Alexandre Salconi-Denis
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ProjetOctopode
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directive.cpp
00001 00002 #include "directive.h" 00003 00004 Serial pc(SERIAL_TX, SERIAL_RX); 00005 int tabIR[12][2]= { 00006 {80, 400},{50, 600},{40, 700},{30, 900},{25,1100}, 00007 {20,1300},{15,1600},{10,2400},{ 8,2700},{ 7,3000}, 00008 { 6,3200},{ 5,3100} 00009 }; 00010 00011 00012 00013 00014 00015 00016 Directive::Directive():TTask(0)//on veux que cette tache sois exec toute les fois que TTaskGen sexecute. 00017 { 00018 00019 /* initialize random seed: */ 00020 srand (time(NULL)); 00021 myMaze = new Labyrinthe(); 00022 00023 myMaze->setDirection(UP); 00024 //c=0; 00025 ssc32 = new Serial(PB_6, PB_7); 00026 ctrDesPattes = new Faculter_motrice(ssc32/*pc*/); 00027 m_valueCapteurUltrasonic = 0; 00028 m_valueCapteurIR = 0; 00029 m_valueCapteurProximiter = 0; 00030 for(int i =0; i < DIRECTIVE_TABLEAUDECOMMANDE_SIZE; i++)tableauDeCommange[i]= 0; 00031 size_tableauDeCommange=0; 00032 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r set explorer \n\r"); 00033 myMaze->setMyPos(Labyrinthe::explorer); 00034 //myMaze->setC(EXPLORER,C5); 00035 //m_CtrlBridge = m_CtrlBridge->getInstance(); 00036 //a enlever de commentaire//m_ListDesModules = m_CtrlBridge->findModule(0,1,0,0); 00037 00038 //Serial pc(USBTX, USBRX); 00039 00040 //ssc32->set_flow_control(0); 00041 00042 00043 //debug("\n\r directive Init"); 00044 m_ListDesModules = m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0); 00045 m_ListDesModules.append(m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0)); 00046 for(int i=0; i < m_ListDesModules.size(); i++) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_ListDesModules[%i]:%i",i,m_ListDesModules[i]); 00047 00048 m_capteurUltrasonic= m_CtrlBridge->findModule(0,CAPTEUR,ULTRASONIQUE,0x27/*0b100111*/); 00049 if(!(m_capteurUltrasonic.empty())) 00050 { 00051 debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic found"); 00052 for(int i=0; i < m_capteurUltrasonic.size(); i++) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic[%i]:%i",i,m_capteurUltrasonic[i]); 00053 } 00054 else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic not found"); 00055 00056 00057 m_capteurIR= m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0x27/*0b100111*/); 00058 if(!(m_capteurIR.empty())) 00059 { 00060 debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR found"); 00061 for(int i=0; i < m_capteurIR.size(); i++) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR[%i]:%i",i,m_capteurIR[i]); 00062 } 00063 else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR not found"); 00064 00065 m_capteurProximiter= m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0x0E/*0b001110*/); 00066 if(!(m_capteurProximiter.empty())) 00067 { 00068 debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter found"); 00069 for(int i=0; i < m_capteurProximiter.size(); i++) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter[%i]:%i",i,m_capteurProximiter[i]); 00070 } 00071 else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter not found"); 00072 00073 ctrDesPattes->moveUp(); 00074 00075 bool getUp=true; 00076 while((getUp)&& (! ctrDesPattes->isSeqComplet())) 00077 { 00078 ctrDesPattes->exec(); 00079 00080 if(ctrDesPattes->get_idFrame() >= 5) 00081 getUp = false; 00082 00083 } 00084 00085 followThePath = false; 00086 ctrDesPattes->calibre(); 00087 00088 00089 #ifdef DEBUG_DIRECTIVE_GRAPHICAL_INTERFACE 00090 //analiseMaze(); 00091 ///wait(2); 00092 //debug("\x1B[2J"); //clear screen 00093 /*debug("\x1B[25l");//hide cursor 00094 debug("\x1B[;H");*/ //cursor default position 00095 00096 //createSLbox(0,0,5,15,"Mode"); 00097 /*createDLbox(0,0,10,20,"Menu");//(1,12,10,20,"test2"); 00098 setText(1,3,"1) BrainControle"); 00099 setText(1,4,"2) Show Maze");*/ 00100 //createDLbox(16,0,5,15,"Stage"); 00101 00102 myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C1); 00103 myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C2); 00104 myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C3); 00105 myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C4); 00106 myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C5); 00107 myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C6); 00108 myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C7); 00109 myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C8); 00110 myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C9); 00111 00112 myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C1); 00113 myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C2); 00114 myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C3); 00115 myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C4); 00116 myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C5); 00117 myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C6); 00118 myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C7); 00119 myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C8); 00120 myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C9); 00121 00122 myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C1); 00123 myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C2); 00124 myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C3); 00125 myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C4); 00126 myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C5); 00127 myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C6); 00128 myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C7); 00129 myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C8); 00130 myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C9); 00131 00132 myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C1); 00133 myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C2); 00134 myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C3); 00135 myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C4); 00136 myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C5); 00137 myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C6); 00138 myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C7); 00139 myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C8); 00140 myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C9); 00141 00142 myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C1); 00143 myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C2); 00144 myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C3); 00145 myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C4); 00146 myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C5); 00147 myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C6); 00148 myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C7); 00149 myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C8); 00150 myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C9); 00151 00152 myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C1); 00153 myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C2); 00154 myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C3); 00155 myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C4); 00156 myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C5); 00157 myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C6); 00158 myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C7); 00159 myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C8); 00160 myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C9); 00161 #endif 00162 myMaze->setMyPos(Labyrinthe::explorer); 00163 00164 #ifdef DEBUG_DIRECTIVE_TEST_CAPTEUR 00165 debug("\x1B[2J"); //clear screen 00166 char areaLatt =0; 00167 char areaVert =0; 00168 int idCommand = 0; 00169 while(idCommand != 9) 00170 { 00171 00172 00173 debug("\n\r press any key"); 00174 idCommand = fgetc(pc) - '0'; 00175 debug("\x1B[;H"); //cursor default position 00176 debug("\x1B[2J"); //clear screen 00177 00178 updateModuleValue(); 00179 00180 ////////////////////////////// 00181 // Traitement du Labyrinthe // 00182 ////////////////////////////// 00183 debug("\n\r -invert ultrasonicToCm: %02f ",inchToCm(ultrasonicToInch(m_valueCapteurIR))); 00184 debug("\n\r -invert IRToCm(%02f): %02f ",ADCTomv(m_valueCapteurUltrasonic),IRToCm(ADCTomv(m_valueCapteurUltrasonic))); 00185 //debug("\n\r -IR(value):%i ",m_valueCapteurIR); 00186 debug("\n\r -IRToCm(%02f): %02f ",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR))); 00187 00188 debug("\n\r -ultrasonic(value):%f ",m_valueCapteurUltrasonic); 00189 debug("\n\r -ultrasonicToInch: %02f ",ultrasonicToInch(m_valueCapteurUltrasonic)); 00190 debug("\n\r -ultrasonicToCm: %02f ",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))); 00191 00192 debug("\n\r -m_valueCapteurProximiter: %02d ",m_valueCapteurProximiter); 00193 //wait(.5); 00194 00195 00196 if((inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))<= 1) /*&& (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)*/)//enlever parce que il est lock avec des limites 00197 { //capteur ultrasson embrouiller/imprecis 00198 debug("\n\r -Capteur Ultrasson brouiller"); 00199 //addTableauDeCommande(6); 00200 } 00201 else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_SHORT) 00202 { //plus proche que 1 case 00203 debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_SHORT); 00204 00205 areaLatt =0; 00206 00207 if(IRToCm(ADCTomv(m_valueCapteurIR)) <= DIRECTIVE_IR_LIMIT_SHORT) 00208 { 00209 /* 00210 /---\ 00211 |?M?