std::bitset<CELLS> PawnState::getCellsToMove(int row, int col, const BoardBase &board) const
{
std::bitset<CELLS> moves;
if(getPieceParty() == PieceParty::BLACK)
{
if(!isMoved() && board.getPieceTypeAt(INDEX(row + 1, col)) == PieceType::NONE)
{
setBit(INDEX(row + 2, col), moves);
}
setBit(INDEX(row + 1, col), moves);
}
else if(getPieceParty() == PieceParty::WHITE)
{
if(!isMoved() && board.getPieceTypeAt(INDEX(row - 1, col)) == PieceType::NONE)
{
setBit(INDEX(row - 2, col), moves);
}
setBit(INDEX(row - 1, col), moves);
}
return moves;
}
bool Pawn::canMove(int x, int y, int move_x, int move_y)
{
if(isPromoted()) {
return move_x == 0 || move_y == 0 || abs(move_x)==abs(move_y);
}
int dir = getSide()==0?-1:1;
if(move_x == 0) {
if(board_->get(x,y+dir) != NULL) {
return false;
}
if(move_y == dir) {
return true;
}
if(!isMoved() && move_y==dir*2) {
return board_->get(x,y+move_y)==NULL;
}
return false;
}
if(move_y != dir) {
return false;
}
if(abs(move_x) != 1) {
return false;
}
Man *target = board_->get(x+move_x,y+move_y);
return target?target->getSide()!=getSide():false;
}
bool Pawn::isJump()
{
if(isPromoted()) {
return false;
}
if(!isMoved()) {
return false;
}
vector<Pos>::reverse_iterator it = move_history_.rbegin();
int y0 = (*it++).second;
int y1 = (*it).second;
return abs(y0-y1)==2;
}
bool Hal::CheckAndAct()
{
bool sendResult;
//Read the state of the microSwitch
if (microSwitch.isChanged()) {
debugPrint("Switch state: ");
debugPrintLn(microSwitch.ReadState());
uint8_t buf[128];
size_t message_length;
NodeMessage nodemsg = NodeMessage_init_zero;
/* Create a stream that will write to our buffer. */
pb_ostream_t stream = pb_ostream_from_buffer(buf, sizeof(buf));
nodemsg.reading.funcs.encode = &switchsensor_callback;
/* Now we are ready to encode the message! */
/* Then just check for any errors.. */
if (!pb_encode(&stream, NodeMessage_fields, &nodemsg))
{
debugPrint("Encoding failed: ");
debugPrintLn(PB_GET_ERROR(&stream));
}
else
{
message_length = stream.bytes_written;
debugPrint("message_length:");
debugPrintLn(message_length);
debugPrint("message:<");
for (uint8_t i = 0; i < message_length; i++)
{
debugPrint(buf[i], HEX);
if (i < message_length - 1)
debugPrint(" ");
}
debugPrintLn(">");
}
sendResult = HalImpl.sendMessage(buf, message_length);
// reset the Time Passed flag
alive.setCurrentTime();
}
//Read the state of the microSwitch
if (isMoved()) {
debugPrintLn("Box moved: ");
uint8_t buf[128];
size_t message_length;
NodeMessage nodemsg = NodeMessage_init_zero;
/* Create a stream that will write to our buffer. */
pb_ostream_t stream = pb_ostream_from_buffer(buf, sizeof(buf));
nodemsg.reading.funcs.encode = &movesensor_callback;
/* Now we are ready to encode the message! */
/* Then just check for any errors.. */
if (!pb_encode(&stream, NodeMessage_fields, &nodemsg))
{
debugPrint("Encoding failed: ");
debugPrintLn(PB_GET_ERROR(&stream));
}
else
{
message_length = stream.bytes_written;
debugPrint("message_length:");
debugPrintLn(message_length);
debugPrint("message:<");
for (uint8_t i = 0; i < message_length; i++)
{
debugPrint(buf[i], HEX);
if (i < message_length - 1)
debugPrint(" ");
}
debugPrintLn(">");
}
sendResult = HalImpl.sendMessage(buf, message_length);
hasMoved = false;
// reset the Time Passed flag
alive.setCurrentTime();
}
// check alive timer
if (alive.isTimePassed())
{
