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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
labyrinthe.cpp
- Committer:
- salco
- Date:
- 2015-09-29
- Revision:
- 37:f53e9f7a14df
- Parent:
- 36:474d4795aafa
- Child:
- 38:57d5f36a0333
File content as of revision 37:f53e9f7a14df:
/** * @file labyrinthe.cpp * @brief Regroupement de fonction pour enregistrer le millieu en 2D. * @author Salco * @version 2.00 * @date 11 mars 2015 */ #include "labyrinthe.h" typedef Labyrinthe::coordoner_t coordonerr; typedef Labyrinthe::case_t case_t; Labyrinthe::Labyrinthe() { direction=0; mapDuLabyrinthe.clear(); addMap(0,0); m_posX=1; m_posY=1; } Labyrinthe::~Labyrinthe() { } //modifie X et Y pour metre le bon formatage des coordoner et sort l'ID de la case //tout ca est qu'un formatage il ne garanti pas que la tuile existe coordonerr Labyrinthe::getCoordoner(signed char &x, signed char &y) { coordonerr result = unset; signed char newPosX = (signed char)x; signed char newPosY = (signed char)y; #ifdef DEGUG_LABIRINTH_GET_COORDONER debug("\n\r----------getCoordoner------\n\r"); debug(" x: %i Y: %i\n\r",(signed char)x, (signed char)newPosY); #endif newPosX = 3*((((signed char)newPosX<0)? (signed char)newPosX-2:(signed char)newPosX)/3); // je veux le nobre de fois quil a fait un tours et donc seulment les entier newPosY = 3*((((signed char)newPosY<0)? (signed char)newPosY-2:(signed char)newPosY)/3); #ifdef DEGUG_LABIRINTH_GET_COORDONER debug(" newPosX: %i newPosY: %i\n\r",(signed char)newPosX,(signed char)newPosY); #endif switch((signed char)x - (signed char)newPosX){ case 0: switch(y - newPosY){ case 0: result=C1; break; case 1: result=C4; break; case 2: result=C7; break; } break; case 1: switch(y - newPosY){ case 0: result=C2; break; case 1: result=C5; break; case 2: result=C8; break; } break; case 2: switch(y - newPosY){ case 0: result=C3; break; case 1: result=C6; break; case 2: result=C9; break; } break; } x = (signed char)newPosX; y = newPosY; /*result =(coordonerr)( 2 + newPosX); switch(newPosY) { case-1: result = result + (3*2); break; case 0: result = result + (3*1); break; case 1: result = result + (3*0); break; }*/ #ifdef DEGUG_LABIRINTH_GET_COORDONER //debug(" newPosX: %i newPosY: %i\n\r",newPosX,newPosY); //debug("\n\r result: X: %02d Y:%02d",newPosX,newPosY); debug("\n\r result: :%02d \n\r",result); debug("--------------------\n\r"); #endif return result; } coordonerr Labyrinthe::getCoordoner(void) { coordonerr result; signed char newPosX = m_posX; signed char newPosY = m_posY; result = getCoordoner(newPosX,newPosY); return result; } string Labyrinthe::showMap(void) { return showMap(m_posX,m_posY); } string Labyrinthe::showMap(signed char x, signed char y) { //bool result=false; string theMap; theMap.clear(); #ifdef DEBUG_LABYRINTHE_SHOW_MAP debug("\n\r----------showmap------\n\r"); #endif /* char newPosX = x; char newPosY = y; getCoordoner(newPosX,newPosY); unsigned char templateX,templateY; for(int i=0; ((i*DEFAULTLABLEIGHT)<mapDuLabyrinthe.size()) && (!result);i++) { templateX = (mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)])>>1; templateY = ((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)])&1)<<7; templateY += ((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])>>2); if((templateX == newPosX) && (templateY == newPosY)) { result=true; theMap.append(1,((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])& 