| //vert 0 00212 |.X.| //latt 0 00213 |...| 00214 \---/ 00215 */ 00216 areaVert = 0; 00217 } 00218 else 00219 { 00220 /* 00221 /-M-\ 00222 |?V?| //vert 1 00223 |.X.| //latt 0 00224 |...| 00225 \---/ 00226 */ 00227 areaVert = 1; 00228 } 00229 00230 00231 } 00232 else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE) 00233 { //plus proche que 2 case 00234 debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE); 00235 //modifier vue que il ne detecte pas asser loin 00236 /* 00237 /-M-\ 00238 |?V?| //vert 1 00239 |.X.| //latt 0 00240 |...| 00241 \---/ 00242 */ 00243 areaLatt =0; 00244 areaVert =1; 00245 } 00246 else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_LONG) 00247 { //plus proche que 2 case 00248 debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG); 00249 //modifier vue que il ne detecte pas asser loin 00250 /* 00251 /-M-\ 00252 |?V?| //vert 1 00253 |.X.| //latt 0 00254 |...| 00255 \---/ 00256 */ 00257 areaLatt =0; 00258 areaVert =1; 00259 } 00260 else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) > DIRECTIVE_ULTRASONIC_LIMIT_LONG) 00261 { //plus proche que 2 case 00262 debug("\n\r -Objet proche %g >= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG); 00263 //modifier vue que il ne detecte pas asser loin 00264 /* 00265 /?V?\ 00266 |?V?| //vert 2 00267 |.X.| //latt 0 00268 |...| // objet possiblement a proximiter 00269 \---/ 00270 */ 00271 00272 areaLatt =0; 00273 areaVert =2; 00274 } 00275 00276 00277 00278 /*if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) 00279 { 00280 debug("\n\r -Confirmation IR"); 00281 areaVert =2; 00282 } 00283 else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30) 00284 { 00285 debug("\n\r -Confirmation IR"); 00286 areaVert =1; 00287 }*/ 00288 00289 00290 if(areaVert >= areaLatt) 00291 { 00292 switch(areaVert) 00293 { 00294 case 0: 00295 /* 00296 /---\ 00297 |?M?| //vert 0 00298 |.X.| //latt 0 00299 |...| 00300 \---/ 00301 */ 00302 00303 debug("\n\r +---+ "); 00304 debug("\n\r |?M?| //vert 0 "); 00305 debug("\n\r |.X.| //latt 0 "); 00306 debug("\n\r |...| "); 00307 debug("\n\r +---+ "); 00308 break; 00309 case 1://impossible pour le moment IR trop instable// 00310 00311 00312 00313 if(areaLatt == 1) 00314 { 00315 /* 00316 /?M?\ 00317 |VVV| //vert 1 00318 |.X.| //latt 1 00319 |...| // objet possiblement a proximiter 00320 \---/ 00321 */ 00322 debug("\n\r +-M-+ "); 00323 debug("\n\r |VVV| //vert 1 "); 00324 debug("\n\r |.X.| //latt 1 "); 00325 debug("\n\r |...| // objet possiblement a proximiter "); 00326 debug("\n\r +---+ "); 00327 } 00328 else 00329 { 00330 /* 00331 /-M-\ 00332 |?V?| //vert 1 00333 |.X.| //latt 0 00334 |...| 00335 \---/ 00336 */ 00337 00338 debug("\n\r +-M-+ "); 00339 debug("\n\r |?V?| //vert 1 "); 00340 debug("\n\r |.X.| //latt 0 "); 00341 debug("\n\r |...| "); 00342 debug("\n\r +---+ "); 00343 } 00344 break; 00345 case 2: 00346 00347 switch(areaLatt) 00348 { 00349 case 0://impossible pour le moment IR trop instable// 00350 /* 00351 /?V?\ 00352 |?V?| //vert 2 00353 |.X.| //latt 0 00354 |...| // objet possiblement a proximiter 00355 \---/ 00356 */ 00357 debug("\n\r +?V?+ "); 00358 debug("\n\r |?V?| //vert 2 "); 00359 debug("\n\r |.X.| //latt 0 "); 00360 debug("\n\r |...| // objet possiblement a proximiter "); 00361 debug("\n\r +---+ "); 00362 break; 00363 case 1://impossible pour le moment IR trop instable// 00364 /* 00365 /?V?\ 00366 |VVV| //vert 2 00367 |.X.| //latt 1 00368 |...| // objet possiblement a proximiter 00369 \---/ 00370 */ 00371 debug("\n\r +-M-+ "); 00372 debug("\n\r |VVV| //vert 2 "); 00373 debug("\n\r |.X.| //latt 1 "); 00374 debug("\n\r |...| // objet possiblement a proximiter "); 00375 debug("\n\r +---+ "); 00376 break; 00377 case 2: 00378 /* 00379 /VVV\ 00380 |VVV| //vert 2 00381 |.X.| //latt 2 00382 |...| 00383 \---/ 00384 */ 00385 debug("\n\r +VVV+ "); 00386 debug("\n\r |VVV| //vert 2 "); 00387 debug("\n\r |.X.| //latt 2 "); 00388 debug("\n\r |...| "); 00389 debug("\n\r +---+ "); 00390 break; 00391 } 00392 break; 00393 } 00394 } 00395 /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) 00396 { //capteur ultrasson embrouiller/imprecis 00397 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); 00398 //addTableauDeCommande(6); 00399 } 00400 else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24) 00401 { //plus proche que 10pouce 00402 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); 00403 areaLatt =2; 00404 areaVert =2; 00405 } 00406 else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12) 00407 { //plus proche que 10pouce 00408 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); 00409 areaLatt =1; 00410 areaVert =1; 00411 } 00412 debug(DEBUG_DIRECTIVE_TEST,": %i",ultrasonicToInch(m_valueCapteurUltrasonic)); 00413 00414 if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) 00415 { 00416 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); 00417 areaVert =2; 00418 } 00419 else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30) 00420 { 00421 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); 00422 areaVert =1; 00423 } 00424 debug(DEBUG_DIRECTIVE_TEST,": %i",IRToCm(ADCTomv(m_valueCapteurIR)));*/ 00425 } 00426 #endif 00427 00428 } 00429 Directive::~Directive() 00430 { 00431 00432 if(ctrDesPattes) 00433 delete ctrDesPattes; 00434 if(ssc32) 00435 delete ssc32; 00436 if(myMaze) 00437 delete myMaze; 00438 } 00439 void Directive::task(void)//ALL CODE HERE// 00440 { 00441 #ifdef DEBUG_DIRECTIVE_MINIMAL_PRESENTATION 00442 if(pc.readable()) 00443 { 00444 int idCommand=0; 00445 idCommand = fgetc(pc) - '0'; 00446 string mymap; 00447 switch(idCommand) 00448 { 00449 case 1: 00450 debug("\n\r 1: Show Map "); 00451 00452 mymap = myMaze->showMap(); 00453 debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY())); 00454 //char caseCaract = 0; 00455 debug("\n\r"); 00456 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); 00457 debug("\n\r"); 00458 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); 00459 debug("\n\r"); 00460 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); 00461 debug("\n\r"); 00462 break; 00463 00464 case 2: 00465 debug("\n\r *2: Show tableauDeCommange[]"); 00466 debug("\n\r -TAB:"); 00467 for(int i =0; i<DIRECTIVE_TABLEAUDECOMMANDE_SIZE; i++) debug("[%02x]",tableauDeCommange[i]); 00468 if(followThePath == true) 00469 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r EN MODE FOLLOW THE PATH"); 00470 else 00471 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r HORS MODE FOLLOW THE PATH"); 00472 break; 00473 00474 case 3: 00475 debug("\n\r *3: Show value Capteurs"); 00476 debug("\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR))); 00477 debug("\n\r -ultrasonicToInch to cm: %02f",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))); 00478 debug("\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter); 00479 break; 00480 00481 default: 00482 debug("\n\n\r Press key 0-9 to select an option"); 00483 debug("\n\r *1: Show Map"); 00484 debug("\n\r *2: Show tableauDeCommange[]"); 00485 debug("\n\r *3: Show value Capteurs"); 00486 break; 00487 } 00488 } 00489 #endif 00490 00491 #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE 00492 debug("\x1B[2J"); //clear screen 00493 debug("\x1B[25l");//hide cursor 00494 debug("\x1B[;H"); //cursor default position 00495 debug("\n\r--------In task directive--------"); 00496 for(int i = 0; i<size_tableauDeCommange; i++) debug("\n\r tableauDeCommange[%i]: %x",i,tableauDeCommange[i]); 00497 00498 /* 00499 createDLbox(0,0,10,25,"BrainControle"); 00500 setText(1,3,"1) Move Up"); 00501 setText(1,4,"2) Move Down"); 00502 setText(1,5,"3) Move Left"); 00503 setText(1,6,"4) Move Right"); 00504 00505 int idCommand; 00506 do{ 00507 if(pc.readable()){ 00508 idCommand = fgetc(pc) - '0'; 00509 switch(idCommand) 00510 { 00511 case 1: 00512 myMaze->goUp(); 00513 break; 00514 case 2: 00515 myMaze->goDown(); 00516 break; 00517 case 3: 00518 myMaze->goLeft(); 00519 break; 00520 case 4: 00521 myMaze->goRight(); 00522 break; 00523 } 00524 myMaze->setMyPos(Labyrinthe::explorer); 00525 00526 string mymap = myMaze->showMap(); 00527 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY()); 00528 for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]); 00529 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); 00530 for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]); 00531 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); 00532 for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]); 00533 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r"); 00534 00535 #ifdef DBG_MAIN_DELAY_SEC 00536 debug("\n\r\n wait \n\r\n"); 00537 wait(DBG_MAIN_DELAY_SEC); 00538 #endif 00539 00540 debug("\x1B[2J"); //clear screen 00541 debug("\x1B[;H"); //cursor default position 00542 createDLbox(0,0,10,25,"BrainControle"); 