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
labyrinthe.cpp@39:34d7802e8d15, 2015-10-15 (annotated)
- Committer:
- salco
- Date:
- Thu Oct 15 00:49:37 2015 +0000
- Revision:
- 39:34d7802e8d15
- Parent:
- 38:57d5f36a0333
pas fonctionel juste backup
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 35:d81f6b927932 | 1 | /** |
salco | 35:d81f6b927932 | 2 | * @file labyrinthe.cpp |
salco | 35:d81f6b927932 | 3 | * @brief Regroupement de fonction pour enregistrer le millieu en 2D. |
salco | 35:d81f6b927932 | 4 | * @author Salco |
salco | 35:d81f6b927932 | 5 | * @version 2.00 |
salco | 35:d81f6b927932 | 6 | * @date 11 mars 2015 |
salco | 35:d81f6b927932 | 7 | */ |
salco | 28:ac5c6350ed9a | 8 | #include "labyrinthe.h" |
salco | 28:ac5c6350ed9a | 9 | |
salco | 36:474d4795aafa | 10 | typedef Labyrinthe::coordoner_t coordonerr; |
salco | 36:474d4795aafa | 11 | typedef Labyrinthe::case_t case_t; |
salco | 28:ac5c6350ed9a | 12 | |
salco | 28:ac5c6350ed9a | 13 | Labyrinthe::Labyrinthe() |
salco | 28:ac5c6350ed9a | 14 | { |
salco | 28:ac5c6350ed9a | 15 | direction=0; |
salco | 28:ac5c6350ed9a | 16 | mapDuLabyrinthe.clear(); |
salco | 28:ac5c6350ed9a | 17 | addMap(0,0); |
salco | 36:474d4795aafa | 18 | m_posX=1; |
salco | 36:474d4795aafa | 19 | m_posY=1; |
salco | 28:ac5c6350ed9a | 20 | } |
salco | 28:ac5c6350ed9a | 21 | |
salco | 28:ac5c6350ed9a | 22 | Labyrinthe::~Labyrinthe() |
salco | 28:ac5c6350ed9a | 23 | { |
salco | 28:ac5c6350ed9a | 24 | } |
salco | 28:ac5c6350ed9a | 25 | |
salco | 37:f53e9f7a14df | 26 | //modifie X et Y pour metre le bon formatage des coordoner et sort l'ID de la case |
salco | 37:f53e9f7a14df | 27 | //tout ca est qu'un formatage il ne garanti pas que la tuile existe |
salco | 37:f53e9f7a14df | 28 | coordonerr Labyrinthe::getCoordoner(signed char &x, signed char &y) |
salco | 28:ac5c6350ed9a | 29 | { |
salco | 36:474d4795aafa | 30 | coordonerr result = unset; |
salco | 37:f53e9f7a14df | 31 | signed char newPosX = (signed char)x; |
salco | 37:f53e9f7a14df | 32 | signed char newPosY = (signed char)y; |
salco | 36:474d4795aafa | 33 | |
salco | 36:474d4795aafa | 34 | #ifdef DEGUG_LABIRINTH_GET_COORDONER |
salco | 36:474d4795aafa | 35 | debug("\n\r----------getCoordoner------\n\r"); |
salco | 37:f53e9f7a14df | 36 | debug(" x: %i Y: %i\n\r",(signed char)x, (signed char)newPosY); |
salco | 36:474d4795aafa | 37 | #endif |
salco | 36:474d4795aafa | 38 | |
salco | 36:474d4795aafa | 39 | |
salco | 37:f53e9f7a14df | 40 | 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 |
salco | 37:f53e9f7a14df | 41 | newPosY = 3*((((signed char)newPosY<0)? (signed char)newPosY-2:(signed char)newPosY)/3); |
salco | 36:474d4795aafa | 42 | |
salco | 36:474d4795aafa | 43 | #ifdef DEGUG_LABIRINTH_GET_COORDONER |
salco | 37:f53e9f7a14df | 44 | debug(" newPosX: %i newPosY: %i\n\r",(signed char)newPosX,(signed char)newPosY); |
salco | 36:474d4795aafa | 45 | #endif |
salco | 28:ac5c6350ed9a | 46 | |
salco | 36:474d4795aafa | 47 | |
salco | 36:474d4795aafa | 48 | |
salco | 37:f53e9f7a14df | 49 | switch((signed char)x - (signed char)newPosX){ |
salco | 36:474d4795aafa | 50 | case 0: |
salco | 36:474d4795aafa | 51 | switch(y - newPosY){ |
salco | 36:474d4795aafa | 52 | case 0: |
salco | 36:474d4795aafa | 53 | result=C1; |
salco | 36:474d4795aafa | 54 | break; |
salco | 36:474d4795aafa | 55 | |
salco | 36:474d4795aafa | 56 | case 1: |
salco | 37:f53e9f7a14df | 57 | result=C4; |
salco | 36:474d4795aafa | 58 | break; |
salco | 36:474d4795aafa | 59 | |
salco | 36:474d4795aafa | 60 | case 2: |
salco | 37:f53e9f7a14df | 61 | result=C7; |
salco | 36:474d4795aafa | 62 | break; |
salco | 36:474d4795aafa | 63 | } |
salco | 36:474d4795aafa | 64 | break; |
salco | 36:474d4795aafa | 65 | |
salco | 36:474d4795aafa | 66 | case 1: |
salco | 36:474d4795aafa | 67 | switch(y - newPosY){ |
salco | 36:474d4795aafa | 68 | case 0: |
salco | 37:f53e9f7a14df | 69 | result=C2; |
salco | 36:474d4795aafa | 70 | break; |
salco | 36:474d4795aafa | 71 | |
salco | 36:474d4795aafa | 72 | case 1: |
salco | 36:474d4795aafa | 73 | result=C5; |
salco | 36:474d4795aafa | 74 | break; |
salco | 36:474d4795aafa | 75 | |
salco | 36:474d4795aafa | 76 | case 2: |
salco | 37:f53e9f7a14df | 77 | result=C8; |
salco | 36:474d4795aafa | 78 | break; |
salco | 36:474d4795aafa | 79 | } |
salco | 36:474d4795aafa | 80 | break; |
salco | 36:474d4795aafa | 81 | |
salco | 36:474d4795aafa | 82 | case 2: |
salco | 36:474d4795aafa | 83 | switch(y - newPosY){ |
salco | 36:474d4795aafa | 84 | case 0: |
salco | 37:f53e9f7a14df | 85 | result=C3; |
salco | 36:474d4795aafa | 86 | break; |
salco | 36:474d4795aafa | 87 | |
salco | 36:474d4795aafa | 88 | case 1: |
salco | 37:f53e9f7a14df | 89 | result=C6; |
salco | 36:474d4795aafa | 90 | break; |
salco | 36:474d4795aafa | 91 | |
salco | 36:474d4795aafa | 92 | case 2: |
salco | 36:474d4795aafa | 93 | result=C9; |
salco | 36:474d4795aafa | 94 | break; |
salco | 36:474d4795aafa | 95 | } |
salco | 36:474d4795aafa | 96 | break; |
salco | 36:474d4795aafa | 97 | } |
salco | 36:474d4795aafa | 98 | |
salco | 37:f53e9f7a14df | 99 | x = (signed char)newPosX; |
salco | 28:ac5c6350ed9a | 100 | y = newPosY; |
salco | 36:474d4795aafa | 101 | /*result =(coordonerr)( 2 + newPosX); |
salco | 28:ac5c6350ed9a | 102 | |
salco | 28:ac5c6350ed9a | 103 | switch(newPosY) { |
salco | 28:ac5c6350ed9a | 104 | case-1: |
salco | 28:ac5c6350ed9a | 105 | result = result + (3*2); |
salco | 28:ac5c6350ed9a | 106 | break; |
salco | 28:ac5c6350ed9a | 107 | |
salco | 28:ac5c6350ed9a | 108 | case 0: |
