Alexandre Salconi-Denis / Mbed 2 deprecated ProjetOctopode

Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.

Dependencies:   debug mbed

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@38:57d5f36a0333, 2015-10-05 (annotated)

Committer:
salco
Date:
Mon Oct 05 23:46:11 2015 +0000
Revision:
38:57d5f36a0333
Parent:
37:f53e9f7a14df
Child:
39:34d7802e8d15
analise du labirinte pas fini pas implementer mais le plus gros de la carcasse est mont? reste a faire les point technique

Who changed what in which revision?

UserRevisionLine numberNew 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 38:57d5f36a0333 338 debug("\n\rcoordonerr: %i",maCoordoner);
salco 28:ac5c6350ed9a 339 return getC(x, y, maCoordoner);
salco 28:ac5c6350ed9a 340 }
salco 36:474d4795aafa 341
salco 37:f53e9f7a14df 342 case_t Labyrinthe::getC(signed char x, signed char y, coordonerr cX)
salco 28:ac5c6350ed9a 343 {
salco 37:f53e9f7a14df 344 case_t myCoordoner = error;
salco 28:ac5c6350ed9a 345 string result = showMap(x,y);
salco 28:ac5c6350ed9a 346 if(result.size() != 0) {
salco 38:57d5f36a0333 347 myCoordoner = case_t(result[cX-1]);
salco 37:f53e9f7a14df 348 }
salco 37:f53e9f7a14df 349 return myCoordoner;
salco 37:f53e9f7a14df 350 }
salco 37:f53e9f7a14df 351 void Labyrinthe::setC(case_t value, signed char x, signed char y, coordonerr cX)
salco 37:f53e9f7a14df 352 {
salco 37:f53e9f7a14df 353 #ifdef DEGUG_LABIRINTH_SET_COORDONER
salco 37:f53e9f7a14df 354 debug("------SetC coord------\n\r");
salco 37:f53e9f7a14df 355 debug(" value: %i\n\r",value);
salco 36:474d4795aafa 356 debug("coordoner: %i\n\r",cX);
salco 37:f53e9f7a14df 357 debug(" X:%i Y:%i \n\r",x,y);
salco 37:f53e9f7a14df 358 #endif
salco 37:f53e9f7a14df 359
salco 37:f53e9f7a14df 360 if(value != error){
salco 37:f53e9f7a14df 361 string result = showMap(x,y);
salco 37:f53e9f7a14df 362
salco 37:f53e9f7a14df 363 if(result.size() == 0) {//no map found so we create new tuile
salco 37:f53e9f7a14df 364 #ifdef DEGUG_LABIRINTH_SET_COORDONER
salco 37:f53e9f7a14df 365 debug(" no tuile found\n\r");
salco 36:474d4795aafa 366 #endif
salco 37:f53e9f7a14df 367 signed char newPosX = x;
salco 37:f53e9f7a14df 368 signed char newPosY = y;
salco 37:f53e9f7a14df 369
salco 37:f53e9f7a14df 370 getCoordoner(newPosX,newPosY);
salco 37:f53e9f7a14df 371 addMap(newPosX,newPosY);
salco 37:f53e9f7a14df 372 result = showMap(x,y);
salco 37:f53e9f7a14df 373 #ifdef DEGUG_LABIRINTH_SET_COORDONER
salco 37:f53e9f7a14df 374 debug(" result: %i\n\r",result.size());
salco 37:f53e9f7a14df 375 #endif
salco 37:f53e9f7a14df 376 }
salco 36:474d4795aafa 377
salco 37:f53e9f7a14df 378 if(result.size() != 0){
salco 36:474d4795aafa 379 #ifdef DEGUG_LABIRINTH_SET_COORDONER
salco 37:f53e9f7a14df 380 debug(" tuile found\n\r");
salco 36:474d4795aafa 381 #endif
salco 37:f53e9f7a14df 382 result[cX-1]=value;
salco 37:f53e9f7a14df 383 updateMap(result,x,y);//on remet les case modifier dans le string==map