00543 setText(1,3,"1) Move Up"); 00544 setText(1,4,"2) Move Down"); 00545 setText(1,5,"3) Move Left"); 00546 setText(1,6,"4) Move Right"); 00547 } 00548 }while(1); */ 00549 #endif 00550 00551 //debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive"); 00552 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE 00553 if(ctrDesPattes->isSeqComplet()) 00554 { 00555 00556 //////////////// 00557 // Inspection // 00558 //////////////// 00559 //updateModuleValue(); 00560 00561 if((tableauDeCommange[0] == TBL_CMD_MARCHE) && (size_tableauDeCommange == 1)) 00562 { 00563 //addTableauDeCommande(0x81); 00564 //addTableauDeCommande(0x82); 00565 //mabey//addTableauDeCommande(0x83); 00566 addTableauDeCommande(0x84); 00567 00568 //addTableauDeCommande(0x85); 00569 //mabey//addTableauDeCommande(0x86); 00570 addTableauDeCommande(0x87); 00571 addTableauDeCommande(0x88); 00572 } 00573 00574 00575 if(tableauDeCommange[0] == 0) 00576 { 00577 //pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment. 00578 00579 //////////////// 00580 // Inspection // 00581 //////////////// 00582 //flag.append(1,0);//0x02); 00583 /*for(int i=0; i<m_ListDesModules.length(); ++i) { 00584 wait_us(300); 00585 flag.clear(); 00586 flag.append(1,7); 00587 data.clear(); 00588 debug("\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data)); 00589 00590 debug("\n\r flag: %d",flag[0]); 00591 debug("\n\r data: %x",data[0]); 00592 }*/ 00593 00594 updateModuleValue(); 00595 00596 ////////////////////////////// 00597 // Traitement du Labyrinthe // 00598 ////////////////////////////// 00599 #ifdef DEBUG_DIRECTIVE_LABYRINTH 00600 debug("\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR))); 00601 debug("\n\r -ultrasonicToInch: %02f",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))); 00602 debug("\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter); 00603 #endif 00604 #endif //DEBUG_DIRECTIVE_LEG_DISABLE 00605 if(followThePath == true) 00606 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r EN MODE FOLLOW THE PATH"); 00607 else 00608 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r HORS MODE FOLLOW THE PATH"); 00609 00610 analiseMaze(); 00611 char nextCase=0; 00612 /*switch(myMaze->getDirection()) { 00613 case UP: 00614 nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()+1); 00615 break; 00616 00617 case DOWN: 00618 nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1); 00619 break; 00620 00621 case LEFT: 00622 nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY()); 00623 break; 00624 00625 case RIGHT: 00626 nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY()); 00627 break; 00628 }*/ 00629 if(( myMaze->getC_Foward() == Labyrinthe::vide ) || (myMaze->getC_Foward() == Labyrinthe::pasExplorer )) 00630 followThePath = false; 00631 00632 00633 00634 if(followThePath == false) 00635 { 00636 nextCase = myMaze->getC_Foward(); 00637 00638 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",nextCase); 00639 switch(nextCase ) 00640 { 00641 case Labyrinthe::vide : 00642 #ifdef DEBUG_DIRECTIVE_LEG_DISABLE 00643 debug("nextCase Vide\n\r"); 00644 #endif 00645 debug(DEBUG_DIRECTIVE_TEST," Javance"); 00646 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE 00647 addTableauDeCommande(TBL_CMD_MARCHE); 00648 #endif 00649 //if(followThePath == true) 00650 //followThePath = false; 00651 myMaze->moveFoward(); 00652 myMaze->setMyPos(Labyrinthe::explorer); 00653 break; 00654 00655 case Labyrinthe::explorer :// ici pt amiliorer 00656 debug(DEBUG_DIRECTIVE_TEST," \n\rnext case deja explorer"); 00657 if(rand()%2) 00658 { 00659 debug(DEBUG_DIRECTIVE_TEST,"\n\r jeverifie si alternative"); 00660 00661 /*#ifndef DEBUG_DIRECTIVE_LEG_DISABLE 00662 addTableauDeCommande(TBL_CMD_MARCHE); 00663 #endif*/ 00664 nextCase = checkOtherWay(myMaze->getDirection(),1); 00665 00666 turnRightDirection(myMaze->getDirection(),nextCase); 00667 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rnextcase: %i",nextCase); 00668 switch(nextCase) 00669 { // on verifie si on a une direction possible 00670 case UP: 00671 debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP"); 00672 turnRightDirection(myMaze->getDirection(),UP); 00673 myMaze->setDirection(UP); 00674 00675 00676 break; 00677 case DOWN: 00678 debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN"); 00679 turnRightDirection(myMaze->getDirection(),DOWN); 00680 myMaze->setDirection(DOWN); 00681 00682 break; 00683 case LEFT: 00684 debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT"); 00685 turnRightDirection(myMaze->getDirection(),LEFT); 00686 myMaze->setDirection(LEFT); 00687 00688 break; 00689 case RIGHT: 00690 debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT"); 00691 turnRightDirection(myMaze->getDirection(),RIGHT); 00692 myMaze->setDirection(RIGHT); 00693 00694 break; 00695 default: //aucun autre chemin 00696 debug(DEBUG_DIRECTIVE_TEST,"\n\r aucune autre place alors J'avance"); 00697 myMaze->moveFoward(); 00698 myMaze->setMyPos(Labyrinthe::explorer); 00699 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE 00700 addTableauDeCommande(TBL_CMD_MARCHE); 00701 #endif 00702 break; 00703 } 00704 } 00705 else 00706 { 00707 debug(DEBUG_DIRECTIVE_TEST,"\n\r jeverifie pas si alternative"); 00708 myMaze->moveFoward(); 00709 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE 00710 addTableauDeCommande(TBL_CMD_MARCHE); 00711 #endif 00712 } 00713 //myMaze->moveFoward(); 00714 //myMaze->setMyPos(Labyrinthe::explorer); 00715 break; 00716 00717 case Labyrinthe::mur: 00718 debug(DEBUG_DIRECTIVE_TEST,"\n\r UN MURRRRRRRR\n\r"); 00719 if(searchNewWay()) 00720 { 00721 debug(DEBUG_DIRECTIVE_TEST,"\n\r New Path found "); 00722 followThePath = true; 00723 } 00724 else 00725 { 00726 debug(DEBUG_DIRECTIVE_TEST,"\n\r New Path not found "); 00727 } 00728 /* switch(checkOtherWay(myMaze->getDirection()))// on verifie si on a une direction possible 00729 { 00730 case UP: 00731 debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP "); 00732 myMaze->setDirection(UP); 00733 //myMaze->moveFoward(); 00734 break; 00735 case DOWN: 00736 debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN "); 00737 myMaze->setDirection(DOWN); 00738 //myMaze->moveFoward(); 00739 break; 00740 case LEFT: 00741 debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT"); 00742 myMaze->setDirection(LEFT); 00743 //myMaze->moveFoward(); 00744 break; 00745 case RIGHT: 00746 debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT"); 00747 myMaze->setDirection(RIGHT); 00748 //myMaze->moveFoward(); 00749 break; 00750 default://aucun autre chemin 00751 /debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne completement "); 00752 if(myMaze->getDirection() %2) 00753 myMaze->setDirection(myMaze->getDirection()+1); 00754 else 00755 myMaze->setDirection(myMaze->getDirection()-1); 00756 00757 //myMaze->moveFoward(); 00758 00759 break; 00760 } 00761 myMaze->setMyPos(Labyrinthe::explorer);*/ 00762 break; 00763 00764 case Labyrinthe::pasExplorer ://pas sur 00765 debug(DEBUG_DIRECTIVE_TEST," pasExplorer"); 00766 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE 00767 addTableauDeCommande(TBL_CMD_MARCHE); 00768 #endif 00769 break; 00770 } 00771 } 00772 else 00773 { // on suis un chemin 00774 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rmode follow the path\n\n\r"); 00775 positionXY tempPosition; 00776 00777 //std::list<positionXY>::iterator it=bufferNewWay.begin(); 00778 for (std::list<positionXY>::iterator it=bufferNewWay.begin(); it != bufferNewWay.end(); ++it) 00779 { 00780 //tempPosition = *(it); 00781 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",(*it).posX); 00782 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",(*it).posY); 00783 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",(*it).direction); 00784 } //std::cout << ' ' << *it; 00785 00786 if((bufferNewWay.front()).direction != myMaze->getDirection()) //turn time 00787 { 00788 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r le chemin a pas la meme direction"); 00789 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r current dir : %i",myMaze->getDirection()); 00790 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r next dir : %i",(bufferNewWay.front()).direction); 00791 00792 addTableauDeCommande(TBL_CMD_RECULE); 00793 addTableauDeCommande(TBL_CMD_RECULE); 00794 turnRightDirection(myMaze->getDirection(),(bufferNewWay.front()).direction); 00795 switch((bufferNewWay.front()).direction) 00796 { 00797 case UP: 00798 debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP"); 00799 myMaze->setDirection(UP); 00800 00801 /*if(((bufferNewWay.front()).direction + myMaze->getDirection()) == (UP + DOWN)) 00802 { 00803 if(rand()%2) 00804 { 00805 addTableauDeCommande(TBL_CMD_TURN_LEFT); 00806 addTableauDeCommande(TBL_CMD_TURN_LEFT); 00807 } 00808 else 00809 { 00810 addTableauDeCommande(TBL_CMD_TURN_RIGHT); 00811 addTableauDeCommande(TBL_CMD_TURN_RIGHT); 00812 } 00813 }*/ 00814 break; 00815 case DOWN: 00816 debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN"); 00817 myMaze->setDirection(DOWN); 00818 00819 break; 00820 case LEFT: 00821 debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT"); 00822 myMaze->setDirection(LEFT); 00823 00824 break; 00825 case RIGHT: 00826 debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT"); 00827 myMaze->setDirection(RIGHT); 00828 break; 00829 } 00830 //bufferNewWay.pop_front(); 00831 } 00832 else 00833 { 00834 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r le chemin a la meme direction"); 00835 //myMaze->getXY_Foward(tempPosition.posX,tempPosition.posY); 00836 tempPosition.posX = myMaze->getX(); 00837 tempPosition.posY = myMaze->getY(); 00838 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r current X: %i",tempPosition.posX); 00839 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r current Y: %i",tempPosition.posY); 00840 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r buffer X: %i",(bufferNewWay.front()).posX); 00841 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r buffer Y: %i",(bufferNewWay.front()).posY); 00842 if((tempPosition.posX == (bufferNewWay.front()).posX) && (tempPosition.posY == (bufferNewWay.front()).posY)) 00843 { 00844 updateMaze(); 00845 00846 nextCase = myMaze->getC_Foward(); 00847 00848 if(nextCase == Labyrinthe::mur) 00849 { 00850 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r problem"); 00851 followThePath = false; 00852 } 00853 else 00854 { 00855 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r aucun problem"); 00856 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE 00857 addTableauDeCommande(TBL_CMD_MARCHE); 00858 #endif 00859 myMaze->moveFoward(); 00860 myMaze->setMyPos(Labyrinthe::explorer); 00861 bufferNewWay.pop_front(); 00862 } 00863 } 00864 else 00865 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r problem"); 00866 00867 } 00868 00869 00870 00871 if(bufferNewWay.empty()) 00872 followThePath = false; 00873 00874 00875 00876 00877 00878 00879 00880 /*do{ 00881 //tempPosition.posX = (bufferNewWay.front()).posX; 00882 //tempPosition.posY = (bufferNewWay.front()).posY; 00883 00884 tempPosition = bufferNewWay.front(); 00885 bufferNewWay.pop_front(); 00886 debug("\n\r bufferNewWay: %i",bufferNewWay.size()); 00887 debug("\n\rtempPosition.posX: %i",tempPosition.posX); 00888 debug("\n\rtempPosition.posY: %i",tempPosition.posY); 00889 }while(bufferNewWay.size() != 0);*/ 00890 } 00891 #ifdef DEBUG_DIRECTIVE_SHOW_MAP_LABYRINTH 00892 string mymap = myMaze->showMap(); 00893 debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY())); 00894 //char caseCaract = 0; 00895 debug("\n\r"); 00896 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); 00897 debug("\n\r"); 00898 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); 00899 debug("\n\r"); 00900 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); 00901 debug("\n\r"); 00902 #endif 00903 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE 00904 /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis 00905 { 00906 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); 00907 addTableauDeCommande(6); 00908 } 00909 else if(ultrasonicToInch(m_valueCapteurUltrasonic) < 10) { //plus proche que 10pouce 00910 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche"); 00911 if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 10) { 00912 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); 00913 addTableauDeCommande(7); 00914 00915 00916 //ici potentielle scaning 00917 } else { 00918 addTableauDeCommande(4); 00919 addTableauDeCommande(4); 00920 addTableauDeCommande(4); 00921 } 00922 } else { 00923 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Nothing:"); 00924 addTableauDeCommande(6); 00925 00926 00927 int randomNbr = rand() % 4; 00928 switch(randomNbr) 00929 { 00930 case 1: 00931 debug(DEBUG_DIRECTIVE_TEST," Javance"); 00932 addTableauDeCommande(6); 00933 break; 00934 case 2: 00935 debug(DEBUG_DIRECTIVE_TEST," Je tourne a gauche"); 00936 addTableauDeCommande(4); 00937 break; 00938 case 3: 00939 debug(DEBUG_DIRECTIVE_TEST," Je tourne a droite"); 00940 addTableauDeCommande(5); 00941 break; 00942 default: 00943 debug(DEBUG_DIRECTIVE_TEST," Jattend"); 00944 break; 00945 } 00946 00947 00948 //addTableauDeCommande(6); 00949 }*/ 00950 #ifdef DEBUG_DIRECTIVE_TASK_PAUSE 00951 debug("\n\r press any 9 key"); 00952 for(int idCmd=0; idCmd != 9; idCmd = fgetc(pc) - '0'); 00953 #endif 00954 /////////////// 00955 // Mouvement // 00956 /////////////// 00957 } 00958 else 00959 { 00960 00961 switch(tableauDeCommange[0]) 00962 { 00963 case 11: 00964 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_calibre"); 00965 ctrDesPattes->calibre(); 00966 break; 00967 case 2: 00968 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveUp"); 00969 ctrDesPattes->moveUp(); 00970 break; 00971 case 3: 00972 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveDown"); 00973 ctrDesPattes->moveDown(); 00974 break; 00975 case 4: 00976 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_turnLeft"); 00977 ctrDesPattes->turnLeft(); 00978 break; 00979 case 5: 00980 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_trunRight"); 00981 ctrDesPattes->trunRight(); 00982 break; 00983 case 6: 00984 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveFront"); 00985 ctrDesPattes->moveFront(); 00986 break; 00987 case 7: 00988 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveBack"); 00989 ctrDesPattes->moveBack(); 00990 break; 00991 /*case 8: 00992 ctrDesPattes->moveBack(); 00993 break;*/ 00994 case 0x81: 00995 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 1"); 00996 ctrDesPattes->repositioner(1); 00997 break; 00998 case 0x82: 00999 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 2"); 01000 ctrDesPattes->repositioner(2); 01001 break; 01002 case 0x83: 01003 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 3"); 01004 ctrDesPattes->repositioner(3); 01005 break; 01006 case 0x84: 01007 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 4"); 01008 ctrDesPattes->repositioner(4); 01009 break; 01010 case 0x85: 01011 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 5"); 01012 ctrDesPattes->repositioner(5); 01013 break; 01014 case 0x86: 01015 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 6"); 01016 ctrDesPattes->repositioner(6); 01017 break; 01018 case 0x87: 01019 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 7"); 01020 ctrDesPattes->repositioner(7); 01021 break; 01022 case 0x88: 01023 debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 8"); 01024 ctrDesPattes->repositioner(8); 01025 break; 01026 } 01027 debug(DEBUG_DIRECTIVE_TEST,"\n\r -TAB:"); 01028 for(int i =0; i<DIRECTIVE_TABLEAUDECOMMANDE_SIZE; i++) debug(DEBUG_DIRECTIVE_TEST,"[%02x]",tableauDeCommange[i]); 01029 for(int i =0; i<DIRECTIVE_TABLEAUDECOMMANDE_SIZE; i++) tableauDeCommange[i]= tableauDeCommange[i+1]; 01030 tableauDeCommange[DIRECTIVE_TABLEAUDECOMMANDE_SIZE-1] = 0; 01031 if(size_tableauDeCommange != 0) size_tableauDeCommange--; 01032 } 01033 01034 } 01035 else 01036 { 01037 ctrDesPattes->exec(); 01038 } 01039 #endif //DEBUG_DIRECTIVE_LEG_DISABLE 01040 //////////////////// 01041 // Update memoire // 01042 //////////////////// 01043 01044 //////////// 01045 // Autre? // 01046 //////////// 01047 01048 01049 //debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive"); 01050 #ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE 01051 #ifdef DBG_MAIN_DELAY_SEC 01052 debug("\n\r\n wait \n\r\n"); 01053 wait(DBG_MAIN_DELAY_SEC); 01054 #endif 01055 debug("\n\r---------------------"); 01056 #endif 01057 } 01058 double Directive::IRToCm (double miliVolt) 01059 { 01060 double result=0; 01061 //debug("\n\r double value: %02f",miliVolt); 01062 if(miliVolt < tabIR[0][1])result = tabIR[0][0]; 01063 else if(miliVolt > tabIR[11][1])result = tabIR[11][0]; 01064 01065 for(int i =1; (result==0)&&(i<12); i++) 01066 { 01067 if((tabIR[i-1][1]<=miliVolt) && (tabIR[i][1]>miliVolt)) 01068 { 01069 result=tabIR[i-1][0]+((tabIR[i][0]-tabIR[i-1][0])*((tabIR[i-1][1]-miliVolt)/(tabIR[i-1][1]-tabIR[i][1]))); 01070 } 01071 } 01072 return result; 01073 } 01074 void Directive::addTableauDeCommande(unsigned char value) 01075 { 01076 if(size_tableauDeCommange!=DIRECTIVE_TABLEAUDECOMMANDE_SIZE) 01077 { 01078 tableauDeCommange[size_tableauDeCommange]=value; 01079 size_tableauDeCommange++; 01080 01081 } 01082 } 01083 01084 void Directive::updateModuleValue(void) 01085 { 01086 string flag,data; 01087 double tempValue=0; 01088 flag.clear(); 01089 data.clear(); 01090 flag.append(1,7); 01091 //debug("\n\n\r flag size:%i \n\r",flag.size()); 01092 if(m_CtrlBridge->send(m_capteurUltrasonic[0],flag,data)) 01093 { 01094 /*if(data[0] != 1)//patch? 