Alexandre Salconi-Denis
Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.
CtrlBridge
- fonction quelquonque pour communiquer avec les module
- fonction quelquonque pour faire des recherche dans les module dispo
- autre fonction pour jouer avec MemRegistre
Version 1.2.0
- Ajout d'un mode de simulation pour tester le code avec seulement un contrôleur stm32
Diff: directive.cpp
- Revision:
- 37:f53e9f7a14df
- Parent:
- 36:474d4795aafa
- Child:
- 38:57d5f36a0333
--- a/directive.cpp Sun Sep 13 06:56:09 2015 +0000
+++ b/directive.cpp Tue Sep 29 17:23:25 2015 +0000
@@ -96,34 +96,66 @@
{
#ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
- if(pc.readable()){
-
- debug("\x1B[2J"); //clear screen
- debug("\x1B[25l");//hide cursor
- debug("\x1B[;H"); //cursor default position
-
- int idCommand;
-
- idCommand = fgetc(pc) - '0';
- switch(idCommand)
- {
- case 1:
- createDLbox(0,0,10,25,"BrainControle");
- setText(1,3,"1) Move Up");
- setText(1,4,"2) Move Down");
- setText(1,5,"2) Move Left");
- setText(1,6,"2) Move Right");
- break;
-
- case 2:
- createDLbox(0,0,10,20,"Show Maze");
- break;
- }
- }
+ debug("\x1B[2J"); //clear screen
+ debug("\x1B[25l");//hide cursor
+ debug("\x1B[;H"); //cursor default position
+ /*
+ createDLbox(0,0,10,25,"BrainControle");
+ setText(1,3,"1) Move Up");
+ setText(1,4,"2) Move Down");
+ setText(1,5,"3) Move Left");
+ setText(1,6,"4) Move Right");
+
+ int idCommand;
+ do{
+ if(pc.readable()){
+ idCommand = fgetc(pc) - '0';
+ switch(idCommand)
+ {
+ case 1:
+ myMaze->goUp();
+ break;
+ case 2:
+ myMaze->goDown();
+ break;
+ case 3:
+ myMaze->goLeft();
+ break;
+ case 4:
+ myMaze->goRight();
+ break;
+ }
+ myMaze->setMyPos(Labyrinthe::explorer);
+
+ string mymap = myMaze->showMap();
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY());
+ for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]);
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
+ for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]);
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
+ for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]);
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
+
+ #ifdef DBG_MAIN_DELAY_SEC
+ debug("\n\r\n wait \n\r\n");
+ wait(DBG_MAIN_DELAY_SEC);
+ #endif
+
+ debug("\x1B[2J"); //clear screen
+ debug("\x1B[;H"); //cursor default position
+ createDLbox(0,0,10,25,"BrainControle");
+ setText(1,3,"1) Move Up");
+ setText(1,4,"2) Move Down");
+ setText(1,5,"3) Move Left");
+ setText(1,6,"4) Move Right");
+ }
+ }while(1); */
#endif
//debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive");
+ #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
if(ctrDesPattes->isSeqComplet()) {
+
if((tableauDeCommange[0] == 6) && (size_tableauDeCommange == 1)) {
//addTableauDeCommande(0x81);
//addTableauDeCommande(0x82);
@@ -135,6 +167,8 @@
addTableauDeCommande(0x87);
addTableauDeCommande(0x88);
}
+
+
if(tableauDeCommange[0] == 0) {
//pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment.