salco | 28:ac5c6350ed9a | 109 | result = result + (3*1); |
salco | 28:ac5c6350ed9a | 110 | break; |
salco | 28:ac5c6350ed9a | 111 | |
salco | 28:ac5c6350ed9a | 112 | case 1: |
salco | 28:ac5c6350ed9a | 113 | result = result + (3*0); |
salco | 28:ac5c6350ed9a | 114 | break; |
salco | 36:474d4795aafa | 115 | }*/ |
salco | 36:474d4795aafa | 116 | #ifdef DEGUG_LABIRINTH_GET_COORDONER |
salco | 37:f53e9f7a14df | 117 | //debug(" newPosX: %i newPosY: %i\n\r",newPosX,newPosY); |
salco | 36:474d4795aafa | 118 | //debug("\n\r result: X: %02d Y:%02d",newPosX,newPosY); |
salco | 36:474d4795aafa | 119 | debug("\n\r result: :%02d \n\r",result); |
salco | 37:f53e9f7a14df | 120 | debug("--------------------\n\r"); |
salco | 36:474d4795aafa | 121 | #endif |
salco | 28:ac5c6350ed9a | 122 | |
salco | 28:ac5c6350ed9a | 123 | return result; |
salco | 28:ac5c6350ed9a | 124 | } |
salco | 36:474d4795aafa | 125 | coordonerr Labyrinthe::getCoordoner(void) |
salco | 28:ac5c6350ed9a | 126 | { |
salco | 36:474d4795aafa | 127 | coordonerr result; |
salco | 37:f53e9f7a14df | 128 | signed char newPosX = m_posX; |
salco | 37:f53e9f7a14df | 129 | signed char newPosY = m_posY; |
salco | 36:474d4795aafa | 130 | |
salco | 36:474d4795aafa | 131 | result = getCoordoner(newPosX,newPosY); |
salco | 28:ac5c6350ed9a | 132 | |
salco | 28:ac5c6350ed9a | 133 | return result; |
salco | 28:ac5c6350ed9a | 134 | } |
salco | 28:ac5c6350ed9a | 135 | |
salco | 35:d81f6b927932 | 136 | string Labyrinthe::showMap(void) |
salco | 28:ac5c6350ed9a | 137 | { |
salco | 28:ac5c6350ed9a | 138 | return showMap(m_posX,m_posY); |
salco | 28:ac5c6350ed9a | 139 | } |
salco | 37:f53e9f7a14df | 140 | string Labyrinthe::showMap(signed char x, signed char y) |
salco | 28:ac5c6350ed9a | 141 | { |
salco | 28:ac5c6350ed9a | 142 | //bool result=false; |
salco | 28:ac5c6350ed9a | 143 | string theMap; |
salco | 28:ac5c6350ed9a | 144 | theMap.clear(); |
salco | 37:f53e9f7a14df | 145 | #ifdef DEBUG_LABYRINTHE_SHOW_MAP |
salco | 37:f53e9f7a14df | 146 | debug("\n\r----------showmap------\n\r"); |
salco | 37:f53e9f7a14df | 147 | #endif |
salco | 28:ac5c6350ed9a | 148 | /* char newPosX = x; |
salco | 28:ac5c6350ed9a | 149 | char newPosY = y; |
salco | 28:ac5c6350ed9a | 150 | |
salco | 28:ac5c6350ed9a | 151 | getCoordoner(newPosX,newPosY); |
salco | 28:ac5c6350ed9a | 152 | unsigned char templateX,templateY; |
salco | 28:ac5c6350ed9a | 153 | for(int i=0; ((i*DEFAULTLABLEIGHT)<mapDuLabyrinthe.size()) && (!result);i++) |
salco | 28:ac5c6350ed9a | 154 | { |
salco | 28:ac5c6350ed9a | 155 | templateX = (mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)])>>1; |
salco | 28:ac5c6350ed9a | 156 | templateY = ((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)])&1)<<7; |
salco | 28:ac5c6350ed9a | 157 | templateY += ((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])>>2); |
salco | 28:ac5c6350ed9a | 158 | |
salco | 28:ac5c6350ed9a | 159 | if((templateX == newPosX) && (templateY == newPosY)) |
salco | 28:ac5c6350ed9a | 160 | { |
salco | 28:ac5c6350ed9a | 161 | result=true; |
salco | 28:ac5c6350ed9a | 162 | theMap.append(1,((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])& 3)); |
salco | 28:ac5c6350ed9a | 163 | } |
salco | 28:ac5c6350ed9a | 164 | }*/ |
salco | 28:ac5c6350ed9a | 165 | int stringPosition = searchCoord(x,y); |
salco | 28:ac5c6350ed9a | 166 | if(stringPosition != -1) { |
salco | 28:ac5c6350ed9a | 167 | theMap.append(1,((mapDuLabyrinthe[(stringPosition)+1]>>0)& 3)); |
salco | 28:ac5c6350ed9a | 168 | theMap.append(1,((mapDuLabyrinthe[(stringPosition)+2]>>6)& 3)); |
salco | 28:ac5c6350ed9a | 169 | theMap.append(1,((mapDuLabyrinthe[(stringPosition)+2]>>4)& 3)); |
salco | 28:ac5c6350ed9a | 170 | |
salco | 28:ac5c6350ed9a | 171 | theMap.append(1,((mapDuLabyrinthe[(stringPosition)+2]>>2)& 3)); |
salco | 28:ac5c6350ed9a | 172 | theMap.append(1,((mapDuLabyrinthe[(stringPosition)+2]>>0)& 3)); |
salco | 28:ac5c6350ed9a | 173 | theMap.append(1,((mapDuLabyrinthe[(stringPosition)+3]>>6)& 3)); |
salco | 28:ac5c6350ed9a | 174 | |
salco | 28:ac5c6350ed9a | 175 | theMap.append(1,((mapDuLabyrinthe[(stringPosition)+3]>>4)& 3)); |
salco | 28:ac5c6350ed9a | 176 | theMap.append(1,((mapDuLabyrinthe[(stringPosition)+3]>>2)& 3)); |
salco | 28:ac5c6350ed9a | 177 | theMap.append(1,((mapDuLabyrinthe[(stringPosition)+3]>>0)& 3)); |
salco | 28:ac5c6350ed9a | 178 | } |
salco | 35:d81f6b927932 | 179 | |
salco | 37:f53e9f7a14df | 180 | #ifdef DEBUG_LABYRINTHE_SHOW_MAP |
salco | 37:f53e9f7a14df | 181 | debug(" mapDuLabyrinthe size: %i \n\r",mapDuLabyrinthe.size()); |
salco | 35:d81f6b927932 | 182 | debug(" stringPosition: %i \n\r",stringPosition); |
salco | 35:d81f6b927932 | 183 | if(stringPosition != -1) { |
salco | 37:f53e9f7a14df | 184 | debug(" theMap size: %i \n\r",theMap.size()); |
salco | 36:474d4795aafa | 185 | debug(" (mapDuLabyrinthe[(stringPosition)+1]>>0): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+1]>>0),((mapDuLabyrinthe[(stringPosition)+1]>>0)& 3)); //c1 |
salco | 36:474d4795aafa | 186 | debug(" (mapDuLabyrinthe[(stringPosition)+2]>>6): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>6),((mapDuLabyrinthe[(stringPosition)+2]>>6)& 3)); //c2 |
salco | 36:474d4795aafa | 187 | debug(" (mapDuLabyrinthe[(stringPosition)+2]>>4): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>4),((mapDuLabyrinthe[(stringPosition)+2]>>4)& 3)); //c3 |
salco | 35:d81f6b927932 | 188 | debug(" \n\r"); |
salco | 36:474d4795aafa | 189 | debug(" (mapDuLabyrinthe[(stringPosition)+2]>>2): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>2),((mapDuLabyrinthe[(stringPosition)+2]>>2)& 3)); //c4 |