01095 tempValue = data[0];*/ 01096 01097 if(data.size() == 2) 01098 { 01099 tempValue = data[0]; 01100 //tempValue = (tempValue<<8) + data[1]; 01101 tempValue = (data[0]<<8) + data[1]; 01102 } 01103 else 01104 tempValue = data[0]; 01105 01106 if(data.size() != 0) 01107 m_valueCapteurUltrasonic = m_valueCapteurUltrasonic+((tempValue -m_valueCapteurUltrasonic)/DIRECTIVE_ULTRASONIC_BUFFER_LENGHT); 01108 } 01109 #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE 01110 debug("\n\r m_valueCapteurUltrasonic"); 01111 debug("\n\n\r data size:%i \n\r",data.size()); 01112 switch(data.size()) 01113 { 01114 case 1: 01115 debug("\n\r -data(value):%i ",data[0]); 01116 break; 01117 case 2: 01118 debug("\n\r -data(value):%i ",(data[0]<<8) + data[1]); 01119 break; 01120 } 01121 //debug("\n\r -data(value):%i ",data[0]); 01122 debug("\n\r -tempValue(value):%02f ",tempValue); 01123 #endif 01124 tempValue=0; 01125 flag.clear(); 01126 data.clear(); 01127 flag.append(1,7); 01128 01129 //debug("\n\n\r flag size:%i \n\r",flag.size()); 01130 if(m_CtrlBridge->send(m_capteurIR[0],flag,data)) 01131 { 01132 01133 if(data.size() == 2) 01134 { 01135 //tempValue = data[0]<<8; 01136 //debug("\n\n\r monI: %02f",tempValue); 01137 //debug("\n\n\r mondata: %i",data[0]<<8); 01138 //tempValue = (tempValue<<8) + data[1]; 01139 tempValue = (data[0]<<8) + data[1]; 01140 } 01141 else 01142 tempValue = data[0]; 01143 01144 if(data.size() != 0) 01145 m_valueCapteurIR=m_valueCapteurIR+((tempValue-m_valueCapteurIR)/DIRECTIVE_IR_BUFFER_LENGHT); 01146 } 01147 #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE 01148 debug("\n\r m_valueCapteurIR"); 01149 debug("\n\n\r data size:%i \n\r",data.size()); 01150 switch(data.size()) 01151 { 01152 case 1: 01153 debug("\n\r -data(value):%i ",data[0]); 01154 break; 01155 case 2: 01156 debug("\n\r -data(value):%i ",(data[0]<<8) + data[1]); 01157 break; 01158 } 01159 //debug("\n\r -data(value):%i ",data[0]); 01160 debug("\n\r -tempValue(value):%02f ",tempValue); 01161 #endif 01162 //debug("\n\n\r data size:%i \n\r",data.size()); 01163 // debug("\n\r -IR(value):%f ",m_valueCapteurIR); 01164 //for(int i=0; i<data.size();i++)debug("\n\r -data[%i]:%i",i,data[i]); 01165 01166 flag.clear(); 01167 data.clear(); 01168 flag.append(1,7); 01169 //debug("\n\n\r flag size:%i \n\r",flag.size()); 01170 if(m_CtrlBridge->send(m_capteurProximiter[0],flag,data)) 01171 01172 m_valueCapteurProximiter = data[0]; 01173 01174 // debug("\n\n\r data size:%i \n\r",data.size()); 01175 // debug("\n\r -m_valueCapteurProximiter(value):%i ",m_valueCapteurProximiter); 01176 } 01177 01178 void Directive::analiseMaze(void) 01179 { 01180 string mymap = myMaze->showMap(); 01181 01182 #ifdef DEBUG_DIRECTIVE_LABYRINTH 01183 debug("\n\r ----------------analiseMaze--------------\n\r"); 01184 debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY())); 01185 01186 debug("Direction: "); 01187 switch(myMaze->getDirection()) 01188 { 01189 case UP: 01190 debug("Up \n\r"); 01191 break; 01192 case DOWN: 01193 debug("Down \n\r"); 01194 break; 01195 case LEFT: 01196 debug("Left \n\r"); 01197 break; 01198 case RIGHT: 01199 debug("Right \n\r"); 01200 break; 01201 } 01202 01203 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); 01204 debug("\n\r"); 01205 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); 01206 debug("\n\r"); 01207 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); 01208 debug("\n\r"); 01209 #endif 01210 01211 01212 01213 01214 01215 01216 01217 01218 01219 #ifndef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL 01220 /*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) 01221 { //capteur ultrasson embrouiller/imprecis 01222 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); 01223 //addTableauDeCommande(6); 01224 } 01225 else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24) 01226 { //plus proche que 10pouce 01227 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); 01228 areaLatt =2; 01229 areaVert =2; 01230 } 01231 else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12) 01232 { //plus proche que 10pouce 01233 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi"); 01234 areaLatt =1; 01235 areaVert =1; 01236 } 01237 debug(DEBUG_DIRECTIVE_TEST,": %i",ultrasonicToInch(m_valueCapteurUltrasonic)); 01238 01239 if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60) 01240 { 01241 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); 01242 areaVert =2; 01243 } 01244 else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30) 01245 { 01246 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR"); 01247 areaVert =1; 01248 } 01249 debug(DEBUG_DIRECTIVE_TEST,": %i",IRToCm(ADCTomv(m_valueCapteurIR)));*///old one 01250 01251 updateMaze(); 01252 01253 #ifdef DEBUG_DIRECTIVE_LABYRINTH 01254 mymap = myMaze->showMap(); 01255 //char caseCaract = 0; 01256 debug("\n\r"); 01257 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); 01258 debug("\n\r"); 01259 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); 01260 debug("\n\r"); 01261 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); 01262 debug("\n\r"); 01263 01264 debug("\n\r-------------------\n\r"); 01265 #endif 01266 01267 } 01268 01269 char Directive::checkOtherWay(char dir, bool checkExplorer) 01270 { 01271 char result = 0; 01272 char order[3]; 01273 01274 01275 01276 bool fini = false; 01277 01278 switch(rand() % 6) 01279 { 01280 case 0://[0],[1],[2] 01281 order[0] = 0; 01282 order[1] = 1; 01283 order[2] = 2; 01284 break; 01285 case 1://[0],[2],[1] 01286 order[0] = 0; 01287 order[1] = 2; 01288 order[2] = 1; 01289 break; 01290 case 2://[1],[0],[2] 01291 order[0] = 1; 01292 order[1] = 0; 01293 order[2] = 2; 01294 break; 01295 case 3://[2],[0],[1] 01296 order[0] = 2; 01297 order[1] = 0; 01298 order[2] = 1; 01299 break; 01300 case 4://[1],[2],[0] 01301 order[0] = 1; 01302 order[1] = 2; 01303 order[2] = 0; 01304 break; 01305 case 5://[2],[1],[0] 01306 order[0] = 2; 01307 order[1] = 1; 01308 order[2] = 0; 01309 break; 01310 } 01311 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rresult: "); 01312 for(int i=0; (i<3)&&(!fini); i++) 01313 { 01314 switch(order[i]) 01315 { // inclure un état memoir affin que si il a le choix entre une case vide et une explorer il priorise la vide// pt faire de meme avec pas explorer 01316 case 0: 01317 result = myMaze->getC_ToLeft(); 01318 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r getC_ToLeft: %i %i ****",result,myMaze->getC_ToLeft()); 01319 //if(((Labyrinthe::case_t)result != Labyrinthe::error)&&((Labyrinthe::case_t)result != Labyrinthe::mur) &&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1) ) 01320 if(((Labyrinthe::case_t)result == Labyrinthe::vide)&&((Labyrinthe::case_t)result != Labyrinthe::mur) &&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1) ) 01321 { 01322 fini = true; 01323 result = LEFT; 01324 } 01325 break; 01326 case 1: 01327 result = myMaze->getC_Backward(); 01328 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r getC_Backward: %i %i ****",result,myMaze->getC_Backward()); 01329 if(/*((Labyrinthe::case_t)result != Labyrinthe::error)&&*/((Labyrinthe::case_t)result != Labyrinthe::mur)&&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1)) 01330 { 01331 fini = true; 01332 result = DOWN; 01333 } 01334 break; 01335 case 2: 01336 result = myMaze->getC_ToRight(); 01337 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r getC_ToRight: %i %i ****",result,myMaze->getC_ToRight()); 01338 if(/*((Labyrinthe::case_t)result != Labyrinthe::error)&&*/((Labyrinthe::case_t)result != Labyrinthe::mur)&&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1)) 01339 { 01340 fini = true; 01341 result = RIGHT; 01342 } 01343 break; 01344 } 01345 } 01346 01347 if(fini) 01348 { 01349 switch(dir) 01350 { 01351 /*case UP: 01352 break;*/ 01353 case DOWN: 01354 switch(result) 01355 { 01356 case LEFT: 01357 result = RIGHT; 01358 break; 01359 case DOWN: 01360 result = UP; 01361 break; 01362 case RIGHT: 01363 result = LEFT; 01364 break; 01365 } 01366 break; 01367 case LEFT: 01368 switch(result) 01369 { 01370 case LEFT: 01371 result = DOWN; 01372 break; 01373 case DOWN: 01374 result = RIGHT; 01375 break; 01376 case RIGHT: 01377 result = UP; 01378 break; 01379 } 01380 break; 01381 case RIGHT: 01382 switch(result) 01383 { 01384 case LEFT: 01385 result = UP; 01386 break; 01387 case DOWN: 01388 result = LEFT; 01389 break; 01390 case RIGHT: 01391 result = DOWN; 01392 break; 01393 } 01394 break; 01395 } 01396 } 01397 else 01398 result =0; 01399 return result; 01400 } 01401 01402 void Directive::updateMaze(void) 01403 { 01404 char areaLatt =0; 01405 char areaVert =0; 01406 01407 if((inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))<= 1) /*&& (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)*/)//enlever parce que il est lock avec des limites 01408 { //capteur ultrasson embrouiller/imprecis 01409 01410 debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller"); 01411 //addTableauDeCommande(6); 01412 } 01413 else if((inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))) <= DIRECTIVE_ULTRASONIC_LIMIT_SHORT) 01414 { //plus proche que 1 case 01415 #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE 01416 debug("\n\r -Objet proche %02f <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_SHORT); 01417 #endif 01418 areaLatt =0; 01419 01420 if(IRToCm(ADCTomv(m_valueCapteurIR)) <= DIRECTIVE_IR_LIMIT_SHORT) 01421 { 01422 /* 01423 /---\ 01424 |?M?| //vert 0 01425 |.X.| //latt 0 01426 |...| 01427 \---/ 01428 */ 01429 areaVert = 0; 01430 } 01431 else 01432 { 01433 /* 01434 /-M-\ 01435 |?V?| //vert 1 01436 |.X.| //latt 0 01437 |...