@@ -152,7 +186,7 @@
debug("\n\r flag: %d",flag[0]);
debug("\n\r data: %x",data[0]);
}*/
-#ifndef BACKUP
+
updateModuleValue();
//////////////////////////////
@@ -161,7 +195,7 @@
debug(DEBUG_DIRECTIVE_TEST,"\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR)));
debug(DEBUG_DIRECTIVE_TEST,"\n\r -ultrasonicToInch: %02f",ultrasonicToInch(m_valueCapteurUltrasonic));
debug(DEBUG_DIRECTIVE_TEST,"\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter);
-
+#endif //DEBUG_DIRECTIVE_LEG_DISABLE
analiseMaze();
char nextCase=0;
switch(myMaze->getDirection()) {
@@ -183,14 +217,21 @@
}
switch(nextCase ) {
- case Labyrinthe::vide:
+ case Labyrinthe::vide :
+ #ifdef DEBUG_DIRECTIVE_LEG_DISABLE
+ debug("nextCase Vide\n\r");
+ #endif
debug(DEBUG_DIRECTIVE_TEST," Javance");
+ #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
addTableauDeCommande(6);
+ #endif
break;
- case EXPLORER:// ici pt amiliorer
+ case Labyrinthe::explorer :// ici pt amiliorer
debug(DEBUG_DIRECTIVE_TEST," Javance");
+ #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
addTableauDeCommande(6);
+ #endif
break;
case Labyrinthe::mur:
@@ -222,14 +263,15 @@
break;
- case Labyrinthe::pasExplorer:
+ case Labyrinthe::pasExplorer :
debug(DEBUG_DIRECTIVE_TEST," Javance");
+ #ifndef DEBUG_DIRECTIVE_LEG_DISABLE
addTableauDeCommande(6);
+ #endif
break;
}
-#endif
-#if BACKUP
+#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
/*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis
{
debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
@@ -276,11 +318,13 @@
//addTableauDeCommande(6);
}*/
-#endif
+
///////////////
// Mouvement //
///////////////
- } else {
+ }
+ else {
+
switch(tableauDeCommange[0]) {
case 11:
debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_calibre");
@@ -352,9 +396,11 @@
tableauDeCommange[9]=0;
if(size_tableauDeCommange != 0) size_tableauDeCommange--;
}
- } else {
+
+ } else {
ctrDesPattes->exec();
}
+ #endif //DEBUG_DIRECTIVE_LEG_DISABLE
////////////////////
// Update memoire //
////////////////////
@@ -365,6 +411,12 @@
//debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive");
+ #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
+ #ifdef DBG_MAIN_DELAY_SEC
+ debug("\n\r\n wait \n\r\n");
+ wait(DBG_MAIN_DELAY_SEC);
+ #endif
+ #endif
}
double Directive::IRToCm (double miliVolt)
{
@@ -423,6 +475,23 @@
char areaVert =0;
string mymap = myMaze->showMap();
debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY());
+
+ debug("Direction: ");
+ switch(myMaze->getDirection()) {
+ case UP:
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"Up \n\r");
+ break;
+ case DOWN:
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"Down \n\r");
+ break;
+ case LEFT:
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"Left \n\r");
+ break;
+ case RIGHT:
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"Right \n\r");
+ break;
+ }
+
for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]);
debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]);
@@ -431,7 +500,7 @@
debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
-
+#ifndef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) { //capteur ultrasson embrouiller/imprecis
debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
//addTableauDeCommande(6);
@@ -444,6 +513,8 @@
areaLatt =1;
areaVert =1;
}
+ debug(DEBUG_DIRECTIVE_TEST,": %i",ultrasonicToInch(m_valueCapteurUltrasonic));
+
if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) {
debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
areaVert =2;
@@ -451,216 +522,241 @@
debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
areaVert =1;
}
-
-
- switch(myMaze->getDirection()) {
- case UP:
- switch(areaVert) {
- case 0:
- myMaze->setC_Up(Labyrinthe::mur);
- break;
+ debug(DEBUG_DIRECTIVE_TEST,": %i",IRToCm(ADCTomv(m_valueCapteurIR));