salco | 36:474d4795aafa | 190 | debug(" (mapDuLabyrinthe[(stringPosition)+2]>>0): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>0),((mapDuLabyrinthe[(stringPosition)+2]>>0)& 3)); //c5 |
salco | 36:474d4795aafa | 191 | debug(" (mapDuLabyrinthe[(stringPosition)+3]>>6): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>6),((mapDuLabyrinthe[(stringPosition)+3]>>6)& 3)); //c6 |
salco | 35:d81f6b927932 | 192 | debug(" \n\r"); |
salco | 36:474d4795aafa | 193 | debug(" (mapDuLabyrinthe[(stringPosition)+3]>>4): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>4),((mapDuLabyrinthe[(stringPosition)+3]>>4)& 3)); //c7 |
salco | 36:474d4795aafa | 194 | debug(" (mapDuLabyrinthe[(stringPosition)+3]>>2): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>2),((mapDuLabyrinthe[(stringPosition)+3]>>2)& 3)); //c8 |
salco | 36:474d4795aafa | 195 | debug(" (mapDuLabyrinthe[(stringPosition)+3]>>0): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>0),((mapDuLabyrinthe[(stringPosition)+3]>>0)& 3)); //c9 |
salco | 35:d81f6b927932 | 196 | debug(" \n\r"); |
salco | 35:d81f6b927932 | 197 | } |
salco | 35:d81f6b927932 | 198 | debug("\n\r----------------------\n\r"); |
salco | 35:d81f6b927932 | 199 | #endif |
salco | 28:ac5c6350ed9a | 200 | return theMap; |
salco | 28:ac5c6350ed9a | 201 | } |
salco | 28:ac5c6350ed9a | 202 | |
salco | 28:ac5c6350ed9a | 203 | bool Labyrinthe::updateMap(string mapUpdated) |
salco | 28:ac5c6350ed9a | 204 | { |
salco | 28:ac5c6350ed9a | 205 | return updateMap(mapUpdated,m_posX,m_posY); |
salco | 28:ac5c6350ed9a | 206 | } |
salco | 37:f53e9f7a14df | 207 | bool Labyrinthe::updateMap(string mapUpdated,signed char x, signed char y) |
salco | 28:ac5c6350ed9a | 208 | { |
salco | 37:f53e9f7a14df | 209 | #ifdef DEBUG_LABYRINTHE_GRAPHICAL_INTERFACE |
salco | 37:f53e9f7a14df | 210 | debug("\n\r----------updateMap------\n\r"); |
salco | 37:f53e9f7a14df | 211 | #endif |
salco | 28:ac5c6350ed9a | 212 | bool result = true; |
salco | 28:ac5c6350ed9a | 213 | int stringPosition = searchCoord(x,y); |
salco | 28:ac5c6350ed9a | 214 | |
salco | 28:ac5c6350ed9a | 215 | if(stringPosition == -1) |
salco | 37:f53e9f7a14df | 216 | result= false; |
salco | 28:ac5c6350ed9a | 217 | else { |
salco | 36:474d4795aafa | 218 | mapDuLabyrinthe[(stringPosition)+1] = ((mapDuLabyrinthe[(stringPosition)+1]) & 0xFC) | ((mapUpdated[0] &0x03)<<0); |
salco | 36:474d4795aafa | 219 | mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0x3F) | ((mapUpdated[1] &0x03)<<6); |
salco | 28:ac5c6350ed9a | 220 | mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0xCF) | ((mapUpdated[2] &0x03)<<4); |
salco | 28:ac5c6350ed9a | 221 | |
salco | 28:ac5c6350ed9a | 222 | mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0xF3) | ((mapUpdated[3] &0x03)<<2); |
salco | 28:ac5c6350ed9a | 223 | mapDuLabyrinthe[(stringPosition)+2] = ((mapDuLabyrinthe[(stringPosition)+2]) & 0xFC) | ((mapUpdated[4] &0x03)<<0); |
salco | 37:f53e9f7a14df | 224 | mapDuLabyrinthe[(stringPosition)+3] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0x3F) | ((mapUpdated[5] &0x03)<<6); |
salco | 28:ac5c6350ed9a | 225 | |
salco | 37:f53e9f7a14df | 226 | mapDuLabyrinthe[(stringPosition)+3] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0xCF) | ((mapUpdated[6] &0x03)<<4); |
salco | 37:f53e9f7a14df | 227 | mapDuLabyrinthe[(stringPosition)+3] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0xF3) | ((mapUpdated[7] &0x03)<<2); |
salco | 37:f53e9f7a14df | 228 | mapDuLabyrinthe[(stringPosition)+3] = ((mapDuLabyrinthe[(stringPosition)+3]) & 0xFC) | ((mapUpdated[8] &0x03)<<0); |
salco | 28:ac5c6350ed9a | 229 | } |
salco | 37:f53e9f7a14df | 230 | |
salco | 37:f53e9f7a14df | 231 | #ifdef DEBUG_LABYRINTHE_GRAPHICAL_INTERFACE |
salco | 37:f53e9f7a14df | 232 | debug(" result: %i \n\r",result?1:0); |
salco | 37:f53e9f7a14df | 233 | debug(" stringPosition: %i \n\r",stringPosition); |
salco | 37:f53e9f7a14df | 234 | if(stringPosition != -1) { |
salco | 37:f53e9f7a14df | 235 | debug(" (mapDuLabyrinthe[(stringPosition)+1]>>0): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+1]>>0),((mapDuLabyrinthe[(stringPosition)+1]>>0)& 3)); //c1 |
salco | 37:f53e9f7a14df | 236 | debug(" (mapDuLabyrinthe[(stringPosition)+2]>>6): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>6),((mapDuLabyrinthe[(stringPosition)+2]>>6)& 3)); //c2 |
salco | 37:f53e9f7a14df | 237 | debug(" (mapDuLabyrinthe[(stringPosition)+2]>>4): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>4),((mapDuLabyrinthe[(stringPosition)+2]>>4)& 3)); //c3 |
salco | 37:f53e9f7a14df | 238 | debug(" \n\r"); |
salco | 37:f53e9f7a14df | 239 | debug(" (mapDuLabyrinthe[(stringPosition)+2]>>2): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>2),((mapDuLabyrinthe[(stringPosition)+2]>>2)& 3)); //c4 |
salco | 37:f53e9f7a14df | 240 | debug(" (mapDuLabyrinthe[(stringPosition)+2]>>0): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+2]>>0),((mapDuLabyrinthe[(stringPosition)+2]>>0)& 3)); //c5 |
salco | 37:f53e9f7a14df | 241 | debug(" (mapDuLabyrinthe[(stringPosition)+3]>>6): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>6),((mapDuLabyrinthe[(stringPosition)+3]>>6)& 3)); //c6 |
salco | 37:f53e9f7a14df | 242 | debug(" \n\r"); |
salco | 37:f53e9f7a14df | 243 | debug(" (mapDuLabyrinthe[(stringPosition)+3]>>4): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>4),((mapDuLabyrinthe[(stringPosition)+3]>>4)& 3)); //c7 |