| 01438 \---/ 01439 */ 01440 areaVert = 1; 01441 } 01442 } 01443 else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE) 01444 { //plus proche que 2 case 01445 #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE 01446 debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE); 01447 #endif 01448 //modifier vue que il ne detecte pas asser loin 01449 /* 01450 /-M-\ 01451 |?V?| //vert 1 01452 |.X.| //latt 0 01453 |...| 01454 \---/ 01455 */ 01456 areaLatt =0; 01457 areaVert =1; 01458 } 01459 else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_LONG) 01460 { //plus proche que 2 case 01461 #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE 01462 debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG); 01463 #endif 01464 //modifier vue que il ne detecte pas asser loin 01465 /* 01466 /-M-\ 01467 |?V?| //vert 1 01468 |.X.| //latt 0 01469 |...| 01470 \---/ 01471 */ 01472 areaLatt =0; 01473 areaVert =1; 01474 } 01475 else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) > DIRECTIVE_ULTRASONIC_LIMIT_LONG) 01476 { //plus proche que 2 case 01477 #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE 01478 debug("\n\r -Objet proche %g >= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG); 01479 #endif 01480 //modifier vue que il ne detecte pas asser loin 01481 /* 01482 /?V?\ 01483 |?V?| //vert 2 01484 |.X.| //latt 0 01485 |...| // objet possiblement a proximiter 01486 \---/ 01487 */ 01488 01489 areaLatt =0; 01490 areaVert =2; 01491 } 01492 01493 //debug("\n\r areaLatt: %i, areaVert: %i",areaLatt,areaVert); 01494 #endif 01495 01496 #ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL 01497 debug("\n\r---analise maze(manualy CTRL)---\n\r"); 01498 int idCommand = -1; 01499 areaVert = 9; 01500 areaLatt = 9; 01501 /*do { 01502 debug("\n\r Enter areaVert [0,1,2]: "); 01503 idCommand = fgetc(pc) - '0'; 01504 debug(" %i",idCommand); 01505 } while((idCommand < 0) && (idCommand > 2)); 01506 areaVert = idCommand; 01507 01508 do { 01509 debug("\n\r Enter areaLatt [0,1,2]: "); 01510 idCommand = fgetc(pc) - '0'; 01511 debug(" %i",idCommand); 01512 } while((idCommand < 0) && (idCommand > 2)); 01513 areaLatt = idCommand;*/ 01514 01515 debug("\n\r"); 01516 #endif 01517 //changer lalgoritme ici 01518 01519 /* 01520 /---\ 01521 |?M?| //vert 0 01522 |.X.| //latt 0 01523 |...| 01524 \---/ 01525 01526 /-M-\ 01527 |?V?| //vert 1 01528 |.X.| //latt 0 01529 |...| 01530 \---/ 01531 01532 /?M?\ 01533 |VVV| //vert 1 01534 |.X.| //latt 1 01535 |...| // objet possiblement a proximiter 01536 \---/ 01537 01538 /?M?\ 01539 |VVV| //vert 1 01540 |.X.| //latt 2 01541 |...| // cas impossible 01542 \---/ 01543 01544 /?V?\ 01545 |?V?| //vert 2 01546 |.X.| //latt 0 01547 |...| // objet possiblement a proximiter 01548 \---/ 01549 01550 /?V?\ 01551 |VVV| //vert 2 01552 |.X.| //latt 1 01553 |...| // objet possiblement a proximiter 01554 \---/ 01555 01556 /VVV\ 01557 |VVV| //vert 2 01558 |.X.| //latt 2 01559 |...| 01560 \---/ 01561 */ 01562 //vertical==0 latt==0 //mur devant 01563 //vertical==1 latt==1 01564 #ifdef DEBUG_DIRECTIVE_UPDATE_MODULE 01565 debug("\n\r vertical:%i \n\r latt: %i",areaVert,areaLatt); 01566 #endif 01567 //////////////////////////////////// 01568 //345 01569 //012 | numerotation des case 01570 /////////////////////////////////// 01571 signed char fieldX[6]= {0,0,0,0,0,0}; 01572 signed char fieldY[6]= {0,0,0,0,0,0}; 01573 bool fieldSet = false; 01574 01575 switch(myMaze->getDirection()) 01576 { 01577 case UP: 01578 fieldX[0] = myMaze->getX()-1; 01579 fieldY[0] = myMaze->getY()+1; 01580 fieldX[1] = myMaze->getX(); 01581 fieldY[1] = myMaze->getY()+1; 01582 fieldX[2] = myMaze->getX()+1; 01583 fieldY[2] = myMaze->getY()+1; 01584 fieldX[3] = myMaze->getX()-1; 01585 fieldY[3] = myMaze->getY()+2; 01586 fieldX[4] = myMaze->getX(); 01587 fieldY[4] = myMaze->getY()+2; 01588 fieldX[5] = myMaze->getX()+1; 01589 fieldY[5] = myMaze->getY()+2; 01590 break; 01591 01592 case DOWN: 01593 fieldX[0] = myMaze->getX()-1; 01594 fieldY[0] = myMaze->getY()-1; 01595 fieldX[1] = myMaze->getX(); 01596 fieldY[1] = myMaze->getY()-1; 01597 fieldX[2] = myMaze->getX()+1; 01598 fieldY[2] = myMaze->getY()-1; 01599 fieldX[3] = myMaze->getX()-1; 01600 fieldY[3] = myMaze->getY()-2; 01601 fieldX[4] = myMaze->getX(); 01602 fieldY[4] = myMaze->getY()-2; 01603 fieldX[5] = myMaze->getX()+1; 01604 fieldY[5] = myMaze->getY()-2; 01605 break; 01606 01607 case LEFT: 01608 fieldX[0] = myMaze->getX()-1; 01609 fieldY[0] = myMaze->getY()-1; 01610 fieldX[1] = myMaze->getX()-1; 01611 fieldY[1] = myMaze->getY(); 01612 fieldX[2] = myMaze->getX()-1; 01613 fieldY[2] = myMaze->getY()+1; 01614 fieldX[3] = myMaze->getX()-2; 01615 fieldY[3] = myMaze->getY()-1; 01616 fieldX[4] = myMaze->getX()-2; 01617 fieldY[4] = myMaze->getY(); 01618 fieldX[5] = myMaze->getX()-2; 01619 fieldY[5] = myMaze->getY()+1; 01620 break; 01621 01622 case RIGHT: 01623 fieldX[0] = myMaze->getX()+1; 01624 fieldY[0] = myMaze->getY()-1; 01625 fieldX[1] = myMaze->getX()+1; 01626 fieldY[1] = myMaze->getY(); 01627 fieldX[2] = myMaze->getX()+1; 01628 fieldY[2] = myMaze->getY()+1; 01629 fieldX[3] = myMaze->getX()+2; 01630 fieldY[3] = myMaze->getY()-1; 01631 fieldX[4] = myMaze->getX()+2; 01632 fieldY[4] = myMaze->getY(); 01633 fieldX[5] = myMaze->getX()+2; 01634 fieldY[5] = myMaze->getY()+1; 01635 break; 01636 } 01637 if(areaVert >= areaLatt) 01638 { 01639 switch(areaVert) 01640 { 01641 case 0: 01642 /* 01643 /---\ 01644 |?M?| //vert 0 01645 |.X.| //latt 0 01646 |...| 01647 \---/ 01648 */ 01649 myMaze->setC(Labyrinthe::mur,fieldX[1],fieldY[1]); 01650 fieldSet = true; 01651 break; 01652 case 1: 01653 /* 01654 /-M-\ 01655 |?V?| //vert 1 01656 |.X.| //latt 0 01657 |...| 01658 \---/ 01659 */ 01660 myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]); 01661 myMaze->setC(Labyrinthe::mur,fieldX[4],fieldY[4]); 01662 fieldSet = true; 01663 01664 if(areaLatt == 1) 01665 { 01666 /* 01667 /?M?\ 01668 |VVV| //vert 1 01669 |.X.| //latt 1 01670 |...| // objet possiblement a proximiter 01671 \---/ 01672 */ 01673 myMaze->setC(Labyrinthe::vide,fieldX[0],fieldY[0]); 01674 myMaze->setC(Labyrinthe::vide,fieldX[2],fieldY[2]); 01675 } 01676 break; 01677 case 2: 01678 fieldSet = true; 01679 switch(areaLatt) 01680 { 01681 case 0: 01682 /* 01683 /?V?\ 01684 |?V?| //vert 2 01685 |.X.| //latt 0 01686 |...| // objet possiblement a proximiter 01687 \---/ 01688 */ 01689 myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]); 01690 myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]); 01691 break; 01692 case 1: 01693 /* 01694 /?V?\ 01695 |VVV| //vert 2 01696 |.X.| //latt 1 01697 |...| // objet possiblement a proximiter 01698 \---/ 01699 */ 01700 for(int i = 0; i<3; i++)myMaze->setC(Labyrinthe::vide,fieldX[i],fieldY[i]); 01701 myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]); 01702 break; 01703 case 2: 01704 /* 01705 /VVV\ 01706 |VVV| //vert 2 01707 |.X.| //latt 2 01708 |...| 01709 \---/ 01710 */ 01711 for(int i = 0; i<6; i++)myMaze->setC( Labyrinthe::vide,fieldX[i],fieldY[i]); 01712 break; 01713 } 01714 break; 01715 } 01716 } 01717 01718 if(fieldSet == false) 01719 { // on a un cas impossible 01720 //myMaze->setC(Labyrinthe::error,fieldX[1],fieldY[1]); 01721 } 01722 01723 //////////////////////////////////// 01724 } 01725 void Directive::checkOtherWay(char &caseFront, char &caseBack, char &caseLeft, char &caseRight) 01726 { 01727 caseFront = myMaze->getC_Foward(); 01728 caseBack = myMaze->getC_Backward(); 01729 caseRight = myMaze->getC_ToRight(); 01730 caseLeft = myMaze->getC_ToLeft(); 01731 } 01732 bool Directive::searchNewWay(void) 01733 { 01734 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r ---- Search new way ----\n\r"); 01735 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY())); 01736 bool result=false; 01737 string backupMap = myMaze->getAllMap(); 01738 signed char backupPosX = myMaze->getX(); 01739 signed char backupPosY = myMaze->getY(); 01740 string searchMap = backupMap; 01741 char tempdir,nextCase=0; 01742 positionXY tempPosition; 01743 char backupDir = myMaze->getDirection(); 01744 01745 01746 bool noOtherWay = false;//si apres un moment tu est entourer de mur 01747 bool wrongWay = false; //si jamais vien un moment que tu est pris /doit rebrousser chemin 01748 //bool checkAutour = false; 01749 01750 bufferNewWay.clear(); 01751 tempPosition.posX = myMaze->getX(); 01752 tempPosition.posY = myMaze->getY(); 01753 //bufferNewWay.push_back(tempPosition); // pas sur de lutiliter 01754 01755 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Debut Boucle"); 01756 //asdfasda// Ici voire pour pt amiliorer et cheker a gauche et a droite au cas ou tu verai une case vide parce que la tu cours direct dans un mur avant de tourner. 