CRAC Team / CRAC-Strat_2017-19-05-2017

strat des robots

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Instruction/Instruction.cpp@17:d1594579eec6, 2017-05-19 (annotated)

Committer:
ClementBreteau
Date:
Fri May 19 17:14:07 2017 +0000
Revision:
17:d1594579eec6
Parent:
11:ed13a480ddca 
strat du robot, 19-05-2017, 19h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 0:ad97421fb1fb 1 #include "Instruction.h"
antbig 0:ad97421fb1fb 2
antbig 0:ad97421fb1fb 3
antbig 0:ad97421fb1fb 4 char cheminFileStart[SIZE+8]="/local/";
antbig 0:ad97421fb1fb 5 struct S_Instruction strat_instructions[SIZE_BUFFER_FILE];//Liste des instructions
antbig 0:ad97421fb1fb 6 unsigned char nb_instructions = 0;//Le nombre d'instruction dans le fichier de strategie
antbig 0:ad97421fb1fb 7 unsigned char actual_instruction = 0;//La ligne de l'instruction en cours d'execution
antbig 0:ad97421fb1fb 8
antbig 0:ad97421fb1fb 9 LocalFileSystem local("local");
antbig 0:ad97421fb1fb 10
antbig 0:ad97421fb1fb 11 enum E_InstructionType charToInstructionType(char type)
antbig 0:ad97421fb1fb 12 {
antbig 0:ad97421fb1fb 13 switch(type)
antbig 0:ad97421fb1fb 14 {
antbig 0:ad97421fb1fb 15 case 'C': return MV_COURBURE;
antbig 0:ad97421fb1fb 16 case 'L': return MV_LINE;
antbig 0:ad97421fb1fb 17 case 'T': return MV_TURN;
antbig 0:ad97421fb1fb 18 case 'X': return MV_XYT;
antbig 0:ad97421fb1fb 19 case 'R': return MV_RECALAGE;
antbig 0:ad97421fb1fb 20 case 'A': return ACTION;
antbig 0:ad97421fb1fb 21 default: return UNKNOWN;
antbig 0:ad97421fb1fb 22 }
antbig 0:ad97421fb1fb 23 }
antbig 0:ad97421fb1fb 24
antbig 0:ad97421fb1fb 25 enum E_InstructionDirection charToInstructionDirection(char type)
antbig 0:ad97421fb1fb 26 {
antbig 0:ad97421fb1fb 27 switch(type)
antbig 0:ad97421fb1fb 28 {
antbig 0:ad97421fb1fb 29 case 'B': return BACKWARD;
antbig 0:ad97421fb1fb 30 case 'F': return FORWARD;
antbig 0:ad97421fb1fb 31 case 'R': return RELATIVE;
antbig 0:ad97421fb1fb 32 case 'A': return ABSOLUTE;
antbig 11:ed13a480ddca 33 case 'L': return LEFT;
antbig 0:ad97421fb1fb 34 default: return NODIRECTION;
antbig 0:ad97421fb1fb 35 }
antbig 0:ad97421fb1fb 36 }
antbig 0:ad97421fb1fb 37
antbig 0:ad97421fb1fb 38 enum E_InstructionPrecisionOuRecalage charToInstructionPrecisionOuRecalage(char type)
antbig 0:ad97421fb1fb 39 {
antbig 0:ad97421fb1fb 40 switch(type)
antbig 0:ad97421fb1fb 41 {
antbig 0:ad97421fb1fb 42 case 'P': return PRECISION;
antbig 0:ad97421fb1fb 43 case 'X': return RECALAGE_X;
antbig 0:ad97421fb1fb 44 case 'Y': return RECALAGE_Y;
antbig 0:ad97421fb1fb 45 default: return NOPRECISION;
antbig 0:ad97421fb1fb 46 }
antbig 0:ad97421fb1fb 47 }
antbig 0:ad97421fb1fb 48
antbig 0:ad97421fb1fb 49 enum E_InstructionNextActionType charToInstructionNextActionType(char type)
antbig 0:ad97421fb1fb 50 {
