ProjetOctopode - Programme de contrôle de l'octopode 4DOF, Theraph…

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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

directive.cpp@41:0b5c14dda54a, 2017-01-31 (annotated)

Committer:: salco
Date:: Tue Jan 31 13:15:42 2017 +0000
Revision:: 41:0b5c14dda54a
Parent:: 40:ecef15b1dfad

Tentative de modifier les commit inutile sur debug.h

Who changed what in which revision?

User	Revision	Line number	New contents of line
salco	2:4c5b0f6d0a6b	1
salco	2:4c5b0f6d0a6b	2	#include "directive.h"
salco	36:474d4795aafa	3
salco	31:ed23647fd16e	4	Serial pc(SERIAL_TX, SERIAL_RX);
salco	28:ac5c6350ed9a	5	int tabIR[12][2]= {
salco	28:ac5c6350ed9a	6	{80, 400},{50, 600},{40, 700},{30, 900},{25,1100},
salco	28:ac5c6350ed9a	7	{20,1300},{15,1600},{10,2400},{ 8,2700},{ 7,3000},
salco	28:ac5c6350ed9a	8	{ 6,3200},{ 5,3100}
salco	28:ac5c6350ed9a	9	};
salco	28:ac5c6350ed9a	10
salco	28:ac5c6350ed9a	11
salco	28:ac5c6350ed9a	12
salco	28:ac5c6350ed9a	13
salco	28:ac5c6350ed9a	14
salco	2:4c5b0f6d0a6b	15
salco	2:4c5b0f6d0a6b	16	Directive::Directive():TTask(0)//on veux que cette tache sois exec toute les fois que TTaskGen sexecute.
salco	2:4c5b0f6d0a6b	17	{
salco	40:ecef15b1dfad	18
salco	28:ac5c6350ed9a	19	/* initialize random seed: */
salco	31:ed23647fd16e	20	srand (time(NULL));
salco	33:c8b4e5a392e6	21	myMaze = new Labyrinthe();
salco	33:c8b4e5a392e6	22
salco	28:ac5c6350ed9a	23	myMaze->setDirection(UP);
salco	28:ac5c6350ed9a	24	//c=0;
salco	35:d81f6b927932	25	ssc32 = new Serial(PB_6, PB_7);
salco	27:ea60d12dccdf	26	ctrDesPattes = new Faculter_motrice(ssc32/pc/);
salco	28:ac5c6350ed9a	27	m_valueCapteurUltrasonic = 0;
salco	28:ac5c6350ed9a	28	m_valueCapteurIR = 0;
salco	28:ac5c6350ed9a	29	m_valueCapteurProximiter = 0;
salco	40:ecef15b1dfad	30	for(int i =0; i < DIRECTIVE_TABLEAUDECOMMANDE_SIZE; i++)tableauDeCommange[i]= 0;
salco	28:ac5c6350ed9a	31	size_tableauDeCommange=0;
salco	39:34d7802e8d15	32	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r set explorer \n\r");
salco	36:474d4795aafa	33	myMaze->setMyPos(Labyrinthe::explorer);
salco	35:d81f6b927932	34	//myMaze->setC(EXPLORER,C5);
salco	19:0ac80045ba4c	35	//m_CtrlBridge = m_CtrlBridge->getInstance();
salco	19:0ac80045ba4c	36	//a enlever de commentaire//m_ListDesModules = m_CtrlBridge->findModule(0,1,0,0);
salco	39:34d7802e8d15	37
salco	27:ea60d12dccdf	38	//Serial pc(USBTX, USBRX);
salco	39:34d7802e8d15	39
salco	27:ea60d12dccdf	40	//ssc32->set_flow_control(0);
salco	39:34d7802e8d15	41
salco	35:d81f6b927932	42
salco	35:d81f6b927932	43	//debug("\n\r directive Init");
salco	27:ea60d12dccdf	44	m_ListDesModules = m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0);
salco	27:ea60d12dccdf	45	m_ListDesModules.append(m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0));
salco	39:34d7802e8d15	46	for(int i=0; i < m_ListDesModules.size(); i++) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_ListDesModules[%i]:%i",i,m_ListDesModules[i]);
salco	39:34d7802e8d15	47
salco	27:ea60d12dccdf	48	m_capteurUltrasonic= m_CtrlBridge->findModule(0,CAPTEUR,ULTRASONIQUE,0x27/0b100111/);
salco	39:34d7802e8d15	49	if(!(m_capteurUltrasonic.empty()))
salco	39:34d7802e8d15	50	{
salco	39:34d7802e8d15	51	debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic found");
salco	39:34d7802e8d15	52	for(int i=0; i < m_capteurUltrasonic.size(); i++) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic[%i]:%i",i,m_capteurUltrasonic[i]);
salco	39:34d7802e8d15	53	}
salco	39:34d7802e8d15	54	else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurUltrasonic not found");
salco	39:34d7802e8d15	55
salco	39:34d7802e8d15	56
salco	27:ea60d12dccdf	57	m_capteurIR= m_CtrlBridge->findModule(0,CAPTEUR,DISTANCE,0x27/0b100111/);
salco	39:34d7802e8d15	58	if(!(m_capteurIR.empty()))
salco	39:34d7802e8d15	59	{
salco	39:34d7802e8d15	60	debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR found");
salco	39:34d7802e8d15	61	for(int i=0; i < m_capteurIR.size(); i++) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR[%i]:%i",i,m_capteurIR[i]);
salco	39:34d7802e8d15	62	}
salco	39:34d7802e8d15	63	else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurIR not found");
salco	39:34d7802e8d15	64
salco	27:ea60d12dccdf	65	m_capteurProximiter= m_CtrlBridge->findModule(0,CAPTEUR,PROXIMITEE,0x0E/0b001110/);
salco	39:34d7802e8d15	66	if(!(m_capteurProximiter.empty()))
salco	39:34d7802e8d15	67	{
salco	39:34d7802e8d15	68	debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter found");
salco	39:34d7802e8d15	69	for(int i=0; i < m_capteurProximiter.size(); i++) debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter[%i]:%i",i,m_capteurProximiter[i]);
salco	39:34d7802e8d15	70	}
salco	39:34d7802e8d15	71	else debug(DEBUG_DIRECTIVE_TEST,"\n\r m_capteurProximiter not found");
salco	39:34d7802e8d15	72
salco	28:ac5c6350ed9a	73	ctrDesPattes->moveUp();
salco	39:34d7802e8d15	74
salco	28:ac5c6350ed9a	75	bool getUp=true;
salco	39:34d7802e8d15	76	while((getUp)&& (! ctrDesPattes->isSeqComplet()))
salco	39:34d7802e8d15	77	{
salco	28:ac5c6350ed9a	78	ctrDesPattes->exec();
salco	39:34d7802e8d15	79
salco	28:ac5c6350ed9a	80	if(ctrDesPattes->get_idFrame() >= 5)
salco	39:34d7802e8d15	81	getUp = false;
salco	39:34d7802e8d15	82
salco	28:ac5c6350ed9a	83	}
salco	31:ed23647fd16e	84
salco	39:34d7802e8d15	85	followThePath = false;
salco	28:ac5c6350ed9a	86	ctrDesPattes->calibre();
salco	31:ed23647fd16e	87
salco	39:34d7802e8d15	88
salco	35:d81f6b927932	89	#ifdef DEBUG_DIRECTIVE_GRAPHICAL_INTERFACE
salco	39:34d7802e8d15	90	//analiseMaze();
salco	39:34d7802e8d15	91	///wait(2);
salco	39:34d7802e8d15	92	//debug("\x1B[2J"); //clear screen
salco	39:34d7802e8d15	93	/*debug("\x1B[25l");//hide cursor
salco	39:34d7802e8d15	94	debug("\x1B[;H");*/ //cursor default position
salco	39:34d7802e8d15	95
salco	35:d81f6b927932	96	//createSLbox(0,0,5,15,"Mode");
salco	39:34d7802e8d15	97	/*createDLbox(0,0,10,20,"Menu");//(1,12,10,20,"test2");
salco	39:34d7802e8d15	98	setText(1,3,"1) BrainControle");
salco	39:34d7802e8d15	99	setText(1,4,"2) Show Maze");*/
salco	39:34d7802e8d15	100	//createDLbox(16,0,5,15,"Stage");
salco	39:34d7802e8d15	101
salco	39:34d7802e8d15	102	myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C1);
salco	39:34d7802e8d15	103	myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C2);
salco	39:34d7802e8d15	104	myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C3);
salco	39:34d7802e8d15	105	myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C4);
salco	39:34d7802e8d15	106	myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C5);
salco	39:34d7802e8d15	107	myMaze->setC(Labyrinthe::vide,0,0,Labyrinthe::C6);
salco	39:34d7802e8d15	108	myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C7);
salco	39:34d7802e8d15	109	myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C8);
salco	39:34d7802e8d15	110	myMaze->setC(Labyrinthe::mur,0,0,Labyrinthe::C9);
salco	39:34d7802e8d15	111
salco	39:34d7802e8d15	112	myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C1);
salco	39:34d7802e8d15	113	myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C2);
salco	39:34d7802e8d15	114	myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C3);
salco	39:34d7802e8d15	115	myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C4);
salco	39:34d7802e8d15	116	myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C5);
salco	39:34d7802e8d15	117	myMaze->setC(Labyrinthe::vide,3,0,Labyrinthe::C6);
salco	39:34d7802e8d15	118	myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C7);
salco	39:34d7802e8d15	119	myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C8);
salco	39:34d7802e8d15	120	myMaze->setC(Labyrinthe::mur ,3,0,Labyrinthe::C9);
salco	39:34d7802e8d15	121
salco	39:34d7802e8d15	122	myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C1);
salco	39:34d7802e8d15	123	myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C2);
salco	39:34d7802e8d15	124	myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C3);
salco	39:34d7802e8d15	125	myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C4);
salco	39:34d7802e8d15	126	myMaze->setC(Labyrinthe::vide,6,0,Labyrinthe::C5);
salco	39:34d7802e8d15	127	myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C6);
salco	39:34d7802e8d15	128	myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C7);
salco	39:34d7802e8d15	129	myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C8);
salco	39:34d7802e8d15	130	myMaze->setC(Labyrinthe::mur ,6,0,Labyrinthe::C9);
salco	39:34d7802e8d15	131
salco	39:34d7802e8d15	132	myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C1);
salco	39:34d7802e8d15	133	myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C2);
salco	39:34d7802e8d15	134	myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C3);
salco	39:34d7802e8d15	135	myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C4);
salco	39:34d7802e8d15	136	myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C5);
salco	39:34d7802e8d15	137	myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C6);
salco	39:34d7802e8d15	138	myMaze->setC(Labyrinthe::mur ,0,-3,Labyrinthe::C7);
salco	39:34d7802e8d15	139	myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C8);
salco	39:34d7802e8d15	140	myMaze->setC(Labyrinthe::vide,0,-3,Labyrinthe::C9);
salco	39:34d7802e8d15	141
salco	39:34d7802e8d15	142	myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C1);
salco	39:34d7802e8d15	143	myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C2);
salco	39:34d7802e8d15	144	myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C3);
salco	39:34d7802e8d15	145	myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C4);
salco	39:34d7802e8d15	146	myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C5);
salco	39:34d7802e8d15	147	myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C6);
salco	39:34d7802e8d15	148	myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C7);
salco	39:34d7802e8d15	149	myMaze->setC(Labyrinthe::mur ,3,-3,Labyrinthe::C8);
salco	39:34d7802e8d15	150	myMaze->setC(Labyrinthe::vide,3,-3,Labyrinthe::C9);
salco	39:34d7802e8d15	151
salco	39:34d7802e8d15	152	myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C1);
salco	39:34d7802e8d15	153	myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C2);
salco	39:34d7802e8d15	154	myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C3);
salco	39:34d7802e8d15	155	myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C4);
salco	39:34d7802e8d15	156	myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C5);
salco	39:34d7802e8d15	157	myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C6);
salco	39:34d7802e8d15	158	myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C7);
salco	39:34d7802e8d15	159	myMaze->setC(Labyrinthe::vide,6,-3,Labyrinthe::C8);
salco	39:34d7802e8d15	160	myMaze->setC(Labyrinthe::mur ,6,-3,Labyrinthe::C9);
salco	39:34d7802e8d15	161	#endif
salco	39:34d7802e8d15	162	myMaze->setMyPos(Labyrinthe::explorer);
salco	38:57d5f36a0333	163
salco	39:34d7802e8d15	164	#ifdef DEBUG_DIRECTIVE_TEST_CAPTEUR
salco	39:34d7802e8d15	165	debug("\x1B[2J"); //clear screen
salco	39:34d7802e8d15	166	char areaLatt =0;
salco	39:34d7802e8d15	167	char areaVert =0;
salco	39:34d7802e8d15	168	int idCommand = 0;
salco	39:34d7802e8d15	169	while(idCommand != 9)
salco	39:34d7802e8d15	170	{
salco	39:34d7802e8d15	171
salco	40:ecef15b1dfad	172
salco	39:34d7802e8d15	173	debug("\n\r press any key");
salco	39:34d7802e8d15	174	idCommand = fgetc(pc) - '0';
salco	40:ecef15b1dfad	175	debug("\x1B[;H"); //cursor default position
salco	39:34d7802e8d15	176	debug("\x1B[2J"); //clear screen
salco	39:34d7802e8d15	177
salco	39:34d7802e8d15	178	updateModuleValue();
salco	39:34d7802e8d15	179
salco	39:34d7802e8d15	180	//////////////////////////////
salco	39:34d7802e8d15	181	// Traitement du Labyrinthe //
salco	39:34d7802e8d15	182	//////////////////////////////
salco	39:34d7802e8d15	183	debug("\n\r -invert ultrasonicToCm: %02f ",inchToCm(ultrasonicToInch(m_valueCapteurIR)));
salco	39:34d7802e8d15	184	debug("\n\r -invert IRToCm(%02f): %02f ",ADCTomv(m_valueCapteurUltrasonic),IRToCm(ADCTomv(m_valueCapteurUltrasonic)));
salco	39:34d7802e8d15	185	//debug("\n\r -IR(value):%i ",m_valueCapteurIR);
salco	39:34d7802e8d15	186	debug("\n\r -IRToCm(%02f): %02f ",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR)));
salco	39:34d7802e8d15	187
salco	39:34d7802e8d15	188	debug("\n\r -ultrasonic(value):%f ",m_valueCapteurUltrasonic);
salco	39:34d7802e8d15	189	debug("\n\r -ultrasonicToInch: %02f ",ultrasonicToInch(m_valueCapteurUltrasonic));
salco	39:34d7802e8d15	190	debug("\n\r -ultrasonicToCm: %02f ",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)));
salco	39:34d7802e8d15	191
salco	39:34d7802e8d15	192	debug("\n\r -m_valueCapteurProximiter: %02d ",m_valueCapteurProximiter);
salco	39:34d7802e8d15	193	//wait(.5);
salco	39:34d7802e8d15	194
salco	39:34d7802e8d15	195
salco	39:34d7802e8d15	196	if((inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))<= 1) /&& (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)/)//enlever parce que il est lock avec des limites
salco	39:34d7802e8d15	197	{ //capteur ultrasson embrouiller/imprecis
salco	39:34d7802e8d15	198	debug("\n\r -Capteur Ultrasson brouiller");
salco	39:34d7802e8d15	199	//addTableauDeCommande(6);
salco	39:34d7802e8d15	200	}
salco	39:34d7802e8d15	201	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_SHORT)
salco	39:34d7802e8d15	202	{ //plus proche que 1 case
salco	40:ecef15b1dfad	203	debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_SHORT);
salco	39:34d7802e8d15	204
salco	39:34d7802e8d15	205	areaLatt =0;
salco	39:34d7802e8d15	206
salco	39:34d7802e8d15	207	if(IRToCm(ADCTomv(m_valueCapteurIR)) <= DIRECTIVE_IR_LIMIT_SHORT)
salco	39:34d7802e8d15	208	{
salco	39:34d7802e8d15	209	/*
salco	39:34d7802e8d15	210	/---\
salco	39:34d7802e8d15	211	\|?M?\| //vert 0
salco	39:34d7802e8d15	212	\|.X.\| //latt 0
salco	39:34d7802e8d15	213	\|...\|
salco	39:34d7802e8d15	214	\---/
salco	39:34d7802e8d15	215	*/
salco	39:34d7802e8d15	216	areaVert = 0;
salco	39:34d7802e8d15	217	}
salco	39:34d7802e8d15	218	else
salco	39:34d7802e8d15	219	{
salco	39:34d7802e8d15	220	/*
salco	39:34d7802e8d15	221	/-M-\
salco	39:34d7802e8d15	222	\|?V?\| //vert 1
salco	39:34d7802e8d15	223	\|.X.\| //latt 0
salco	39:34d7802e8d15	224	\|...\|
salco	39:34d7802e8d15	225	\---/
salco	39:34d7802e8d15	226	*/
salco	39:34d7802e8d15	227	areaVert = 1;
salco	39:34d7802e8d15	228	}
salco	39:34d7802e8d15	229
salco	39:34d7802e8d15	230
salco	39:34d7802e8d15	231	}
salco	39:34d7802e8d15	232	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE)
salco	39:34d7802e8d15	233	{ //plus proche que 2 case
salco	40:ecef15b1dfad	234	debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE);
salco	39:34d7802e8d15	235	//modifier vue que il ne detecte pas asser loin
salco	39:34d7802e8d15	236	/*
salco	39:34d7802e8d15	237	/-M-\
salco	39:34d7802e8d15	238	\|?V?\| //vert 1
salco	39:34d7802e8d15	239	\|.X.\| //latt 0
salco	39:34d7802e8d15	240	\|...\|
salco	39:34d7802e8d15	241	\---/
salco	39:34d7802e8d15	242	*/
salco	39:34d7802e8d15	243	areaLatt =0;
salco	39:34d7802e8d15	244	areaVert =1;
salco	39:34d7802e8d15	245	}
salco	39:34d7802e8d15	246	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_LONG)
salco	39:34d7802e8d15	247	{ //plus proche que 2 case
salco	40:ecef15b1dfad	248	debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG);
salco	39:34d7802e8d15	249	//modifier vue que il ne detecte pas asser loin
salco	39:34d7802e8d15	250	/*
salco	39:34d7802e8d15	251	/-M-\