// reset the Time Passed flag
alive.resetTimePassed();
debugPrint("LTC values: mAh ");
debugPrint(ltc.getCharge(), 4);
debugPrint(F(" mAh\t"));
debugPrint(F("Current "));
debugPrint(ltc.getCurrent(), 4);
debugPrint(F(" A\t"));
debugPrint(F("Voltage "));
debugPrint(ltc.getVoltage(), 4);
debugPrint(F(" V\t"));
debugPrint(F("Temperature "));
debugPrint(ltc.getTemp(), 4);
debugPrint(F(" C\n"));
debugPrint("HTU values: ");
debugPrint(F("Temperature "));
debugPrint(htu.getTemp(), 4);
debugPrint(F(" C"));
debugPrint(F("Humidity "));
debugPrint(htu.getHum(), 4);
debugPrint(F(" %\n"));
uint8_t buf2[128];
size_t message_length;
NodeMessage nodemsg2 = NodeMessage_init_zero;
/* Create a stream that will write to our buffer. */
pb_ostream_t stream2 = pb_ostream_from_buffer(buf2, sizeof(buf2));
// add the temperature data to the output buffer
nodemsg2.reading.funcs.encode = &tempsensor_callback;
/* Now we are ready to encode the message! */
/* Then just check for any errors.. */
if (!pb_encode(&stream2, NodeMessage_fields, &nodemsg2))
{
debugPrint("Encoding failed: ");
debugPrintLn(PB_GET_ERROR(&stream2));
}
else
{
message_length = stream2.bytes_written;
debugPrint("message_length:");
debugPrintLn(message_length);
debugPrint("message:<");
for (uint8_t i = 0; i < message_length; i++)
{
debugPrint(buf2[i], HEX);
if (i < message_length - 1)
debugPrint(" ");
}
debugPrintLn(">");
}
// add the humidity data to the output buffer
nodemsg2.reading.funcs.encode = &humsensor_callback;
/* Now we are ready to encode the message! */
/* Then just check for any errors.. */
if (!pb_encode(&stream2, NodeMessage_fields, &nodemsg2))
{
debugPrint("Encoding failed: ");
debugPrintLn(PB_GET_ERROR(&stream2));
}
else
{
message_length = stream2.bytes_written;
debugPrint("message_length:");
debugPrintLn(message_length);
debugPrint("message:<");
for (uint8_t i = 0; i < message_length; i++)
{
debugPrint(buf2[i], HEX);
if (i < message_length - 1)
debugPrint(" ");
}
debugPrintLn(">");
}
// add the voltage data to the output buffer
nodemsg2.reading.funcs.encode = &voltsensor_callback;
/* Now we are ready to encode the message! */
/* Then just check for any errors.. */
if (!pb_encode(&stream2, NodeMessage_fields, &nodemsg2))
{
debugPrint("Encoding failed: ");
debugPrintLn(PB_GET_ERROR(&stream2));
}
else
{
message_length = stream2.bytes_written;
debugPrint("message_length:");
debugPrintLn(message_length);
debugPrint("message:<");
for (uint8_t i = 0; i < message_length; i++)
{
debugPrint(buf2[i], HEX);
if (i < message_length - 1)
debugPrint(" ");
}
debugPrintLn(">");
}
// add the current data to the output buffer
nodemsg2.reading.funcs.encode = ¤tsensor_callback;
/* Now we are ready to encode the message! */
/* Then just check for any errors.. */
if (!pb_encode(&stream2, NodeMessage_fields, &nodemsg2))
{
debugPrint("Encoding failed: ");
debugPrintLn(PB_GET_ERROR(&stream2));
}
else
{
message_length = stream2.bytes_written;
debugPrint("message_length:");
debugPrintLn(message_length);
debugPrint("message:<");
for (uint8_t i = 0; i < message_length; i++)
{
debugPrint(buf2[i], HEX);
if (i < message_length - 1)
debugPrint(" ");
}
debugPrintLn(">");
}
// add the charge data to the output buffer
nodemsg2.reading.funcs.encode = &chargesensor_callback;
/* Now we are ready to encode the message! */
/* Then just check for any errors.. */