salco 37:f53e9f7a14df 384 }
salco 28:ac5c6350ed9a 385 }
salco 37:f53e9f7a14df 386
salco 37:f53e9f7a14df 387 #ifdef DEGUG_LABIRINTH_SET_COORDONER
salco 37:f53e9f7a14df 388 debug("---------------------\n\r");
salco 37:f53e9f7a14df 389 #endif
salco 28:ac5c6350ed9a 390 }
salco 36:474d4795aafa 391 void Labyrinthe::setC(case_t value, coordonerr cX)
salco 28:ac5c6350ed9a 392 {
salco 28:ac5c6350ed9a 393 setC(value,m_posX, m_posY,cX);
salco 28:ac5c6350ed9a 394 }
salco 37:f53e9f7a14df 395 void Labyrinthe::setC(case_t value, signed char x, signed char y)
salco 28:ac5c6350ed9a 396 {
salco 37:f53e9f7a14df 397 signed char newPosX = x;
salco 37:f53e9f7a14df 398 signed char newPosY = y;
salco 36:474d4795aafa 399 coordonerr maCoordoner;
salco 28:ac5c6350ed9a 400 maCoordoner=getCoordoner(newPosX,newPosY);
salco 37:f53e9f7a14df 401 debug("-setcase tempo newPosX: %i, x: %i\n\r",newPosX,x);
salco 28:ac5c6350ed9a 402 setC(value,x,y,maCoordoner);
salco 28:ac5c6350ed9a 403 }
salco 36:474d4795aafa 404 void Labyrinthe::setC_Up(case_t value)
salco 28:ac5c6350ed9a 405 {
salco 28:ac5c6350ed9a 406 setC(value,m_posX, m_posY+1);
salco 28:ac5c6350ed9a 407 }
salco 36:474d4795aafa 408 void Labyrinthe::setC_Down(case_t value)
salco 28:ac5c6350ed9a 409 {
salco 28:ac5c6350ed9a 410 setC(value,m_posX, m_posY-1);
salco 28:ac5c6350ed9a 411 }
salco 36:474d4795aafa 412 void Labyrinthe::setC_Left(case_t value)
salco 28:ac5c6350ed9a 413 {
salco 28:ac5c6350ed9a 414 setC(value,m_posX-1, m_posY);
salco 28:ac5c6350ed9a 415 }
salco 36:474d4795aafa 416 void Labyrinthe::setC_Right(case_t value)
salco 28:ac5c6350ed9a 417 {
salco 28:ac5c6350ed9a 418 setC(value,m_posX+1, m_posY);
salco 35:d81f6b927932 419 }
salco 36:474d4795aafa 420 void Labyrinthe::setMyPos(case_t value)
salco 35:d81f6b927932 421 {
salco 35:d81f6b927932 422 setC(value, m_posX, m_posY);
salco 38:57d5f36a0333 423 }
salco 38:57d5f36a0333 424 char Labyrinthe::caseToChar(case_t value)
salco 38:57d5f36a0333 425 {
salco 38:57d5f36a0333 426 char result = 0;
salco 38:57d5f36a0333 427
salco 38:57d5f36a0333 428 switch(value)
salco 38:57d5f36a0333 429 {
salco 38:57d5f36a0333 430 case error:
salco 38:57d5f36a0333 431 result = 'X';
salco 38:57d5f36a0333 432 break;
salco 38:57d5f36a0333 433 case pasExplorer:
salco 38:57d5f36a0333 434 result = '*';
salco 38:57d5f36a0333 435 break;
salco 38:57d5f36a0333 436 case explorer:
salco 38:57d5f36a0333 437 result = 'E';
salco 38:57d5f36a0333 438 break;
salco 38:57d5f36a0333 439 case mur:
salco 38:57d5f36a0333 440 result = 'M';
salco 38:57d5f36a0333 441 break;
salco 38:57d5f36a0333 442 case vide:
salco 38:57d5f36a0333 443 result = 'V';
salco 38:57d5f36a0333 444 break;
salco 38:57d5f36a0333 445 }
salco 38:57d5f36a0333 446 return result;
salco 38:57d5f36a0333 447 }
salco 38:57d5f36a0333 448 void Labyrinthe::moveFoward(char dir)
salco 38:57d5f36a0333 449 {