+#endif
- case 1:
- if(areaLatt == 0) {
- myMaze->setC_Up(Labyrinthe::mur);
- } else if(areaLatt == 1) {
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()+1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+1);
+#ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
+ debug("\n\r---analise maze(manualy CTRL)---\n\r");
+ int idCommand = -1;
+ do{
+ debug("\n\r Enter areaVert [0,1,2]: "); idCommand = fgetc(pc) - '0';
+ debug(" %i",idCommand);
+ }while((idCommand < 0) && (idCommand > 2));
+ areaVert = idCommand;
+
+ do{
+ debug("\n\r Enter areaLatt [0,1,2]: "); idCommand = fgetc(pc) - '0';
+ debug(" %i",idCommand);
+ }while((idCommand < 0) && (idCommand > 2));
+ areaLatt = idCommand;
- myMaze->setC(Labyrinthe::mur,myMaze->getX(),myMaze->getY()+2);
- } else if(areaLatt == 2) {
+ debug("\n\r");
+#endif
+//changer lalgoritme ici
+
+/*
+/---\
+|?M?| //vert 0
+|.X.| //latt 0
+|...|
+\---/
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()+1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+1);
+/-M-\
+|?V?| //vert 1
+|.X.| //latt 0
+|...|
+\---/
+
+/?M?\
+|VVV| //vert 1
+|.X.| //latt 1
+|...| // objet possiblement a proximiter
+\---/
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+2);
- myMaze->setC(Labyrinthe::mur,myMaze->getX(),myMaze->getY()+2);
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+2);
- }
- break;
+/?M?\
+|VVV| //vert 1
+|.X.| //latt 2
+|...| // cas impossible
+\---/
- case 2:
- if(areaLatt == 0) {
- myMaze->setC_Up(Labyrinthe::mur);
- } else if(areaLatt == 1) {
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+1);//mur?
- myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()+1);
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+1);//mur?
+/?V?\
+|?V?| //vert 2
+|.X.| //latt 0
+|...| // objet possiblement a proximiter
+\---/
+
+/?V?\
+|VVV| //vert 2
+|.X.| //latt 1
+|...| // objet possiblement a proximiter
+\---/
- //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+1);//mur?
- myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()+2);
- //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+1);//mur?
- } else if(areaLatt == 2) {
-
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()+1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+1);
+/VVV\
+|VVV| //vert 2
+|.X.| //latt 2
+|...|
+\---/
+*/
+//vertical==0 latt==0 //mur devant
+//vertical==1 latt==1
+////////////////////////////////////
+//345 415
+//012 203| numerotation des case
+///////////////////////////////////
+signed char fieldX[6]={0,0,0,0,0,0};
+signed char fieldY[6]={0,0,0,0,0,0};
+bool fieldSet = false;
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+2);
- myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()+2);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+2);
- }
- break;
- }
-
+switch(myMaze->getDirection())
+{
+ case UP:
+ fieldX[0] = myMaze->getX()-1;
+ fieldY[0] = myMaze->getY()+1;
+ fieldX[1] = myMaze->getX();
+ fieldY[1] = myMaze->getY()+1;
+ fieldX[2] = myMaze->getX()+1;
+ fieldY[2] = myMaze->getY()+1;
+ fieldX[3] = myMaze->getX()-1;
+ fieldY[3] = myMaze->getY()+2;
+ fieldX[4] = myMaze->getX();
+ fieldY[4] = myMaze->getY()+2;
+ fieldX[5] = myMaze->getX()+1;
+ fieldY[5] = myMaze->getY()+2;
+ break;
+
+ case DOWN:
+ fieldX[0] = myMaze->getX()-1;
+ fieldY[0] = myMaze->getY()-1;
+ fieldX[1] = myMaze->getX();
+ fieldY[1] = myMaze->getY()-1;
+ fieldX[2] = myMaze->getX()+1;
+ fieldY[2] = myMaze->getY()-1;
+ fieldX[3] = myMaze->getX()-1;
+ fieldY[3] = myMaze->getY()-2;
+ fieldX[4] = myMaze->getX();
+ fieldY[4] = myMaze->getY()-2;
+ fieldX[5] = myMaze->getX()+1;
+ fieldY[5] = myMaze->getY()-2;
+ break;
+
+ case LEFT:
+ fieldX[0] = myMaze->getX()-1;
+ fieldY[0] = myMaze->getY()-1;
+ fieldX[1] = myMaze->getX()-1;
+ fieldY[1] = myMaze->getY();
+ fieldX[2] = myMaze->getX()-1;