01757 while((!result)&&(!noOtherWay)) 01758 { 01759 // nextCase = 0; 01760 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Cycle Boucle\n\r"); 01761 nextCase = myMaze->getC_Foward(); 01762 01763 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",nextCase); 01764 switch(nextCase ) 01765 { 01766 01767 case Labyrinthe::pasExplorer : 01768 case Labyrinthe::vide : 01769 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r vide ou pas explorer: "); 01770 myMaze->moveFoward(); 01771 result = true; 01772 break; 01773 01774 case Labyrinthe::explorer :// ici pt amiliorer 01775 //add position a la liste 01776 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Explorer"); 01777 myMaze->moveFoward(); 01778 //myMaze->setMyPos(Labyrinthe::error); 01779 break; 01780 01781 case Labyrinthe::mur: 01782 tempdir = rand() % 2; 01783 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Mur: %i",tempdir); 01784 if(tempdir == 1) 01785 { 01786 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r left right"); 01787 tempdir = myMaze->getC_ToLeft(); 01788 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir); 01789 if((Labyrinthe::case_t)tempdir != Labyrinthe::mur) 01790 { 01791 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Left"); 01792 myMaze->turnLeft(); 01793 01794 //backupDir = myMaze->getDirection(); 01795 } 01796 else 01797 { 01798 tempdir = myMaze->getC_ToRight(); 01799 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir); 01800 if((Labyrinthe::case_t)tempdir != Labyrinthe::mur) 01801 { 01802 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Right"); 01803 myMaze->turnRight(); 01804 01805 //backupDir = myMaze->getDirection(); 01806 } 01807 else 01808 { 01809 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r aucun coter"); 01810 wrongWay = true; // verifie dans la liste 01811 } 01812 } 01813 01814 } 01815 else 01816 { 01817 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r right left"); 01818 tempdir = myMaze->getC_ToRight(); 01819 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir); 01820 if((Labyrinthe::case_t)tempdir != Labyrinthe::mur) 01821 { 01822 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Right"); 01823 myMaze->turnRight(); 01824 01825 //backupDir = myMaze->getDirection(); 01826 } 01827 else 01828 { 01829 tempdir = myMaze->getC_ToLeft(); 01830 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir); 01831 if((Labyrinthe::case_t)tempdir != Labyrinthe::mur) 01832 { 01833 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Left"); 01834 myMaze->turnLeft(); 01835 01836 //backupDir = myMaze->getDirection(); 01837 } 01838 else 01839 { 01840 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r aucun coter"); 01841 wrongWay = true; // verifie dans la liste 01842 } 01843 } 01844 /* if(wrongWay == false) 01845 myMaze->moveFoward();*/ 01846 } 01847 01848 //myMaze->setMyPos(Labyrinthe::error); 01849 break; 01850 } 01851 01852 tempPosition.posX = myMaze->getX(); 01853 tempPosition.posY = myMaze->getY(); 01854 tempPosition.direction = myMaze->getDirection(); 01855 01856 /*debug("\n\rtempPosition.posX: %i",tempPosition.posX); 01857 debug("\n\rtempPosition.posY: %i",tempPosition.posY); 01858 debug("\n\rbufferNewWay.posX: %i",(bufferNewWay.back().posX)); 01859 debug("\n\rbufferNewWay.posY: %i",(bufferNewWay.back().posY));*/ 01860 01861 if((bufferNewWay.empty())||(((bufferNewWay.back().posX) != tempPosition.posX) || ((bufferNewWay.back().posY) != tempPosition.posY))) 01862 { 01863 bufferNewWay.push_back(tempPosition); 01864 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size()); 01865 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",tempPosition.posX); 01866 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",tempPosition.posY); 01867 } 01868 else if((bufferNewWay.empty())&& ((backupPosX != myMaze->getX()) || (backupPosY != myMaze->getY())) ) 01869 { 01870 bufferNewWay.push_back(tempPosition); 01871 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size()); 01872 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",tempPosition.posX); 01873 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",tempPosition.posY); 01874 } 01875 else if(((bufferNewWay.back()).posX == tempPosition.posX) && ((bufferNewWay.back()).posY == tempPosition.posY) && ((bufferNewWay.back()).direction != tempPosition.direction))//ra fait un tours 01876 { 01877 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back a cause dun tournie"); 01878 bufferNewWay.pop_back(); 01879 bufferNewWay.push_back(tempPosition); 01880 } 01881 01882 else 01883 { 01884 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r buffer non adder"); 01885 01886 } 01887 01888 01889 if(wrongWay) 01890 { 01891 char caseFront,caseBack,caseLeft,caseRight; 01892 char wallCount; 01893 char directive; 01894 bool haveValuesChange = false; 01895 bool caseVideTrouver = false; 01896 bool caseExplorerTrouver = false; 01897 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\n\r wrong way patching"); 01898 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay size: %i",bufferNewWay.size()); 01899 std::list<positionXY>::iterator it; 01900 do 01901 { 01902 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r --wrong way boucle"); 01903 01904 //bufferNewWay.pop_back(); 01905 if(!bufferNewWay.empty()) 01906 { 01907 directive = 0;//defenir fait rien 01908 it=bufferNewWay.end(); 01909 haveValuesChange = false; 01910 caseVideTrouver = false; 01911 caseExplorerTrouver = false; 01912 tempPosition.posX = (bufferNewWay.back()).posX; 01913 tempPosition.posY = bufferNewWay.back().posY; 01914 01915 01916 myMaze->setX(bufferNewWay.back().posX); 01917 myMaze->setY(bufferNewWay.back().posY); 01918 wallCount = 0; 01919 checkOtherWay(caseFront,caseBack,caseLeft,caseRight); 01920 01921 if((Labyrinthe::case_t)caseFront == Labyrinthe::mur)wallCount++; 01922 if((Labyrinthe::case_t)caseBack == Labyrinthe::mur)wallCount++; 01923 if((Labyrinthe::case_t)caseLeft == Labyrinthe::mur)wallCount++; 01924 if((Labyrinthe::case_t)caseRight == Labyrinthe::mur)wallCount++; 01925 01926 if(wallCount == 3) 01927 { 01928 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r PATH trouver "); 01929 myMaze->setC(Labyrinthe::mur,tempPosition.posX,tempPosition.posY); 01930 } 01931 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r checkOtherWay front: %i, back: %i, LEFT: %i, RIGHT: %i",caseFront,caseBack,caseLeft,caseRight); 01932 //tempPosition.posX = (bufferNewWay.back()).posX; 01933 //tempPosition.posY = bufferNewWay.back().posY; 01934 /*if(((Labyrinthe::case_t)caseFront == Labyrinthe::vide) || ((Labyrinthe::case_t)caseBack == Labyrinthe::vide) || ((Labyrinthe::case_t)caseLeft == Labyrinthe::vide) || ((Labyrinthe::case_t)caseRight == Labyrinthe::vide)) 01935 { 01936 debug("\n\r Path vide trouver!!!"); 01937 caseVideTrouver = true; 01938 wrongWay = false; 01939 }*/ 01940 01941 //else 01942 //{ 01943 it--; 01944 if(/*((Labyrinthe::case_t)caseFront != Labyrinthe::error) &&*/ ((Labyrinthe::case_t)caseFront != Labyrinthe::mur)) 01945 { // une anciene case est potentiele,emt bonne 01946 myMaze->getXY_Foward(tempPosition.posX,tempPosition.posY); 01947 01948 if((Labyrinthe::case_t)caseFront == Labyrinthe::vide) 01949 { 01950 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!"); 01951 caseVideTrouver = true; 01952 haveValuesChange = true; 01953 directive = 1; 01954 wrongWay = false; 01955 //debug("\n\r moveFoward"); 01956 } 01957 if((!caseVideTrouver) && (!caseExplorerTrouver)) 01958 { 01959 caseExplorerTrouver = true; 01960 /*if(((*it).posX != tempPosition.posX) && ((*it).posY != tempPosition.posY)) { 01961 wrongWay = false; 01962 myMaze->moveFoward();//setDirection(UP); 01963 debug("\n\r moveFoward"); 01964 debug("\n\r chemin trouver"); 01965 haveValuesChange = true; 01966 } else if(bufferNewWay.size() == 1) {*/ 01967 // debug("\n\r Last thing in buffer"); 01968 //myMaze->moveFoward();//setDirection(UP); 01969 directive = 1;// move foward 01970 haveValuesChange = true; 01971 // debug("\n\r moveFoward"); 01972 } 01973 } 01974 01975 if(/*((Labyrinthe::case_t)caseBack != Labyrinthe::error) &&*/ ((Labyrinthe::case_t)caseBack != Labyrinthe::mur)) 01976 { // une anciene case est potentiele,emt bonne 01977 myMaze->getXY_Backward(tempPosition.posX,tempPosition.posY); 01978 01979 if((Labyrinthe::case_t)caseBack == Labyrinthe::vide) 01980 { 01981 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!"); 01982 caseVideTrouver = true; 01983 haveValuesChange = true; 01984 directive = 2; 01985 wrongWay = false; 01986 //debug("\n\r moveFoward"); 01987 } 01988 if((!caseVideTrouver) && (!caseExplorerTrouver)) 01989 { 01990 caseExplorerTrouver = true; 01991 /*if(((*it).posX != tempPosition.posX) && ((*it).posY != tempPosition.posY)) { 01992 wrongWay = false; 01993 myMaze->turnBack();//setDirection(DOWN); 01994 debug("\n\r turn Back"); 01995 debug("\n\r chemin trouver"); 01996 haveValuesChange = true; 01997 } else if(bufferNewWay.size() == 1) {*/ 01998 //debug("\n\r Last thing in buffer"); 01999 //myMaze->turnBack();//setDirection(DOWN); 02000 directive = 2; 02001 //debug("\n\r turn Back"); 02002 haveValuesChange = true; 02003 } 02004 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r direction: %i",myMaze->getDirection()); 02005 } 02006 02007 if(/*((Labyrinthe::case_t)caseLeft != Labyrinthe::error) &&*/ ((Labyrinthe::case_t)caseLeft != Labyrinthe::mur)) 02008 { // une anciene case est potentiele,emt bonne 02009 myMaze->getXY_Left(tempPosition.posX,tempPosition.posY); 02010 02011 if((Labyrinthe::case_t)caseLeft == Labyrinthe::vide) 02012 { 02013 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!"); 