salco | 37:f53e9f7a14df | 244 | debug(" (mapDuLabyrinthe[(stringPosition)+3]>>2): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>2),((mapDuLabyrinthe[(stringPosition)+3]>>2)& 3)); //c8 |
salco | 37:f53e9f7a14df | 245 | debug(" (mapDuLabyrinthe[(stringPosition)+3]>>0): %i &3== %i \n\r",(mapDuLabyrinthe[(stringPosition)+3]>>0),((mapDuLabyrinthe[(stringPosition)+3]>>0)& 3)); //c9 |
salco | 37:f53e9f7a14df | 246 | debug(" \n\r"); |
salco | 37:f53e9f7a14df | 247 | } |
salco | 37:f53e9f7a14df | 248 | debug("\n\r----------------------\n\r"); |
salco | 37:f53e9f7a14df | 249 | #endif |
salco | 28:ac5c6350ed9a | 250 | |
salco | 28:ac5c6350ed9a | 251 | return result; |
salco | 28:ac5c6350ed9a | 252 | } |
salco | 37:f53e9f7a14df | 253 | bool Labyrinthe::addMap(signed char x, signed char y) |
salco | 28:ac5c6350ed9a | 254 | { |
salco | 28:ac5c6350ed9a | 255 | bool result = true; |
salco | 28:ac5c6350ed9a | 256 | x &= 0x7F; // on coupe le 8eme bit |
salco | 35:d81f6b927932 | 257 | y &= 0x7F; // |
salco | 28:ac5c6350ed9a | 258 | |
salco | 35:d81f6b927932 | 259 | mapDuLabyrinthe.append(1,((x<<1) | (y>>6)) );//x7,x6,x5,x4,x3,x2,x1,y7 |
salco | 37:f53e9f7a14df | 260 | mapDuLabyrinthe.append(1,y<<2); //y6,y5,y4,y3,y2,y1,[C1],[C1] |
salco | 35:d81f6b927932 | 261 | mapDuLabyrinthe.append(2,0); //add C2-C9 vide |
salco | 35:d81f6b927932 | 262 | |
salco | 35:d81f6b927932 | 263 | #ifdef DEBUG_LABYRINTHE_ADD_MAP |
salco | 35:d81f6b927932 | 264 | debug("----addMap----\n\r"); |
salco | 35:d81f6b927932 | 265 | debug("x = %i \n\r",x); |
salco | 35:d81f6b927932 | 266 | debug("y = %i \n\r",y); |
salco | 35:d81f6b927932 | 267 | debug("((x<<1) | (y>>6)) = %i \n\r",((x<<1) | (y>>6))); |
salco | 37:f53e9f7a14df | 268 | |
salco | 35:d81f6b927932 | 269 | debug("-------------\n\r"); |
salco | 35:d81f6b927932 | 270 | #endif |
salco | 28:ac5c6350ed9a | 271 | |
salco | 28:ac5c6350ed9a | 272 | return result; |
salco | 28:ac5c6350ed9a | 273 | } |
salco | 28:ac5c6350ed9a | 274 | |
salco | 36:474d4795aafa | 275 | //renvoi l'ID du 4 byte de la tuile dans le string |
salco | 37:f53e9f7a14df | 276 | // renvoi -1 en cas d'erreur |
salco | 37:f53e9f7a14df | 277 | int Labyrinthe::searchCoord(signed char posX,signed char posY) |
salco | 28:ac5c6350ed9a | 278 | { |
salco | 28:ac5c6350ed9a | 279 | bool result=false; |
salco | 37:f53e9f7a14df | 280 | signed char newPosX = posX; |
salco | 37:f53e9f7a14df | 281 | signed char newPosY = posY; |
salco | 37:f53e9f7a14df | 282 | signed char templateX = 0; |
salco | 37:f53e9f7a14df | 283 | signed char templateY = 0; |
salco | 36:474d4795aafa | 284 | int i=0; |
salco | 37:f53e9f7a14df | 285 | |
salco | 28:ac5c6350ed9a | 286 | //string theMap; |
salco | 28:ac5c6350ed9a | 287 | //theMap.clear(); |
salco | 37:f53e9f7a14df | 288 | debug(DEBUGLABSEARCHCOORD,"------Search coord------\n\r"); |
salco | 35:d81f6b927932 | 289 | debug(DEBUGLABSEARCHCOORD," posX: %i posY: %i \n\r",posX,posY); |
salco | 35:d81f6b927932 | 290 | |
salco | 36:474d4795aafa | 291 | |
salco | 28:ac5c6350ed9a | 292 | getCoordoner(newPosX,newPosY); |
salco | 35:d81f6b927932 | 293 | debug(DEBUGLABSEARCHCOORD," new posX: %i new posY: %i \n\r",newPosX,newPosY); |
salco | 36:474d4795aafa | 294 | |
salco | 35:d81f6b927932 | 295 | debug(DEBUGLABSEARCHCOORD," map size: %i \n\r",mapDuLabyrinthe.size()); |
salco | 36:474d4795aafa | 296 | |
salco | 35:d81f6b927932 | 297 | for( ; ((i*DEFAULTLABLEIGHT) < mapDuLabyrinthe.size()) && (!result); i++) { |
salco | 35:d81f6b927932 | 298 | |
salco | 28:ac5c6350ed9a | 299 | templateX = (mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)])>>1; |
salco | 37:f53e9f7a14df | 300 | templateY = (((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)])&1)<<6) + ((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])>>2); |
salco | 37:f53e9f7a14df | 301 | |
salco | 37:f53e9f7a14df | 302 | //patch pour les nombre negatif vue que originelment on est sur un 7 bit |
salco | 37:f53e9f7a14df | 303 | if(templateX & 0x40) templateX |= 0x80; |
salco | 37:f53e9f7a14df | 304 | if(templateY & 0x40) templateY |= 0x80; |
salco | 37:f53e9f7a14df | 305 | |
salco | 36:474d4795aafa | 306 | //templateY += ((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])>>2); |
salco | 37:f53e9f7a14df | 307 | debug(DEBUGLABSEARCHCOORD," mapDuLabyrinthe par1: %i mapDuLabyrinthe part2: %i \n\r",mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)],mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1]); |
salco | 37:f53e9f7a14df | 308 | debug(DEBUGLABSEARCHCOORD," templateX: %i templateY: %i \n\r",templateX,templateY); |
salco | 28:ac5c6350ed9a | 309 | if((templateX == newPosX) && (templateY == newPosY)) { |
salco | 28:ac5c6350ed9a | 310 | result=true; |
salco | 28:ac5c6350ed9a | 311 | //theMap.append(1,((mapDuLabyrinthe[(i*DEFAULTLABLEIGHT)+1])& 3)); |
salco | 28:ac5c6350ed9a | 312 | } |
salco | 28:ac5c6350ed9a | 313 | } |
salco | 36:474d4795aafa | 314 | i--; |
salco | 35:d81f6b927932 | 315 | debug(DEBUGLABSEARCHCOORD," templateX: %i \n\r",templateX); |
salco | 35:d81f6b927932 | 316 | debug(DEBUGLABSEARCHCOORD," templateY: %i \n\r",templateY); |
salco | 36:474d4795aafa | 317 | debug(DEBUGLABSEARCHCOORD," result: %i \n\r",result?1:0); |
salco | 36:474d4795aafa | 318 | debug(DEBUGLABSEARCHCOORD," i*DEFAULTLABLEIGHT: %i \n\r",i*DEFAULTLABLEIGHT); |
salco | 37:f53e9f7a14df | 319 | debug(DEBUGLABSEARCHCOORD,"--------------------\n\r"); |
salco | 36:474d4795aafa | 320 | return (result==false? -1:i*DEFAULTLABLEIGHT); |
salco | 28:ac5c6350ed9a | 321 | } |
salco | 28:ac5c6350ed9a | 322 | |
salco | 36:474d4795aafa | 323 | case_t Labyrinthe::getC(coordonerr cX) |