3)); } }*/ int stringPosition = searchCoord(x,y); if(stringPosition != -1) { theMap.append(1,((mapDuLabyrinthe[(stringPosition)+1]>>0)& 3)); theMap.append(1,((mapDuLabyrinthe[(stringPosition)+2]>>6)& 3)); theMap.append(1,((mapDuLabyrinthe[(stringPosition)+2]>>4)& 3)); theMap.append(1,((mapDuLabyrinthe[(stringPosition)+2]>>2)& 3)); theMap.append(1,((mapDuLabyrinthe[(stringPosition)+2]>>0)& 3)); theMap.append(1,((mapDuLabyrinthe[(stringPosition)+3]>>6)& 3)); theMap.append(1,((mapDuLabyrinthe[(stringPosition)+3]>>4)& 3)); theMap.append(1,((mapDuLabyrinthe[(stringPosition)+3]>>2)& 3)); theMap.append(1,((mapDuLabyrinthe[(stringPosition)+3]>>0)& 3)); } #ifdef DEBUG_LABYRINTHE_SHOW_MAP debug(" mapDuLabyrinthe size: %i \n\r",mapDuLabyrinthe.size()); debug(" stringPosition: %i \n\r",stringPosition); if(stringPosition != -1) { debug(" theMap size: %i \n\r",theMap.size()); debug(" (mapDuLabyrinthe[(stringPosition)+1]>>0): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+1]>>0),((mapDuLabyrinthe[(stringPosition)+1]>>0)& 3)); //c1 debug(" (mapDuLabyrinthe[(stringPosition)+2]>>6): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>6),((mapDuLabyrinthe[(stringPosition)+2]>>6)& 3)); //c2 debug(" (mapDuLabyrinthe[(stringPosition)+2]>>4): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>4),((mapDuLabyrinthe[(stringPosition)+2]>>4)& 3)); //c3 debug(" \n\r"); debug(" (mapDuLabyrinthe[(stringPosition)+2]>>2): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>2),((mapDuLabyrinthe[(stringPosition)+2]>>2)& 3)); //c4 debug(" (mapDuLabyrinthe[(stringPosition)+2]>>0): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>0),((mapDuLabyrinthe[(stringPosition)+2]>>0)& 3)); //c5 debug(" (mapDuLabyrinthe[(stringPosition)+3]>>6): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>6),((mapDuLabyrinthe[(stringPosition)+3]>>6)& 3)); //c6 debug(" \n\r"); debug(" (mapDuLabyrinthe[(stringPosition)+3]>>4): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>4),((mapDuLabyrinthe[(stringPosition)+3]>>4)& 3)); //c7 debug(" (mapDuLabyrinthe[(stringPosition)+3]>>2): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>2),((mapDuLabyrinthe[(stringPosition)+3]>>2)& 3)); //c8 debug(" (mapDuLabyrinthe[(stringPosition)+3]>>0): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>0),((mapDuLabyrinthe[(stringPosition)+3]>>0)& 3)); //c9 debug(" \n\r"); } debug("\n\r----------------------\n\r"); #endif return theMap; } bool Labyrinthe::updateMap(string mapUpdated) { return updateMap(mapUpdated,m_posX,m_posY); } bool Labyrinthe::updateMap(string mapUpdated,signed char x, signed char y) { #ifdef DEBUG_LABYRINTHE_GRAPHICAL_INTERFACE debug("\n\r----------updateMap------\n\r"); #endif bool result = true; int stringPosition = searchCoord(x,y); if(stringPosition == -1) result= false; else { mapDuLabyrinthe[(stringPosition)+1] = ((mapDuLabyrinthe[(stringPosition)+1]) & 0xFC) | ((mapUpdated[0] &0x03)<<0); mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0x3F) | ((mapUpdated[1] &0x03)<<6); mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0xCF) | ((mapUpdated[2] &0x03)<<4); mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0xF3) | ((mapUpdated[3] &0x03)<<2); mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0xFC) | ((mapUpdated[4] &0x03)<<0); mapDuLabyrinthe[(stringPosition)+3] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0x3F) | ((mapUpdated[5] &0x03)<<6); mapDuLabyrinthe[(stringPosition)+3] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0xCF) | ((mapUpdated[6] &0x03)<<4); mapDuLabyrinthe[(stringPosition)+3] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0xF3) | ((mapUpdated[7] &0x03)<<2); mapDuLabyrinthe[(stringPosition)+3] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0xFC) | ((mapUpdated[8] &0x03)<<0); } #ifdef