | 39:34d7802e8d15 | 2086 | myMaze->moveFoward(); |
salco | 39:34d7802e8d15 | 2087 | break; |
salco | 39:34d7802e8d15 | 2088 | case 2: |
salco | 39:34d7802e8d15 | 2089 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Back"); |
salco | 39:34d7802e8d15 | 2090 | myMaze->turnBack(); |
salco | 39:34d7802e8d15 | 2091 | break; |
salco | 39:34d7802e8d15 | 2092 | case 3: |
salco | 39:34d7802e8d15 | 2093 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Left"); |
salco | 39:34d7802e8d15 | 2094 | myMaze->turnLeft(); |
salco | 39:34d7802e8d15 | 2095 | break; |
salco | 39:34d7802e8d15 | 2096 | case 4: |
salco | 39:34d7802e8d15 | 2097 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Right"); |
salco | 39:34d7802e8d15 | 2098 | myMaze->turnRight(); |
salco | 39:34d7802e8d15 | 2099 | break; |
salco | 39:34d7802e8d15 | 2100 | } |
salco | 39:34d7802e8d15 | 2101 | tempPosition.posX = myMaze->getX(); |
salco | 39:34d7802e8d15 | 2102 | tempPosition.posY = myMaze->getY(); |
salco | 39:34d7802e8d15 | 2103 | tempPosition.direction = myMaze->getDirection(); |
salco | 39:34d7802e8d15 | 2104 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size()); |
salco | 39:34d7802e8d15 | 2105 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",tempPosition.posX); |
salco | 39:34d7802e8d15 | 2106 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",tempPosition.posY); |
salco | 39:34d7802e8d15 | 2107 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",tempPosition.direction); |
salco | 39:34d7802e8d15 | 2108 | for (std::list<positionXY>::iterator it=bufferNewWay.begin(),itEnd;( it != bufferNewWay.end()) && (!bufferNewWay.empty()); ++it) |
salco | 39:34d7802e8d15 | 2109 | { |
salco | 39:34d7802e8d15 | 2110 | //tempPosition = *(it); |
salco | 39:34d7802e8d15 | 2111 | itEnd = bufferNewWay.end(); |
salco | 39:34d7802e8d15 | 2112 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Bouble de meme position"); |
salco | 39:34d7802e8d15 | 2113 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",(*it).posX); |
salco | 39:34d7802e8d15 | 2114 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",(*it).posY); |
salco | 39:34d7802e8d15 | 2115 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",(*it).direction); |
salco | 39:34d7802e8d15 | 2116 | if(((*it).posX == tempPosition.posX) && ((*it).posY == tempPosition.posY) && ((*it).direction == tempPosition.direction)) |
salco | 39:34d7802e8d15 | 2117 | { |
salco | 39:34d7802e8d15 | 2118 | while(((*it).posX != (*itEnd).posX) && |
salco | 39:34d7802e8d15 | 2119 | ((*it).posY != (*itEnd).posY) && |
salco | 39:34d7802e8d15 | 2120 | ((*it).direction != (*itEnd).direction) && (!bufferNewWay.empty())) |
salco | 39:34d7802e8d15 | 2121 | { |
salco | 39:34d7802e8d15 | 2122 | itEnd = bufferNewWay.end(); |
salco | 39:34d7802e8d15 | 2123 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back et enmurer"); |
salco | 39:34d7802e8d15 | 2124 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r tempPosition.posX: %i",(bufferNewWay.back()).posX); |
salco | 39:34d7802e8d15 | 2125 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r tempPosition.posY: %i",(bufferNewWay.back()).posY); |
salco | 39:34d7802e8d15 | 2126 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r tempPosition.direction: %i",(bufferNewWay.back()).direction); |
salco | 39:34d7802e8d15 | 2127 | myMaze->setC(Labyrinthe::mur,(bufferNewWay.back()).posX,(bufferNewWay.back()).posY); |
salco | 39:34d7802e8d15 | 2128 | bufferNewWay.pop_back(); |
salco | 39:34d7802e8d15 | 2129 | } |
salco | 39:34d7802e8d15 | 2130 | //it--; |
salco | 39:34d7802e8d15 | 2131 | noOtherWay = true;//placer ici pour patcher vue que je suis taner |
salco | 39:34d7802e8d15 | 2132 | //checkAutour = true; |
salco | 39:34d7802e8d15 | 2133 | } |
salco | 39:34d7802e8d15 | 2134 | } |
salco | 39:34d7802e8d15 | 2135 | if(((bufferNewWay.back()).posX == tempPosition.posX) && ((bufferNewWay.back()).posY == tempPosition.posY) && ((bufferNewWay.back()).direction != tempPosition.direction))//ra fait un tours |
salco | 39:34d7802e8d15 | 2136 | { |