salco	39:34d7802e8d15	252	\|?V?\| //vert 1
salco	39:34d7802e8d15	253	\|.X.\| //latt 0
salco	39:34d7802e8d15	254	\|...\|
salco	39:34d7802e8d15	255	\---/
salco	39:34d7802e8d15	256	*/
salco	39:34d7802e8d15	257	areaLatt =0;
salco	39:34d7802e8d15	258	areaVert =1;
salco	39:34d7802e8d15	259	}
salco	39:34d7802e8d15	260	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) > DIRECTIVE_ULTRASONIC_LIMIT_LONG)
salco	39:34d7802e8d15	261	{ //plus proche que 2 case
salco	40:ecef15b1dfad	262	debug("\n\r -Objet proche %g >= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG);
salco	39:34d7802e8d15	263	//modifier vue que il ne detecte pas asser loin
salco	39:34d7802e8d15	264	/*
salco	39:34d7802e8d15	265	/?V?\
salco	39:34d7802e8d15	266	\|?V?\| //vert 2
salco	39:34d7802e8d15	267	\|.X.\| //latt 0
salco	39:34d7802e8d15	268	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	269	\---/
salco	39:34d7802e8d15	270	*/
salco	39:34d7802e8d15	271
salco	39:34d7802e8d15	272	areaLatt =0;
salco	39:34d7802e8d15	273	areaVert =2;
salco	39:34d7802e8d15	274	}
salco	39:34d7802e8d15	275
salco	39:34d7802e8d15	276
salco	39:34d7802e8d15	277
salco	39:34d7802e8d15	278	/*if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60)
salco	39:34d7802e8d15	279	{
salco	39:34d7802e8d15	280	debug("\n\r -Confirmation IR");
salco	39:34d7802e8d15	281	areaVert =2;
salco	39:34d7802e8d15	282	}
salco	39:34d7802e8d15	283	else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30)
salco	39:34d7802e8d15	284	{
salco	39:34d7802e8d15	285	debug("\n\r -Confirmation IR");
salco	39:34d7802e8d15	286	areaVert =1;
salco	39:34d7802e8d15	287	}*/
salco	39:34d7802e8d15	288
salco	39:34d7802e8d15	289
salco	39:34d7802e8d15	290	if(areaVert >= areaLatt)
salco	39:34d7802e8d15	291	{
salco	39:34d7802e8d15	292	switch(areaVert)
salco	39:34d7802e8d15	293	{
salco	39:34d7802e8d15	294	case 0:
salco	39:34d7802e8d15	295	/*
salco	39:34d7802e8d15	296	/---\
salco	39:34d7802e8d15	297	\|?M?\| //vert 0
salco	39:34d7802e8d15	298	\|.X.\| //latt 0
salco	39:34d7802e8d15	299	\|...\|
salco	39:34d7802e8d15	300	\---/
salco	39:34d7802e8d15	301	*/
salco	39:34d7802e8d15	302
salco	39:34d7802e8d15	303	debug("\n\r +---+ ");
salco	39:34d7802e8d15	304	debug("\n\r \|?M?\| //vert 0 ");
salco	39:34d7802e8d15	305	debug("\n\r \|.X.\| //latt 0 ");
salco	39:34d7802e8d15	306	debug("\n\r \|...\| ");
salco	39:34d7802e8d15	307	debug("\n\r +---+ ");
salco	39:34d7802e8d15	308	break;
salco	39:34d7802e8d15	309	case 1://impossible pour le moment IR trop instable//
salco	39:34d7802e8d15	310
salco	39:34d7802e8d15	311
salco	39:34d7802e8d15	312
salco	39:34d7802e8d15	313	if(areaLatt == 1)
salco	39:34d7802e8d15	314	{
salco	39:34d7802e8d15	315	/*
salco	39:34d7802e8d15	316	/?M?\
salco	39:34d7802e8d15	317	\|VVV\| //vert 1
salco	39:34d7802e8d15	318	\|.X.\| //latt 1
salco	39:34d7802e8d15	319	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	320	\---/
salco	39:34d7802e8d15	321	*/
salco	39:34d7802e8d15	322	debug("\n\r +-M-+ ");
salco	39:34d7802e8d15	323	debug("\n\r \|VVV\| //vert 1 ");
salco	39:34d7802e8d15	324	debug("\n\r \|.X.\| //latt 1 ");
salco	39:34d7802e8d15	325	debug("\n\r \|...\| // objet possiblement a proximiter ");
salco	39:34d7802e8d15	326	debug("\n\r +---+ ");
salco	39:34d7802e8d15	327	}
salco	39:34d7802e8d15	328	else
salco	39:34d7802e8d15	329	{
salco	39:34d7802e8d15	330	/*
salco	39:34d7802e8d15	331	/-M-\
salco	39:34d7802e8d15	332	\|?V?\| //vert 1
salco	39:34d7802e8d15	333	\|.X.\| //latt 0
salco	39:34d7802e8d15	334	\|...\|
salco	39:34d7802e8d15	335	\---/
salco	39:34d7802e8d15	336	*/
salco	39:34d7802e8d15	337
salco	39:34d7802e8d15	338	debug("\n\r +-M-+ ");
salco	39:34d7802e8d15	339	debug("\n\r \|?V?\| //vert 1 ");
salco	39:34d7802e8d15	340	debug("\n\r \|.X.\| //latt 0 ");
salco	39:34d7802e8d15	341	debug("\n\r \|...\| ");
salco	39:34d7802e8d15	342	debug("\n\r +---+ ");
salco	39:34d7802e8d15	343	}
salco	39:34d7802e8d15	344	break;
salco	39:34d7802e8d15	345	case 2:
salco	39:34d7802e8d15	346
salco	39:34d7802e8d15	347	switch(areaLatt)
salco	39:34d7802e8d15	348	{
salco	39:34d7802e8d15	349	case 0://impossible pour le moment IR trop instable//
salco	39:34d7802e8d15	350	/*
salco	39:34d7802e8d15	351	/?V?\
salco	39:34d7802e8d15	352	\|?V?\| //vert 2
salco	39:34d7802e8d15	353	\|.X.\| //latt 0
salco	39:34d7802e8d15	354	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	355	\---/
salco	39:34d7802e8d15	356	*/
salco	39:34d7802e8d15	357	debug("\n\r +?V?+ ");
salco	39:34d7802e8d15	358	debug("\n\r \|?V?\| //vert 2 ");
salco	39:34d7802e8d15	359	debug("\n\r \|.X.\| //latt 0 ");
salco	39:34d7802e8d15	360	debug("\n\r \|...\| // objet possiblement a proximiter ");
salco	39:34d7802e8d15	361	debug("\n\r +---+ ");
salco	39:34d7802e8d15	362	break;
salco	39:34d7802e8d15	363	case 1://impossible pour le moment IR trop instable//
salco	39:34d7802e8d15	364	/*
salco	39:34d7802e8d15	365	/?V?\
salco	39:34d7802e8d15	366	\|VVV\| //vert 2
salco	39:34d7802e8d15	367	\|.X.\| //latt 1
salco	39:34d7802e8d15	368	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	369	\---/
salco	39:34d7802e8d15	370	*/
salco	39:34d7802e8d15	371	debug("\n\r +-M-+ ");
salco	39:34d7802e8d15	372	debug("\n\r \|VVV\| //vert 2 ");
salco	39:34d7802e8d15	373	debug("\n\r \|.X.\| //latt 1 ");
salco	39:34d7802e8d15	374	debug("\n\r \|...\| // objet possiblement a proximiter ");
salco	39:34d7802e8d15	375	debug("\n\r +---+ ");
salco	39:34d7802e8d15	376	break;
salco	39:34d7802e8d15	377	case 2:
salco	39:34d7802e8d15	378	/*
salco	39:34d7802e8d15	379	/VVV\
salco	39:34d7802e8d15	380	\|VVV\| //vert 2
salco	39:34d7802e8d15	381	\|.X.\| //latt 2
salco	39:34d7802e8d15	382	\|...\|
salco	39:34d7802e8d15	383	\---/
salco	39:34d7802e8d15	384	*/
salco	39:34d7802e8d15	385	debug("\n\r +VVV+ ");
salco	39:34d7802e8d15	386	debug("\n\r \|VVV\| //vert 2 ");
salco	39:34d7802e8d15	387	debug("\n\r \|.X.\| //latt 2 ");
salco	39:34d7802e8d15	388	debug("\n\r \|...\| ");
salco	39:34d7802e8d15	389	debug("\n\r +---+ ");
salco	39:34d7802e8d15	390	break;
salco	39:34d7802e8d15	391	}
salco	39:34d7802e8d15	392	break;
salco	39:34d7802e8d15	393	}
salco	39:34d7802e8d15	394	}
salco	39:34d7802e8d15	395	/*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80))
salco	39:34d7802e8d15	396	{ //capteur ultrasson embrouiller/imprecis
salco	39:34d7802e8d15	397	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
salco	39:34d7802e8d15	398	//addTableauDeCommande(6);
salco	39:34d7802e8d15	399	}
salco	39:34d7802e8d15	400	else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24)
salco	39:34d7802e8d15	401	{ //plus proche que 10pouce
salco	39:34d7802e8d15	402	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi");
salco	39:34d7802e8d15	403	areaLatt =2;
salco	39:34d7802e8d15	404	areaVert =2;
salco	39:34d7802e8d15	405	}
salco	39:34d7802e8d15	406	else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12)
salco	39:34d7802e8d15	407	{ //plus proche que 10pouce
salco	39:34d7802e8d15	408	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi");
salco	39:34d7802e8d15	409	areaLatt =1;
salco	39:34d7802e8d15	410	areaVert =1;
salco	39:34d7802e8d15	411	}
salco	39:34d7802e8d15	412	debug(DEBUG_DIRECTIVE_TEST,": %i",ultrasonicToInch(m_valueCapteurUltrasonic));
salco	39:34d7802e8d15	413
salco	39:34d7802e8d15	414	if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60)
salco	39:34d7802e8d15	415	{
salco	39:34d7802e8d15	416	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco	39:34d7802e8d15	417	areaVert =2;
salco	39:34d7802e8d15	418	}
salco	39:34d7802e8d15	419	else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30)
salco	39:34d7802e8d15	420	{
salco	39:34d7802e8d15	421	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco	39:34d7802e8d15	422	areaVert =1;
salco	39:34d7802e8d15	423	}
salco	39:34d7802e8d15	424	debug(DEBUG_DIRECTIVE_TEST,": %i",IRToCm(ADCTomv(m_valueCapteurIR)));*/
salco	39:34d7802e8d15	425	}
salco	31:ed23647fd16e	426	#endif
salco	40:ecef15b1dfad	427
salco	2:4c5b0f6d0a6b	428	}
salco	2:4c5b0f6d0a6b	429	Directive::~Directive()
salco	2:4c5b0f6d0a6b	430	{
salco	39:34d7802e8d15	431
salco	3:e0d6e081a9d3	432	if(ctrDesPattes)
salco	39:34d7802e8d15	433	delete ctrDesPattes;
salco	19:0ac80045ba4c	434	if(ssc32)
salco	39:34d7802e8d15	435	delete ssc32;
salco	31:ed23647fd16e	436	if(myMaze)
salco	39:34d7802e8d15	437	delete myMaze;
salco	2:4c5b0f6d0a6b	438	}
salco	3:e0d6e081a9d3	439	void Directive::task(void)//ALL CODE HERE//
salco	2:4c5b0f6d0a6b	440	{
salco	40:ecef15b1dfad	441	#ifdef DEBUG_DIRECTIVE_MINIMAL_PRESENTATION
salco	40:ecef15b1dfad	442	if(pc.readable())
salco	40:ecef15b1dfad	443	{
salco	40:ecef15b1dfad	444	int idCommand=0;
salco	40:ecef15b1dfad	445	idCommand = fgetc(pc) - '0';
salco	40:ecef15b1dfad	446	string mymap;
salco	40:ecef15b1dfad	447	switch(idCommand)
salco	40:ecef15b1dfad	448	{
salco	40:ecef15b1dfad	449	case 1:
salco	40:ecef15b1dfad	450	debug("\n\r 1: Show Map ");
salco	40:ecef15b1dfad	451
salco	40:ecef15b1dfad	452	mymap = myMaze->showMap();
salco	40:ecef15b1dfad	453	debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY()));
salco	40:ecef15b1dfad	454	//char caseCaract = 0;
salco	40:ecef15b1dfad	455	debug("\n\r");
salco	40:ecef15b1dfad	456	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6]));
salco	40:ecef15b1dfad	457	debug("\n\r");
salco	40:ecef15b1dfad	458	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3]));
salco	40:ecef15b1dfad	459	debug("\n\r");
salco	40:ecef15b1dfad	460	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i]));
salco	40:ecef15b1dfad	461	debug("\n\r");
salco	40:ecef15b1dfad	462	break;
salco	40:ecef15b1dfad	463
salco	40:ecef15b1dfad	464	case 2:
salco	40:ecef15b1dfad	465	debug("\n\r *2: Show tableauDeCommange[]");
salco	40:ecef15b1dfad	466	debug("\n\r -TAB:");
salco	40:ecef15b1dfad	467	for(int i =0; i<DIRECTIVE_TABLEAUDECOMMANDE_SIZE; i++) debug("[%02x]",tableauDeCommange[i]);
salco	40:ecef15b1dfad	468	if(followThePath == true)
salco	40:ecef15b1dfad	469	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r EN MODE FOLLOW THE PATH");
salco	40:ecef15b1dfad	470	else
salco	40:ecef15b1dfad	471	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r HORS MODE FOLLOW THE PATH");
salco	40:ecef15b1dfad	472	break;
salco	40:ecef15b1dfad	473
salco	40:ecef15b1dfad	474	case 3:
salco	40:ecef15b1dfad	475	debug("\n\r *3: Show value Capteurs");
salco	40:ecef15b1dfad	476	debug("\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR)));
salco	40:ecef15b1dfad	477	debug("\n\r -ultrasonicToInch to cm: %02f",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)));
salco	40:ecef15b1dfad	478	debug("\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter);
salco	40:ecef15b1dfad	479	break;
salco	40:ecef15b1dfad	480
salco	40:ecef15b1dfad	481	default:
salco	40:ecef15b1dfad	482	debug("\n\n\r Press key 0-9 to select an option");
salco	40:ecef15b1dfad	483	debug("\n\r *1: Show Map");
salco	40:ecef15b1dfad	484	debug("\n\r *2: Show tableauDeCommange[]");
salco	40:ecef15b1dfad	485	debug("\n\r *3: Show value Capteurs");
salco	40:ecef15b1dfad	486	break;
salco	40:ecef15b1dfad	487	}
salco	40:ecef15b1dfad	488	}
salco	40:ecef15b1dfad	489	#endif
salco	39:34d7802e8d15	490
salco	39:34d7802e8d15	491	#ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
salco	39:34d7802e8d15	492	debug("\x1B[2J"); //clear screen
salco	39:34d7802e8d15	493	debug("\x1B[25l");//hide cursor
salco	39:34d7802e8d15	494	debug("\x1B[;H"); //cursor default position
salco	39:34d7802e8d15	495	debug("\n\r--------In task directive--------");
salco	40:ecef15b1dfad	496	for(int i = 0; i<size_tableauDeCommange; i++) debug("\n\r tableauDeCommange[%i]: %x",i,tableauDeCommange[i]);
salco	39:34d7802e8d15	497
salco	39:34d7802e8d15	498	/*
salco	39:34d7802e8d15	499	createDLbox(0,0,10,25,"BrainControle");
salco	39:34d7802e8d15	500	setText(1,3,"1) Move Up");
salco	39:34d7802e8d15	501	setText(1,4,"2) Move Down");
salco	39:34d7802e8d15	502	setText(1,5,"3) Move Left");
salco	39:34d7802e8d15	503	setText(1,6,"4) Move Right");
salco	39:34d7802e8d15	504
salco	39:34d7802e8d15	505	int idCommand;
salco	39:34d7802e8d15	506	do{
salco	37:f53e9f7a14df	507	if(pc.readable()){
salco	39:34d7802e8d15	508	idCommand = fgetc(pc) - '0';
salco	39:34d7802e8d15	509	switch(idCommand)
salco	39:34d7802e8d15	510	{
salco	39:34d7802e8d15	511	case 1:
salco	39:34d7802e8d15	512	myMaze->goUp();
salco	39:34d7802e8d15	513	break;
salco	39:34d7802e8d15	514	case 2:
salco	39:34d7802e8d15	515	myMaze->goDown();
salco	39:34d7802e8d15	516	break;
salco	39:34d7802e8d15	517	case 3:
salco	39:34d7802e8d15	518	myMaze->goLeft();
salco	39:34d7802e8d15	519	break;
salco	39:34d7802e8d15	520	case 4:
salco	39:34d7802e8d15	521	myMaze->goRight();
salco	39:34d7802e8d15	522	break;
salco	39:34d7802e8d15	523	}
salco	39:34d7802e8d15	524	myMaze->setMyPos(Labyrinthe::explorer);
salco	39:34d7802e8d15	525
salco	39:34d7802e8d15	526	string mymap = myMaze->showMap();
salco	39:34d7802e8d15	527	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r Labyrinthe map: X:%02x Y:%02x \n\r",myMaze->getX(),myMaze->getY());
salco	39:34d7802e8d15	528	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+6]);
salco	39:34d7802e8d15	529	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	530	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i+3]);
salco	39:34d7802e8d15	531	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	532	for(int i=0; i<3; i++) debug(DEBUG_DIRECTIVE_LABYRINTH," [%02X] ",mymap[i]);
salco	39:34d7802e8d15	533	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r");
salco	39:34d7802e8d15	534
salco	39:34d7802e8d15	535	#ifdef DBG_MAIN_DELAY_SEC
salco	39:34d7802e8d15	536	debug("\n\r\n wait \n\r\n");
salco	39:34d7802e8d15	537	wait(DBG_MAIN_DELAY_SEC);
salco	39:34d7802e8d15	538	#endif
salco	39:34d7802e8d15	539
salco	39:34d7802e8d15	540	debug("\x1B[2J"); //clear screen
salco	39:34d7802e8d15	541	debug("\x1B[;H"); //cursor default position
salco	39:34d7802e8d15	542	createDLbox(0,0,10,25,"BrainControle");
salco	39:34d7802e8d15	543	setText(1,3,"1) Move Up");
salco	39:34d7802e8d15	544	setText(1,4,"2) Move Down");
salco	39:34d7802e8d15	545	setText(1,5,"3) Move Left");
salco	39:34d7802e8d15	546	setText(1,6,"4) Move Right");
salco	37:f53e9f7a14df	547	}
salco	37:f53e9f7a14df	548	}while(1); */
salco	31:ed23647fd16e	549	#endif
salco	36:474d4795aafa	550
salco	28:ac5c6350ed9a	551	//debug(DEBUG_DIRECTIVE_TEST,"\n\rIn task directive");
salco	37:f53e9f7a14df	552	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	553	if(ctrDesPattes->isSeqComplet())
salco	39:34d7802e8d15	554	{
salco	40:ecef15b1dfad	555
salco	28:ac5c6350ed9a	556	////////////////
salco	28:ac5c6350ed9a	557	// Inspection //
salco	28:ac5c6350ed9a	558	////////////////
salco	40:ecef15b1dfad	559	//updateModuleValue();
salco	39:34d7802e8d15	560
salco	39:34d7802e8d15	561	if((tableauDeCommange[0] == TBL_CMD_MARCHE) && (size_tableauDeCommange == 1))
salco	39:34d7802e8d15	562	{
salco	39:34d7802e8d15	563	//addTableauDeCommande(0x81);
salco	39:34d7802e8d15	564	//addTableauDeCommande(0x82);
salco	39:34d7802e8d15	565	//mabey//addTableauDeCommande(0x83);
salco	39:34d7802e8d15	566	addTableauDeCommande(0x84);
salco	39:34d7802e8d15	567
salco	39:34d7802e8d15	568	//addTableauDeCommande(0x85);
salco	39:34d7802e8d15	569	//mabey//addTableauDeCommande(0x86);
salco	39:34d7802e8d15	570	addTableauDeCommande(0x87);
salco	39:34d7802e8d15	571	addTableauDeCommande(0x88);
salco	39:34d7802e8d15	572	}
salco	39:34d7802e8d15	573
salco	39:34d7802e8d15	574
salco	39:34d7802e8d15	575	if(tableauDeCommange[0] == 0)
salco	39:34d7802e8d15	576	{
salco	39:34d7802e8d15	577	//pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment.