DEBUG_LABYRINTHE_GRAPHICAL_INTERFACE debug(" result: %i \n\r",result?1:0); debug(" stringPosition: %i \n\r",stringPosition); if(stringPosition != -1) { debug(" (mapDuLabyrinthe[(stringPosition)+1]>>0): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+1]>>0),((mapDuLabyrinthe[(stringPosition)+1]>>0)& 3)); //c1 debug(" (mapDuLabyrinthe[(stringPosition)+2]>>6): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>6),((mapDuLabyrinthe[(stringPosition)+2]>>6)& 3)); //c2 debug(" (mapDuLabyrinthe[(stringPosition)+2]>>4): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>4),((mapDuLabyrinthe[(stringPosition)+2]>>4)& 3)); //c3 debug(" \n\r"); debug(" (mapDuLabyrinthe[(stringPosition)+2]>>2): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>2),((mapDuLabyrinthe[(stringPosition)+2]>>2)& 3)); //c4 debug(" (mapDuLabyrinthe[(stringPosition)+2]>>0): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>0),((mapDuLabyrinthe[(stringPosition)+2]>>0)& 3)); //c5 debug(" (mapDuLabyrinthe[(stringPosition)+3]>>6): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>6),((mapDuLabyrinthe[(stringPosition)+3]>>6)& 3)); //c6 debug(" \n\r"); debug(" (mapDuLabyrinthe[(stringPosition)+3]>>4): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>4),((mapDuLabyrinthe[(stringPosition)+3]>>4)& 3)); //c7 debug(" (mapDuLabyrinthe[(stringPosition)+3]>>2): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>2),((mapDuLabyrinthe[(stringPosition)+3]>>2)& 3)); //c8 debug(" (mapDuLabyrinthe[(stringPosition)+3]>>0): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>0),((mapDuLabyrinthe[(stringPosition)+3]>>0)& 3)); //c9 debug(" \n\r"); } debug("\n\r----------------------\n\r"); #endif return result; } bool Labyrinthe::addMap(signed char x, signed char y) { bool result = true; x &= 0x7F; // on coupe le 8eme bit y &= 0x7F; // mapDuLabyrinthe.append(1,((x<<1) | (y>>6)) );//x7,x6,x5,x4,x3,x2,x1,y7 mapDuLabyrinthe.append(1,y<<2); //y6,y5,y4,y3,y2,y1,[C1],[C1] mapDuLabyrinthe.append(2,0); //add C2-C9 vide #ifdef DEBUG_LABYRINTHE_ADD_MAP debug("----addMap----\n\r"); debug("x = %i \n\r",x); debug("y = %i \n\r",y); debug("((x<<1) | (y>>6)) = %i \n\r",((x<<1) | (y>>6))); debug("-------------\n\r"); #endif return result; } //renvoi l'ID du 4 byte de la tuile dans le string // renvoi -1 en cas d'erreur int Labyrinthe::searchCoord(signed char posX,signed char posY) { bool result=false; signed char newPosX = posX; signed char newPosY = posY; signed char templateX = 0; signed char templateY = 0; int i=0; //string theMap; //theMap.clear(); debug(DEBUGLABSEARCHCOORD,"------Search coord------\n\r"); debug(DEBUGLABSEARCHCOORD," posX: %i posY: %i \n\r",posX,posY); getCoordoner(newPosX,newPosY); debug(DEBUGLABSEARCHCOORD," new posX: %i new posY: %i \n\r",newPosX,newPosY); debug(DEBUGLABSEARCHCOORD," map size: %i \n\r",mapDuLabyrinthe.size()); for( ; ((i*DEFAULTLABLEIGHT) < mapDuLabyrinthe.size()) && (!result); i++) { templateX = (mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)])>>1; templateY = (((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)])&1)<<6) + ((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])>>2); //patch pour les nombre negatif vue que originelment on est sur un 7 bit if(templateX & 0x40) templateX |= 0x80; if(templateY & 0x40) templateY |= 0x80; //templateY += ((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])>>2); debug(DEBUGLABSEARCHCOORD," mapDuLabyrinthe par1: %i mapDuLabyrinthe part2: %i \n\r",mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)],mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1]); debug(DEBUGLABSEARCHCOORD," templateX: %i templateY: %i \n\r",templateX,templateY); if((templateX == newPosX) && (templateY == newPosY)) { result=true; //theMap.append(1,((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])& 3)); } } i--; debug(DEBUGLABSEARCHCOORD," templateX: %i \n\r",templateX); debug(DEBUGLABSEARCHCOORD," templateY: %i \n\r",templateY); debug(DEBUGLABSEARCHCOORD," result: %i \n\r",result?1:0); debug(DEBUGLABSEARCHCOORD," i*DEFAULTLABLEIGHT: %i \n\r",i*DEFAULTLABLEIGHT); debug(DEBUGLABSEARCHCOORD,"--------------------\n\r"); return (result==false? -1:i*DEFAULTLABLEIGHT); } case_t Labyrinthe::getC(coordonerr cX) { return getC(m_posX, m_posY, cX); } /** * @param x position X. * @param y position Y. * @return */ case_t Labyrinthe::getC(signed char x, signed char y) { signed char newPosX = x; signed char newPosY = y; coordonerr maCoordoner; maCoordoner=getCoordoner(newPosX,newPosY); return getC(x, y, maCoordoner); } case_t Labyrinthe::getC(signed char x, signed char y, coordonerr cX) { case_t myCoordoner = error; string result = showMap(x,y); if(result.size() != 0) { myCoordoner = case_t(result[cX]); } return myCoordoner; } void Labyrinthe::setC(case_t value, signed char x, signed char y, coordonerr cX) { #ifdef DEGUG_LABIRINTH_SET_COORDONER debug("------SetC coord------\n\r"); debug(" value: %i\n\r",value); debug("coordoner: %i\n\r",cX); debug(" X:%i Y:%i \n\r",x,y); #endif if(value != error){ string result = showMap(x,y); if(result.size() == 0) {//no map found so we create new tuile #ifdef DEGUG_LABIRINTH_SET_COORDONER debug(" no tuile found\n\r"); #endif signed char newPosX = x; signed char newPosY = y; getCoordoner(newPosX,newPosY); addMap(newPosX,newPosY); result = showMap(x,y); #ifdef DEGUG_LABIRINTH_SET_COORDONER debug(" result: %i\n\r",result.size()); #endif } if(result.size() != 0){ #ifdef DEGUG_LABIRINTH_SET_COORDONER debug(" tuile found\n\r"); #endif result[cX-1]=value; updateMap(result,x,y);//on remet les case modifier dans le string==map } } #ifdef DEGUG_LABIRINTH_SET_COORDONER debug("---------------------\n\r"); #endif } void Labyrinthe::setC(case_t value, coordonerr cX) { setC(value,m_posX, m_posY,cX); } void Labyrinthe::setC(case_t value, signed char x, signed char y) { signed char newPosX = x; signed char newPosY = y; coordonerr maCoordoner; maCoordoner=getCoordoner(newPosX,newPosY); debug("-setcase tempo newPosX: %i, x: %i\n\r",newPosX,x); setC(value,x,y,maCoordoner); } void Labyrinthe::setC_Up(case_t value) { setC(value,m_posX, m_posY+1); } void Labyrinthe::setC_Down(case_t value) { setC(value,m_posX, m_posY-1); } void Labyrinthe::setC_Left(case_t value) { setC(value,m_posX-1, m_posY); } void Labyrinthe::setC_Right(case_t value) { setC(value,m_posX+1, m_posY); } void Labyrinthe::setMyPos(case_t value) { setC(value, m_posX, m_posY); }