if (!pb_encode(&stream2, NodeMessage_fields, &nodemsg2))
{
debugPrint("Encoding failed: ");
debugPrintLn(PB_GET_ERROR(&stream2));
}
else
{
message_length = stream2.bytes_written;
debugPrint("message_length:");
debugPrintLn(message_length);
debugPrint("message:<");
for (uint8_t i = 0; i < message_length; i++)
{
debugPrint(buf2[i], HEX);
if (i < message_length - 1)
debugPrint(" ");
}
debugPrintLn(">");
}
// only send the number of retries if it is > 0
if (getNumTxRetries() > 0)
{
// add the retry counter data to the output buffer
nodemsg2.reading.funcs.encode = &retriessensor_callback;
/* Now we are ready to encode the message! */
/* Then just check for any errors.. */
if (!pb_encode(&stream2, NodeMessage_fields, &nodemsg2))
{
debugPrint("Encoding failed: ");
debugPrintLn(PB_GET_ERROR(&stream2));
}
else
{
message_length = stream2.bytes_written;
debugPrint("message_length:");
debugPrintLn(message_length);
debugPrint("message:<");
for (uint8_t i = 0; i < message_length; i++)
{
debugPrint(buf2[i], HEX);
if (i < message_length - 1)
debugPrint(" ");
}
debugPrintLn(">");
}
}
// send the alive message
sendResult = HalImpl.sendMessage(buf2, message_length);
// if the send was succesfull then the retry counter can be reset
if (sendResult)
{
setNumTxRetries(0);
}
}
}
void Pawn::updatePossibleMoves()
{
possible_move_.clear();
int x = move_history_.back().first;
int y = move_history_.back().second;
if(isPromoted()) {
checkLine(x,y, -1,-1);
checkLine(x,y, -1, 0);
checkLine(x,y, -1, 1);
checkLine(x,y, 0,-1);
checkLine(x,y, 0, 1);
checkLine(x,y, 1,-1);
checkLine(x,y, 1, 0);
checkLine(x,y, 1, 1);
}
else {
Man *target = NULL;
int next_x, next_y;
switch(player_) {
case 0:
next_x = x;
next_y = y-1;
break;
case 1:
next_x = x;
next_y = y+1;
break;
}
if(board_->isInBounds(next_x, next_y) && !board_->get(next_x, next_y)) {
possible_move_.push_back(pair<int,int>(next_x,next_y));
if(!isMoved()) {
switch(player_) {
case 0:
next_x = x;
next_y = y-2;
break;
case 1:
next_x = x;
next_y = y+2;
break;
}
if(board_->isInBounds(next_x, next_y) && !board_->get(next_x, next_y)) {
possible_move_.push_back(pair<int,int>(next_x,next_y));
}
}
}
switch(player_) {
case 0:
next_x = x+1;
next_y = y-1;
break;
case 1:
next_x = x-1;
next_y = y+1;
break;
}
if(board_->isInBounds(next_x, next_y)) {
Man *target = board_->get(next_x, next_y);
if(target) {
if(target->getSide() != getSide()) {
possible_move_.push_back(pair<int,int>(next_x,next_y));
}
}
else {
switch(player_) {
case 0:
target = board_->get(next_x, next_y+1);
break;
case 1:
target = board_->get(next_x, next_y-1);
break;
}
/**
Pawn *pawn = dynamic_cast<Pawn*>(board_->getLastMoved());
if(pawn && pawn->isJump() && pawn == target) {
possible_move_.push_back(pair<int,int>(next_x,next_y));
}
/**/
}
}
switch(player_) {
case 0:
next_x = x-1;
next_y = y-1;
break;
case 1:
next_x = x+1;
next_y = y+1;
break;
}
if(board_->isInBounds(next_x, next_y)) {
Man *target = board_->get(next_x, next_y);
if(target) {
if(target->getSide() != getSide()) {
possible_move_.push_back(pair<int,int>(next_x,next_y));
}
}
else {
switch(player_) {
case 0:
target = board_->get(next_x, next_y+1);
break;
case 1:
target = board_->get(next_x, next_y-1);
break;
}
/**
Pawn *pawn = dynamic_cast<Pawn*>(board_->getLastMoved());
if(pawn && pawn->isJump() && pawn == target) {
possible_move_.push_back(pair<int,int>(next_x,next_y));
}
/**/
}
}
}
}