antbig 0:ad97421fb1fb 51 switch(type)
antbig 0:ad97421fb1fb 52 {
antbig 0:ad97421fb1fb 53 case 'J': return JUMP;
antbig 0:ad97421fb1fb 54 case 'W': return WAIT;
antbig 0:ad97421fb1fb 55 case 'E': return ENCHAINEMENT;
antbig 0:ad97421fb1fb 56 default: return NONEXTACTION;
antbig 0:ad97421fb1fb 57 }
antbig 0:ad97421fb1fb 58 }
antbig 0:ad97421fb1fb 59
antbig 0:ad97421fb1fb 60 enum E_InstructionNextActionJumpType charToInstructionNextActionJumpType(char type)
antbig 0:ad97421fb1fb 61 {
antbig 0:ad97421fb1fb 62 switch(type)
antbig 0:ad97421fb1fb 63 {
antbig 0:ad97421fb1fb 64 case 'T': return JUMP_TIME;
antbig 0:ad97421fb1fb 65 case 'P': return JUMP_POSITION;
antbig 0:ad97421fb1fb 66 default: return NONEXTACTIONJUMPTYPE;
antbig 0:ad97421fb1fb 67 }
antbig 0:ad97421fb1fb 68 }
antbig 0:ad97421fb1fb 69
antbig 4:88431b537477 70 /****************************************************************************************/
antbig 4:88431b537477 71 /* FUNCTION NAME: stringToInstruction */
antbig 4:88431b537477 72 /* DESCRIPTION : Conversion d'une ligne du fichier de strat en instruction */
antbig 4:88431b537477 73 /****************************************************************************************/
antbig 0:ad97421fb1fb 74 struct S_Instruction stringToInstruction(char line[]) {
antbig 0:ad97421fb1fb 75 struct S_Instruction instruction;
antbig 0:ad97421fb1fb 76
antbig 0:ad97421fb1fb 77 char instructionOrder;
antbig 0:ad97421fb1fb 78 char instructionDirection;
antbig 0:ad97421fb1fb 79 char instructionPrecision;
antbig 0:ad97421fb1fb 80 char instructionNextActionType;
antbig 0:ad97421fb1fb 81 char instructionJumpAction;
antbig 1:116040d14164 82 int errorCode = 0;
antbig 0:ad97421fb1fb 83 /*
antbig 0:ad97421fb1fb 84 Info sur la fonction sscanf
antbig 0:ad97421fb1fb 85 %d -> Entier signé
antbig 0:ad97421fb1fb 86 %u -> Entié non signé
antbig 0:ad97421fb1fb 87 %c -> char
antbig 0:ad97421fb1fb 88 */
antbig 1:116040d14164 89 errorCode = sscanf(line, "%d,%c,%c,%u,%u,%d,%c,%c,%c,%u,%u,%d,%d",
antbig 0:ad97421fb1fb 90 &instruction.lineNumber,
antbig 0:ad97421fb1fb 91 &instructionOrder,
antbig 0:ad97421fb1fb 92 &instructionDirection,
antbig 0:ad97421fb1fb 93 &instruction.arg1,
antbig 0:ad97421fb1fb 94 &instruction.arg2,
antbig 0:ad97421fb1fb 95 &instruction.arg3,
antbig 0:ad97421fb1fb 96 &instructionPrecision,
antbig 0:ad97421fb1fb 97 &instructionNextActionType,
antbig 0:ad97421fb1fb 98 &instructionJumpAction,
antbig 0:ad97421fb1fb 99 &instruction.JumpTimeOrX,
antbig 0:ad97421fb1fb 100 &instruction.JumpY,
antbig 0:ad97421fb1fb 101 &instruction.nextLineOK,
antbig 0:ad97421fb1fb 102 &instruction.nextLineError
antbig 0:ad97421fb1fb 103 );
antbig 1:116040d14164 104 /*
antbig 1:116040d14164 105 if(errorCode != 13) {
antbig 1:116040d14164 106 errorInstructionLoop();//L'instruction est pas bonne !!