salco | 39:34d7802e8d15 | 2137 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back a cause dun tournie"); |
salco | 39:34d7802e8d15 | 2138 | bufferNewWay.pop_back(); |
salco | 39:34d7802e8d15 | 2139 | } |
salco | 39:34d7802e8d15 | 2140 | bufferNewWay.push_back(tempPosition); |
salco | 39:34d7802e8d15 | 2141 | //bufferNewWay.pop_back();//on enleve pour pouvoir lire le dernier |
salco | 39:34d7802e8d15 | 2142 | } |
salco | 39:34d7802e8d15 | 2143 | else |
salco | 39:34d7802e8d15 | 2144 | { |
salco | 39:34d7802e8d15 | 2145 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back"); |
salco | 39:34d7802e8d15 | 2146 | bufferNewWay.pop_back();//on enleve pour pouvoir lire le dernier |
salco | 39:34d7802e8d15 | 2147 | } |
salco | 40:ecef15b1dfad | 2148 | #ifdef DEBUG_DIRECTIVE_LABYRINTH |
salco | 39:34d7802e8d15 | 2149 | string mymap = myMaze->showMap(); |
salco | 40:ecef15b1dfad | 2150 | debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY())); |
salco | 39:34d7802e8d15 | 2151 | //char caseCaract = 0; |
salco | 39:34d7802e8d15 | 2152 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r direction: %i",myMaze->getDirection()); |
salco | 40:ecef15b1dfad | 2153 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 2154 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); |
salco | 40:ecef15b1dfad | 2155 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 2156 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); |
salco | 40:ecef15b1dfad | 2157 | debug("\n\r"); |
salco | 40:ecef15b1dfad | 2158 | for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); |
salco | 40:ecef15b1dfad | 2159 | #endif |
salco | 40:ecef15b1dfad | 2160 | |
salco | 40:ecef15b1dfad | 2161 | #ifdef DEBUG_DIRECTIVE_TASK_PAUSE |
salco | 39:34d7802e8d15 | 2162 | debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r press any key...\n\r"); |
salco | 39:34d7802e8d15 | 2163 | |
salco | 39:34d7802e8d15 | 2164 | fgetc(pc); |
salco | 40:ecef15b1dfad | 2165 | #endif |
salco | 39:34d7802e8d15 | 2166 | |
salco | 39:34d7802e8d15 | 2167 | } while((wrongWay) && (!noOtherWay)); |
salco | 39:34d7802e8d15 | 2168 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Fin Boucle"); |
salco | 38:57d5f36a0333 | 2169 | } |
salco | 40:ecef15b1dfad | 2170 | #ifdef DEBUG_DIRECTIVE_TASK_PAUSE |
salco | 40:ecef15b1dfad | 2171 | debug("\n\r press any key...\n\r"); fgetc(pc); |
salco | 40:ecef15b1dfad | 2172 | #endif |
salco | 38:57d5f36a0333 | 2173 | } |
salco | 38:57d5f36a0333 | 2174 | |
salco | 39:34d7802e8d15 | 2175 | myMaze->setX(backupPosX); |
salco | 39:34d7802e8d15 | 2176 | myMaze->setY(backupPosY); |
salco | 39:34d7802e8d15 | 2177 | myMaze->setAllMap(backupMap); |
salco | 39:34d7802e8d15 | 2178 | myMaze->setDirection(backupDir); |
salco | 39:34d7802e8d15 | 2179 | if(noOtherWay) |
salco | 39:34d7802e8d15 | 2180 | { |
salco | 39:34d7802e8d15 | 2181 | result = false; |
salco | 39:34d7802e8d15 | 2182 | myMaze->setAllMap(""); |
salco | 39:34d7802e8d15 | 2183 | myMaze->setX(0); |
salco | 39:34d7802e8d15 | 2184 | myMaze->setY(0); |
salco | 39:34d7802e8d15 | 2185 | myMaze->setDirection(backupDir); |
salco | 39:34d7802e8d15 | 2186 | } |
salco | 39:34d7802e8d15 | 2187 | |
salco | 39:34d7802e8d15 | 2188 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\n\r dans le buffer"); |
salco | 39:34d7802e8d15 | 2189 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size()); |
salco | 39:34d7802e8d15 | 2190 | for (std::list<positionXY>::iterator it=bufferNewWay.begin(); it != bufferNewWay.end(); ++it) { |
salco | 39:34d7802e8d15 | 2191 | //tempPosition = *(it); |
salco | 39:34d7802e8d15 | 2192 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",(*it).posX); |
salco | 39:34d7802e8d15 | 2193 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",(*it).posY); |
salco | 39:34d7802e8d15 | 2194 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",(*it).direction); |
salco | 39:34d7802e8d15 | 2195 | } |
salco | 39:34d7802e8d15 | 2196 | debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r ----------------"); |
salco | 39:34d7802e8d15 | 2197 | return result; |
salco | 38:57d5f36a0333 | 2198 | } |