salco	39:34d7802e8d15	578
salco	39:34d7802e8d15	579	////////////////
salco	39:34d7802e8d15	580	// Inspection //
salco	39:34d7802e8d15	581	////////////////
salco	39:34d7802e8d15	582	//flag.append(1,0);//0x02);
salco	39:34d7802e8d15	583	/*for(int i=0; i<m_ListDesModules.length(); ++i) {
salco	39:34d7802e8d15	584	wait_us(300);
salco	39:34d7802e8d15	585	flag.clear();
salco	39:34d7802e8d15	586	flag.append(1,7);
salco	39:34d7802e8d15	587	data.clear();
salco	39:34d7802e8d15	588	debug("\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data));
salco	39:34d7802e8d15	589
salco	39:34d7802e8d15	590	debug("\n\r flag: %d",flag[0]);
salco	39:34d7802e8d15	591	debug("\n\r data: %x",data[0]);
salco	39:34d7802e8d15	592	}*/
salco	39:34d7802e8d15	593
salco	39:34d7802e8d15	594	updateModuleValue();
salco	39:34d7802e8d15	595
salco	39:34d7802e8d15	596	//////////////////////////////
salco	39:34d7802e8d15	597	// Traitement du Labyrinthe //
salco	39:34d7802e8d15	598	//////////////////////////////
salco	40:ecef15b1dfad	599	#ifdef DEBUG_DIRECTIVE_LABYRINTH
salco	40:ecef15b1dfad	600	debug("\n\r -IRToCm(%02f): %02f",ADCTomv(m_valueCapteurIR),IRToCm(ADCTomv(m_valueCapteurIR)));
salco	40:ecef15b1dfad	601	debug("\n\r -ultrasonicToInch: %02f",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)));
salco	40:ecef15b1dfad	602	debug("\n\r -m_valueCapteurProximiter: %02d",m_valueCapteurProximiter);
salco	40:ecef15b1dfad	603	#endif
salco	39:34d7802e8d15	604	#endif //DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	605	if(followThePath == true)
salco	39:34d7802e8d15	606	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r EN MODE FOLLOW THE PATH");
salco	39:34d7802e8d15	607	else
salco	39:34d7802e8d15	608	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r HORS MODE FOLLOW THE PATH");
salco	39:34d7802e8d15	609
salco	39:34d7802e8d15	610	analiseMaze();
salco	39:34d7802e8d15	611	char nextCase=0;
salco	39:34d7802e8d15	612	/*switch(myMaze->getDirection()) {
salco	39:34d7802e8d15	613	case UP:
salco	31:ed23647fd16e	614	nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()+1);
salco	31:ed23647fd16e	615	break;
salco	39:34d7802e8d15	616
salco	39:34d7802e8d15	617	case DOWN:
salco	31:ed23647fd16e	618	nextCase = myMaze->getC(myMaze->getX(),myMaze->getY()-1);
salco	31:ed23647fd16e	619	break;
salco	39:34d7802e8d15	620
salco	39:34d7802e8d15	621	case LEFT:
salco	31:ed23647fd16e	622	nextCase = myMaze->getC(myMaze->getX()-1,myMaze->getY());
salco	31:ed23647fd16e	623	break;
salco	39:34d7802e8d15	624
salco	39:34d7802e8d15	625	case RIGHT:
salco	31:ed23647fd16e	626	nextCase = myMaze->getC(myMaze->getX()+1,myMaze->getY());
salco	31:ed23647fd16e	627	break;
salco	39:34d7802e8d15	628	}*/
salco	40:ecef15b1dfad	629	if(( myMaze->getC_Foward() == Labyrinthe::vide ) \|\| (myMaze->getC_Foward() == Labyrinthe::pasExplorer ))
salco	39:34d7802e8d15	630	followThePath = false;
salco	39:34d7802e8d15	631
salco	39:34d7802e8d15	632
salco	38:57d5f36a0333	633
salco	39:34d7802e8d15	634	if(followThePath == false)
salco	39:34d7802e8d15	635	{
salco	39:34d7802e8d15	636	nextCase = myMaze->getC_Foward();
salco	39:34d7802e8d15	637
salco	39:34d7802e8d15	638	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",nextCase);
salco	39:34d7802e8d15	639	switch(nextCase )
salco	38:57d5f36a0333	640	{
salco	39:34d7802e8d15	641	case Labyrinthe::vide :
salco	39:34d7802e8d15	642	#ifdef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	643	debug("nextCase Vide\n\r");
salco	39:34d7802e8d15	644	#endif
salco	39:34d7802e8d15	645	debug(DEBUG_DIRECTIVE_TEST," Javance");
salco	39:34d7802e8d15	646	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	647	addTableauDeCommande(TBL_CMD_MARCHE);
salco	39:34d7802e8d15	648	#endif
salco	39:34d7802e8d15	649	//if(followThePath == true)
salco	39:34d7802e8d15	650	//followThePath = false;
salco	39:34d7802e8d15	651	myMaze->moveFoward();
salco	39:34d7802e8d15	652	myMaze->setMyPos(Labyrinthe::explorer);
salco	39:34d7802e8d15	653	break;
salco	39:34d7802e8d15	654
salco	39:34d7802e8d15	655	case Labyrinthe::explorer :// ici pt amiliorer
salco	39:34d7802e8d15	656	debug(DEBUG_DIRECTIVE_TEST," \n\rnext case deja explorer");
salco	39:34d7802e8d15	657	if(rand()%2)
salco	39:34d7802e8d15	658	{
salco	39:34d7802e8d15	659	debug(DEBUG_DIRECTIVE_TEST,"\n\r jeverifie si alternative");
salco	39:34d7802e8d15	660
salco	40:ecef15b1dfad	661	/*#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	662	addTableauDeCommande(TBL_CMD_MARCHE);
salco	40:ecef15b1dfad	663	#endif*/
salco	39:34d7802e8d15	664	nextCase = checkOtherWay(myMaze->getDirection(),1);
salco	40:ecef15b1dfad	665
salco	40:ecef15b1dfad	666	turnRightDirection(myMaze->getDirection(),nextCase);
salco	39:34d7802e8d15	667	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rnextcase: %i",nextCase);
salco	39:34d7802e8d15	668	switch(nextCase)
salco	39:34d7802e8d15	669	{ // on verifie si on a une direction possible
salco	39:34d7802e8d15	670	case UP:
salco	39:34d7802e8d15	671	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP");
salco	39:34d7802e8d15	672	turnRightDirection(myMaze->getDirection(),UP);
salco	39:34d7802e8d15	673	myMaze->setDirection(UP);
salco	39:34d7802e8d15	674
salco	39:34d7802e8d15	675
salco	39:34d7802e8d15	676	break;
salco	39:34d7802e8d15	677	case DOWN:
salco	39:34d7802e8d15	678	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN");
salco	39:34d7802e8d15	679	turnRightDirection(myMaze->getDirection(),DOWN);
salco	39:34d7802e8d15	680	myMaze->setDirection(DOWN);
salco	39:34d7802e8d15	681
salco	39:34d7802e8d15	682	break;
salco	39:34d7802e8d15	683	case LEFT:
salco	39:34d7802e8d15	684	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT");
salco	39:34d7802e8d15	685	turnRightDirection(myMaze->getDirection(),LEFT);
salco	39:34d7802e8d15	686	myMaze->setDirection(LEFT);
salco	39:34d7802e8d15	687
salco	39:34d7802e8d15	688	break;
salco	39:34d7802e8d15	689	case RIGHT:
salco	39:34d7802e8d15	690	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT");
salco	39:34d7802e8d15	691	turnRightDirection(myMaze->getDirection(),RIGHT);
salco	39:34d7802e8d15	692	myMaze->setDirection(RIGHT);
salco	39:34d7802e8d15	693
salco	39:34d7802e8d15	694	break;
salco	39:34d7802e8d15	695	default: //aucun autre chemin
salco	39:34d7802e8d15	696	debug(DEBUG_DIRECTIVE_TEST,"\n\r aucune autre place alors J'avance");
salco	39:34d7802e8d15	697	myMaze->moveFoward();
salco	39:34d7802e8d15	698	myMaze->setMyPos(Labyrinthe::explorer);
salco	39:34d7802e8d15	699	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	700	addTableauDeCommande(TBL_CMD_MARCHE);
salco	39:34d7802e8d15	701	#endif
salco	39:34d7802e8d15	702	break;
salco	39:34d7802e8d15	703	}
salco	39:34d7802e8d15	704	}
salco	39:34d7802e8d15	705	else
salco	39:34d7802e8d15	706	{
salco	39:34d7802e8d15	707	debug(DEBUG_DIRECTIVE_TEST,"\n\r jeverifie pas si alternative");
salco	39:34d7802e8d15	708	myMaze->moveFoward();
salco	39:34d7802e8d15	709	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	710	addTableauDeCommande(TBL_CMD_MARCHE);
salco	39:34d7802e8d15	711	#endif
salco	39:34d7802e8d15	712	}
salco	39:34d7802e8d15	713	//myMaze->moveFoward();
salco	39:34d7802e8d15	714	//myMaze->setMyPos(Labyrinthe::explorer);
salco	39:34d7802e8d15	715	break;
salco	39:34d7802e8d15	716
salco	39:34d7802e8d15	717	case Labyrinthe::mur:
salco	39:34d7802e8d15	718	debug(DEBUG_DIRECTIVE_TEST,"\n\r UN MURRRRRRRR\n\r");
salco	39:34d7802e8d15	719	if(searchNewWay())
salco	39:34d7802e8d15	720	{
salco	39:34d7802e8d15	721	debug(DEBUG_DIRECTIVE_TEST,"\n\r New Path found ");
salco	39:34d7802e8d15	722	followThePath = true;
salco	39:34d7802e8d15	723	}
salco	39:34d7802e8d15	724	else
salco	39:34d7802e8d15	725	{
salco	39:34d7802e8d15	726	debug(DEBUG_DIRECTIVE_TEST,"\n\r New Path not found ");
salco	39:34d7802e8d15	727	}
salco	39:34d7802e8d15	728	/* switch(checkOtherWay(myMaze->getDirection()))// on verifie si on a une direction possible
salco	39:34d7802e8d15	729	{
salco	39:34d7802e8d15	730	case UP:
salco	39:34d7802e8d15	731	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP ");
salco	39:34d7802e8d15	732	myMaze->setDirection(UP);
salco	39:34d7802e8d15	733	//myMaze->moveFoward();
salco	39:34d7802e8d15	734	break;
salco	39:34d7802e8d15	735	case DOWN:
salco	39:34d7802e8d15	736	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN ");
salco	39:34d7802e8d15	737	myMaze->setDirection(DOWN);
salco	39:34d7802e8d15	738	//myMaze->moveFoward();
salco	39:34d7802e8d15	739	break;
salco	39:34d7802e8d15	740	case LEFT:
salco	39:34d7802e8d15	741	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT");
salco	39:34d7802e8d15	742	myMaze->setDirection(LEFT);
salco	39:34d7802e8d15	743	//myMaze->moveFoward();
salco	39:34d7802e8d15	744	break;
salco	39:34d7802e8d15	745	case RIGHT:
salco	39:34d7802e8d15	746	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT");
salco	39:34d7802e8d15	747	myMaze->setDirection(RIGHT);
salco	39:34d7802e8d15	748	//myMaze->moveFoward();
salco	39:34d7802e8d15	749	break;
salco	39:34d7802e8d15	750	default://aucun autre chemin
salco	39:34d7802e8d15	751	/debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne completement ");
salco	39:34d7802e8d15	752	if(myMaze->getDirection() %2)
salco	39:34d7802e8d15	753	myMaze->setDirection(myMaze->getDirection()+1);
salco	39:34d7802e8d15	754	else
salco	39:34d7802e8d15	755	myMaze->setDirection(myMaze->getDirection()-1);
salco	39:34d7802e8d15	756
salco	39:34d7802e8d15	757	//myMaze->moveFoward();
salco	39:34d7802e8d15	758
salco	39:34d7802e8d15	759	break;
salco	39:34d7802e8d15	760	}
salco	39:34d7802e8d15	761	myMaze->setMyPos(Labyrinthe::explorer);*/
salco	39:34d7802e8d15	762	break;
salco	39:34d7802e8d15	763
salco	39:34d7802e8d15	764	case Labyrinthe::pasExplorer ://pas sur
salco	39:34d7802e8d15	765	debug(DEBUG_DIRECTIVE_TEST," pasExplorer");
salco	39:34d7802e8d15	766	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	767	addTableauDeCommande(TBL_CMD_MARCHE);
salco	39:34d7802e8d15	768	#endif
salco	39:34d7802e8d15	769	break;
salco	39:34d7802e8d15	770	}
salco	39:34d7802e8d15	771	}
salco	39:34d7802e8d15	772	else
salco	39:34d7802e8d15	773	{ // on suis un chemin
salco	39:34d7802e8d15	774	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rmode follow the path\n\n\r");
salco	39:34d7802e8d15	775	positionXY tempPosition;
salco	40:ecef15b1dfad	776
salco	39:34d7802e8d15	777	//std::list<positionXY>::iterator it=bufferNewWay.begin();
salco	39:34d7802e8d15	778	for (std::list<positionXY>::iterator it=bufferNewWay.begin(); it != bufferNewWay.end(); ++it)
salco	39:34d7802e8d15	779	{
salco	39:34d7802e8d15	780	//tempPosition = *(it);
salco	39:34d7802e8d15	781	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",(*it).posX);
salco	39:34d7802e8d15	782	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",(*it).posY);
salco	39:34d7802e8d15	783	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",(*it).direction);
salco	39:34d7802e8d15	784	} //std::cout << ' ' << *it;
salco	38:57d5f36a0333	785
salco	39:34d7802e8d15	786	if((bufferNewWay.front()).direction != myMaze->getDirection()) //turn time
salco	39:34d7802e8d15	787	{
salco	39:34d7802e8d15	788	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r le chemin a pas la meme direction");
salco	39:34d7802e8d15	789	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r current dir : %i",myMaze->getDirection());
salco	39:34d7802e8d15	790	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r next dir : %i",(bufferNewWay.front()).direction);
salco	39:34d7802e8d15	791
salco	40:ecef15b1dfad	792	addTableauDeCommande(TBL_CMD_RECULE);
salco	40:ecef15b1dfad	793	addTableauDeCommande(TBL_CMD_RECULE);
salco	39:34d7802e8d15	794	turnRightDirection(myMaze->getDirection(),(bufferNewWay.front()).direction);
salco	39:34d7802e8d15	795	switch((bufferNewWay.front()).direction)
salco	38:57d5f36a0333	796	{
salco	38:57d5f36a0333	797	case UP:
salco	38:57d5f36a0333	798	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne UP");
salco	38:57d5f36a0333	799	myMaze->setDirection(UP);
salco	39:34d7802e8d15	800
salco	39:34d7802e8d15	801	/*if(((bufferNewWay.front()).direction + myMaze->getDirection()) == (UP + DOWN))
salco	39:34d7802e8d15	802	{
salco	39:34d7802e8d15	803	if(rand()%2)
salco	39:34d7802e8d15	804	{
salco	39:34d7802e8d15	805	addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	806	addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	807	}
salco	39:34d7802e8d15	808	else
salco	39:34d7802e8d15	809	{
salco	39:34d7802e8d15	810	addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	811	addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	812	}
salco	39:34d7802e8d15	813	}*/
salco	39:34d7802e8d15	814	break;
salco	38:57d5f36a0333	815	case DOWN:
salco	38:57d5f36a0333	816	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne DOWN");
salco	38:57d5f36a0333	817	myMaze->setDirection(DOWN);
salco	39:34d7802e8d15	818
salco	39:34d7802e8d15	819	break;
salco	38:57d5f36a0333	820	case LEFT:
salco	38:57d5f36a0333	821	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne LEFT");
salco	38:57d5f36a0333	822	myMaze->setDirection(LEFT);
salco	39:34d7802e8d15	823
salco	39:34d7802e8d15	824	break;
salco	38:57d5f36a0333	825	case RIGHT:
salco	38:57d5f36a0333	826	debug(DEBUG_DIRECTIVE_TEST,"\n\r Je tourne RIGHT");
salco	38:57d5f36a0333	827	myMaze->setDirection(RIGHT);
salco	38:57d5f36a0333	828	break;
salco	38:57d5f36a0333	829	}
salco	39:34d7802e8d15	830	//bufferNewWay.pop_front();
salco	39:34d7802e8d15	831	}
salco	39:34d7802e8d15	832	else
salco	38:57d5f36a0333	833	{
salco	39:34d7802e8d15	834	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r le chemin a la meme direction");