+ fieldY[2] = myMaze->getY()+1;
+ fieldX[3] = myMaze->getX()-2;
+ fieldY[3] = myMaze->getY()-1;
+ fieldX[4] = myMaze->getX()-2;
+ fieldY[4] = myMaze->getY();
+ fieldX[5] = myMaze->getX()-2;
+ fieldY[5] = myMaze->getY()+1;
+ break;
+
+ case RIGHT:
+ fieldX[0] = myMaze->getX()+1;
+ fieldY[0] = myMaze->getY()-1;
+ fieldX[1] = myMaze->getX()+1;
+ fieldY[1] = myMaze->getY();
+ fieldX[2] = myMaze->getX()+1;
+ fieldY[2] = myMaze->getY()+1;
+ fieldX[3] = myMaze->getX()+2;
+ fieldY[3] = myMaze->getY()-1;
+ fieldX[4] = myMaze->getX()+2;
+ fieldY[4] = myMaze->getY();
+ fieldX[5] = myMaze->getX()+2;
+ fieldY[5] = myMaze->getY()+1;
+ break;
+}
+ if(areaVert >= areaLatt)
+ {
+ switch(areaVert)
+ {
+ case 0:
+ /*
+ /---\
+ |?M?| //vert 0
+ |.X.| //latt 0
+ |...|
+ \---/
+ */
+ myMaze->setC(Labyrinthe::mur,fieldX[1],fieldY[1]);
+ fieldSet = true;
break;
-
- case DOWN:
- switch(areaVert) {
- case 0:
- myMaze->setC_Down(Labyrinthe::mur);
- break;
-
- case 1:
- if(areaLatt == 0) {
- myMaze->setC_Down(Labyrinthe::mur);
- } else if(areaLatt == 1) {
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()-1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-1);
-
- myMaze->setC(Labyrinthe::mur,myMaze->getX(),myMaze->getY()-2);
- } else if(areaLatt == 2) {
-
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()-1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-1);
-
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()-2);
- myMaze->setC(Labyrinthe::mur,myMaze->getX(),myMaze->getY()-2);
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()-2);
- }
- break;
-
- case 2:
- if(areaLatt == 0) {
- myMaze->setC_Down(Labyrinthe::mur);
- } else if(areaLatt == 1) {
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()-1);//mur?
- myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()-1);
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()-1);//mur?
-
- //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+1);//mur?
- myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()-2);
- //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+1);//mur?
- } else if(areaLatt == 2) {
-
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()-1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-1);
-
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-2);
- myMaze->setC(Labyrinthe::vide,myMaze->getX(),myMaze->getY()-2);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-2);
- }
- break;
+ case 1:
+ /*
+ /-M-\
+ |?V?| //vert 1
+ |.X.| //latt 0
+ |...|
+ \---/
+ */
+ myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]);
+ myMaze->setC(Labyrinthe::mur,fieldX[4],fieldY[4]);
+ fieldSet = true;
+
+ if(areaLatt == 1)
+ {
+ /*
+ /?M?\
+ |VVV| //vert 1
+ |.X.| //latt 1
+ |...| // objet possiblement a proximiter
+ \---/
+ */
+ myMaze->setC(Labyrinthe::vide,fieldX[0],fieldY[0]);
+ myMaze->setC(Labyrinthe::vide,fieldX[2],fieldY[2]);
}
break;
-
- case LEFT:
- switch(areaVert) {
- case 0:
- myMaze->setC_Left(Labyrinthe::mur);
- break;
-
- case 1:
- if(areaLatt == 0) {
- myMaze->setC_Left(Labyrinthe::mur);
- } else if(areaLatt == 1) {
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY());
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+1);
-
- myMaze->setC(Labyrinthe::mur,myMaze->getX()-2,myMaze->getY());
- } else if(areaLatt == 2) {
-
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY());
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+1);
-
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-2,myMaze->getY()-1);
- myMaze->setC(Labyrinthe::mur,myMaze->getX()-2,myMaze->getY());
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-2,myMaze->getY()+1);
- }
- break;
-
- case 2:
- if(areaLatt == 0) {
- myMaze->setC_Left(Labyrinthe::mur);
- } else if(areaLatt == 1) {
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()-1);//mur?