salco 38:57d5f36a0333 450 switch(dir)
salco 38:57d5f36a0333 451 {
salco 38:57d5f36a0333 452 case UP:
salco 38:57d5f36a0333 453 //m_posX+=0;
salco 38:57d5f36a0333 454 m_posY++;
salco 38:57d5f36a0333 455 break;
salco 38:57d5f36a0333 456 case DOWN:
salco 38:57d5f36a0333 457 //m_posX+=0;
salco 38:57d5f36a0333 458 m_posY--;
salco 38:57d5f36a0333 459 break;
salco 38:57d5f36a0333 460 case LEFT:
salco 38:57d5f36a0333 461 m_posX--;
salco 38:57d5f36a0333 462 //m_posY+=0;
salco 38:57d5f36a0333 463 break;
salco 38:57d5f36a0333 464 case RIGHT:
salco 38:57d5f36a0333 465 m_posX++;
salco 38:57d5f36a0333 466 //m_posY+=0;
salco 38:57d5f36a0333 467 break;
salco 38:57d5f36a0333 468 }
salco 38:57d5f36a0333 469 }
salco 38:57d5f36a0333 470 void Labyrinthe::moveBackward(char dir)
salco 38:57d5f36a0333 471 {
salco 38:57d5f36a0333 472 switch(dir)
salco 38:57d5f36a0333 473 {
salco 38:57d5f36a0333 474 case UP:
salco 38:57d5f36a0333 475 //m_posX+=0;
salco 38:57d5f36a0333 476 m_posY--;
salco 38:57d5f36a0333 477 break;
salco 38:57d5f36a0333 478 case DOWN:
salco 38:57d5f36a0333 479 //m_posX+=0;
salco 38:57d5f36a0333 480 m_posY++;
salco 38:57d5f36a0333 481 break;
salco 38:57d5f36a0333 482 case LEFT:
salco 38:57d5f36a0333 483 m_posX++;
salco 38:57d5f36a0333 484 //m_posY+=0;
salco 38:57d5f36a0333 485 break;
salco 38:57d5f36a0333 486 case RIGHT:
salco 38:57d5f36a0333 487 m_posX--;
salco 38:57d5f36a0333 488 //m_posY+=0;
salco 38:57d5f36a0333 489 break;
salco 38:57d5f36a0333 490 }
salco 38:57d5f36a0333 491 }
salco 38:57d5f36a0333 492 void Labyrinthe::moveToLeft(char dir)
salco 38:57d5f36a0333 493 {
salco 38:57d5f36a0333 494 switch(dir)
salco 38:57d5f36a0333 495 {
salco 38:57d5f36a0333 496 case UP:
salco 38:57d5f36a0333 497 m_posX--;
salco 38:57d5f36a0333 498 //m_posY+=0;
salco 38:57d5f36a0333 499 break;
salco 38:57d5f36a0333 500 case DOWN:
salco 38:57d5f36a0333 501 m_posX++;
salco 38:57d5f36a0333 502 //m_posY+=0;
salco 38:57d5f36a0333 503 break;
salco 38:57d5f36a0333 504 case LEFT:
salco 38:57d5f36a0333 505 //m_posX+=0;
salco 38:57d5f36a0333 506 m_posY--;
salco 38:57d5f36a0333 507 break;
salco 38:57d5f36a0333 508 case RIGHT:
salco 38:57d5f36a0333 509 //m_posX+=0;
salco 38:57d5f36a0333 510 m_posY++;
salco 38:57d5f36a0333 511 break;
salco 38:57d5f36a0333 512 }
salco 38:57d5f36a0333 513 }
salco 38:57d5f36a0333 514 void Labyrinthe::moveToRight(char dir)
salco 38:57d5f36a0333 515 {
salco 38:57d5f36a0333 516 switch(dir)
salco 38:57d5f36a0333 517 {
salco 38:57d5f36a0333 518 case UP:
salco 38:57d5f36a0333 519 m_posX++;
salco 38:57d5f36a0333 520 //m_posY+=0;
salco 38:57d5f36a0333 521 break;
salco 38:57d5f36a0333 522 case DOWN:
salco 38:57d5f36a0333 523 m_posX--;
salco 38:57d5f36a0333 524 //m_posY+=0;
salco 38:57d5f36a0333 525 break;
salco 38:57d5f36a0333 526 case LEFT:
salco 38:57d5f36a0333 527 //m_posX+=0;
salco 38:57d5f36a0333 528 m_posY++;
salco 38:57d5f36a0333 529 break;