salco	39:34d7802e8d15	835	//myMaze->getXY_Foward(tempPosition.posX,tempPosition.posY);
salco	39:34d7802e8d15	836	tempPosition.posX = myMaze->getX();
salco	39:34d7802e8d15	837	tempPosition.posY = myMaze->getY();
salco	39:34d7802e8d15	838	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r current X: %i",tempPosition.posX);
salco	39:34d7802e8d15	839	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r current Y: %i",tempPosition.posY);
salco	39:34d7802e8d15	840	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r buffer X: %i",(bufferNewWay.front()).posX);
salco	39:34d7802e8d15	841	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r buffer Y: %i",(bufferNewWay.front()).posY);
salco	39:34d7802e8d15	842	if((tempPosition.posX == (bufferNewWay.front()).posX) && (tempPosition.posY == (bufferNewWay.front()).posY))
salco	39:34d7802e8d15	843	{
salco	40:ecef15b1dfad	844	updateMaze();
salco	40:ecef15b1dfad	845
salco	40:ecef15b1dfad	846	nextCase = myMaze->getC_Foward();
salco	40:ecef15b1dfad	847
salco	40:ecef15b1dfad	848	if(nextCase == Labyrinthe::mur)
salco	40:ecef15b1dfad	849	{
salco	40:ecef15b1dfad	850	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r problem");
salco	40:ecef15b1dfad	851	followThePath = false;
salco	40:ecef15b1dfad	852	}
salco	40:ecef15b1dfad	853	else
salco	40:ecef15b1dfad	854	{
salco	39:34d7802e8d15	855	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r aucun problem");
salco	39:34d7802e8d15	856	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	857	addTableauDeCommande(TBL_CMD_MARCHE);
salco	39:34d7802e8d15	858	#endif
salco	39:34d7802e8d15	859	myMaze->moveFoward();
salco	39:34d7802e8d15	860	myMaze->setMyPos(Labyrinthe::explorer);
salco	39:34d7802e8d15	861	bufferNewWay.pop_front();
salco	40:ecef15b1dfad	862	}
salco	39:34d7802e8d15	863	}
salco	39:34d7802e8d15	864	else
salco	39:34d7802e8d15	865	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r problem");
salco	39:34d7802e8d15	866
salco	38:57d5f36a0333	867	}
salco	39:34d7802e8d15	868
salco	39:34d7802e8d15	869
salco	39:34d7802e8d15	870
salco	39:34d7802e8d15	871	if(bufferNewWay.empty())
salco	39:34d7802e8d15	872	followThePath = false;
salco	40:ecef15b1dfad	873
salco	40:ecef15b1dfad	874
salco	40:ecef15b1dfad	875
salco	40:ecef15b1dfad	876
salco	40:ecef15b1dfad	877
salco	40:ecef15b1dfad	878
salco	40:ecef15b1dfad	879
salco	39:34d7802e8d15	880	/*do{
salco	39:34d7802e8d15	881	//tempPosition.posX = (bufferNewWay.front()).posX;
salco	39:34d7802e8d15	882	//tempPosition.posY = (bufferNewWay.front()).posY;
salco	39:34d7802e8d15	883
salco	39:34d7802e8d15	884	tempPosition = bufferNewWay.front();
salco	39:34d7802e8d15	885	bufferNewWay.pop_front();
salco	39:34d7802e8d15	886	debug("\n\r bufferNewWay: %i",bufferNewWay.size());
salco	39:34d7802e8d15	887	debug("\n\rtempPosition.posX: %i",tempPosition.posX);
salco	39:34d7802e8d15	888	debug("\n\rtempPosition.posY: %i",tempPosition.posY);
salco	39:34d7802e8d15	889	}while(bufferNewWay.size() != 0);*/
salco	39:34d7802e8d15	890	}
salco	39:34d7802e8d15	891	#ifdef DEBUG_DIRECTIVE_SHOW_MAP_LABYRINTH
salco	39:34d7802e8d15	892	string mymap = myMaze->showMap();
salco	39:34d7802e8d15	893	debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY()));
salco	39:34d7802e8d15	894	//char caseCaract = 0;
salco	39:34d7802e8d15	895	debug("\n\r");
salco	39:34d7802e8d15	896	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6]));
salco	39:34d7802e8d15	897	debug("\n\r");
salco	39:34d7802e8d15	898	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3]));
salco	39:34d7802e8d15	899	debug("\n\r");
salco	39:34d7802e8d15	900	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i]));
salco	39:34d7802e8d15	901	debug("\n\r");
salco	39:34d7802e8d15	902	#endif
salco	39:34d7802e8d15	903	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	904	/*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)) //capteur ultrasson embrouiller/imprecis
salco	39:34d7802e8d15	905	{
salco	39:34d7802e8d15	906	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
salco	39:34d7802e8d15	907	addTableauDeCommande(6);
salco	39:34d7802e8d15	908	}
salco	39:34d7802e8d15	909	else if(ultrasonicToInch(m_valueCapteurUltrasonic) < 10) { //plus proche que 10pouce
salco	39:34d7802e8d15	910	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche");
salco	39:34d7802e8d15	911	if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 10) {
salco	39:34d7802e8d15	912	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco	39:34d7802e8d15	913	addTableauDeCommande(7);
salco	39:34d7802e8d15	914
salco	39:34d7802e8d15	915
salco	39:34d7802e8d15	916	//ici potentielle scaning
salco	39:34d7802e8d15	917	} else {
salco	39:34d7802e8d15	918	addTableauDeCommande(4);
salco	39:34d7802e8d15	919	addTableauDeCommande(4);
salco	39:34d7802e8d15	920	addTableauDeCommande(4);
salco	39:34d7802e8d15	921	}
salco	39:34d7802e8d15	922	} else {
salco	39:34d7802e8d15	923	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Nothing:");
salco	39:34d7802e8d15	924	addTableauDeCommande(6);
salco	39:34d7802e8d15	925
salco	39:34d7802e8d15	926
salco	39:34d7802e8d15	927	int randomNbr = rand() % 4;
salco	39:34d7802e8d15	928	switch(randomNbr)
salco	39:34d7802e8d15	929	{
salco	39:34d7802e8d15	930	case 1:
salco	39:34d7802e8d15	931	debug(DEBUG_DIRECTIVE_TEST," Javance");
salco	39:34d7802e8d15	932	addTableauDeCommande(6);
salco	39:34d7802e8d15	933	break;
salco	39:34d7802e8d15	934	case 2:
salco	39:34d7802e8d15	935	debug(DEBUG_DIRECTIVE_TEST," Je tourne a gauche");
salco	39:34d7802e8d15	936	addTableauDeCommande(4);
salco	39:34d7802e8d15	937	break;
salco	39:34d7802e8d15	938	case 3:
salco	39:34d7802e8d15	939	debug(DEBUG_DIRECTIVE_TEST," Je tourne a droite");
salco	39:34d7802e8d15	940	addTableauDeCommande(5);
salco	39:34d7802e8d15	941	break;
salco	39:34d7802e8d15	942	default:
salco	39:34d7802e8d15	943	debug(DEBUG_DIRECTIVE_TEST," Jattend");
salco	39:34d7802e8d15	944	break;
salco	39:34d7802e8d15	945	}
salco	39:34d7802e8d15	946
salco	39:34d7802e8d15	947
salco	39:34d7802e8d15	948	//addTableauDeCommande(6);
salco	39:34d7802e8d15	949	}*/
salco	40:ecef15b1dfad	950	#ifdef DEBUG_DIRECTIVE_TASK_PAUSE
salco	40:ecef15b1dfad	951	debug("\n\r press any 9 key");
salco	40:ecef15b1dfad	952	for(int idCmd=0; idCmd != 9; idCmd = fgetc(pc) - '0');
salco	40:ecef15b1dfad	953	#endif
salco	39:34d7802e8d15	954	///////////////
salco	39:34d7802e8d15	955	// Mouvement //
salco	39:34d7802e8d15	956	///////////////
salco	39:34d7802e8d15	957	}
salco	39:34d7802e8d15	958	else
salco	28:ac5c6350ed9a	959	{
salco	39:34d7802e8d15	960
salco	39:34d7802e8d15	961	switch(tableauDeCommange[0])
salco	28:ac5c6350ed9a	962	{
salco	39:34d7802e8d15	963	case 11:
salco	39:34d7802e8d15	964	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_calibre");
salco	39:34d7802e8d15	965	ctrDesPattes->calibre();
salco	39:34d7802e8d15	966	break;
salco	28:ac5c6350ed9a	967	case 2:
salco	39:34d7802e8d15	968	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveUp");
salco	39:34d7802e8d15	969	ctrDesPattes->moveUp();
salco	39:34d7802e8d15	970	break;
salco	28:ac5c6350ed9a	971	case 3:
salco	39:34d7802e8d15	972	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveDown");
salco	39:34d7802e8d15	973	ctrDesPattes->moveDown();
salco	39:34d7802e8d15	974	break;
salco	39:34d7802e8d15	975	case 4:
salco	39:34d7802e8d15	976	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_turnLeft");
salco	39:34d7802e8d15	977	ctrDesPattes->turnLeft();
salco	39:34d7802e8d15	978	break;
salco	39:34d7802e8d15	979	case 5:
salco	39:34d7802e8d15	980	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_trunRight");
salco	39:34d7802e8d15	981	ctrDesPattes->trunRight();
salco	39:34d7802e8d15	982	break;
salco	39:34d7802e8d15	983	case 6:
salco	39:34d7802e8d15	984	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveFront");
salco	39:34d7802e8d15	985	ctrDesPattes->moveFront();
salco	39:34d7802e8d15	986	break;
salco	39:34d7802e8d15	987	case 7:
salco	39:34d7802e8d15	988	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_moveBack");
salco	39:34d7802e8d15	989	ctrDesPattes->moveBack();
salco	39:34d7802e8d15	990	break;
salco	39:34d7802e8d15	991	/*case 8:
salco	39:34d7802e8d15	992	ctrDesPattes->moveBack();
salco	39:34d7802e8d15	993	break;*/
salco	39:34d7802e8d15	994	case 0x81:
salco	39:34d7802e8d15	995	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 1");
salco	39:34d7802e8d15	996	ctrDesPattes->repositioner(1);
salco	39:34d7802e8d15	997	break;
salco	39:34d7802e8d15	998	case 0x82:
salco	39:34d7802e8d15	999	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 2");
salco	39:34d7802e8d15	1000	ctrDesPattes->repositioner(2);
salco	39:34d7802e8d15	1001	break;
salco	39:34d7802e8d15	1002	case 0x83:
salco	39:34d7802e8d15	1003	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 3");
salco	39:34d7802e8d15	1004	ctrDesPattes->repositioner(3);
salco	39:34d7802e8d15	1005	break;
salco	39:34d7802e8d15	1006	case 0x84:
salco	39:34d7802e8d15	1007	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 4");
salco	39:34d7802e8d15	1008	ctrDesPattes->repositioner(4);
salco	39:34d7802e8d15	1009	break;
salco	39:34d7802e8d15	1010	case 0x85:
salco	39:34d7802e8d15	1011	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 5");
salco	39:34d7802e8d15	1012	ctrDesPattes->repositioner(5);
salco	39:34d7802e8d15	1013	break;
salco	39:34d7802e8d15	1014	case 0x86:
salco	39:34d7802e8d15	1015	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 6");
salco	39:34d7802e8d15	1016	ctrDesPattes->repositioner(6);
salco	39:34d7802e8d15	1017	break;
salco	39:34d7802e8d15	1018	case 0x87:
salco	39:34d7802e8d15	1019	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 7");
salco	39:34d7802e8d15	1020	ctrDesPattes->repositioner(7);
salco	39:34d7802e8d15	1021	break;
salco	39:34d7802e8d15	1022	case 0x88:
salco	39:34d7802e8d15	1023	debug(DEBUG_DIRECTIVE_TEST,"\n\r -set_Repositioner 8");
salco	39:34d7802e8d15	1024	ctrDesPattes->repositioner(8);
salco	39:34d7802e8d15	1025	break;
salco	39:34d7802e8d15	1026	}
salco	39:34d7802e8d15	1027	debug(DEBUG_DIRECTIVE_TEST,"\n\r -TAB:");
salco	40:ecef15b1dfad	1028	for(int i =0; i<DIRECTIVE_TABLEAUDECOMMANDE_SIZE; i++) debug(DEBUG_DIRECTIVE_TEST,"[%02x]",tableauDeCommange[i]);
salco	40:ecef15b1dfad	1029	for(int i =0; i<DIRECTIVE_TABLEAUDECOMMANDE_SIZE; i++) tableauDeCommange[i]= tableauDeCommange[i+1];
salco	40:ecef15b1dfad	1030	tableauDeCommange[DIRECTIVE_TABLEAUDECOMMANDE_SIZE-1] = 0;
salco	39:34d7802e8d15	1031	if(size_tableauDeCommange != 0) size_tableauDeCommange--;
salco	39:34d7802e8d15	1032	}
salco	37:f53e9f7a14df	1033
salco	39:34d7802e8d15	1034	}
salco	39:34d7802e8d15	1035	else
salco	39:34d7802e8d15	1036	{
salco	39:34d7802e8d15	1037	ctrDesPattes->exec();
salco	28:ac5c6350ed9a	1038	}
salco	37:f53e9f7a14df	1039	#endif //DEBUG_DIRECTIVE_LEG_DISABLE
salco	28:ac5c6350ed9a	1040	////////////////////
salco	28:ac5c6350ed9a	1041	// Update memoire //
salco	28:ac5c6350ed9a	1042	////////////////////
salco	39:34d7802e8d15	1043
salco	28:ac5c6350ed9a	1044	////////////
salco	28:ac5c6350ed9a	1045	// Autre? //
salco	28:ac5c6350ed9a	1046	////////////
salco	39:34d7802e8d15	1047
salco	39:34d7802e8d15	1048
salco	28:ac5c6350ed9a	1049	//debug(DEBUG_DIRECTIVE_TEST,"\n\rOut task directive");
salco	39:34d7802e8d15	1050	#ifdef DEBUG_BOOT_GRAPHICAL_INTERFACE
salco	39:34d7802e8d15	1051	#ifdef DBG_MAIN_DELAY_SEC
salco	39:34d7802e8d15	1052	debug("\n\r\n wait \n\r\n");
salco	39:34d7802e8d15	1053	wait(DBG_MAIN_DELAY_SEC);
salco	39:34d7802e8d15	1054	#endif
salco	39:34d7802e8d15	1055	debug("\n\r---------------------");
salco	37:f53e9f7a14df	1056	#endif
salco	28:ac5c6350ed9a	1057	}
salco	28:ac5c6350ed9a	1058	double Directive::IRToCm (double miliVolt)
salco	28:ac5c6350ed9a	1059	{
salco	28:ac5c6350ed9a	1060	double result=0;
salco	39:34d7802e8d15	1061	//debug("\n\r double value: %02f",miliVolt);
salco	28:ac5c6350ed9a	1062	if(miliVolt < tabIR[0][1])result = tabIR[0][0];
salco	28:ac5c6350ed9a	1063	else if(miliVolt > tabIR[11][1])result = tabIR[11][0];
salco	39:34d7802e8d15	1064
salco	39:34d7802e8d15	1065	for(int i =1; (result==0)&&(i<12); i++)
salco	39:34d7802e8d15	1066	{
salco	39:34d7802e8d15	1067	if((tabIR[i-1][1]<=miliVolt) && (tabIR[i][1]>miliVolt))
salco	39:34d7802e8d15	1068	{
salco	28:ac5c6350ed9a	1069	result=tabIR[i-1][0]+((tabIR[i][0]-tabIR[i-1][0])*((tabIR[i-1][1]-miliVolt)/(tabIR[i-1][1]-tabIR[i][1])));
salco	28:ac5c6350ed9a	1070	}
salco	28:ac5c6350ed9a	1071	}
salco	28:ac5c6350ed9a	1072	return result;
salco	28:ac5c6350ed9a	1073	}
salco	28:ac5c6350ed9a	1074	void Directive::addTableauDeCommande(unsigned char value)
salco	28:ac5c6350ed9a	1075	{
salco	40:ecef15b1dfad	1076	if(size_tableauDeCommange!=DIRECTIVE_TABLEAUDECOMMANDE_SIZE)
salco	39:34d7802e8d15	1077	{
salco	28:ac5c6350ed9a	1078	tableauDeCommange[size_tableauDeCommange]=value;
salco	28:ac5c6350ed9a	1079	size_tableauDeCommange++;
salco	39:34d7802e8d15	1080
salco	28:ac5c6350ed9a	1081	}
salco	28:ac5c6350ed9a	1082	}
salco	28:ac5c6350ed9a	1083
salco	28:ac5c6350ed9a	1084	void Directive::updateModuleValue(void)
salco	28:ac5c6350ed9a	1085	{
salco	28:ac5c6350ed9a	1086	string flag,data;
salco	39:34d7802e8d15	1087	double tempValue=0;
salco	28:ac5c6350ed9a	1088	flag.clear();
salco	28:ac5c6350ed9a	1089	data.clear();
salco	28:ac5c6350ed9a	1090	flag.append(1,7);
salco	39:34d7802e8d15	1091	//debug("\n\n\r flag size:%i \n\r",flag.size());
salco	28:ac5c6350ed9a	1092	if(m_CtrlBridge->send(m_capteurUltrasonic[0],flag,data))
salco	39:34d7802e8d15	1093	{
salco	39:34d7802e8d15	1094	/*if(data[0] != 1)//patch?