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY());
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+1);//mur?
-
- //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+1);//mur?
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-2,myMaze->getY());
- //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+1);//mur?
- } else if(areaLatt == 2) {
-
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()-1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY());
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-1,myMaze->getY()+1);
-
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-2,myMaze->getY()+1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-2,myMaze->getY());
- myMaze->setC(Labyrinthe::vide,myMaze->getX()-2,myMaze->getY()+1);
- }
- break;
- }
+ case 2:
+ fieldSet = true;
+ switch(areaLatt)
+ {
+ case 0:
+ /*
+ /?V?\
+ |?V?| //vert 2
+ |.X.| //latt 0
+ |...| // objet possiblement a proximiter
+ \---/
+ */
+ myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]);
+ myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]);
+ break;
+ case 1:
+ /*
+ /?V?\
+ |VVV| //vert 2
+ |.X.| //latt 1
+ |...| // objet possiblement a proximiter
+ \---/
+ */
+ for(int i = 0;i<3;i++)myMaze->setC(Labyrinthe::vide,fieldX[i],fieldY[i]);
+ myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]);
+ break;
+ case 2:
+ /*
+ /VVV\
+ |VVV| //vert 2
+ |.X.| //latt 2
+ |...|
+ \---/
+ */
+ for(int i = 0;i<6;i++)myMaze->setC( Labyrinthe::vide,fieldX[i],fieldY[i]);
+ break;
+ }
break;
+ }
+ }
+
+ if(fieldSet == false)// on a un cas impossible
+ {
+ myMaze->setC(Labyrinthe::error,fieldX[1],fieldY[1]);
+ }
- case RIGHT:
- switch(areaVert) {
- case 0:
- myMaze->setC_Right(Labyrinthe::mur);
- break;
+////////////////////////////////////
- case 1:
- if(areaLatt == 0) {
- myMaze->setC_Right(Labyrinthe::mur);
- } else if(areaLatt == 1) {
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY());
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+1);
-
- myMaze->setC(Labyrinthe::mur,myMaze->getX()+2,myMaze->getY());
- } else if(areaLatt == 2) {
-
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY());
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+1);
-
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+2,myMaze->getY()-1);
- myMaze->setC(Labyrinthe::mur,myMaze->getX()+2,myMaze->getY());
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+2,myMaze->getY()+1);
- }
- break;
- case 2:
- if(areaLatt == 0) {
- myMaze->setC_Right(Labyrinthe::mur);
- } else if(areaLatt == 1) {
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()-1);//mur?
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY());
- myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+1);//mur?
-
- //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()-1,myMaze->getY()+1);//mur?
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+2,myMaze->getY());
- //myMaze->setC(Labyrinthe::pasExplorer,myMaze->getX()+1,myMaze->getY()+1);//mur?
- } else if(areaLatt == 2) {
-
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()-1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY());
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+1,myMaze->getY()+1);
-
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+2,myMaze->getY()+1);
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+2,myMaze->getY());
- myMaze->setC(Labyrinthe::vide,myMaze->getX()+2,myMaze->getY()+1);
- }
- break;
- }
- break;
- }
+ #ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
+ mymap = myMaze->showMap();
+ for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]);
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
+ for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]);
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
+ for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]);
+ debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
+
+ debug("\n\r-------------------\n\r");
+ #endif
}
\ No newline at end of file