//----------------------------------------------------------------------------
void Plcm::deletePos(int pos,compactType dir)
//
// Really moves elements laying over this position by one basic cell down.
// Also if we have a licing layout it updates slices infomrations
{
int offset;
if(dir == HorizC)
offset=thisImage.size[HOR];
else
offset=thisImage.size[VER];
if(slicingLayout)
{
int i,j;
SLICE* slvPtr,*slhPtr;
for(i=0,slvPtr=layoutToBuild->slice->chld.slice;
slvPtr!=NULL && i<slicesInHor;i++,slvPtr=slvPtr->next)
for(j=0,slhPtr=slvPtr->chld.slice;
slhPtr!=NULL && j<slicesInVer;j++,slhPtr=slhPtr->next)
{
// we let\'s find out if this one has to
// be updated
SLICE_INFO* tdPtr=(SLICE_INFO*)slhPtr->flag.p;
if (tdPtr->layerTrans != NULL)
cerr << "Warning : Compact - you shouldn't do compactions after \n"
<< " transparency analysis ! " << endl;
if(dir == HorizC)
{
if(tdPtr->cX + tdPtr->width >= pos)
for(LAYINSTPTR lPtr=slhPtr->chld.layinst;lPtr != NULL;lPtr=lPtr->next)
moveCell(lPtr,dir,pos,offset);
if(tdPtr->cX <= pos && tdPtr->cX+tdPtr->width > pos)
tdPtr->width--; // only shrink it
if(tdPtr->cX > pos) // only shift
tdPtr->cX--;
}
else
{
if (tdPtr->cY + tdPtr->height >= pos)
for(LAYINSTPTR lPtr=slhPtr->chld.layinst;lPtr != NULL;lPtr=lPtr->next)
moveCell(lPtr,dir,pos,offset);
if(tdPtr->cY <= pos && tdPtr->cY+tdPtr->height > pos)
tdPtr->height--; // only shrink it
if(tdPtr->cY > pos) // only shift
tdPtr->cY--;
}
}
}
else
for(LAYINST *liPtr=*layInstancesList;liPtr!=NULL;liPtr=liPtr->next)
moveCell(liPtr,dir,pos,offset);
}// Plcm::deletePos //
void followWallTest()
{
mainControlInit();
telemetersStart();
motorsSleepDriver(OFF);
HAL_Delay(500);
// control_params.wall_follow_state = TRUE;
wall_follow_control.follow_type = FOLLOW_WALL;//NOFOLLOW
// moveUTurn(300, 300, 0);
//while(1);
move(0, 0, 0, 0);
moveStartCell(500, 500);
moveCell(5, 500, 300);
moveRotateCW90(300, 300);
moveCell(3, 500, 300);
moveRotateCW90(300, 300);
moveCell(2, 500, 300);
moveRotateCW90(300, 300);
moveCell(2, 500, 300);
moveRotateCCW90(300, 300);
moveCell(1, 500, 300);
moveRotateCW90(300, 0);
// moveRotateCW90(50, 10);
// moveRotateCCW90(50, 10);
// moveRotateCCW90(50, 10);
while(1);
moveRotateCW90(600, 200);
moveRotateCW90(600, 200);
moveCell(1, 600, 200);
moveRotateCCW90(600, 200);
moveRotateCCW90(600, 200);
HAL_Delay(1000);
moveCell(4, 1000, 200);
HAL_Delay(1000);
moveRotateCW90(600, 200);
moveRotateCCW90(600, 200);
moveRotateCW90(600, 200);
moveRotateCCW90(600, 200);
moveRotateCW90(600, 200);
moveRotateCCW90(600, 200);
moveRotateCW90(600, 200);
moveCell(1, 600, 200);
telemetersStop();
mainControlDisplayTest();
mainControlDisplayTest();
}