salco 38:57d5f36a0333 530 case RIGHT:
salco 38:57d5f36a0333 531 //m_posX+=0;
salco 38:57d5f36a0333 532 m_posY--;
salco 38:57d5f36a0333 533 break;
salco 38:57d5f36a0333 534 }
salco 38:57d5f36a0333 535 }
salco 38:57d5f36a0333 536 case_t Labyrinthe::getC_Foward(char dir)
salco 38:57d5f36a0333 537 {
salco 38:57d5f36a0333 538 case_t result = error;
salco 38:57d5f36a0333 539
salco 38:57d5f36a0333 540 switch(dir)
salco 38:57d5f36a0333 541 {
salco 38:57d5f36a0333 542 case UP:
salco 38:57d5f36a0333 543 debug("m_posX:%i m_posY+1:%i\n\r",m_posX,m_posY+1);
salco 38:57d5f36a0333 544 result = getC(m_posX,m_posY+1);
salco 38:57d5f36a0333 545 debug("result:%i",result);
salco 38:57d5f36a0333 546 break;
salco 38:57d5f36a0333 547 case DOWN:
salco 38:57d5f36a0333 548 result = getC(m_posX,m_posY-1);
salco 38:57d5f36a0333 549 break;
salco 38:57d5f36a0333 550 case LEFT:
salco 38:57d5f36a0333 551 result = getC(m_posX-1,m_posY);
salco 38:57d5f36a0333 552 break;
salco 38:57d5f36a0333 553 case RIGHT:
salco 38:57d5f36a0333 554 result = getC(m_posX+1,m_posY);
salco 38:57d5f36a0333 555 break;
salco 38:57d5f36a0333 556 }
salco 38:57d5f36a0333 557 return result;
salco 38:57d5f36a0333 558 }
salco 38:57d5f36a0333 559 case_t Labyrinthe::getC_Backward(char dir)
salco 38:57d5f36a0333 560 {
salco 38:57d5f36a0333 561 case_t result = error;
salco 38:57d5f36a0333 562
salco 38:57d5f36a0333 563 switch(dir)
salco 38:57d5f36a0333 564 {
salco 38:57d5f36a0333 565 case UP:
salco 38:57d5f36a0333 566 result = getC(m_posX,m_posY-1);
salco 38:57d5f36a0333 567 break;
salco 38:57d5f36a0333 568 case DOWN:
salco 38:57d5f36a0333 569 result = getC(m_posX,m_posY+1);
salco 38:57d5f36a0333 570 break;
salco 38:57d5f36a0333 571 case LEFT:
salco 38:57d5f36a0333 572 result = getC(m_posX+1,m_posY);
salco 38:57d5f36a0333 573 break;
salco 38:57d5f36a0333 574 case RIGHT:
salco 38:57d5f36a0333 575 result = getC(m_posX-1,m_posY);
salco 38:57d5f36a0333 576 break;
salco 38:57d5f36a0333 577 }
salco 38:57d5f36a0333 578 return result;
salco 38:57d5f36a0333 579 }
salco 38:57d5f36a0333 580 case_t Labyrinthe::getC_ToLeft(char dir)
salco 38:57d5f36a0333 581 {
salco 38:57d5f36a0333 582 case_t result = error;
salco 38:57d5f36a0333 583
salco 38:57d5f36a0333 584 switch(dir)
salco 38:57d5f36a0333 585 {
salco 38:57d5f36a0333 586 case UP:
salco 38:57d5f36a0333 587 result = getC(m_posX-1,m_posY);
salco 38:57d5f36a0333 588 break;
salco 38:57d5f36a0333 589 case DOWN:
salco 38:57d5f36a0333 590 result = getC(m_posX+1,m_posY);
salco 38:57d5f36a0333 591 break;
salco 38:57d5f36a0333 592 case LEFT:
salco 38:57d5f36a0333 593 result = getC(m_posX,m_posY-1);
salco 38:57d5f36a0333 594 break;
salco 38:57d5f36a0333 595 case RIGHT:
salco 38:57d5f36a0333 596 result = getC(m_posX,m_posY+1);
salco 38:57d5f36a0333 597 break;
salco 38:57d5f36a0333 598 }
salco 38:57d5f36a0333 599 return result;
salco 38:57d5f36a0333 600 }
salco 38:57d5f36a0333 601 case_t Labyrinthe::getC_ToRight(char dir)