salco | 28:ac5c6350ed9a | 324 | { |
salco | 28:ac5c6350ed9a | 325 | return getC(m_posX, m_posY, cX); |
salco | 28:ac5c6350ed9a | 326 | } |
salco | 36:474d4795aafa | 327 | /** |
salco | 36:474d4795aafa | 328 | * @param x position X. |
salco | 36:474d4795aafa | 329 | * @param y position Y. |
salco | 36:474d4795aafa | 330 | * @return |
salco | 36:474d4795aafa | 331 | */ |
salco | 37:f53e9f7a14df | 332 | case_t Labyrinthe::getC(signed char x, signed char y) |
salco | 28:ac5c6350ed9a | 333 | { |
salco | 37:f53e9f7a14df | 334 | signed char newPosX = x; |
salco | 37:f53e9f7a14df | 335 | signed char newPosY = y; |
salco | 36:474d4795aafa | 336 | coordonerr maCoordoner; |
salco | 28:ac5c6350ed9a | 337 | maCoordoner=getCoordoner(newPosX,newPosY); |
salco | 39:34d7802e8d15 | 338 | #if defined(DEGUG_LABIRINTH_GET_CASE) |
salco | 38:57d5f36a0333 | 339 | debug("\n\rcoordonerr: %i",maCoordoner); |
salco | 39:34d7802e8d15 | 340 | #endif |
salco | 28:ac5c6350ed9a | 341 | return getC(x, y, maCoordoner); |
salco | 28:ac5c6350ed9a | 342 | } |
salco | 36:474d4795aafa | 343 | |
salco | 37:f53e9f7a14df | 344 | case_t Labyrinthe::getC(signed char x, signed char y, coordonerr cX) |
salco | 28:ac5c6350ed9a | 345 | { |
salco | 39:34d7802e8d15 | 346 | case_t myCoordoner = pasExplorer; |
salco | 28:ac5c6350ed9a | 347 | string result = showMap(x,y); |
salco | 28:ac5c6350ed9a | 348 | if(result.size() != 0) { |
salco | 38:57d5f36a0333 | 349 | myCoordoner = case_t(result[cX-1]); |
salco | 37:f53e9f7a14df | 350 | } |
salco | 37:f53e9f7a14df | 351 | return myCoordoner; |
salco | 37:f53e9f7a14df | 352 | } |
salco | 37:f53e9f7a14df | 353 | void Labyrinthe::setC(case_t value, signed char x, signed char y, coordonerr cX) |
salco | 37:f53e9f7a14df | 354 | { |
salco | 37:f53e9f7a14df | 355 | #ifdef DEGUG_LABIRINTH_SET_COORDONER |
salco | 37:f53e9f7a14df | 356 | debug("------SetC coord------\n\r"); |
salco | 37:f53e9f7a14df | 357 | debug(" value: %i\n\r",value); |
salco | 36:474d4795aafa | 358 | debug("coordoner: %i\n\r",cX); |
salco | 37:f53e9f7a14df | 359 | debug(" X:%i Y:%i \n\r",x,y); |
salco | 37:f53e9f7a14df | 360 | #endif |
salco | 37:f53e9f7a14df | 361 | |
salco | 39:34d7802e8d15 | 362 | //if(value != error){ |
salco | 37:f53e9f7a14df | 363 | string result = showMap(x,y); |
salco | 37:f53e9f7a14df | 364 | |
salco | 39:34d7802e8d15 | 365 | if(result.size() == 0) |
salco | 39:34d7802e8d15 | 366 | {//no map found so we create new tuile |
salco | 39:34d7802e8d15 | 367 | #ifdef DEGUG_LABIRINTH_SET_COORDONER |
salco | 39:34d7802e8d15 | 368 | debug(" no tuile found\n\r"); |
salco | 39:34d7802e8d15 | 369 | #endif |
salco | 37:f53e9f7a14df | 370 | signed char newPosX = x; |
salco | 37:f53e9f7a14df | 371 | signed char newPosY = y; |
salco | 37:f53e9f7a14df | 372 | |
salco | 37:f53e9f7a14df | 373 | getCoordoner(newPosX,newPosY); |
salco | 37:f53e9f7a14df | 374 | addMap(newPosX,newPosY); |
salco | 37:f53e9f7a14df | 375 | result = showMap(x,y); |
salco | 37:f53e9f7a14df | 376 | #ifdef DEGUG_LABIRINTH_SET_COORDONER |
salco | 37:f53e9f7a14df | 377 | debug(" result: %i\n\r",result.size()); |
salco | 37:f53e9f7a14df | 378 | #endif |
salco | 39:34d7802e8d15 | 379 | } |
salco | 36:474d4795aafa | 380 | |
salco | 39:34d7802e8d15 | 381 | if(result.size() != 0) |
salco | 39:34d7802e8d15 | 382 | { |
salco | 39:34d7802e8d15 | 383 | #ifdef DEGUG_LABIRINTH_SET_COORDONER |
salco | 39:34d7802e8d15 | 384 | debug(" tuile found\n\r"); |
salco | 39:34d7802e8d15 | 385 | #endif |
salco | 39:34d7802e8d15 | 386 | result[cX-1]=value; |
salco | 39:34d7802e8d15 | 387 | updateMap(result,x,y);//on remet les case modifier dans le string==map |
salco | 37:f53e9f7a14df | 388 | } |
salco | 39:34d7802e8d15 | 389 | //} |
salco | 37:f53e9f7a14df | 390 | |
salco | 37:f53e9f7a14df | 391 | #ifdef DEGUG_LABIRINTH_SET_COORDONER |
salco | 37:f53e9f7a14df | 392 | debug("---------------------\n\r"); |
salco | 37:f53e9f7a14df | 393 | #endif |
salco | 28:ac5c6350ed9a | 394 | } |
salco | 36:474d4795aafa | 395 | void Labyrinthe::setC(case_t value, coordonerr cX) |
salco | 28:ac5c6350ed9a | 396 | { |
salco | 28:ac5c6350ed9a | 397 | setC(value,m_posX, m_posY,cX); |
salco | 28:ac5c6350ed9a | 398 | } |
salco | 37:f53e9f7a14df | 399 | void Labyrinthe::setC(case_t value, signed char x, signed char y) |
salco | 28:ac5c6350ed9a | 400 | { |
salco | 37:f53e9f7a14df | 401 | signed char newPosX = x; |
salco | 37:f53e9f7a14df | 402 | signed char newPosY = y; |
salco | 36:474d4795aafa | 403 | coordonerr maCoordoner; |
salco | 28:ac5c6350ed9a | 404 | maCoordoner=getCoordoner(newPosX,newPosY); |
salco | 39:34d7802e8d15 | 405 | #if defined(DEGUG_LABIRINTH_GET_CASE) |
salco | 39:34d7802e8d15 | 406 | debug("\n\r-setcase tempo newPosX: %i, x: %i\n\r",newPosX,x); |
salco | 39:34d7802e8d15 | 407 | #endif |
salco | 28:ac5c6350ed9a | 408 | setC(value,x,y,maCoordoner); |
salco | 28:ac5c6350ed9a | 409 | } |
salco | 36:474d4795aafa | 410 | void Labyrinthe::setC_Up(case_t value) |
salco | 28:ac5c6350ed9a | 411 | { |
salco | 28:ac5c6350ed9a | 412 | setC(value,m_posX, m_posY+1); |
salco | 28:ac5c6350ed9a | 413 | } |
salco | 36:474d4795aafa | 414 | void Labyrinthe::setC_Down(case_t value) |
salco | 28:ac5c6350ed9a | 415 | { |
salco | 28:ac5c6350ed9a | 416 | setC(value,m_posX, m_posY-1); |
salco | 28:ac5c6350ed9a | 417 | } |
salco | 36:474d4795aafa | 418 | void Labyrinthe::setC_Left(case_t value) |
salco | 28:ac5c6350ed9a | 419 | { |
salco | 28:ac5c6350ed9a | 420 | setC(value,m_posX-1, m_posY); |
salco | 28:ac5c6350ed9a | 421 | } |