antbig 1:116040d14164 107 }*/
antbig 0:ad97421fb1fb 108
antbig 0:ad97421fb1fb 109 instruction.order = charToInstructionType(instructionOrder);
antbig 0:ad97421fb1fb 110 instruction.direction = charToInstructionDirection(instructionDirection);
antbig 0:ad97421fb1fb 111 instruction.precision = charToInstructionPrecisionOuRecalage(instructionPrecision);
antbig 0:ad97421fb1fb 112 instruction.nextActionType = charToInstructionNextActionType(instructionNextActionType);
antbig 0:ad97421fb1fb 113 instruction.jumpAction = charToInstructionNextActionJumpType(instructionJumpAction);
antbig 0:ad97421fb1fb 114
antbig 0:ad97421fb1fb 115
antbig 0:ad97421fb1fb 116 return instruction;
antbig 0:ad97421fb1fb 117 }
antbig 0:ad97421fb1fb 118
antbig 4:88431b537477 119 /****************************************************************************************/
antbig 4:88431b537477 120 /* FUNCTION NAME: loadAllInstruction */
antbig 4:88431b537477 121 /* DESCRIPTION : Charger toutes les instructions du fichier de stratégie */
antbig 4:88431b537477 122 /* Il faut utiliser strcpy(cheminFileStart,"/local/strat.txt"); */
antbig 4:88431b537477 123 /* pour indiquer le fichier à utiliser */
antbig 4:88431b537477 124 /****************************************************************************************/
antbig 0:ad97421fb1fb 125 void loadAllInstruction(void) {
antbig 0:ad97421fb1fb 126
antbig 0:ad97421fb1fb 127 struct S_Instruction instruction;
antbig 0:ad97421fb1fb 128 char LineBuffer[SIZE];
antbig 0:ad97421fb1fb 129 printf("Reading file : ");
antbig 0:ad97421fb1fb 130 printf(cheminFileStart);
antbig 0:ad97421fb1fb 131 printf("\n");
antbig 0:ad97421fb1fb 132 FILE *testFile = fopen(cheminFileStart, "rt"); //Ouverture du fichier en mode lecture seul au format string
antbig 0:ad97421fb1fb 133
antbig 0:ad97421fb1fb 134 nb_instructions = 0;
antbig 0:ad97421fb1fb 135 while (fgets(LineBuffer, SIZE, testFile) != NULL) {
antbig 0:ad97421fb1fb 136 instruction = stringToInstruction(LineBuffer);
antbig 0:ad97421fb1fb 137 strat_instructions[nb_instructions] = instruction;
antbig 1:116040d14164 138 if(strat_instructions[nb_instructions].order == UNKNOWN) {
antbig 1:116040d14164 139 errorInstructionLoop();//L'instruction est pas bonne !!
antbig 1:116040d14164 140 }
antbig 0:ad97421fb1fb 141 //printf(LineBuffer);
antbig 0:ad97421fb1fb 142 //debug_Instruction(instruction);
antbig 0:ad97421fb1fb 143 nb_instructions++;
antbig 0:ad97421fb1fb 144 }
antbig 0:ad97421fb1fb 145 printf("nb instruction = %d\n",nb_instructions);
antbig 0:ad97421fb1fb 146 fclose(testFile);
antbig 0:ad97421fb1fb 147
antbig 0:ad97421fb1fb 148 }
antbig 4:88431b537477 149
antbig 4:88431b537477 150 /****************************************************************************************/
antbig 4:88431b537477 151 /* FUNCTION NAME: FileExists */
antbig 4:88431b537477 152 /* DESCRIPTION : Permet de vérifier si un fichier existe */
antbig 4:88431b537477 153 /****************************************************************************************/
antbig 4:88431b537477 154 int FileExists(const char *fname)
antbig 4:88431b537477 155 {
antbig 4:88431b537477 156 FILE *file;
antbig 4:88431b537477 157 if (file = fopen(fname, "r"))
antbig 4:88431b537477 158 {
antbig 4:88431b537477 159 fclose(file);
antbig 4:88431b537477 160 return 1;
antbig 4:88431b537477 161 }
antbig 4:88431b537477 162 return 0;
antbig 4:88431b537477 163 }