salco 38:57d5f36a0333 602 {
salco 38:57d5f36a0333 603 case_t result = error;
salco 38:57d5f36a0333 604
salco 38:57d5f36a0333 605 switch(dir)
salco 38:57d5f36a0333 606 {
salco 38:57d5f36a0333 607 case UP:
salco 38:57d5f36a0333 608 result = getC(m_posX+1,m_posY);
salco 38:57d5f36a0333 609 break;
salco 38:57d5f36a0333 610 case DOWN:
salco 38:57d5f36a0333 611 result = getC(m_posX-1,m_posY);
salco 38:57d5f36a0333 612 break;
salco 38:57d5f36a0333 613 case LEFT:
salco 38:57d5f36a0333 614 result = getC(m_posX,m_posY+1);
salco 38:57d5f36a0333 615 break;
salco 38:57d5f36a0333 616 case RIGHT:
salco 38:57d5f36a0333 617 result = getC(m_posX,m_posY-1);
salco 38:57d5f36a0333 618 break;
salco 38:57d5f36a0333 619 }
salco 38:57d5f36a0333 620 return result;
salco 38:57d5f36a0333 621 }
salco 38:57d5f36a0333 622
salco 38:57d5f36a0333 623
salco 38:57d5f36a0333 624 void Labyrinthe::turnBack(void)
salco 38:57d5f36a0333 625 {
salco 38:57d5f36a0333 626 switch(direction)
salco 38:57d5f36a0333 627 {
salco 38:57d5f36a0333 628 case UP:
salco 38:57d5f36a0333 629 direction = DOWN;
salco 38:57d5f36a0333 630 break;
salco 38:57d5f36a0333 631 case DOWN:
salco 38:57d5f36a0333 632 direction = UP;
salco 38:57d5f36a0333 633 break;
salco 38:57d5f36a0333 634 case LEFT:
salco 38:57d5f36a0333 635 direction = RIGHT;
salco 38:57d5f36a0333 636 break;
salco 38:57d5f36a0333 637 case RIGHT:
salco 38:57d5f36a0333 638 direction = LEFT;
salco 38:57d5f36a0333 639 break;
salco 38:57d5f36a0333 640 }
salco 38:57d5f36a0333 641
salco 38:57d5f36a0333 642 }
salco 38:57d5f36a0333 643 void Labyrinthe::turnLeft(void)
salco 38:57d5f36a0333 644 {
salco 38:57d5f36a0333 645 switch(direction)
salco 38:57d5f36a0333 646 {
salco 38:57d5f36a0333 647 case UP:
salco 38:57d5f36a0333 648 direction = LEFT;
salco 38:57d5f36a0333 649 break;
salco 38:57d5f36a0333 650 case DOWN:
salco 38:57d5f36a0333 651 direction = RIGHT;
salco 38:57d5f36a0333 652 break;
salco 38:57d5f36a0333 653 case LEFT:
salco 38:57d5f36a0333 654 direction = DOWN;
salco 38:57d5f36a0333 655 break;
salco 38:57d5f36a0333 656 case RIGHT:
salco 38:57d5f36a0333 657 direction = UP;
salco 38:57d5f36a0333 658 break;
salco 38:57d5f36a0333 659 }
salco 38:57d5f36a0333 660 }
salco 38:57d5f36a0333 661 void Labyrinthe::turnRight(void)
salco 38:57d5f36a0333 662 {
salco 38:57d5f36a0333 663 switch(direction)
salco 38:57d5f36a0333 664 {
salco 38:57d5f36a0333 665 case UP:
salco 38:57d5f36a0333 666 direction = RIGHT;
salco 38:57d5f36a0333 667 break;
salco 38:57d5f36a0333 668 case DOWN:
salco 38:57d5f36a0333 669 direction = LEFT;
salco 38:57d5f36a0333 670 break;
salco 38:57d5f36a0333 671 case LEFT:
salco 38:57d5f36a0333 672 direction = UP;
salco 38:57d5f36a0333 673 break;
salco 38:57d5f36a0333 674 case RIGHT:
salco 38:57d5f36a0333 675 direction = DOWN;
salco 38:57d5f36a0333 676 break;
salco 38:57d5f36a0333 677 }
salco 28:ac5c6350ed9a 678 }