salco | 36:474d4795aafa | 422 | void Labyrinthe::setC_Right(case_t value) |
salco | 28:ac5c6350ed9a | 423 | { |
salco | 28:ac5c6350ed9a | 424 | setC(value,m_posX+1, m_posY); |
salco | 35:d81f6b927932 | 425 | } |
salco | 36:474d4795aafa | 426 | void Labyrinthe::setMyPos(case_t value) |
salco | 35:d81f6b927932 | 427 | { |
salco | 35:d81f6b927932 | 428 | setC(value, m_posX, m_posY); |
salco | 38:57d5f36a0333 | 429 | } |
salco | 38:57d5f36a0333 | 430 | char Labyrinthe::caseToChar(case_t value) |
salco | 38:57d5f36a0333 | 431 | { |
salco | 38:57d5f36a0333 | 432 | char result = 0; |
salco | 38:57d5f36a0333 | 433 | |
salco | 38:57d5f36a0333 | 434 | switch(value) |
salco | 38:57d5f36a0333 | 435 | { |
salco | 39:34d7802e8d15 | 436 | //case error: |
salco | 39:34d7802e8d15 | 437 | // result = 'X'; |
salco | 39:34d7802e8d15 | 438 | // break; |
salco | 38:57d5f36a0333 | 439 | case pasExplorer: |
salco | 38:57d5f36a0333 | 440 | result = '*'; |
salco | 38:57d5f36a0333 | 441 | break; |
salco | 38:57d5f36a0333 | 442 | case explorer: |
salco | 38:57d5f36a0333 | 443 | result = 'E'; |
salco | 38:57d5f36a0333 | 444 | break; |
salco | 38:57d5f36a0333 | 445 | case mur: |
salco | 38:57d5f36a0333 | 446 | result = 'M'; |
salco | 38:57d5f36a0333 | 447 | break; |
salco | 38:57d5f36a0333 | 448 | case vide: |
salco | 38:57d5f36a0333 | 449 | result = 'V'; |
salco | 38:57d5f36a0333 | 450 | break; |
salco | 38:57d5f36a0333 | 451 | } |
salco | 38:57d5f36a0333 | 452 | return result; |
salco | 38:57d5f36a0333 | 453 | } |
salco | 38:57d5f36a0333 | 454 | void Labyrinthe::moveFoward(char dir) |
salco | 38:57d5f36a0333 | 455 | { |
salco | 38:57d5f36a0333 | 456 | switch(dir) |
salco | 38:57d5f36a0333 | 457 | { |
salco | 38:57d5f36a0333 | 458 | case UP: |
salco | 38:57d5f36a0333 | 459 | //m_posX+=0; |
salco | 38:57d5f36a0333 | 460 | m_posY++; |
salco | 38:57d5f36a0333 | 461 | break; |
salco | 38:57d5f36a0333 | 462 | case DOWN: |
salco | 38:57d5f36a0333 | 463 | //m_posX+=0; |
salco | 38:57d5f36a0333 | 464 | m_posY--; |
salco | 38:57d5f36a0333 | 465 | break; |
salco | 38:57d5f36a0333 | 466 | case LEFT: |
salco | 38:57d5f36a0333 | 467 | m_posX--; |
salco | 38:57d5f36a0333 | 468 | //m_posY+=0; |
salco | 38:57d5f36a0333 | 469 | break; |
salco | 38:57d5f36a0333 | 470 | case RIGHT: |
salco | 38:57d5f36a0333 | 471 | m_posX++; |
salco | 38:57d5f36a0333 | 472 | //m_posY+=0; |
salco | 38:57d5f36a0333 | 473 | break; |
salco | 38:57d5f36a0333 | 474 | } |
salco | 38:57d5f36a0333 | 475 | } |
salco | 38:57d5f36a0333 | 476 | void Labyrinthe::moveBackward(char dir) |
salco | 38:57d5f36a0333 | 477 | { |
salco | 38:57d5f36a0333 | 478 | switch(dir) |
salco | 38:57d5f36a0333 | 479 | { |
salco | 38:57d5f36a0333 | 480 | case UP: |
salco | 38:57d5f36a0333 | 481 | //m_posX+=0; |
salco | 38:57d5f36a0333 | 482 | m_posY--; |
salco | 38:57d5f36a0333 | 483 | break; |
salco | 38:57d5f36a0333 | 484 | case DOWN: |
salco | 38:57d5f36a0333 | 485 | //m_posX+=0; |
salco | 38:57d5f36a0333 | 486 | m_posY++; |
salco | 38:57d5f36a0333 | 487 | break; |
salco | 38:57d5f36a0333 | 488 | case LEFT: |
salco | 38:57d5f36a0333 | 489 | m_posX++; |
salco | 38:57d5f36a0333 | 490 | //m_posY+=0; |
salco | 38:57d5f36a0333 | 491 | break; |
salco | 38:57d5f36a0333 | 492 | case RIGHT: |
salco | 38:57d5f36a0333 | 493 | m_posX--; |
salco | 38:57d5f36a0333 | 494 | //m_posY+=0; |
salco | 38:57d5f36a0333 | 495 | break; |
salco | 38:57d5f36a0333 | 496 | } |
salco | 38:57d5f36a0333 | 497 | } |
salco | 38:57d5f36a0333 | 498 | void Labyrinthe::moveToLeft(char dir) |
salco | 38:57d5f36a0333 | 499 | { |
salco | 38:57d5f36a0333 | 500 | switch(dir) |
salco | 38:57d5f36a0333 | 501 | { |
salco | 38:57d5f36a0333 | 502 | case UP: |
salco | 38:57d5f36a0333 | 503 | m_posX--; |
salco | 38:57d5f36a0333 | 504 | //m_posY+=0; |
salco | 38:57d5f36a0333 | 505 | break; |
salco | 38:57d5f36a0333 | 506 | case DOWN: |
salco | 38:57d5f36a0333 | 507 | m_posX++; |
salco | 38:57d5f36a0333 | 508 | //m_posY+=0; |
salco | 38:57d5f36a0333 | 509 | break; |
salco | 38:57d5f36a0333 | 510 | case LEFT: |
salco | 38:57d5f36a0333 | 511 | //m_posX+=0; |
salco | 38:57d5f36a0333 | 512 | m_posY--; |
salco | 38:57d5f36a0333 | 513 | break; |
salco | 38:57d5f36a0333 | 514 | case RIGHT: |
salco | 38:57d5f36a0333 | 515 | //m_posX+=0; |
salco | 38:57d5f36a0333 | 516 | m_posY++; |
salco | 38:57d5f36a0333 | 517 | break; |
salco | 38:57d5f36a0333 | 518 | } |
salco | 38:57d5f36a0333 | 519 | } |
salco | 38:57d5f36a0333 | 520 | void Labyrinthe::moveToRight(char dir) |
salco | 38:57d5f36a0333 | 521 | { |
salco | 38:57d5f36a0333 | 522 | switch(dir) |
salco | 38:57d5f36a0333 | 523 | { |
salco | 38:57d5f36a0333 | 524 | case UP: |
salco | 38:57d5f36a0333 | 525 | m_posX++; |
salco | 38:57d5f36a0333 | 526 | //m_posY+=0; |
salco | 38:57d5f36a0333 | 527 | break; |
salco | 38:57d5f36a0333 | 528 | case DOWN: |
salco | 38:57d5f36a0333 | 529 | m_posX--; |
salco | 38:57d5f36a0333 | 530 | //m_posY+=0; |
salco | 38:57d5f36a0333 | 531 | break; |
salco | 38:57d5f36a0333 | 532 | case LEFT: |
salco | 38:57d5f36a0333 | 533 | //m_posX+=0; |
salco | 38:57d5f36a0333 | 534 | m_posY++; |
salco | 38:57d5f36a0333 | 535 | break; |
salco | 38:57d5f36a0333 | 536 | case RIGHT: |
salco | 38:57d5f36a0333 | 537 | //m_posX+=0; |
salco | 38:57d5f36a0333 | 538 | m_posY--; |
salco | 38:57d5f36a0333 | 539 | break; |
salco | 38:57d5f36a0333 | 540 | } |
salco | 38:57d5f36a0333 | 541 | } |
salco | 38:57d5f36a0333 | 542 | case_t Labyrinthe::getC_Foward(char dir) |
salco | 38:57d5f36a0333 | 543 | { |
salco | 39:34d7802e8d15 | 544 | case_t result = pasExplorer;//error; |