salco	39:34d7802e8d15	1095	tempValue = data[0];*/
salco	39:34d7802e8d15	1096
salco	39:34d7802e8d15	1097	if(data.size() == 2)
salco	39:34d7802e8d15	1098	{
salco	39:34d7802e8d15	1099	tempValue = data[0];
salco	39:34d7802e8d15	1100	//tempValue = (tempValue<<8) + data[1];
salco	39:34d7802e8d15	1101	tempValue = (data[0]<<8) + data[1];
salco	39:34d7802e8d15	1102	}
salco	39:34d7802e8d15	1103	else
salco	39:34d7802e8d15	1104	tempValue = data[0];
salco	39:34d7802e8d15	1105
salco	40:ecef15b1dfad	1106	if(data.size() != 0)
salco	40:ecef15b1dfad	1107	m_valueCapteurUltrasonic = m_valueCapteurUltrasonic+((tempValue -m_valueCapteurUltrasonic)/DIRECTIVE_ULTRASONIC_BUFFER_LENGHT);
salco	39:34d7802e8d15	1108	}
salco	39:34d7802e8d15	1109	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	40:ecef15b1dfad	1110	debug("\n\r m_valueCapteurUltrasonic");
salco	39:34d7802e8d15	1111	debug("\n\n\r data size:%i \n\r",data.size());
salco	40:ecef15b1dfad	1112	switch(data.size())
salco	40:ecef15b1dfad	1113	{
salco	40:ecef15b1dfad	1114	case 1:
salco	40:ecef15b1dfad	1115	debug("\n\r -data(value):%i ",data[0]);
salco	40:ecef15b1dfad	1116	break;
salco	40:ecef15b1dfad	1117	case 2:
salco	40:ecef15b1dfad	1118	debug("\n\r -data(value):%i ",(data[0]<<8) + data[1]);
salco	40:ecef15b1dfad	1119	break;
salco	40:ecef15b1dfad	1120	}
salco	40:ecef15b1dfad	1121	//debug("\n\r -data(value):%i ",data[0]);
salco	39:34d7802e8d15	1122	debug("\n\r -tempValue(value):%02f ",tempValue);
salco	39:34d7802e8d15	1123	#endif
salco	39:34d7802e8d15	1124	tempValue=0;
salco	28:ac5c6350ed9a	1125	flag.clear();
salco	28:ac5c6350ed9a	1126	data.clear();
salco	28:ac5c6350ed9a	1127	flag.append(1,7);
salco	39:34d7802e8d15	1128
salco	39:34d7802e8d15	1129	//debug("\n\n\r flag size:%i \n\r",flag.size());
salco	39:34d7802e8d15	1130	if(m_CtrlBridge->send(m_capteurIR[0],flag,data))
salco	39:34d7802e8d15	1131	{
salco	39:34d7802e8d15	1132
salco	39:34d7802e8d15	1133	if(data.size() == 2)
salco	39:34d7802e8d15	1134	{
salco	39:34d7802e8d15	1135	//tempValue = data[0]<<8;
salco	39:34d7802e8d15	1136	//debug("\n\n\r monI: %02f",tempValue);
salco	39:34d7802e8d15	1137	//debug("\n\n\r mondata: %i",data[0]<<8);
salco	39:34d7802e8d15	1138	//tempValue = (tempValue<<8) + data[1];
salco	39:34d7802e8d15	1139	tempValue = (data[0]<<8) + data[1];
salco	39:34d7802e8d15	1140	}
salco	39:34d7802e8d15	1141	else
salco	39:34d7802e8d15	1142	tempValue = data[0];
salco	39:34d7802e8d15	1143
salco	40:ecef15b1dfad	1144	if(data.size() != 0)
salco	40:ecef15b1dfad	1145	m_valueCapteurIR=m_valueCapteurIR+((tempValue-m_valueCapteurIR)/DIRECTIVE_IR_BUFFER_LENGHT);
salco	28:ac5c6350ed9a	1146	}
salco	39:34d7802e8d15	1147	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	40:ecef15b1dfad	1148	debug("\n\r m_valueCapteurIR");
salco	39:34d7802e8d15	1149	debug("\n\n\r data size:%i \n\r",data.size());
salco	40:ecef15b1dfad	1150	switch(data.size())
salco	40:ecef15b1dfad	1151	{
salco	40:ecef15b1dfad	1152	case 1:
salco	40:ecef15b1dfad	1153	debug("\n\r -data(value):%i ",data[0]);
salco	40:ecef15b1dfad	1154	break;
salco	40:ecef15b1dfad	1155	case 2:
salco	40:ecef15b1dfad	1156	debug("\n\r -data(value):%i ",(data[0]<<8) + data[1]);
salco	40:ecef15b1dfad	1157	break;
salco	40:ecef15b1dfad	1158	}
salco	40:ecef15b1dfad	1159	//debug("\n\r -data(value):%i ",data[0]);
salco	39:34d7802e8d15	1160	debug("\n\r -tempValue(value):%02f ",tempValue);
salco	39:34d7802e8d15	1161	#endif
salco	39:34d7802e8d15	1162	//debug("\n\n\r data size:%i \n\r",data.size());
salco	39:34d7802e8d15	1163	// debug("\n\r -IR(value):%f ",m_valueCapteurIR);
salco	39:34d7802e8d15	1164	//for(int i=0; i<data.size();i++)debug("\n\r -data[%i]:%i",i,data[i]);
salco	39:34d7802e8d15	1165
salco	28:ac5c6350ed9a	1166	flag.clear();
salco	28:ac5c6350ed9a	1167	data.clear();
salco	28:ac5c6350ed9a	1168	flag.append(1,7);
salco	39:34d7802e8d15	1169	//debug("\n\n\r flag size:%i \n\r",flag.size());
salco	28:ac5c6350ed9a	1170	if(m_CtrlBridge->send(m_capteurProximiter[0],flag,data))
salco	40:ecef15b1dfad	1171
salco	28:ac5c6350ed9a	1172	m_valueCapteurProximiter = data[0];
salco	39:34d7802e8d15	1173
salco	39:34d7802e8d15	1174	// debug("\n\n\r data size:%i \n\r",data.size());
salco	39:34d7802e8d15	1175	// debug("\n\r -m_valueCapteurProximiter(value):%i ",m_valueCapteurProximiter);
salco	28:ac5c6350ed9a	1176	}
salco	28:ac5c6350ed9a	1177
salco	28:ac5c6350ed9a	1178	void Directive::analiseMaze(void)
salco	28:ac5c6350ed9a	1179	{
salco	40:ecef15b1dfad	1180	string mymap = myMaze->showMap();
salco	40:ecef15b1dfad	1181
salco	40:ecef15b1dfad	1182	#ifdef DEBUG_DIRECTIVE_LABYRINTH
salco	40:ecef15b1dfad	1183	debug("\n\r ----------------analiseMaze--------------\n\r");
salco	40:ecef15b1dfad	1184	debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY()));
salco	40:ecef15b1dfad	1185
salco	40:ecef15b1dfad	1186	debug("Direction: ");
salco	39:34d7802e8d15	1187	switch(myMaze->getDirection())
salco	39:34d7802e8d15	1188	{
salco	37:f53e9f7a14df	1189	case UP:
salco	40:ecef15b1dfad	1190	debug("Up \n\r");
salco	37:f53e9f7a14df	1191	break;
salco	37:f53e9f7a14df	1192	case DOWN:
salco	40:ecef15b1dfad	1193	debug("Down \n\r");
salco	37:f53e9f7a14df	1194	break;
salco	37:f53e9f7a14df	1195	case LEFT:
salco	40:ecef15b1dfad	1196	debug("Left \n\r");
salco	37:f53e9f7a14df	1197	break;
salco	37:f53e9f7a14df	1198	case RIGHT:
salco	40:ecef15b1dfad	1199	debug("Right \n\r");
salco	37:f53e9f7a14df	1200	break;
salco	39:34d7802e8d15	1201	}
salco	37:f53e9f7a14df	1202
salco	40:ecef15b1dfad	1203	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6]));
salco	40:ecef15b1dfad	1204	debug("\n\r");
salco	40:ecef15b1dfad	1205	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3]));
salco	40:ecef15b1dfad	1206	debug("\n\r");
salco	40:ecef15b1dfad	1207	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i]));
salco	40:ecef15b1dfad	1208	debug("\n\r");
salco	40:ecef15b1dfad	1209	#endif
salco	40:ecef15b1dfad	1210
salco	40:ecef15b1dfad	1211
salco	40:ecef15b1dfad	1212
salco	40:ecef15b1dfad	1213
salco	40:ecef15b1dfad	1214
salco	40:ecef15b1dfad	1215
salco	40:ecef15b1dfad	1216
salco	39:34d7802e8d15	1217
salco	37:f53e9f7a14df	1218
salco	39:34d7802e8d15	1219	#ifndef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
salco	39:34d7802e8d15	1220	/*if((ultrasonicToInch(m_valueCapteurUltrasonic)< 1) && (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80))
salco	39:34d7802e8d15	1221	{ //capteur ultrasson embrouiller/imprecis
salco	39:34d7802e8d15	1222	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
salco	39:34d7802e8d15	1223	//addTableauDeCommande(6);
salco	39:34d7802e8d15	1224	}
salco	39:34d7802e8d15	1225	else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=24)
salco	39:34d7802e8d15	1226	{ //plus proche que 10pouce
salco	39:34d7802e8d15	1227	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi");
salco	39:34d7802e8d15	1228	areaLatt =2;
salco	39:34d7802e8d15	1229	areaVert =2;
salco	39:34d7802e8d15	1230	}
salco	39:34d7802e8d15	1231	else if(ultrasonicToInch(m_valueCapteurUltrasonic) >=12)
salco	39:34d7802e8d15	1232	{ //plus proche que 10pouce
salco	39:34d7802e8d15	1233	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Objet proche 2pi");
salco	39:34d7802e8d15	1234	areaLatt =1;
salco	39:34d7802e8d15	1235	areaVert =1;
salco	39:34d7802e8d15	1236	}
salco	39:34d7802e8d15	1237	debug(DEBUG_DIRECTIVE_TEST,": %i",ultrasonicToInch(m_valueCapteurUltrasonic));
salco	39:34d7802e8d15	1238
salco	39:34d7802e8d15	1239	if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 60)
salco	39:34d7802e8d15	1240	{
salco	39:34d7802e8d15	1241	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco	39:34d7802e8d15	1242	areaVert =2;
salco	39:34d7802e8d15	1243	}
salco	39:34d7802e8d15	1244	else if(IRToCm(ADCTomv(m_valueCapteurIR)) <= 30)
salco	39:34d7802e8d15	1245	{
salco	39:34d7802e8d15	1246	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Confirmation IR");
salco	39:34d7802e8d15	1247	areaVert =1;
salco	39:34d7802e8d15	1248	}
salco	39:34d7802e8d15	1249	debug(DEBUG_DIRECTIVE_TEST,": %i",IRToCm(ADCTomv(m_valueCapteurIR)));*///old one
salco	40:ecef15b1dfad	1250
salco	40:ecef15b1dfad	1251	updateMaze();
salco	40:ecef15b1dfad	1252
salco	40:ecef15b1dfad	1253	#ifdef DEBUG_DIRECTIVE_LABYRINTH
salco	40:ecef15b1dfad	1254	mymap = myMaze->showMap();
salco	40:ecef15b1dfad	1255	//char caseCaract = 0;
salco	40:ecef15b1dfad	1256	debug("\n\r");
salco	40:ecef15b1dfad	1257	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6]));
salco	40:ecef15b1dfad	1258	debug("\n\r");
salco	40:ecef15b1dfad	1259	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3]));
salco	40:ecef15b1dfad	1260	debug("\n\r");
salco	40:ecef15b1dfad	1261	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i]));
salco	40:ecef15b1dfad	1262	debug("\n\r");
salco	40:ecef15b1dfad	1263
salco	40:ecef15b1dfad	1264	debug("\n\r-------------------\n\r");
salco	40:ecef15b1dfad	1265	#endif
salco	40:ecef15b1dfad	1266
salco	40:ecef15b1dfad	1267	}
salco	40:ecef15b1dfad	1268
salco	40:ecef15b1dfad	1269	char Directive::checkOtherWay(char dir, bool checkExplorer)
salco	40:ecef15b1dfad	1270	{
salco	40:ecef15b1dfad	1271	char result = 0;
salco	40:ecef15b1dfad	1272	char order[3];
salco	40:ecef15b1dfad	1273
salco	40:ecef15b1dfad	1274
salco	40:ecef15b1dfad	1275
salco	40:ecef15b1dfad	1276	bool fini = false;
salco	40:ecef15b1dfad	1277
salco	40:ecef15b1dfad	1278	switch(rand() % 6)
salco	40:ecef15b1dfad	1279	{
salco	40:ecef15b1dfad	1280	case 0://[0],[1],[2]
salco	40:ecef15b1dfad	1281	order[0] = 0;
salco	40:ecef15b1dfad	1282	order[1] = 1;
salco	40:ecef15b1dfad	1283	order[2] = 2;
salco	40:ecef15b1dfad	1284	break;
salco	40:ecef15b1dfad	1285	case 1://[0],[2],[1]
salco	40:ecef15b1dfad	1286	order[0] = 0;
salco	40:ecef15b1dfad	1287	order[1] = 2;
salco	40:ecef15b1dfad	1288	order[2] = 1;
salco	40:ecef15b1dfad	1289	break;
salco	40:ecef15b1dfad	1290	case 2://[1],[0],[2]
salco	40:ecef15b1dfad	1291	order[0] = 1;
salco	40:ecef15b1dfad	1292	order[1] = 0;
salco	40:ecef15b1dfad	1293	order[2] = 2;
salco	40:ecef15b1dfad	1294	break;
salco	40:ecef15b1dfad	1295	case 3://[2],[0],[1]
salco	40:ecef15b1dfad	1296	order[0] = 2;
salco	40:ecef15b1dfad	1297	order[1] = 0;
salco	40:ecef15b1dfad	1298	order[2] = 1;
salco	40:ecef15b1dfad	1299	break;
salco	40:ecef15b1dfad	1300	case 4://[1],[2],[0]
salco	40:ecef15b1dfad	1301	order[0] = 1;
salco	40:ecef15b1dfad	1302	order[1] = 2;
salco	40:ecef15b1dfad	1303	order[2] = 0;
salco	40:ecef15b1dfad	1304	break;
salco	40:ecef15b1dfad	1305	case 5://[2],[1],[0]
salco	40:ecef15b1dfad	1306	order[0] = 2;
salco	40:ecef15b1dfad	1307	order[1] = 1;
salco	40:ecef15b1dfad	1308	order[2] = 0;
salco	40:ecef15b1dfad	1309	break;
salco	40:ecef15b1dfad	1310	}
salco	40:ecef15b1dfad	1311	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rresult: ");
salco	40:ecef15b1dfad	1312	for(int i=0; (i<3)&&(!fini); i++)
salco	40:ecef15b1dfad	1313	{
salco	40:ecef15b1dfad	1314	switch(order[i])
salco	40:ecef15b1dfad	1315	{ // 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
salco	40:ecef15b1dfad	1316	case 0:
salco	40:ecef15b1dfad	1317	result = myMaze->getC_ToLeft();
salco	40:ecef15b1dfad	1318	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r getC_ToLeft: %i %i ****",result,myMaze->getC_ToLeft());
salco	40:ecef15b1dfad	1319	//if(((Labyrinthe::case_t)result != Labyrinthe::error)&&((Labyrinthe::case_t)result != Labyrinthe::mur) &&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1) )
salco	40:ecef15b1dfad	1320	if(((Labyrinthe::case_t)result == Labyrinthe::vide)&&((Labyrinthe::case_t)result != Labyrinthe::mur) &&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1) )
salco	40:ecef15b1dfad	1321	{
salco	40:ecef15b1dfad	1322	fini = true;
salco	40:ecef15b1dfad	1323	result = LEFT;
salco	40:ecef15b1dfad	1324	}
salco	40:ecef15b1dfad	1325	break;
salco	40:ecef15b1dfad	1326	case 1:
salco	40:ecef15b1dfad	1327	result = myMaze->getC_Backward();
salco	40:ecef15b1dfad	1328	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r getC_Backward: %i %i ****",result,myMaze->getC_Backward());
salco	40:ecef15b1dfad	1329	if(/((Labyrinthe::case_t)result != Labyrinthe::error)&&/((Labyrinthe::case_t)result != Labyrinthe::mur)&&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1))
salco	40:ecef15b1dfad	1330	{
salco	40:ecef15b1dfad	1331	fini = true;
salco	40:ecef15b1dfad	1332	result = DOWN;
salco	40:ecef15b1dfad	1333	}
salco	40:ecef15b1dfad	1334	break;
salco	40:ecef15b1dfad	1335	case 2:
salco	40:ecef15b1dfad	1336	result = myMaze->getC_ToRight();
salco	40:ecef15b1dfad	1337	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r getC_ToRight: %i %i ****",result,myMaze->getC_ToRight());
salco	40:ecef15b1dfad	1338	if(/((Labyrinthe::case_t)result != Labyrinthe::error)&&/((Labyrinthe::case_t)result != Labyrinthe::mur)&&((checkExplorer)?((Labyrinthe::case_t)result != Labyrinthe::explorer):1))
salco	40:ecef15b1dfad	1339	{
salco	40:ecef15b1dfad	1340	fini = true;
salco	40:ecef15b1dfad	1341	result = RIGHT;
salco	40:ecef15b1dfad	1342	}
salco	40:ecef15b1dfad	1343	break;
salco	40:ecef15b1dfad	1344	}
salco	40:ecef15b1dfad	1345	}
salco	40:ecef15b1dfad	1346
salco	40:ecef15b1dfad	1347	if(fini)
salco	40:ecef15b1dfad	1348	{
salco	40:ecef15b1dfad	1349	switch(dir)
salco	40:ecef15b1dfad	1350	{
salco	40:ecef15b1dfad	1351	/*case UP:
salco	40:ecef15b1dfad	1352	break;*/
salco	40:ecef15b1dfad	1353	case DOWN:
salco	40:ecef15b1dfad	1354	switch(result)
salco	40:ecef15b1dfad	1355	{
salco	40:ecef15b1dfad	1356	case LEFT:
salco	40:ecef15b1dfad	1357	result = RIGHT;
salco	40:ecef15b1dfad	1358	break;
salco	40:ecef15b1dfad	1359	case DOWN:
salco	40:ecef15b1dfad	1360	result = UP;
salco	40:ecef15b1dfad	1361	break;
salco	40:ecef15b1dfad	1362	case RIGHT:
salco	40:ecef15b1dfad	1363	result = LEFT;
salco	40:ecef15b1dfad	1364	break;
salco	40:ecef15b1dfad	1365	}
salco	40:ecef15b1dfad	1366	break;
salco	40:ecef15b1dfad	1367	case LEFT:
salco	40:ecef15b1dfad	1368	switch(result)
salco	40:ecef15b1dfad	1369	{
salco	40:ecef15b1dfad	1370	case LEFT:
salco	40:ecef15b1dfad	1371	result = DOWN;
salco	40:ecef15b1dfad	1372	break;
salco	40:ecef15b1dfad	1373	case DOWN:
salco	40:ecef15b1dfad	1374	result = RIGHT;
salco	40:ecef15b1dfad	1375	break;
salco	40:ecef15b1dfad	1376	case RIGHT:
salco	40:ecef15b1dfad	1377	result = UP;
salco	40:ecef15b1dfad	1378	break;
salco	40:ecef15b1dfad	1379	}
salco	40:ecef15b1dfad	1380	break;
salco	40:ecef15b1dfad	1381	case RIGHT:
salco	40:ecef15b1dfad	1382	switch(result)
salco	40:ecef15b1dfad	1383	{
salco	40:ecef15b1dfad	1384	case LEFT:
salco	40:ecef15b1dfad	1385	result = UP;
salco	40:ecef15b1dfad	1386	break;
salco	40:ecef15b1dfad	1387	case DOWN:
salco	40:ecef15b1dfad	1388	result = LEFT;
salco	40:ecef15b1dfad	1389	break;
salco	40:ecef15b1dfad	1390	case RIGHT:
salco	40:ecef15b1dfad	1391	result = DOWN;
salco	40:ecef15b1dfad	1392	break;
salco	40:ecef15b1dfad	1393	}
salco	40:ecef15b1dfad	1394	break;
salco	40:ecef15b1dfad	1395	}
salco	40:ecef15b1dfad	1396	}
salco	40:ecef15b1dfad	1397	else
salco	40:ecef15b1dfad	1398	result =0;
salco	40:ecef15b1dfad	1399	return result;
salco	40:ecef15b1dfad	1400	}
salco	40:ecef15b1dfad	1401
salco	40:ecef15b1dfad	1402	void Directive::updateMaze(void)
salco	40:ecef15b1dfad	1403	{
salco	40:ecef15b1dfad	1404	char areaLatt =0;
salco	40:ecef15b1dfad	1405	char areaVert =0;
salco	40:ecef15b1dfad	1406
salco	40:ecef15b1dfad	1407	if((inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))<= 1) /&& (IRToCm(ADCTomv(m_valueCapteurIR)) <= 80)/)//enlever parce que il est lock avec des limites
salco	39:34d7802e8d15	1408	{ //capteur ultrasson embrouiller/imprecis
salco	39:34d7802e8d15	1409
salco	39:34d7802e8d15	1410	debug(DEBUG_DIRECTIVE_TEST,"\n\r -Capteur Ultrasson brouiller");
salco	39:34d7802e8d15	1411	//addTableauDeCommande(6);
salco	39:34d7802e8d15	1412	}
salco	40:ecef15b1dfad	1413	else if((inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic))) <= DIRECTIVE_ULTRASONIC_LIMIT_SHORT)
salco	39:34d7802e8d15	1414	{ //plus proche que 1 case
salco	39:34d7802e8d15	1415	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	40:ecef15b1dfad	1416	debug("\n\r -Objet proche %02f <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_SHORT);
salco	39:34d7802e8d15	1417	#endif
salco	39:34d7802e8d15	1418	areaLatt =0;