salco | 38:57d5f36a0333 | 2199 | |
salco | 38:57d5f36a0333 | 2200 | bool Directive::isAnotherWay(void) |
salco | 38:57d5f36a0333 | 2201 | { |
salco | 38:57d5f36a0333 | 2202 | bool result=false; |
salco | 38:57d5f36a0333 | 2203 | |
salco | 38:57d5f36a0333 | 2204 | return result; |
salco | 39:34d7802e8d15 | 2205 | } |
salco | 39:34d7802e8d15 | 2206 | void Directive::turnRightDirection(char currentDir, char nextDir) |
salco | 39:34d7802e8d15 | 2207 | { |
salco | 39:34d7802e8d15 | 2208 | |
salco | 39:34d7802e8d15 | 2209 | |
salco | 39:34d7802e8d15 | 2210 | #ifndef DEBUG_DIRECTIVE_LEG_DISABLE |
salco | 39:34d7802e8d15 | 2211 | if(((nextDir + currentDir) == (UP + DOWN)) || |
salco | 39:34d7802e8d15 | 2212 | ((nextDir + currentDir) == (LEFT + RIGHT))) |
salco | 39:34d7802e8d15 | 2213 | { |
salco | 39:34d7802e8d15 | 2214 | if(rand()%2) |
salco | 39:34d7802e8d15 | 2215 | { |
salco | 40:ecef15b1dfad | 2216 | for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT); |
salco | 40:ecef15b1dfad | 2217 | for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT); |
salco | 40:ecef15b1dfad | 2218 | //addTableauDeCommande(TBL_CMD_TURN_LEFT); |
salco | 39:34d7802e8d15 | 2219 | } |
salco | 39:34d7802e8d15 | 2220 | else |
salco | 39:34d7802e8d15 | 2221 | { |
salco | 40:ecef15b1dfad | 2222 | for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT); |
salco | 40:ecef15b1dfad | 2223 | for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT); |
salco | 40:ecef15b1dfad | 2224 | //addTableauDeCommande(TBL_CMD_TURN_RIGHT); |
salco | 39:34d7802e8d15 | 2225 | } |
salco | 39:34d7802e8d15 | 2226 | } |
salco | 39:34d7802e8d15 | 2227 | else |
salco | 39:34d7802e8d15 | 2228 | { |
salco | 39:34d7802e8d15 | 2229 | switch(currentDir) |
salco | 39:34d7802e8d15 | 2230 | { |
salco | 39:34d7802e8d15 | 2231 | case UP: |
salco | 39:34d7802e8d15 | 2232 | if(nextDir == LEFT) |
salco | 39:34d7802e8d15 | 2233 | { |
salco | 40:ecef15b1dfad | 2234 | for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT); |
salco | 39:34d7802e8d15 | 2235 | } |
salco | 39:34d7802e8d15 | 2236 | else if(nextDir == RIGHT) |
salco | 39:34d7802e8d15 | 2237 | { |
salco | 40:ecef15b1dfad | 2238 | for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT); |
salco | 39:34d7802e8d15 | 2239 | } |
salco | 39:34d7802e8d15 | 2240 | break; |
salco | 39:34d7802e8d15 | 2241 | case DOWN: |
salco | 39:34d7802e8d15 | 2242 | if(nextDir == LEFT) |
salco | 39:34d7802e8d15 | 2243 | { |
salco | 40:ecef15b1dfad | 2244 | for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT); |
salco | 39:34d7802e8d15 | 2245 | } |
salco | 39:34d7802e8d15 | 2246 | else if(nextDir == LEFT) |
salco | 39:34d7802e8d15 | 2247 | { |
salco | 40:ecef15b1dfad | 2248 | for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT); |
salco | 39:34d7802e8d15 | 2249 | } |
salco | 39:34d7802e8d15 | 2250 | break; |
salco | 39:34d7802e8d15 | 2251 | case LEFT: |
salco | 39:34d7802e8d15 | 2252 | if(nextDir == UP) |
salco | 39:34d7802e8d15 | 2253 | { |
salco | 40:ecef15b1dfad | 2254 | for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT); |
salco | 39:34d7802e8d15 | 2255 | } |
salco | 39:34d7802e8d15 | 2256 | else if(nextDir == DOWN) |
salco | 39:34d7802e8d15 | 2257 | { |
salco | 40:ecef15b1dfad | 2258 | for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT); |
salco | 39:34d7802e8d15 | 2259 | } |
salco | 39:34d7802e8d15 | 2260 | break; |
salco | 39:34d7802e8d15 | 2261 | case RIGHT: |
salco | 39:34d7802e8d15 | 2262 | if(nextDir == UP) |
salco | 39:34d7802e8d15 | 2263 | { |
salco | 40:ecef15b1dfad | 2264 | for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT); |
salco | 39:34d7802e8d15 | 2265 | } |
salco | 39:34d7802e8d15 | 2266 | else if(nextDir == DOWN) |
salco | 39:34d7802e8d15 | 2267 | { |
salco | 40:ecef15b1dfad | 2268 | for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT); |
salco | 39:34d7802e8d15 | 2269 | } |
salco | 39:34d7802e8d15 | 2270 | break; |
salco | 39:34d7802e8d15 | 2271 | } |
salco | 39:34d7802e8d15 | 2272 | } |
salco | 39:34d7802e8d15 | 2273 | #endif |
salco | 2:4c5b0f6d0a6b | 2274 | } |