salco | 38:57d5f36a0333 | 545 | |
salco | 38:57d5f36a0333 | 546 | switch(dir) |
salco | 38:57d5f36a0333 | 547 | { |
salco | 38:57d5f36a0333 | 548 | case UP: |
salco | 39:34d7802e8d15 | 549 | #if defined(DEGUG_LABIRINTH_GET_CASE) |
salco | 38:57d5f36a0333 | 550 | debug("m_posX:%i m_posY+1:%i\n\r",m_posX,m_posY+1); |
salco | 39:34d7802e8d15 | 551 | #endif |
salco | 38:57d5f36a0333 | 552 | result = getC(m_posX,m_posY+1); |
salco | 39:34d7802e8d15 | 553 | #if defined(DEGUG_LABIRINTH_GET_CASE) |
salco | 38:57d5f36a0333 | 554 | debug("result:%i",result); |
salco | 39:34d7802e8d15 | 555 | #endif |
salco | 38:57d5f36a0333 | 556 | break; |
salco | 38:57d5f36a0333 | 557 | case DOWN: |
salco | 38:57d5f36a0333 | 558 | result = getC(m_posX,m_posY-1); |
salco | 38:57d5f36a0333 | 559 | break; |
salco | 38:57d5f36a0333 | 560 | case LEFT: |
salco | 38:57d5f36a0333 | 561 | result = getC(m_posX-1,m_posY); |
salco | 38:57d5f36a0333 | 562 | break; |
salco | 38:57d5f36a0333 | 563 | case RIGHT: |
salco | 38:57d5f36a0333 | 564 | result = getC(m_posX+1,m_posY); |
salco | 38:57d5f36a0333 | 565 | break; |
salco | 38:57d5f36a0333 | 566 | } |
salco | 38:57d5f36a0333 | 567 | return result; |
salco | 38:57d5f36a0333 | 568 | } |
salco | 38:57d5f36a0333 | 569 | case_t Labyrinthe::getC_Backward(char dir) |
salco | 38:57d5f36a0333 | 570 | { |
salco | 39:34d7802e8d15 | 571 | case_t result = mur;// error; |
salco | 38:57d5f36a0333 | 572 | |
salco | 38:57d5f36a0333 | 573 | switch(dir) |
salco | 38:57d5f36a0333 | 574 | { |
salco | 38:57d5f36a0333 | 575 | case UP: |
salco | 38:57d5f36a0333 | 576 | result = getC(m_posX,m_posY-1); |
salco | 38:57d5f36a0333 | 577 | break; |
salco | 38:57d5f36a0333 | 578 | case DOWN: |
salco | 38:57d5f36a0333 | 579 | result = getC(m_posX,m_posY+1); |
salco | 38:57d5f36a0333 | 580 | break; |
salco | 38:57d5f36a0333 | 581 | case LEFT: |
salco | 38:57d5f36a0333 | 582 | result = getC(m_posX+1,m_posY); |
salco | 38:57d5f36a0333 | 583 | break; |
salco | 38:57d5f36a0333 | 584 | case RIGHT: |
salco | 38:57d5f36a0333 | 585 | result = getC(m_posX-1,m_posY); |
salco | 38:57d5f36a0333 | 586 | break; |
salco | 38:57d5f36a0333 | 587 | } |
salco | 38:57d5f36a0333 | 588 | return result; |
salco | 38:57d5f36a0333 | 589 | } |
salco | 38:57d5f36a0333 | 590 | case_t Labyrinthe::getC_ToLeft(char dir) |
salco | 38:57d5f36a0333 | 591 | { |
salco | 39:34d7802e8d15 | 592 | case_t result = mur;//error; |
salco | 38:57d5f36a0333 | 593 | |
salco | 38:57d5f36a0333 | 594 | switch(dir) |
salco | 38:57d5f36a0333 | 595 | { |
salco | 38:57d5f36a0333 | 596 | case UP: |
salco | 38:57d5f36a0333 | 597 | result = getC(m_posX-1,m_posY); |
salco | 38:57d5f36a0333 | 598 | break; |
salco | 38:57d5f36a0333 | 599 | case DOWN: |
salco | 38:57d5f36a0333 | 600 | result = getC(m_posX+1,m_posY); |
salco | 38:57d5f36a0333 | 601 | break; |
salco | 38:57d5f36a0333 | 602 | case LEFT: |
salco | 38:57d5f36a0333 | 603 | result = getC(m_posX,m_posY-1); |
salco | 38:57d5f36a0333 | 604 | break; |
salco | 38:57d5f36a0333 | 605 | case RIGHT: |
salco | 38:57d5f36a0333 | 606 | result = getC(m_posX,m_posY+1); |
salco | 38:57d5f36a0333 | 607 | break; |
salco | 38:57d5f36a0333 | 608 | } |
salco | 38:57d5f36a0333 | 609 | return result; |
salco | 38:57d5f36a0333 | 610 | } |
salco | 38:57d5f36a0333 | 611 | case_t Labyrinthe::getC_ToRight(char dir) |
salco | 38:57d5f36a0333 | 612 | { |
salco | 39:34d7802e8d15 | 613 | case_t result = pasExplorer;//error; |
salco | 38:57d5f36a0333 | 614 | |
salco | 38:57d5f36a0333 | 615 | switch(dir) |
salco | 38:57d5f36a0333 | 616 | { |
salco | 38:57d5f36a0333 | 617 | case UP: |
salco | 38:57d5f36a0333 | 618 | result = getC(m_posX+1,m_posY); |
salco | 38:57d5f36a0333 | 619 | break; |
salco | 38:57d5f36a0333 | 620 | case DOWN: |
salco | 38:57d5f36a0333 | 621 | result = getC(m_posX-1,m_posY); |
salco | 38:57d5f36a0333 | 622 | break; |
salco | 38:57d5f36a0333 | 623 | case LEFT: |
salco | 38:57d5f36a0333 | 624 | result = getC(m_posX,m_posY+1); |
salco | 38:57d5f36a0333 | 625 | break; |
salco | 38:57d5f36a0333 | 626 | case RIGHT: |
salco | 38:57d5f36a0333 | 627 | result = getC(m_posX,m_posY-1); |
salco | 38:57d5f36a0333 | 628 | break; |
salco | 38:57d5f36a0333 | 629 | } |
salco | 38:57d5f36a0333 | 630 | return result; |
salco | 38:57d5f36a0333 | 631 | } |
salco | 38:57d5f36a0333 | 632 | |
salco | 38:57d5f36a0333 | 633 | |
salco | 38:57d5f36a0333 | 634 | void Labyrinthe::turnBack(void) |
salco | 38:57d5f36a0333 | 635 | { |
salco | 38:57d5f36a0333 | 636 | switch(direction) |
salco | 38:57d5f36a0333 | 637 | { |
salco | 38:57d5f36a0333 | 638 | case UP: |
salco | 38:57d5f36a0333 | 639 | direction = DOWN; |
salco | 38:57d5f36a0333 | 640 | break; |
salco | 38:57d5f36a0333 | 641 | case DOWN: |
salco | 38:57d5f36a0333 | 642 | direction = UP; |
salco | 38:57d5f36a0333 | 643 | break; |
salco | 38:57d5f36a0333 | 644 | case LEFT: |
salco | 38:57d5f36a0333 | 645 | direction = RIGHT; |
salco | 38:57d5f36a0333 | 646 | break; |
salco | 38:57d5f36a0333 | 647 | case RIGHT: |
salco | 38:57d5f36a0333 | 648 | direction = LEFT; |
salco | 38:57d5f36a0333 | 649 | break; |
salco | 38:57d5f36a0333 | 650 | } |
salco | 38:57d5f36a0333 | 651 | |
salco | 38:57d5f36a0333 | 652 | } |
salco | 38:57d5f36a0333 | 653 | void Labyrinthe::turnLeft(void) |
salco | 38:57d5f36a0333 | 654 | { |
salco | 38:57d5f36a0333 | 655 | switch(direction) |
salco | 38:57d5f36a0333 | 656 | { |
salco | 38:57d5f36a0333 | 657 | case UP: |
salco | 38:57d5f36a0333 | 658 | direction = LEFT; |
salco | 38:57d5f36a0333 | 659 | break; |