salco	39:34d7802e8d15	1419
salco	39:34d7802e8d15	1420	if(IRToCm(ADCTomv(m_valueCapteurIR)) <= DIRECTIVE_IR_LIMIT_SHORT)
salco	39:34d7802e8d15	1421	{
salco	39:34d7802e8d15	1422	/*
salco	39:34d7802e8d15	1423	/---\
salco	39:34d7802e8d15	1424	\|?M?\| //vert 0
salco	39:34d7802e8d15	1425	\|.X.\| //latt 0
salco	39:34d7802e8d15	1426	\|...\|
salco	39:34d7802e8d15	1427	\---/
salco	39:34d7802e8d15	1428	*/
salco	39:34d7802e8d15	1429	areaVert = 0;
salco	39:34d7802e8d15	1430	}
salco	39:34d7802e8d15	1431	else
salco	39:34d7802e8d15	1432	{
salco	39:34d7802e8d15	1433	/*
salco	39:34d7802e8d15	1434	/-M-\
salco	39:34d7802e8d15	1435	\|?V?\| //vert 1
salco	39:34d7802e8d15	1436	\|.X.\| //latt 0
salco	39:34d7802e8d15	1437	\|...\|
salco	39:34d7802e8d15	1438	\---/
salco	39:34d7802e8d15	1439	*/
salco	39:34d7802e8d15	1440	areaVert = 1;
salco	39:34d7802e8d15	1441	}
salco	39:34d7802e8d15	1442	}
salco	39:34d7802e8d15	1443	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE)
salco	39:34d7802e8d15	1444	{ //plus proche que 2 case
salco	39:34d7802e8d15	1445	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	40:ecef15b1dfad	1446	debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_MIDDLE);
salco	39:34d7802e8d15	1447	#endif
salco	39:34d7802e8d15	1448	//modifier vue que il ne detecte pas asser loin
salco	39:34d7802e8d15	1449	/*
salco	39:34d7802e8d15	1450	/-M-\
salco	39:34d7802e8d15	1451	\|?V?\| //vert 1
salco	39:34d7802e8d15	1452	\|.X.\| //latt 0
salco	39:34d7802e8d15	1453	\|...\|
salco	39:34d7802e8d15	1454	\---/
salco	39:34d7802e8d15	1455	*/
salco	39:34d7802e8d15	1456	areaLatt =0;
salco	39:34d7802e8d15	1457	areaVert =1;
salco	39:34d7802e8d15	1458	}
salco	39:34d7802e8d15	1459	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) <= DIRECTIVE_ULTRASONIC_LIMIT_LONG)
salco	39:34d7802e8d15	1460	{ //plus proche que 2 case
salco	39:34d7802e8d15	1461	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	40:ecef15b1dfad	1462	debug("\n\r -Objet proche %g <= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG);
salco	39:34d7802e8d15	1463	#endif
salco	39:34d7802e8d15	1464	//modifier vue que il ne detecte pas asser loin
salco	39:34d7802e8d15	1465	/*
salco	39:34d7802e8d15	1466	/-M-\
salco	39:34d7802e8d15	1467	\|?V?\| //vert 1
salco	39:34d7802e8d15	1468	\|.X.\| //latt 0
salco	39:34d7802e8d15	1469	\|...\|
salco	39:34d7802e8d15	1470	\---/
salco	39:34d7802e8d15	1471	*/
salco	39:34d7802e8d15	1472	areaLatt =0;
salco	39:34d7802e8d15	1473	areaVert =1;
salco	39:34d7802e8d15	1474	}
salco	39:34d7802e8d15	1475	else if(inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)) > DIRECTIVE_ULTRASONIC_LIMIT_LONG)
salco	39:34d7802e8d15	1476	{ //plus proche que 2 case
salco	39:34d7802e8d15	1477	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	40:ecef15b1dfad	1478	debug("\n\r -Objet proche %g >= %i cm",inchToCm(ultrasonicToInch(m_valueCapteurUltrasonic)),DIRECTIVE_ULTRASONIC_LIMIT_LONG);
salco	39:34d7802e8d15	1479	#endif
salco	39:34d7802e8d15	1480	//modifier vue que il ne detecte pas asser loin
salco	39:34d7802e8d15	1481	/*
salco	39:34d7802e8d15	1482	/?V?\
salco	39:34d7802e8d15	1483	\|?V?\| //vert 2
salco	39:34d7802e8d15	1484	\|.X.\| //latt 0
salco	39:34d7802e8d15	1485	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1486	\---/
salco	39:34d7802e8d15	1487	*/
salco	39:34d7802e8d15	1488
salco	39:34d7802e8d15	1489	areaLatt =0;
salco	39:34d7802e8d15	1490	areaVert =2;
salco	39:34d7802e8d15	1491	}
salco	39:34d7802e8d15	1492
salco	39:34d7802e8d15	1493	//debug("\n\r areaLatt: %i, areaVert: %i",areaLatt,areaVert);
salco	39:34d7802e8d15	1494	#endif
salco	37:f53e9f7a14df	1495
salco	39:34d7802e8d15	1496	#ifdef DEBUG_DIRECTIVE_LABYRINTH_USER_CTRL
salco	39:34d7802e8d15	1497	debug("\n\r---analise maze(manualy CTRL)---\n\r");
salco	39:34d7802e8d15	1498	int idCommand = -1;
salco	39:34d7802e8d15	1499	areaVert = 9;
salco	39:34d7802e8d15	1500	areaLatt = 9;
salco	39:34d7802e8d15	1501	/*do {
salco	39:34d7802e8d15	1502	debug("\n\r Enter areaVert [0,1,2]: ");
salco	39:34d7802e8d15	1503	idCommand = fgetc(pc) - '0';
salco	39:34d7802e8d15	1504	debug(" %i",idCommand);
salco	39:34d7802e8d15	1505	} while((idCommand < 0) && (idCommand > 2));
salco	39:34d7802e8d15	1506	areaVert = idCommand;
salco	39:34d7802e8d15	1507
salco	39:34d7802e8d15	1508	do {
salco	39:34d7802e8d15	1509	debug("\n\r Enter areaLatt [0,1,2]: ");
salco	39:34d7802e8d15	1510	idCommand = fgetc(pc) - '0';
salco	39:34d7802e8d15	1511	debug(" %i",idCommand);
salco	39:34d7802e8d15	1512	} while((idCommand < 0) && (idCommand > 2));
salco	39:34d7802e8d15	1513	areaLatt = idCommand;*/
salco	37:f53e9f7a14df	1514
salco	39:34d7802e8d15	1515	debug("\n\r");
salco	39:34d7802e8d15	1516	#endif
salco	39:34d7802e8d15	1517	//changer lalgoritme ici
salco	39:34d7802e8d15	1518
salco	39:34d7802e8d15	1519	/*
salco	39:34d7802e8d15	1520	/---\
salco	39:34d7802e8d15	1521	\|?M?\| //vert 0
salco	39:34d7802e8d15	1522	\|.X.\| //latt 0
salco	39:34d7802e8d15	1523	\|...\|
salco	39:34d7802e8d15	1524	\---/
salco	39:34d7802e8d15	1525
salco	39:34d7802e8d15	1526	/-M-\
salco	39:34d7802e8d15	1527	\|?V?\| //vert 1
salco	39:34d7802e8d15	1528	\|.X.\| //latt 0
salco	39:34d7802e8d15	1529	\|...\|
salco	39:34d7802e8d15	1530	\---/
salco	37:f53e9f7a14df	1531
salco	39:34d7802e8d15	1532	/?M?\
salco	39:34d7802e8d15	1533	\|VVV\| //vert 1
salco	39:34d7802e8d15	1534	\|.X.\| //latt 1
salco	39:34d7802e8d15	1535	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1536	\---/
salco	39:34d7802e8d15	1537
salco	39:34d7802e8d15	1538	/?M?\
salco	39:34d7802e8d15	1539	\|VVV\| //vert 1
salco	39:34d7802e8d15	1540	\|.X.\| //latt 2
salco	39:34d7802e8d15	1541	\|...\| // cas impossible
salco	39:34d7802e8d15	1542	\---/
salco	39:34d7802e8d15	1543
salco	39:34d7802e8d15	1544	/?V?\
salco	39:34d7802e8d15	1545	\|?V?\| //vert 2
salco	39:34d7802e8d15	1546	\|.X.\| //latt 0
salco	39:34d7802e8d15	1547	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1548	\---/
salco	39:34d7802e8d15	1549
salco	39:34d7802e8d15	1550	/?V?\
salco	39:34d7802e8d15	1551	\|VVV\| //vert 2
salco	39:34d7802e8d15	1552	\|.X.\| //latt 1
salco	39:34d7802e8d15	1553	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1554	\---/
salco	37:f53e9f7a14df	1555
salco	39:34d7802e8d15	1556	/VVV\
salco	39:34d7802e8d15	1557	\|VVV\| //vert 2
salco	39:34d7802e8d15	1558	\|.X.\| //latt 2
salco	39:34d7802e8d15	1559	\|...\|
salco	39:34d7802e8d15	1560	\---/
salco	39:34d7802e8d15	1561	*/
salco	39:34d7802e8d15	1562	//vertical==0 latt==0 //mur devant
salco	39:34d7802e8d15	1563	//vertical==1 latt==1
salco	40:ecef15b1dfad	1564	#ifdef DEBUG_DIRECTIVE_UPDATE_MODULE
salco	40:ecef15b1dfad	1565	debug("\n\r vertical:%i \n\r latt: %i",areaVert,areaLatt);
salco	40:ecef15b1dfad	1566	#endif
salco	39:34d7802e8d15	1567	////////////////////////////////////
salco	39:34d7802e8d15	1568	//345
salco	39:34d7802e8d15	1569	//012 \| numerotation des case
salco	39:34d7802e8d15	1570	///////////////////////////////////
salco	39:34d7802e8d15	1571	signed char fieldX[6]= {0,0,0,0,0,0};
salco	39:34d7802e8d15	1572	signed char fieldY[6]= {0,0,0,0,0,0};
salco	39:34d7802e8d15	1573	bool fieldSet = false;
salco	39:34d7802e8d15	1574
salco	39:34d7802e8d15	1575	switch(myMaze->getDirection())
salco	39:34d7802e8d15	1576	{
salco	39:34d7802e8d15	1577	case UP:
salco	39:34d7802e8d15	1578	fieldX[0] = myMaze->getX()-1;
salco	39:34d7802e8d15	1579	fieldY[0] = myMaze->getY()+1;
salco	39:34d7802e8d15	1580	fieldX[1] = myMaze->getX();
salco	39:34d7802e8d15	1581	fieldY[1] = myMaze->getY()+1;
salco	39:34d7802e8d15	1582	fieldX[2] = myMaze->getX()+1;
salco	39:34d7802e8d15	1583	fieldY[2] = myMaze->getY()+1;
salco	39:34d7802e8d15	1584	fieldX[3] = myMaze->getX()-1;
salco	39:34d7802e8d15	1585	fieldY[3] = myMaze->getY()+2;
salco	39:34d7802e8d15	1586	fieldX[4] = myMaze->getX();
salco	39:34d7802e8d15	1587	fieldY[4] = myMaze->getY()+2;
salco	39:34d7802e8d15	1588	fieldX[5] = myMaze->getX()+1;
salco	39:34d7802e8d15	1589	fieldY[5] = myMaze->getY()+2;
salco	39:34d7802e8d15	1590	break;
salco	37:f53e9f7a14df	1591
salco	39:34d7802e8d15	1592	case DOWN:
salco	39:34d7802e8d15	1593	fieldX[0] = myMaze->getX()-1;
salco	39:34d7802e8d15	1594	fieldY[0] = myMaze->getY()-1;
salco	39:34d7802e8d15	1595	fieldX[1] = myMaze->getX();
salco	39:34d7802e8d15	1596	fieldY[1] = myMaze->getY()-1;
salco	39:34d7802e8d15	1597	fieldX[2] = myMaze->getX()+1;
salco	39:34d7802e8d15	1598	fieldY[2] = myMaze->getY()-1;
salco	39:34d7802e8d15	1599	fieldX[3] = myMaze->getX()-1;
salco	39:34d7802e8d15	1600	fieldY[3] = myMaze->getY()-2;
salco	39:34d7802e8d15	1601	fieldX[4] = myMaze->getX();
salco	39:34d7802e8d15	1602	fieldY[4] = myMaze->getY()-2;
salco	39:34d7802e8d15	1603	fieldX[5] = myMaze->getX()+1;
salco	39:34d7802e8d15	1604	fieldY[5] = myMaze->getY()-2;
salco	39:34d7802e8d15	1605	break;
salco	39:34d7802e8d15	1606
salco	39:34d7802e8d15	1607	case LEFT:
salco	39:34d7802e8d15	1608	fieldX[0] = myMaze->getX()-1;
salco	39:34d7802e8d15	1609	fieldY[0] = myMaze->getY()-1;
salco	39:34d7802e8d15	1610	fieldX[1] = myMaze->getX()-1;
salco	39:34d7802e8d15	1611	fieldY[1] = myMaze->getY();
salco	39:34d7802e8d15	1612	fieldX[2] = myMaze->getX()-1;
salco	39:34d7802e8d15	1613	fieldY[2] = myMaze->getY()+1;
salco	39:34d7802e8d15	1614	fieldX[3] = myMaze->getX()-2;
salco	39:34d7802e8d15	1615	fieldY[3] = myMaze->getY()-1;
salco	39:34d7802e8d15	1616	fieldX[4] = myMaze->getX()-2;
salco	39:34d7802e8d15	1617	fieldY[4] = myMaze->getY();
salco	39:34d7802e8d15	1618	fieldX[5] = myMaze->getX()-2;
salco	39:34d7802e8d15	1619	fieldY[5] = myMaze->getY()+1;
salco	39:34d7802e8d15	1620	break;
salco	39:34d7802e8d15	1621
salco	39:34d7802e8d15	1622	case RIGHT:
salco	39:34d7802e8d15	1623	fieldX[0] = myMaze->getX()+1;
salco	39:34d7802e8d15	1624	fieldY[0] = myMaze->getY()-1;
salco	39:34d7802e8d15	1625	fieldX[1] = myMaze->getX()+1;
salco	39:34d7802e8d15	1626	fieldY[1] = myMaze->getY();
salco	39:34d7802e8d15	1627	fieldX[2] = myMaze->getX()+1;
salco	39:34d7802e8d15	1628	fieldY[2] = myMaze->getY()+1;
salco	39:34d7802e8d15	1629	fieldX[3] = myMaze->getX()+2;
salco	39:34d7802e8d15	1630	fieldY[3] = myMaze->getY()-1;
salco	39:34d7802e8d15	1631	fieldX[4] = myMaze->getX()+2;
salco	39:34d7802e8d15	1632	fieldY[4] = myMaze->getY();
salco	39:34d7802e8d15	1633	fieldX[5] = myMaze->getX()+2;
salco	39:34d7802e8d15	1634	fieldY[5] = myMaze->getY()+1;
salco	39:34d7802e8d15	1635	break;
salco	39:34d7802e8d15	1636	}
salco	39:34d7802e8d15	1637	if(areaVert >= areaLatt)
salco	37:f53e9f7a14df	1638	{
salco	39:34d7802e8d15	1639	switch(areaVert)
salco	37:f53e9f7a14df	1640	{
salco	39:34d7802e8d15	1641	case 0:
salco	39:34d7802e8d15	1642	/*
salco	39:34d7802e8d15	1643	/---\
salco	39:34d7802e8d15	1644	\|?M?\| //vert 0
salco	39:34d7802e8d15	1645	\|.X.\| //latt 0
salco	39:34d7802e8d15	1646	\|...\|
salco	37:f53e9f7a14df	1647	\---/
salco	39:34d7802e8d15	1648	*/
salco	39:34d7802e8d15	1649	myMaze->setC(Labyrinthe::mur,fieldX[1],fieldY[1]);
salco	39:34d7802e8d15	1650	fieldSet = true;
salco	39:34d7802e8d15	1651	break;
salco	39:34d7802e8d15	1652	case 1:
salco	39:34d7802e8d15	1653	/*
salco	39:34d7802e8d15	1654	/-M-\
salco	39:34d7802e8d15	1655	\|?V?\| //vert 1
salco	37:f53e9f7a14df	1656	\|.X.\| //latt 0
salco	39:34d7802e8d15	1657	\|...\|
salco	37:f53e9f7a14df	1658	\---/
salco	37:f53e9f7a14df	1659	*/
salco	37:f53e9f7a14df	1660	myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]);
salco	39:34d7802e8d15	1661	myMaze->setC(Labyrinthe::mur,fieldX[4],fieldY[4]);
salco	39:34d7802e8d15	1662	fieldSet = true;
salco	39:34d7802e8d15	1663
salco	39:34d7802e8d15	1664	if(areaLatt == 1)
salco	39:34d7802e8d15	1665	{
salco	39:34d7802e8d15	1666	/*
salco	39:34d7802e8d15	1667	/?M?\
salco	39:34d7802e8d15	1668	\|VVV\| //vert 1
salco	39:34d7802e8d15	1669	\|.X.\| //latt 1
salco	39:34d7802e8d15	1670	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1671	\---/
salco	39:34d7802e8d15	1672	*/
salco	39:34d7802e8d15	1673	myMaze->setC(Labyrinthe::vide,fieldX[0],fieldY[0]);
salco	39:34d7802e8d15	1674	myMaze->setC(Labyrinthe::vide,fieldX[2],fieldY[2]);
salco	39:34d7802e8d15	1675	}
salco	39:34d7802e8d15	1676	break;
salco	39:34d7802e8d15	1677	case 2:
salco	39:34d7802e8d15	1678	fieldSet = true;
salco	39:34d7802e8d15	1679	switch(areaLatt)
salco	39:34d7802e8d15	1680	{
salco	39:34d7802e8d15	1681	case 0:
salco	39:34d7802e8d15	1682	/*
salco	39:34d7802e8d15	1683	/?V?\
salco	39:34d7802e8d15	1684	\|?V?\| //vert 2
salco	39:34d7802e8d15	1685	\|.X.\| //latt 0
salco	39:34d7802e8d15	1686	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1687	\---/
salco	39:34d7802e8d15	1688	*/
salco	39:34d7802e8d15	1689	myMaze->setC(Labyrinthe::vide,fieldX[1],fieldY[1]);
salco	39:34d7802e8d15	1690	myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]);
salco	39:34d7802e8d15	1691	break;
salco	39:34d7802e8d15	1692	case 1:
salco	39:34d7802e8d15	1693	/*
salco	39:34d7802e8d15	1694	/?V?\
salco	39:34d7802e8d15	1695	\|VVV\| //vert 2
salco	39:34d7802e8d15	1696	\|.X.\| //latt 1
salco	39:34d7802e8d15	1697	\|...\| // objet possiblement a proximiter
salco	39:34d7802e8d15	1698	\---/
salco	39:34d7802e8d15	1699	*/
salco	39:34d7802e8d15	1700	for(int i = 0; i<3; i++)myMaze->setC(Labyrinthe::vide,fieldX[i],fieldY[i]);
salco	39:34d7802e8d15	1701	myMaze->setC(Labyrinthe::vide,fieldX[4],fieldY[4]);
salco	39:34d7802e8d15	1702	break;
salco	39:34d7802e8d15	1703	case 2:
salco	39:34d7802e8d15	1704	/*
salco	39:34d7802e8d15	1705	/VVV\
salco	39:34d7802e8d15	1706	\|VVV\| //vert 2
salco	39:34d7802e8d15	1707	\|.X.\| //latt 2
salco	39:34d7802e8d15	1708	\|...\|
salco	39:34d7802e8d15	1709	\---/
salco	39:34d7802e8d15	1710	*/
salco	39:34d7802e8d15	1711	for(int i = 0; i<6; i++)myMaze->setC( Labyrinthe::vide,fieldX[i],fieldY[i]);
salco	39:34d7802e8d15	1712	break;
salco	39:34d7802e8d15	1713	}
salco	39:34d7802e8d15	1714	break;
salco	39:34d7802e8d15	1715	}
salco	37:f53e9f7a14df	1716	}
salco	37:f53e9f7a14df	1717
salco	39:34d7802e8d15	1718	if(fieldSet == false)
salco	39:34d7802e8d15	1719	{ // on a un cas impossible
salco	39:34d7802e8d15	1720	//myMaze->setC(Labyrinthe::error,fieldX[1],fieldY[1]);
salco	37:f53e9f7a14df	1721	}
salco	39:34d7802e8d15	1722
salco	39:34d7802e8d15	1723	////////////////////////////////////
salco	38:57d5f36a0333	1724	}
salco	39:34d7802e8d15	1725	void Directive::checkOtherWay(char &caseFront, char &caseBack, char &caseLeft, char &caseRight)
salco	39:34d7802e8d15	1726	{
salco	39:34d7802e8d15	1727	caseFront = myMaze->getC_Foward();
salco	39:34d7802e8d15	1728	caseBack = myMaze->getC_Backward();
salco	39:34d7802e8d15	1729	caseRight = myMaze->getC_ToRight();
salco	39:34d7802e8d15	1730	caseLeft = myMaze->getC_ToLeft();
salco	39:34d7802e8d15	1731	}
salco	38:57d5f36a0333	1732	bool Directive::searchNewWay(void)
salco	38:57d5f36a0333	1733	{
salco	39:34d7802e8d15	1734	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r ---- Search new way ----\n\r");
salco	39:34d7802e8d15	1735	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()));
salco	38:57d5f36a0333	1736	bool result=false;
salco	38:57d5f36a0333	1737	string backupMap = myMaze->getAllMap();
salco	38:57d5f36a0333	1738	signed char backupPosX = myMaze->getX();
salco	38:57d5f36a0333	1739	signed char backupPosY = myMaze->getY();
salco	38:57d5f36a0333	1740	string searchMap = backupMap;
salco	38:57d5f36a0333	1741	char tempdir,nextCase=0;
salco	38:57d5f36a0333	1742	positionXY tempPosition;
salco	39:34d7802e8d15	1743	char backupDir = myMaze->getDirection();
salco	39:34d7802e8d15	1744
salco	38:57d5f36a0333	1745
salco	38:57d5f36a0333	1746	bool noOtherWay = false;//si apres un moment tu est entourer de mur
salco	38:57d5f36a0333	1747	bool wrongWay = false; //si jamais vien un moment que tu est pris /doit rebrousser chemin
salco	39:34d7802e8d15	1748	//bool checkAutour = false;
salco	38:57d5f36a0333	1749
salco	38:57d5f36a0333	1750	bufferNewWay.clear();
salco	38:57d5f36a0333	1751	tempPosition.posX = myMaze->getX();
salco	38:57d5f36a0333	1752	tempPosition.posY = myMaze->getY();
salco	39:34d7802e8d15	1753	//bufferNewWay.push_back(tempPosition); // pas sur de lutiliter
salco	38:57d5f36a0333	1754
salco	39:34d7802e8d15	1755	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Debut Boucle");
salco	39:34d7802e8d15	1756	//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.
