void unmake_move(Move move)
{
turn_to_move = not_turn_to_move;
ply -= 1;
int direction_of_pawns = turn_to_move == WHITE? -10: 10;
int from = move_from(move);
int to = move_to(move);
int figure = board[move_to(move)];
int broken = move_broken(move);
int turn = move_turn(move);
if(turn)
board[from] = create_figure(turn_to_move, PAWN);
else
board[from] = figure;
if(get_value(figure) == PAWN && to == ply->en_passant)
{
board[to] = EMPTY;
board[to - direction_of_pawns] = create_figure(not_turn_to_move, PAWN);
}
else
board[to] = broken;
if(get_value(figure) == KING)
{
int horizontal;
if(turn_to_move == WHITE)
{
place_of_white_king = from;
horizontal = 90;
}
else
{
place_of_black_king = from;
horizontal = 20;
}
if(from - to == 2)
{
board[horizontal + 1] = board[horizontal + 4];
board[horizontal + 4] = EMPTY;
}
else if(to - from == 2)
{
board[horizontal + 8] = board[horizontal + 6];
board[horizontal + 6] = EMPTY;
}
}
}
void move_to_str(Move move, char *string)
{
int from = move_from(move);
int to = move_to(move);
int turn = move_turn(move);
string[0] = (from % 10) - 1 + 'a';
string[1] = 9 - (from / 10) + '1';
string[2] = (to % 10) - 1 + 'a';
string[3] = 9 - (to / 10) + '1';
switch(get_value(turn))
{
case QUEEN : string[4] = 'q'; break;
case ROOK : string[4] = 'r'; break;
case BISHOP: string[4] = 'b'; break;
case KNIGHT: string[4] = 'n'; break;
default: string[4] = '\0';
}
string[5] = '\0';
}
void make_move(Move move)
{
U64 hash = ply->hash;
int direction_of_pawns = turn_to_move == WHITE? -10: 10;
int from = move_from(move);
int figure = board[from];
int to = move_to(move);
int turn = move_turn(move);
int broken = move_broken(move);
board[from] = EMPTY;
hash ^= zobrist_piecesquare[figure][from];
if(turn)
{
board[to] = turn;
hash ^= zobrist_piecesquare[turn][to];
}
else
{
board[to] = figure;
hash ^= zobrist_piecesquare[figure][to];
}
if(get_value(figure) == PAWN && to == ply->en_passant)
{
int tmp = to - direction_of_pawns;
board[tmp] = EMPTY;
hash ^= zobrist_piecesquare[create_figure(not_turn_to_move, PAWN)][tmp];
}
else if(broken)
{
hash ^= zobrist_piecesquare[broken][to];
}
if(ply->en_passant)
{
hash ^= zobrist_en_passant[ply->en_passant];
}
ply += 1;
if(get_value(figure) == PAWN && to - from == direction_of_pawns * 2)
{
ply->en_passant = from + direction_of_pawns;
hash ^= zobrist_en_passant[ply->en_passant];
}
else
{
ply->en_passant = 0;
}
ply->castlings = (ply - 1)->castlings;
if(get_value(figure) == KING)
{
int horizontal;
if(turn_to_move == WHITE)
{
place_of_white_king = to;
make_white_castlings_is_incorrect();
horizontal = 90;
}
else
{
place_of_black_king = to;
make_black_castlings_is_incorrect();
horizontal = 20;
}
if(from - to == 2)
{
board[horizontal + 4] = board[horizontal + 1];
board[horizontal + 1] = EMPTY;
}
else if(to - from == 2)
{
board[horizontal + 6] = board[horizontal + 8];
board[horizontal + 8] = EMPTY;
}
}
if(board[98] != create_figure(WHITE, ROOK))
make_K_castling_is_incorrect();
if(board[91] != create_figure(WHITE, ROOK))
make_Q_castling_is_incorrect();
if(board[28] != create_figure(BLACK, ROOK))
make_k_castling_is_incorrect();
if(board[21] != create_figure(BLACK, ROOK))
make_q_castling_is_incorrect();
if(broken || get_value(figure) == PAWN)
ply->number_of_insignificant_plies = 0;
else
ply->number_of_insignificant_plies =
(ply - 1)->number_of_insignificant_plies + 1;
turn_to_move = not_turn_to_move;
hash ^= zobrist_color;
hash ^= zobrist_castlings[(ply - 1)->castlings];
hash ^= zobrist_castlings[ply->castlings];
ply->hash = hash;
}
void mainloop(Robot* robot)
{
/*** Initialisation ***/
rb = robot;
oldE = 0.0f;
/* Generate a random genom */
genom = 0;
for(int i = 0; i < 3; ++i) {
GENOM_SET (genom, rand_act(), i);
}
/* First movement */
move_reset();
switch(rand_act()) {
case ACT_TURN_RIGHT:
move_turn(PI/2.0f);
break;
case ACT_TURN_LEFT:
move_turn(-PI/2.0f);
break;
}
move_go();
/*** Loop ***/
for(;;) {
if(rb->discover()) {
char buffer[256];
int size;
move_stop();
buffer[0] = 0xaa;
rb->send(buffer, 1);
size = rb->receive(buffer, 256);
if(size != 1) {
/* Taille invalide, on ignore */
rb->close();
move_go();
continue;
} else {
if(buffer[0] == (char)0xFF) { /* Connection à l'ordi central */
/* TODO */
rb->close();
move_go();
continue;
} else {
float E = evalue();
buffer[0] = ((genom & 0x3f) << 1);
rb->memcpy(buffer + 1, &dist, 4);
rb->memcpy(buffer + 5, &E, 4);
rb->send(buffer, 9);
float rdist;
size = rb->receive(buffer, 256);
rb->close();
if(size != 9 || (buffer[0] & 0x7e) != 0) {
move_go();
continue;
}
rb->memcpy(&rdist, buffer + 1, 4);
rb->memcpy(&E, buffer + 5, 4);
if(evolve((buffer[0] & 0x3f) >> 1, E, rdist)) {
move_reset();
}
move_go();
continue;
}
}
}
float sc = rb->scan();
Action act;
if(sc < DNEXT) {
act = GENOM_GET(genom, NEXT);
move_stop();
switch(act) {
case ACT_TURN_RIGHT:
move_turn(PI/2.0f);
break;
case ACT_TURN_LEFT:
move_turn(-PI/2.0f);
break;
case ACT_STRAIGHT:
move_turn(PI);
break;
}
move_go();
} else if(sc < DNEAR) {
act = GENOM_GET(genom, NEAR);
move_stop();
switch(act) {
case ACT_TURN_RIGHT:
move_turn(PI/2.0f);
break;
case ACT_TURN_LEFT:
move_turn(-PI/2.0f);
break;
}
move_go();
} else if(sc < DFAR) {
act = GENOM_GET(genom, FAR);
move_stop();
switch(act) {
case ACT_TURN_RIGHT:
move_turn(PI/2.0f);
break;
case ACT_TURN_LEFT:
move_turn(-PI/2.0f);
break;
}
move_go();
}
}