salco | 38:57d5f36a0333 | 660 | case DOWN: |
salco | 38:57d5f36a0333 | 661 | direction = RIGHT; |
salco | 38:57d5f36a0333 | 662 | break; |
salco | 38:57d5f36a0333 | 663 | case LEFT: |
salco | 38:57d5f36a0333 | 664 | direction = DOWN; |
salco | 38:57d5f36a0333 | 665 | break; |
salco | 38:57d5f36a0333 | 666 | case RIGHT: |
salco | 38:57d5f36a0333 | 667 | direction = UP; |
salco | 38:57d5f36a0333 | 668 | break; |
salco | 38:57d5f36a0333 | 669 | } |
salco | 38:57d5f36a0333 | 670 | } |
salco | 38:57d5f36a0333 | 671 | void Labyrinthe::turnRight(void) |
salco | 38:57d5f36a0333 | 672 | { |
salco | 38:57d5f36a0333 | 673 | switch(direction) |
salco | 38:57d5f36a0333 | 674 | { |
salco | 38:57d5f36a0333 | 675 | case UP: |
salco | 38:57d5f36a0333 | 676 | direction = RIGHT; |
salco | 38:57d5f36a0333 | 677 | break; |
salco | 38:57d5f36a0333 | 678 | case DOWN: |
salco | 38:57d5f36a0333 | 679 | direction = LEFT; |
salco | 38:57d5f36a0333 | 680 | break; |
salco | 38:57d5f36a0333 | 681 | case LEFT: |
salco | 38:57d5f36a0333 | 682 | direction = UP; |
salco | 38:57d5f36a0333 | 683 | break; |
salco | 38:57d5f36a0333 | 684 | case RIGHT: |
salco | 38:57d5f36a0333 | 685 | direction = DOWN; |
salco | 38:57d5f36a0333 | 686 | break; |
salco | 38:57d5f36a0333 | 687 | } |
salco | 39:34d7802e8d15 | 688 | } |
salco | 39:34d7802e8d15 | 689 | |
salco | 39:34d7802e8d15 | 690 | |
salco | 39:34d7802e8d15 | 691 | void Labyrinthe::getXY_Foward(signed char &x, signed char &y,char dir) |
salco | 39:34d7802e8d15 | 692 | { |
salco | 39:34d7802e8d15 | 693 | switch(direction) |
salco | 39:34d7802e8d15 | 694 | { |
salco | 39:34d7802e8d15 | 695 | case UP: |
salco | 39:34d7802e8d15 | 696 | x = m_posX; |
salco | 39:34d7802e8d15 | 697 | y = m_posY+1; |
salco | 39:34d7802e8d15 | 698 | break; |
salco | 39:34d7802e8d15 | 699 | case DOWN: |
salco | 39:34d7802e8d15 | 700 | x = m_posX; |
salco | 39:34d7802e8d15 | 701 | y = m_posY-1; |
salco | 39:34d7802e8d15 | 702 | break; |
salco | 39:34d7802e8d15 | 703 | case LEFT: |
salco | 39:34d7802e8d15 | 704 | x = m_posX-1; |
salco | 39:34d7802e8d15 | 705 | y = m_posY; |
salco | 39:34d7802e8d15 | 706 | break; |
salco | 39:34d7802e8d15 | 707 | case RIGHT: |
salco | 39:34d7802e8d15 | 708 | x = m_posX+1; |
salco | 39:34d7802e8d15 | 709 | y = m_posY; |
salco | 39:34d7802e8d15 | 710 | break; |
salco | 39:34d7802e8d15 | 711 | } |
salco | 39:34d7802e8d15 | 712 | } |
salco | 39:34d7802e8d15 | 713 | |
salco | 39:34d7802e8d15 | 714 | void Labyrinthe::getXY_Backward(signed char &x, signed char &y,char dir) |
salco | 39:34d7802e8d15 | 715 | { |
salco | 39:34d7802e8d15 | 716 | switch(direction) |
salco | 39:34d7802e8d15 | 717 | { |
salco | 39:34d7802e8d15 | 718 | case UP: |
salco | 39:34d7802e8d15 | 719 | x = m_posX; |
salco | 39:34d7802e8d15 | 720 | y = m_posY-1; |
salco | 39:34d7802e8d15 | 721 | break; |
salco | 39:34d7802e8d15 | 722 | case DOWN: |
salco | 39:34d7802e8d15 | 723 | x = m_posX; |
salco | 39:34d7802e8d15 | 724 | y = m_posY+1; |
salco | 39:34d7802e8d15 | 725 | break; |
salco | 39:34d7802e8d15 | 726 | case LEFT: |
salco | 39:34d7802e8d15 | 727 | x = m_posX+1; |
salco | 39:34d7802e8d15 | 728 | y = m_posY; |
salco | 39:34d7802e8d15 | 729 | break; |
salco | 39:34d7802e8d15 | 730 | case RIGHT: |
salco | 39:34d7802e8d15 | 731 | x = m_posX-1; |
salco | 39:34d7802e8d15 | 732 | y = m_posY; |
salco | 39:34d7802e8d15 | 733 | break; |
salco | 39:34d7802e8d15 | 734 | } |
salco | 39:34d7802e8d15 | 735 | } |
salco | 39:34d7802e8d15 | 736 | |
salco | 39:34d7802e8d15 | 737 | void Labyrinthe::getXY_Left(signed char &x, signed char &y, char dir) |
salco | 39:34d7802e8d15 | 738 | { |
salco | 39:34d7802e8d15 | 739 | switch(direction) |
salco | 39:34d7802e8d15 | 740 | { |
salco | 39:34d7802e8d15 | 741 | case UP: |
salco | 39:34d7802e8d15 | 742 | x = m_posX-1; |
salco | 39:34d7802e8d15 | 743 | y = m_posY; |
salco | 39:34d7802e8d15 | 744 | break; |
salco | 39:34d7802e8d15 | 745 | case DOWN: |
salco | 39:34d7802e8d15 | 746 | x = m_posX+1; |
salco | 39:34d7802e8d15 | 747 | y = m_posY; |
salco | 39:34d7802e8d15 | 748 | break; |
salco | 39:34d7802e8d15 | 749 | case LEFT: |
salco | 39:34d7802e8d15 | 750 | x = m_posX; |
salco | 39:34d7802e8d15 | 751 | y = m_posY-1; |
salco | 39:34d7802e8d15 | 752 | break; |
salco | 39:34d7802e8d15 | 753 | case RIGHT: |
salco | 39:34d7802e8d15 | 754 | x = m_posX; |
salco | 39:34d7802e8d15 | 755 | y = m_posY+1; |
salco | 39:34d7802e8d15 | 756 | break; |
salco | 39:34d7802e8d15 | 757 | } |
salco | 39:34d7802e8d15 | 758 | } |
salco | 39:34d7802e8d15 | 759 | |
salco | 39:34d7802e8d15 | 760 | void Labyrinthe::getXY_Right(signed char &x, signed char &y, char dir) |
salco | 39:34d7802e8d15 | 761 | { |
salco | 39:34d7802e8d15 | 762 | switch(direction) |
salco | 39:34d7802e8d15 | 763 | { |
salco | 39:34d7802e8d15 | 764 | case UP: |
salco | 39:34d7802e8d15 | 765 | x = m_posX+1; |
salco | 39:34d7802e8d15 | 766 | y = m_posY; |
salco | 39:34d7802e8d15 | 767 | break; |
salco | 39:34d7802e8d15 | 768 | case DOWN: |
salco | 39:34d7802e8d15 | 769 | x = m_posX-1; |
salco | 39:34d7802e8d15 | 770 | y = m_posY; |
salco | 39:34d7802e8d15 | 771 | break; |
salco | 39:34d7802e8d15 | 772 | case LEFT: |
salco | 39:34d7802e8d15 | 773 | x = m_posX; |
salco | 39:34d7802e8d15 | 774 | y = m_posY+1; |
salco | 39:34d7802e8d15 | 775 | break; |
salco | 39:34d7802e8d15 | 776 | case RIGHT: |
salco | 39:34d7802e8d15 | 777 | x = m_posX; |
salco | 39:34d7802e8d15 | 778 | y = m_posY-1; |
salco | 39:34d7802e8d15 | 779 | break; |
salco | 39:34d7802e8d15 | 780 | } |
salco | 39:34d7802e8d15 | 781 | } |