02014 caseVideTrouver = true; 02015 haveValuesChange = true; 02016 directive = 3; 02017 wrongWay = false; 02018 //debug("\n\r moveFoward"); 02019 } 02020 if((!!caseVideTrouver) && (!caseExplorerTrouver)) 02021 { 02022 caseExplorerTrouver = true; 02023 /*if(((*it).posX != tempPosition.posX) && ((*it).posY != tempPosition.posY)) { 02024 wrongWay = false; 02025 myMaze->turnLeft();//setDirection(LEFT); 02026 debug("\n\r turn Left"); 02027 debug("\n\r chemin trouver"); 02028 haveValuesChange = true; 02029 } else if(bufferNewWay.size() == 1) {*/ 02030 //debug("\n\r Last thing in buffer"); 02031 //myMaze->turnLeft();//setDirection(LEFT); 02032 directive = 3; 02033 //debug("\n\r turn Left"); 02034 haveValuesChange = true; 02035 } 02036 } 02037 02038 if(/*((Labyrinthe::case_t)caseRight != Labyrinthe::error) &&*/ ((Labyrinthe::case_t)caseRight != Labyrinthe::mur)) 02039 { // une anciene case est potentiele,emt bonne 02040 myMaze->getXY_Right(tempPosition.posX,tempPosition.posY); 02041 02042 if((Labyrinthe::case_t)caseRight == Labyrinthe::vide) 02043 { 02044 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!"); 02045 caseVideTrouver = true; 02046 haveValuesChange = true; 02047 directive = 4; 02048 wrongWay = false; 02049 //debug("\n\r moveFoward"); 02050 } 02051 if((!caseVideTrouver)&& (!caseExplorerTrouver)) 02052 { 02053 caseExplorerTrouver = true; 02054 /*if(((bufferNewWay.back()).posX != tempPosition.posX) && ((bufferNewWay.back()).posY != tempPosition.posY)) { 02055 wrongWay = false; 02056 myMaze->turnRight();//setDirection(RIGHT); 02057 debug("\n\r turn Right"); 02058 debug("\n\r chemin trouver"); 02059 haveValuesChange = true; 02060 } else if(bufferNewWay.size() == 1) {*/ 02061 //debug("\n\r Last thing in buffer"); 02062 //myMaze->turnRight();//setDirection(RIGHT); 02063 directive = 4; 02064 // debug("\n\r turn Right"); 02065 haveValuesChange = true; 02066 } 02067 } 02068 02069 //} 02070 02071 02072 } 02073 else 02074 noOtherWay = true; 02075 02076 02077 if(haveValuesChange) 02078 { 02079 switch(directive) 02080 { 02081 case 0: 02082 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r doNothing"); 02083 break; 02084 case 1: 02085 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r moveFoward"); 02086 myMaze->moveFoward(); 02087 break; 02088 case 2: 02089 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Back"); 02090 myMaze->turnBack(); 02091 break; 02092 case 3: 02093 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Left"); 02094 myMaze->turnLeft(); 02095 break; 02096 case 4: 02097 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Right"); 02098 myMaze->turnRight(); 02099 break; 02100 } 02101 tempPosition.posX = myMaze->getX(); 02102 tempPosition.posY = myMaze->getY(); 02103 tempPosition.direction = myMaze->getDirection(); 02104 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size()); 02105 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",tempPosition.posX); 02106 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",tempPosition.posY); 02107 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",tempPosition.direction); 02108 for (std::list<positionXY>::iterator it=bufferNewWay.begin(),itEnd;( it != bufferNewWay.end()) && (!bufferNewWay.empty()); ++it) 02109 { 02110 //tempPosition = *(it); 02111 itEnd = bufferNewWay.end(); 02112 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Bouble de meme position"); 02113 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",(*it).posX); 02114 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",(*it).posY); 02115 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",(*it).direction); 02116 if(((*it).posX == tempPosition.posX) && ((*it).posY == tempPosition.posY) && ((*it).direction == tempPosition.direction)) 02117 { 02118 while(((*it).posX != (*itEnd).posX) && 02119 ((*it).posY != (*itEnd).posY) && 02120 ((*it).direction != (*itEnd).direction) && (!bufferNewWay.empty())) 02121 { 02122 itEnd = bufferNewWay.end(); 02123 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back et enmurer"); 02124 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r tempPosition.posX: %i",(bufferNewWay.back()).posX); 02125 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r tempPosition.posY: %i",(bufferNewWay.back()).posY); 02126 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r tempPosition.direction: %i",(bufferNewWay.back()).direction); 02127 myMaze->setC(Labyrinthe::mur,(bufferNewWay.back()).posX,(bufferNewWay.back()).posY); 02128 bufferNewWay.pop_back(); 02129 } 02130 //it--; 02131 noOtherWay = true;//placer ici pour patcher vue que je suis taner 02132 //checkAutour = true; 02133 } 02134 } 02135 if(((bufferNewWay.back()).posX == tempPosition.posX) && ((bufferNewWay.back()).posY == tempPosition.posY) && ((bufferNewWay.back()).direction != tempPosition.direction))//ra fait un tours 02136 { 02137 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back a cause dun tournie"); 02138 bufferNewWay.pop_back(); 02139 } 02140 bufferNewWay.push_back(tempPosition); 02141 //bufferNewWay.pop_back();//on enleve pour pouvoir lire le dernier 02142 } 02143 else 02144 { 02145 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back"); 02146 bufferNewWay.pop_back();//on enleve pour pouvoir lire le dernier 02147 } 02148 #ifdef DEBUG_DIRECTIVE_LABYRINTH 02149 string mymap = myMaze->showMap(); 02150 debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY())); 02151 //char caseCaract = 0; 02152 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r direction: %i",myMaze->getDirection()); 02153 debug("\n\r"); 02154 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6])); 02155 debug("\n\r"); 02156 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3])); 02157 debug("\n\r"); 02158 for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i])); 02159 #endif 02160 02161 #ifdef DEBUG_DIRECTIVE_TASK_PAUSE 02162 debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r press any key...\n\r"); 02163 02164 fgetc(pc); 02165 #endif 02166 02167 } while((wrongWay) && (!noOtherWay)); 02168 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Fin Boucle"); 02169 } 02170 #ifdef DEBUG_DIRECTIVE_TASK_PAUSE 02171 debug("\n\r press any key...\n\r"); fgetc(pc); 02172 #endif 02173 } 02174 02175 myMaze->setX(backupPosX); 02176 myMaze->setY(backupPosY); 02177 myMaze->setAllMap(backupMap); 02178 myMaze->setDirection(backupDir); 02179 if(noOtherWay) 02180 { 02181 result = false; 02182 myMaze->setAllMap(""); 02183 myMaze->setX(0); 02184 myMaze->setY(0); 02185 myMaze->setDirection(backupDir); 02186 } 02187 02188 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\n\r dans le buffer"); 02189 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size()); 02190 for (std::list<positionXY>::iterator it=bufferNewWay.begin(); it != bufferNewWay.end(); ++it) { 02191 //tempPosition = *(it); 02192 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",(*it).posX); 02193 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",(*it).posY); 02194 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",(*it).direction); 02195 } 02196 debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r ----------------"); 02197 return result; 02198 } 02199 02200 bool Directive::isAnotherWay(void) 02201 { 02202 bool result=false; 02203 02204 return result; 02205 } 02206 void Directive::turnRightDirection(char currentDir, char nextDir) 02207 { 02208 02209 02210 #ifndef DEBUG_DIRECTIVE_LEG_DISABLE 02211 if(((nextDir + currentDir) == (UP + DOWN)) || 02212 ((nextDir + currentDir) == (LEFT + RIGHT))) 02213 { 02214 if(rand()%2) 02215 { 02216 for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT); 02217 for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT); 02218 //addTableauDeCommande(TBL_CMD_TURN_LEFT); 02219 } 02220 else 02221 { 02222 for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT); 02223 for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT); 02224 //addTableauDeCommande(TBL_CMD_TURN_RIGHT); 02225 } 02226 } 02227 else 02228 { 02229 switch(currentDir) 02230 { 02231 case UP: 02232 if(nextDir == LEFT) 02233 { 02234 for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT); 02235 } 02236 else if(nextDir == RIGHT) 02237 { 02238 for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT); 02239 } 02240 break; 02241 case DOWN: 02242 if(nextDir == LEFT) 02243 { 02244 for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT); 02245 } 02246 else if(nextDir == LEFT) 02247 { 02248 for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT); 02249 } 02250 break; 02251 case LEFT: 02252 if(nextDir == UP) 02253 { 02254 for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT); 02255 } 02256 else if(nextDir == DOWN) 02257 { 02258 for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT); 02259 } 02260 break; 02261 case RIGHT: 02262 if(nextDir == UP) 02263 { 02264 for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT); 02265 } 02266 else if(nextDir == DOWN) 02267 { 02268 for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT); 02269 } 02270 break; 02271 } 02272 } 02273 #endif 02274 }
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