salco	39:34d7802e8d15	1757	while((!result)&&(!noOtherWay))
salco	38:57d5f36a0333	1758	{
salco	39:34d7802e8d15	1759	// nextCase = 0;
salco	39:34d7802e8d15	1760	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Cycle Boucle\n\r");
salco	39:34d7802e8d15	1761	nextCase = myMaze->getC_Foward();
salco	39:34d7802e8d15	1762
salco	39:34d7802e8d15	1763	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",nextCase);
salco	39:34d7802e8d15	1764	switch(nextCase )
salco	39:34d7802e8d15	1765	{
salco	38:57d5f36a0333	1766
salco	39:34d7802e8d15	1767	case Labyrinthe::pasExplorer :
salco	39:34d7802e8d15	1768	case Labyrinthe::vide :
salco	39:34d7802e8d15	1769	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r vide ou pas explorer: ");
salco	39:34d7802e8d15	1770	myMaze->moveFoward();
salco	39:34d7802e8d15	1771	result = true;
salco	39:34d7802e8d15	1772	break;
salco	38:57d5f36a0333	1773
salco	39:34d7802e8d15	1774	case Labyrinthe::explorer :// ici pt amiliorer
salco	39:34d7802e8d15	1775	//add position a la liste
salco	39:34d7802e8d15	1776	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Explorer");
salco	39:34d7802e8d15	1777	myMaze->moveFoward();
salco	39:34d7802e8d15	1778	//myMaze->setMyPos(Labyrinthe::error);
salco	39:34d7802e8d15	1779	break;
salco	38:57d5f36a0333	1780
salco	39:34d7802e8d15	1781	case Labyrinthe::mur:
salco	39:34d7802e8d15	1782	tempdir = rand() % 2;
salco	39:34d7802e8d15	1783	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Mur: %i",tempdir);
salco	39:34d7802e8d15	1784	if(tempdir == 1)
salco	39:34d7802e8d15	1785	{
salco	39:34d7802e8d15	1786	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r left right");
salco	39:34d7802e8d15	1787	tempdir = myMaze->getC_ToLeft();
salco	39:34d7802e8d15	1788	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir);
salco	39:34d7802e8d15	1789	if((Labyrinthe::case_t)tempdir != Labyrinthe::mur)
salco	38:57d5f36a0333	1790	{
salco	39:34d7802e8d15	1791	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Left");
salco	39:34d7802e8d15	1792	myMaze->turnLeft();
salco	39:34d7802e8d15	1793
salco	39:34d7802e8d15	1794	//backupDir = myMaze->getDirection();
salco	39:34d7802e8d15	1795	}
salco	39:34d7802e8d15	1796	else
salco	38:57d5f36a0333	1797	{
salco	38:57d5f36a0333	1798	tempdir = myMaze->getC_ToRight();
salco	39:34d7802e8d15	1799	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir);
salco	39:34d7802e8d15	1800	if((Labyrinthe::case_t)tempdir != Labyrinthe::mur)
salco	39:34d7802e8d15	1801	{
salco	39:34d7802e8d15	1802	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Right");
salco	38:57d5f36a0333	1803	myMaze->turnRight();
salco	39:34d7802e8d15	1804
salco	39:34d7802e8d15	1805	//backupDir = myMaze->getDirection();
salco	39:34d7802e8d15	1806	}
salco	39:34d7802e8d15	1807	else
salco	39:34d7802e8d15	1808	{
salco	39:34d7802e8d15	1809	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r aucun coter");
salco	39:34d7802e8d15	1810	wrongWay = true; // verifie dans la liste
salco	39:34d7802e8d15	1811	}
salco	39:34d7802e8d15	1812	}
salco	39:34d7802e8d15	1813
salco	39:34d7802e8d15	1814	}
salco	39:34d7802e8d15	1815	else
salco	39:34d7802e8d15	1816	{
salco	39:34d7802e8d15	1817	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r right left");
salco	39:34d7802e8d15	1818	tempdir = myMaze->getC_ToRight();
salco	39:34d7802e8d15	1819	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir);
salco	39:34d7802e8d15	1820	if((Labyrinthe::case_t)tempdir != Labyrinthe::mur)
salco	39:34d7802e8d15	1821	{
salco	39:34d7802e8d15	1822	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Right");
salco	39:34d7802e8d15	1823	myMaze->turnRight();
salco	39:34d7802e8d15	1824
salco	39:34d7802e8d15	1825	//backupDir = myMaze->getDirection();
salco	39:34d7802e8d15	1826	}
salco	39:34d7802e8d15	1827	else
salco	39:34d7802e8d15	1828	{
salco	39:34d7802e8d15	1829	tempdir = myMaze->getC_ToLeft();
salco	39:34d7802e8d15	1830	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r nextCase: [%02x]",tempdir);
salco	39:34d7802e8d15	1831	if((Labyrinthe::case_t)tempdir != Labyrinthe::mur)
salco	39:34d7802e8d15	1832	{
salco	39:34d7802e8d15	1833	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Left");
salco	39:34d7802e8d15	1834	myMaze->turnLeft();
salco	39:34d7802e8d15	1835
salco	39:34d7802e8d15	1836	//backupDir = myMaze->getDirection();
salco	39:34d7802e8d15	1837	}
salco	39:34d7802e8d15	1838	else
salco	39:34d7802e8d15	1839	{
salco	39:34d7802e8d15	1840	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r aucun coter");
salco	39:34d7802e8d15	1841	wrongWay = true; // verifie dans la liste
salco	39:34d7802e8d15	1842	}
salco	38:57d5f36a0333	1843	}
salco	39:34d7802e8d15	1844	/* if(wrongWay == false)
salco	39:34d7802e8d15	1845	myMaze->moveFoward();*/
salco	39:34d7802e8d15	1846	}
salco	39:34d7802e8d15	1847
salco	39:34d7802e8d15	1848	//myMaze->setMyPos(Labyrinthe::error);
salco	39:34d7802e8d15	1849	break;
salco	39:34d7802e8d15	1850	}
salco	39:34d7802e8d15	1851
salco	39:34d7802e8d15	1852	tempPosition.posX = myMaze->getX();
salco	39:34d7802e8d15	1853	tempPosition.posY = myMaze->getY();
salco	39:34d7802e8d15	1854	tempPosition.direction = myMaze->getDirection();
salco	39:34d7802e8d15	1855
salco	39:34d7802e8d15	1856	/*debug("\n\rtempPosition.posX: %i",tempPosition.posX);
salco	39:34d7802e8d15	1857	debug("\n\rtempPosition.posY: %i",tempPosition.posY);
salco	39:34d7802e8d15	1858	debug("\n\rbufferNewWay.posX: %i",(bufferNewWay.back().posX));
salco	39:34d7802e8d15	1859	debug("\n\rbufferNewWay.posY: %i",(bufferNewWay.back().posY));*/
salco	39:34d7802e8d15	1860
salco	39:34d7802e8d15	1861	if((bufferNewWay.empty())\|\|(((bufferNewWay.back().posX) != tempPosition.posX) \|\| ((bufferNewWay.back().posY) != tempPosition.posY)))
salco	39:34d7802e8d15	1862	{
salco	39:34d7802e8d15	1863	bufferNewWay.push_back(tempPosition);
salco	39:34d7802e8d15	1864	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size());
salco	39:34d7802e8d15	1865	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",tempPosition.posX);
salco	39:34d7802e8d15	1866	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",tempPosition.posY);
salco	39:34d7802e8d15	1867	}
salco	39:34d7802e8d15	1868	else if((bufferNewWay.empty())&& ((backupPosX != myMaze->getX()) \|\| (backupPosY != myMaze->getY())) )
salco	39:34d7802e8d15	1869	{
salco	39:34d7802e8d15	1870	bufferNewWay.push_back(tempPosition);
salco	39:34d7802e8d15	1871	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size());
salco	39:34d7802e8d15	1872	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",tempPosition.posX);
salco	39:34d7802e8d15	1873	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",tempPosition.posY);
salco	39:34d7802e8d15	1874	}
salco	39:34d7802e8d15	1875	else if(((bufferNewWay.back()).posX == tempPosition.posX) && ((bufferNewWay.back()).posY == tempPosition.posY) && ((bufferNewWay.back()).direction != tempPosition.direction))//ra fait un tours
salco	39:34d7802e8d15	1876	{
salco	39:34d7802e8d15	1877	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back a cause dun tournie");
salco	39:34d7802e8d15	1878	bufferNewWay.pop_back();
salco	39:34d7802e8d15	1879	bufferNewWay.push_back(tempPosition);
salco	39:34d7802e8d15	1880	}
salco	39:34d7802e8d15	1881
salco	39:34d7802e8d15	1882	else
salco	39:34d7802e8d15	1883	{
salco	39:34d7802e8d15	1884	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r buffer non adder");
salco	39:34d7802e8d15	1885
salco	39:34d7802e8d15	1886	}
salco	39:34d7802e8d15	1887
salco	38:57d5f36a0333	1888
salco	39:34d7802e8d15	1889	if(wrongWay)
salco	39:34d7802e8d15	1890	{
salco	39:34d7802e8d15	1891	char caseFront,caseBack,caseLeft,caseRight;
salco	39:34d7802e8d15	1892	char wallCount;
salco	39:34d7802e8d15	1893	char directive;
salco	39:34d7802e8d15	1894	bool haveValuesChange = false;
salco	39:34d7802e8d15	1895	bool caseVideTrouver = false;
salco	39:34d7802e8d15	1896	bool caseExplorerTrouver = false;
salco	39:34d7802e8d15	1897	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\n\r wrong way patching");
salco	39:34d7802e8d15	1898	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay size: %i",bufferNewWay.size());
salco	39:34d7802e8d15	1899	std::list<positionXY>::iterator it;
salco	39:34d7802e8d15	1900	do
salco	39:34d7802e8d15	1901	{
salco	39:34d7802e8d15	1902	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r --wrong way boucle");
salco	39:34d7802e8d15	1903
salco	39:34d7802e8d15	1904	//bufferNewWay.pop_back();
salco	39:34d7802e8d15	1905	if(!bufferNewWay.empty())
salco	39:34d7802e8d15	1906	{
salco	39:34d7802e8d15	1907	directive = 0;//defenir fait rien
salco	39:34d7802e8d15	1908	it=bufferNewWay.end();
salco	39:34d7802e8d15	1909	haveValuesChange = false;
salco	39:34d7802e8d15	1910	caseVideTrouver = false;
salco	39:34d7802e8d15	1911	caseExplorerTrouver = false;
salco	39:34d7802e8d15	1912	tempPosition.posX = (bufferNewWay.back()).posX;
salco	39:34d7802e8d15	1913	tempPosition.posY = bufferNewWay.back().posY;
salco	39:34d7802e8d15	1914
salco	39:34d7802e8d15	1915
salco	39:34d7802e8d15	1916	myMaze->setX(bufferNewWay.back().posX);
salco	39:34d7802e8d15	1917	myMaze->setY(bufferNewWay.back().posY);
salco	39:34d7802e8d15	1918	wallCount = 0;
salco	39:34d7802e8d15	1919	checkOtherWay(caseFront,caseBack,caseLeft,caseRight);
salco	39:34d7802e8d15	1920
salco	39:34d7802e8d15	1921	if((Labyrinthe::case_t)caseFront == Labyrinthe::mur)wallCount++;
salco	39:34d7802e8d15	1922	if((Labyrinthe::case_t)caseBack == Labyrinthe::mur)wallCount++;
salco	39:34d7802e8d15	1923	if((Labyrinthe::case_t)caseLeft == Labyrinthe::mur)wallCount++;
salco	39:34d7802e8d15	1924	if((Labyrinthe::case_t)caseRight == Labyrinthe::mur)wallCount++;
salco	39:34d7802e8d15	1925
salco	39:34d7802e8d15	1926	if(wallCount == 3)
salco	39:34d7802e8d15	1927	{
salco	39:34d7802e8d15	1928	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r PATH trouver ");
salco	39:34d7802e8d15	1929	myMaze->setC(Labyrinthe::mur,tempPosition.posX,tempPosition.posY);
salco	39:34d7802e8d15	1930	}
salco	39:34d7802e8d15	1931	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r checkOtherWay front: %i, back: %i, LEFT: %i, RIGHT: %i",caseFront,caseBack,caseLeft,caseRight);
salco	39:34d7802e8d15	1932	//tempPosition.posX = (bufferNewWay.back()).posX;
salco	39:34d7802e8d15	1933	//tempPosition.posY = bufferNewWay.back().posY;
salco	39:34d7802e8d15	1934	/*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))
salco	39:34d7802e8d15	1935	{
salco	39:34d7802e8d15	1936	debug("\n\r Path vide trouver!!!");
salco	39:34d7802e8d15	1937	caseVideTrouver = true;
salco	39:34d7802e8d15	1938	wrongWay = false;
salco	39:34d7802e8d15	1939	}*/
salco	39:34d7802e8d15	1940
salco	39:34d7802e8d15	1941	//else
salco	39:34d7802e8d15	1942	//{
salco	39:34d7802e8d15	1943	it--;
salco	39:34d7802e8d15	1944	if(/((Labyrinthe::case_t)caseFront != Labyrinthe::error) &&/ ((Labyrinthe::case_t)caseFront != Labyrinthe::mur))
salco	39:34d7802e8d15	1945	{ // une anciene case est potentiele,emt bonne
salco	39:34d7802e8d15	1946	myMaze->getXY_Foward(tempPosition.posX,tempPosition.posY);
salco	39:34d7802e8d15	1947
salco	39:34d7802e8d15	1948	if((Labyrinthe::case_t)caseFront == Labyrinthe::vide)
salco	39:34d7802e8d15	1949	{
salco	39:34d7802e8d15	1950	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!");
salco	39:34d7802e8d15	1951	caseVideTrouver = true;
salco	39:34d7802e8d15	1952	haveValuesChange = true;
salco	39:34d7802e8d15	1953	directive = 1;
salco	39:34d7802e8d15	1954	wrongWay = false;
salco	39:34d7802e8d15	1955	//debug("\n\r moveFoward");
salco	39:34d7802e8d15	1956	}
salco	39:34d7802e8d15	1957	if((!caseVideTrouver) && (!caseExplorerTrouver))
salco	39:34d7802e8d15	1958	{
salco	39:34d7802e8d15	1959	caseExplorerTrouver = true;
salco	39:34d7802e8d15	1960	/if(((it).posX != tempPosition.posX) && ((*it).posY != tempPosition.posY)) {
salco	39:34d7802e8d15	1961	wrongWay = false;
salco	39:34d7802e8d15	1962	myMaze->moveFoward();//setDirection(UP);
salco	39:34d7802e8d15	1963	debug("\n\r moveFoward");
salco	39:34d7802e8d15	1964	debug("\n\r chemin trouver");
salco	39:34d7802e8d15	1965	haveValuesChange = true;
salco	39:34d7802e8d15	1966	} else if(bufferNewWay.size() == 1) {*/
salco	39:34d7802e8d15	1967	// debug("\n\r Last thing in buffer");
salco	39:34d7802e8d15	1968	//myMaze->moveFoward();//setDirection(UP);
salco	39:34d7802e8d15	1969	directive = 1;// move foward
salco	39:34d7802e8d15	1970	haveValuesChange = true;
salco	39:34d7802e8d15	1971	// debug("\n\r moveFoward");
salco	39:34d7802e8d15	1972	}
salco	39:34d7802e8d15	1973	}
salco	39:34d7802e8d15	1974
salco	39:34d7802e8d15	1975	if(/((Labyrinthe::case_t)caseBack != Labyrinthe::error) &&/ ((Labyrinthe::case_t)caseBack != Labyrinthe::mur))
salco	39:34d7802e8d15	1976	{ // une anciene case est potentiele,emt bonne
salco	39:34d7802e8d15	1977	myMaze->getXY_Backward(tempPosition.posX,tempPosition.posY);
salco	39:34d7802e8d15	1978
salco	39:34d7802e8d15	1979	if((Labyrinthe::case_t)caseBack == Labyrinthe::vide)
salco	39:34d7802e8d15	1980	{
salco	39:34d7802e8d15	1981	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!");
salco	39:34d7802e8d15	1982	caseVideTrouver = true;
salco	39:34d7802e8d15	1983	haveValuesChange = true;
salco	39:34d7802e8d15	1984	directive = 2;
salco	39:34d7802e8d15	1985	wrongWay = false;
salco	39:34d7802e8d15	1986	//debug("\n\r moveFoward");
salco	39:34d7802e8d15	1987	}
salco	39:34d7802e8d15	1988	if((!caseVideTrouver) && (!caseExplorerTrouver))
salco	39:34d7802e8d15	1989	{
salco	39:34d7802e8d15	1990	caseExplorerTrouver = true;
salco	39:34d7802e8d15	1991	/if(((it).posX != tempPosition.posX) && ((*it).posY != tempPosition.posY)) {
salco	39:34d7802e8d15	1992	wrongWay = false;
salco	39:34d7802e8d15	1993	myMaze->turnBack();//setDirection(DOWN);
salco	39:34d7802e8d15	1994	debug("\n\r turn Back");
salco	39:34d7802e8d15	1995	debug("\n\r chemin trouver");
salco	39:34d7802e8d15	1996	haveValuesChange = true;
salco	39:34d7802e8d15	1997	} else if(bufferNewWay.size() == 1) {*/
salco	39:34d7802e8d15	1998	//debug("\n\r Last thing in buffer");
salco	39:34d7802e8d15	1999	//myMaze->turnBack();//setDirection(DOWN);
salco	39:34d7802e8d15	2000	directive = 2;
salco	39:34d7802e8d15	2001	//debug("\n\r turn Back");
salco	39:34d7802e8d15	2002	haveValuesChange = true;
salco	39:34d7802e8d15	2003	}
salco	39:34d7802e8d15	2004	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r direction: %i",myMaze->getDirection());
salco	39:34d7802e8d15	2005	}
salco	39:34d7802e8d15	2006
salco	39:34d7802e8d15	2007	if(/((Labyrinthe::case_t)caseLeft != Labyrinthe::error) &&/ ((Labyrinthe::case_t)caseLeft != Labyrinthe::mur))
salco	39:34d7802e8d15	2008	{ // une anciene case est potentiele,emt bonne
salco	39:34d7802e8d15	2009	myMaze->getXY_Left(tempPosition.posX,tempPosition.posY);
salco	39:34d7802e8d15	2010
salco	39:34d7802e8d15	2011	if((Labyrinthe::case_t)caseLeft == Labyrinthe::vide)
salco	39:34d7802e8d15	2012	{
salco	39:34d7802e8d15	2013	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!");
salco	39:34d7802e8d15	2014	caseVideTrouver = true;
salco	39:34d7802e8d15	2015	haveValuesChange = true;
salco	39:34d7802e8d15	2016	directive = 3;
salco	39:34d7802e8d15	2017	wrongWay = false;
salco	39:34d7802e8d15	2018	//debug("\n\r moveFoward");
salco	39:34d7802e8d15	2019	}
salco	39:34d7802e8d15	2020	if((!!caseVideTrouver) && (!caseExplorerTrouver))
salco	39:34d7802e8d15	2021	{
salco	39:34d7802e8d15	2022	caseExplorerTrouver = true;
salco	39:34d7802e8d15	2023	/if(((it).posX != tempPosition.posX) && ((*it).posY != tempPosition.posY)) {
salco	39:34d7802e8d15	2024	wrongWay = false;
salco	39:34d7802e8d15	2025	myMaze->turnLeft();//setDirection(LEFT);
salco	39:34d7802e8d15	2026	debug("\n\r turn Left");
salco	39:34d7802e8d15	2027	debug("\n\r chemin trouver");
salco	39:34d7802e8d15	2028	haveValuesChange = true;
salco	39:34d7802e8d15	2029	} else if(bufferNewWay.size() == 1) {*/
salco	39:34d7802e8d15	2030	//debug("\n\r Last thing in buffer");
salco	39:34d7802e8d15	2031	//myMaze->turnLeft();//setDirection(LEFT);
salco	39:34d7802e8d15	2032	directive = 3;
salco	39:34d7802e8d15	2033	//debug("\n\r turn Left");
salco	39:34d7802e8d15	2034	haveValuesChange = true;
salco	39:34d7802e8d15	2035	}
salco	39:34d7802e8d15	2036	}
salco	39:34d7802e8d15	2037
salco	39:34d7802e8d15	2038	if(/((Labyrinthe::case_t)caseRight != Labyrinthe::error) &&/ ((Labyrinthe::case_t)caseRight != Labyrinthe::mur))
salco	39:34d7802e8d15	2039	{ // une anciene case est potentiele,emt bonne
salco	39:34d7802e8d15	2040	myMaze->getXY_Right(tempPosition.posX,tempPosition.posY);
salco	39:34d7802e8d15	2041
salco	39:34d7802e8d15	2042	if((Labyrinthe::case_t)caseRight == Labyrinthe::vide)
salco	39:34d7802e8d15	2043	{
salco	39:34d7802e8d15	2044	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Path vide trouver!!!");
salco	39:34d7802e8d15	2045	caseVideTrouver = true;
salco	39:34d7802e8d15	2046	haveValuesChange = true;
salco	39:34d7802e8d15	2047	directive = 4;
salco	39:34d7802e8d15	2048	wrongWay = false;
salco	39:34d7802e8d15	2049	//debug("\n\r moveFoward");
salco	39:34d7802e8d15	2050	}
salco	39:34d7802e8d15	2051	if((!caseVideTrouver)&& (!caseExplorerTrouver))
salco	39:34d7802e8d15	2052	{
salco	39:34d7802e8d15	2053	caseExplorerTrouver = true;
salco	39:34d7802e8d15	2054	/*if(((bufferNewWay.back()).posX != tempPosition.posX) && ((bufferNewWay.back()).posY != tempPosition.posY)) {
salco	39:34d7802e8d15	2055	wrongWay = false;
salco	39:34d7802e8d15	2056	myMaze->turnRight();//setDirection(RIGHT);
salco	39:34d7802e8d15	2057	debug("\n\r turn Right");
salco	39:34d7802e8d15	2058	debug("\n\r chemin trouver");
salco	39:34d7802e8d15	2059	haveValuesChange = true;
salco	39:34d7802e8d15	2060	} else if(bufferNewWay.size() == 1) {*/
salco	39:34d7802e8d15	2061	//debug("\n\r Last thing in buffer");
salco	39:34d7802e8d15	2062	//myMaze->turnRight();//setDirection(RIGHT);
salco	39:34d7802e8d15	2063	directive = 4;
salco	39:34d7802e8d15	2064	// debug("\n\r turn Right");
salco	39:34d7802e8d15	2065	haveValuesChange = true;
salco	39:34d7802e8d15	2066	}
salco	39:34d7802e8d15	2067	}
salco	39:34d7802e8d15	2068
salco	39:34d7802e8d15	2069	//}
salco	39:34d7802e8d15	2070
salco	39:34d7802e8d15	2071
salco	39:34d7802e8d15	2072	}
salco	39:34d7802e8d15	2073	else
salco	39:34d7802e8d15	2074	noOtherWay = true;
salco	39:34d7802e8d15	2075
salco	39:34d7802e8d15	2076
salco	39:34d7802e8d15	2077	if(haveValuesChange)
salco	39:34d7802e8d15	2078	{
salco	39:34d7802e8d15	2079	switch(directive)
salco	39:34d7802e8d15	2080	{
salco	39:34d7802e8d15	2081	case 0:
salco	39:34d7802e8d15	2082	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r doNothing");
salco	39:34d7802e8d15	2083	break;
salco	39:34d7802e8d15	2084	case 1:
salco	39:34d7802e8d15	2085	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r moveFoward");
salco	39:34d7802e8d15	2086	myMaze->moveFoward();
salco	39:34d7802e8d15	2087	break;
salco	39:34d7802e8d15	2088	case 2:
salco	39:34d7802e8d15	2089	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Back");
salco	39:34d7802e8d15	2090	myMaze->turnBack();
salco	39:34d7802e8d15	2091	break;
salco	39:34d7802e8d15	2092	case 3:
salco	39:34d7802e8d15	2093	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Left");
salco	39:34d7802e8d15	2094	myMaze->turnLeft();
salco	39:34d7802e8d15	2095	break;
salco	39:34d7802e8d15	2096	case 4:
salco	39:34d7802e8d15	2097	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r turn Right");
salco	39:34d7802e8d15	2098	myMaze->turnRight();
salco	39:34d7802e8d15	2099	break;
salco	39:34d7802e8d15	2100	}
salco	39:34d7802e8d15	2101	tempPosition.posX = myMaze->getX();
salco	39:34d7802e8d15	2102	tempPosition.posY = myMaze->getY();
salco	39:34d7802e8d15	2103	tempPosition.direction = myMaze->getDirection();
salco	39:34d7802e8d15	2104	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size());
salco	39:34d7802e8d15	2105	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",tempPosition.posX);
salco	39:34d7802e8d15	2106	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",tempPosition.posY);
salco	39:34d7802e8d15	2107	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",tempPosition.direction);
salco	39:34d7802e8d15	2108	for (std::list<positionXY>::iterator it=bufferNewWay.begin(),itEnd;( it != bufferNewWay.end()) && (!bufferNewWay.empty()); ++it)
salco	39:34d7802e8d15	2109	{
salco	39:34d7802e8d15	2110	//tempPosition = *(it);
salco	39:34d7802e8d15	2111	itEnd = bufferNewWay.end();
salco	39:34d7802e8d15	2112	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Bouble de meme position");
salco	39:34d7802e8d15	2113	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",(*it).posX);
salco	39:34d7802e8d15	2114	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",(*it).posY);
salco	39:34d7802e8d15	2115	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",(*it).direction);
salco	39:34d7802e8d15	2116	if(((it).posX == tempPosition.posX) && ((it).posY == tempPosition.posY) && ((*it).direction == tempPosition.direction))
salco	39:34d7802e8d15	2117	{
salco	39:34d7802e8d15	2118	while(((it).posX != (itEnd).posX) &&
salco	39:34d7802e8d15	2119	((it).posY != (itEnd).posY) &&
salco	39:34d7802e8d15	2120	((it).direction != (itEnd).direction) && (!bufferNewWay.empty()))
salco	39:34d7802e8d15	2121	{
salco	39:34d7802e8d15	2122	itEnd = bufferNewWay.end();
salco	39:34d7802e8d15	2123	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back et enmurer");
salco	39:34d7802e8d15	2124	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r tempPosition.posX: %i",(bufferNewWay.back()).posX);
salco	39:34d7802e8d15	2125	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r tempPosition.posY: %i",(bufferNewWay.back()).posY);
salco	39:34d7802e8d15	2126	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r tempPosition.direction: %i",(bufferNewWay.back()).direction);
salco	39:34d7802e8d15	2127	myMaze->setC(Labyrinthe::mur,(bufferNewWay.back()).posX,(bufferNewWay.back()).posY);
salco	39:34d7802e8d15	2128	bufferNewWay.pop_back();
salco	39:34d7802e8d15	2129	}
salco	39:34d7802e8d15	2130	//it--;
salco	39:34d7802e8d15	2131	noOtherWay = true;//placer ici pour patcher vue que je suis taner
salco	39:34d7802e8d15	2132	//checkAutour = true;
salco	39:34d7802e8d15	2133	}
salco	39:34d7802e8d15	2134	}
salco	39:34d7802e8d15	2135	if(((bufferNewWay.back()).posX == tempPosition.posX) && ((bufferNewWay.back()).posY == tempPosition.posY) && ((bufferNewWay.back()).direction != tempPosition.direction))//ra fait un tours
salco	39:34d7802e8d15	2136	{
salco	39:34d7802e8d15	2137	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back a cause dun tournie");
salco	39:34d7802e8d15	2138	bufferNewWay.pop_back();
salco	39:34d7802e8d15	2139	}
salco	39:34d7802e8d15	2140	bufferNewWay.push_back(tempPosition);
salco	39:34d7802e8d15	2141	//bufferNewWay.pop_back();//on enleve pour pouvoir lire le dernier
salco	39:34d7802e8d15	2142	}
salco	39:34d7802e8d15	2143	else
salco	39:34d7802e8d15	2144	{
salco	39:34d7802e8d15	2145	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r pop back");
salco	39:34d7802e8d15	2146	bufferNewWay.pop_back();//on enleve pour pouvoir lire le dernier
salco	39:34d7802e8d15	2147	}
salco	40:ecef15b1dfad	2148	#ifdef DEBUG_DIRECTIVE_LABYRINTH
salco	39:34d7802e8d15	2149	string mymap = myMaze->showMap();
salco	40:ecef15b1dfad	2150	debug("\n\r Labyrinthe map: X:%02i Y:%02i \n\r",(signed char)(myMaze->getX()),(signed char)(myMaze->getY()));
salco	39:34d7802e8d15	2151	//char caseCaract = 0;
salco	39:34d7802e8d15	2152	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r direction: %i",myMaze->getDirection());
salco	40:ecef15b1dfad	2153	debug("\n\r");
salco	40:ecef15b1dfad	2154	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+6]));
salco	40:ecef15b1dfad	2155	debug("\n\r");
salco	40:ecef15b1dfad	2156	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i+3]));
salco	40:ecef15b1dfad	2157	debug("\n\r");
salco	40:ecef15b1dfad	2158	for(int i=0; i<3; i++) debug(" [%c] ",myMaze->caseToChar((Labyrinthe::case_t)mymap[i]));
salco	40:ecef15b1dfad	2159	#endif
salco	40:ecef15b1dfad	2160
salco	40:ecef15b1dfad	2161	#ifdef DEBUG_DIRECTIVE_TASK_PAUSE
salco	39:34d7802e8d15	2162	debug(DEBUG_DIRECTIVE_LABYRINTH,"\n\r press any key...\n\r");
salco	39:34d7802e8d15	2163
salco	39:34d7802e8d15	2164	fgetc(pc);
salco	40:ecef15b1dfad	2165	#endif
salco	39:34d7802e8d15	2166
salco	39:34d7802e8d15	2167	} while((wrongWay) && (!noOtherWay));
salco	39:34d7802e8d15	2168	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r Fin Boucle");
salco	38:57d5f36a0333	2169	}
salco	40:ecef15b1dfad	2170	#ifdef DEBUG_DIRECTIVE_TASK_PAUSE
salco	40:ecef15b1dfad	2171	debug("\n\r press any key...\n\r"); fgetc(pc);
salco	40:ecef15b1dfad	2172	#endif
salco	38:57d5f36a0333	2173	}
salco	38:57d5f36a0333	2174
salco	39:34d7802e8d15	2175	myMaze->setX(backupPosX);
salco	39:34d7802e8d15	2176	myMaze->setY(backupPosY);
salco	39:34d7802e8d15	2177	myMaze->setAllMap(backupMap);
salco	39:34d7802e8d15	2178	myMaze->setDirection(backupDir);
salco	39:34d7802e8d15	2179	if(noOtherWay)
salco	39:34d7802e8d15	2180	{
salco	39:34d7802e8d15	2181	result = false;
salco	39:34d7802e8d15	2182	myMaze->setAllMap("");
salco	39:34d7802e8d15	2183	myMaze->setX(0);
salco	39:34d7802e8d15	2184	myMaze->setY(0);
salco	39:34d7802e8d15	2185	myMaze->setDirection(backupDir);
salco	39:34d7802e8d15	2186	}
salco	39:34d7802e8d15	2187
salco	39:34d7802e8d15	2188	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\n\r dans le buffer");
salco	39:34d7802e8d15	2189	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r bufferNewWay: %i",bufferNewWay.size());
salco	39:34d7802e8d15	2190	for (std::list<positionXY>::iterator it=bufferNewWay.begin(); it != bufferNewWay.end(); ++it) {
salco	39:34d7802e8d15	2191	//tempPosition = *(it);
salco	39:34d7802e8d15	2192	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posX: %i",(*it).posX);
salco	39:34d7802e8d15	2193	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.posY: %i",(*it).posY);
salco	39:34d7802e8d15	2194	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\rtempPosition.direction: %i",(*it).direction);
salco	39:34d7802e8d15	2195	}
salco	39:34d7802e8d15	2196	debug(DEBUG_DIRECTIVE_MAZE_GRAPHICAL_INTERFACE_ENABLE,"\n\r ----------------");
salco	39:34d7802e8d15	2197	return result;
salco	38:57d5f36a0333	2198	}
salco	38:57d5f36a0333	2199
salco	38:57d5f36a0333	2200	bool Directive::isAnotherWay(void)
salco	38:57d5f36a0333	2201	{
salco	38:57d5f36a0333	2202	bool result=false;
salco	38:57d5f36a0333	2203
salco	38:57d5f36a0333	2204	return result;
salco	39:34d7802e8d15	2205	}
salco	39:34d7802e8d15	2206	void Directive::turnRightDirection(char currentDir, char nextDir)
salco	39:34d7802e8d15	2207	{
salco	39:34d7802e8d15	2208
salco	39:34d7802e8d15	2209
salco	39:34d7802e8d15	2210	#ifndef DEBUG_DIRECTIVE_LEG_DISABLE
salco	39:34d7802e8d15	2211	if(((nextDir + currentDir) == (UP + DOWN)) \|\|
salco	39:34d7802e8d15	2212	((nextDir + currentDir) == (LEFT + RIGHT)))
salco	39:34d7802e8d15	2213	{
salco	39:34d7802e8d15	2214	if(rand()%2)
salco	39:34d7802e8d15	2215	{
salco	40:ecef15b1dfad	2216	for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	40:ecef15b1dfad	2217	for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	40:ecef15b1dfad	2218	//addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	2219	}
salco	39:34d7802e8d15	2220	else
salco	39:34d7802e8d15	2221	{
salco	40:ecef15b1dfad	2222	for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	40:ecef15b1dfad	2223	for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	40:ecef15b1dfad	2224	//addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	2225	}
salco	39:34d7802e8d15	2226	}
salco	39:34d7802e8d15	2227	else
salco	39:34d7802e8d15	2228	{
salco	39:34d7802e8d15	2229	switch(currentDir)
salco	39:34d7802e8d15	2230	{
salco	39:34d7802e8d15	2231	case UP:
salco	39:34d7802e8d15	2232	if(nextDir == LEFT)
salco	39:34d7802e8d15	2233	{
salco	40:ecef15b1dfad	2234	for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	2235	}
salco	39:34d7802e8d15	2236	else if(nextDir == RIGHT)
salco	39:34d7802e8d15	2237	{
salco	40:ecef15b1dfad	2238	for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	2239	}
salco	39:34d7802e8d15	2240	break;
salco	39:34d7802e8d15	2241	case DOWN:
salco	39:34d7802e8d15	2242	if(nextDir == LEFT)
salco	39:34d7802e8d15	2243	{
salco	40:ecef15b1dfad	2244	for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	2245	}
salco	39:34d7802e8d15	2246	else if(nextDir == LEFT)
salco	39:34d7802e8d15	2247	{
salco	40:ecef15b1dfad	2248	for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	2249	}
salco	39:34d7802e8d15	2250	break;
salco	39:34d7802e8d15	2251	case LEFT:
salco	39:34d7802e8d15	2252	if(nextDir == UP)
salco	39:34d7802e8d15	2253	{
salco	40:ecef15b1dfad	2254	for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	2255	}
salco	39:34d7802e8d15	2256	else if(nextDir == DOWN)
salco	39:34d7802e8d15	2257	{
salco	40:ecef15b1dfad	2258	for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	2259	}
salco	39:34d7802e8d15	2260	break;
salco	39:34d7802e8d15	2261	case RIGHT:
salco	39:34d7802e8d15	2262	if(nextDir == UP)
salco	39:34d7802e8d15	2263	{
salco	40:ecef15b1dfad	2264	for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_LEFT);
salco	39:34d7802e8d15	2265	}
salco	39:34d7802e8d15	2266	else if(nextDir == DOWN)
salco	39:34d7802e8d15	2267	{
salco	40:ecef15b1dfad	2268	for(int loop=0; loop < DIRECTIVE_NUMBER_TURN_90_DEG; loop++) addTableauDeCommande(TBL_CMD_TURN_RIGHT);
salco	39:34d7802e8d15	2269	}
salco	39:34d7802e8d15	2270	break;
salco	39:34d7802e8d15	2271	}
salco	39:34d7802e8d15	2272	}
salco	39:34d7802e8d15	2273	#endif
salco	2:4c5b0f6d0a6b	2274	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	31 Jan 2017
Imports:	0
Forks:	0
Commits:	42
Dependents:	0
Dependencies:	2
Followers:	1

The code in this repository is Apache licensed.

directive.cpp@41:0b5c14dda54a, 2017-01-31 (annotated)

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