Merge branch 'master' of github.com:Alexis211/Robotique

Conflicts:
	problem.cpp

7 files changed, 240 insertions, 22 deletions

diff --git a/Makefile b/Makefile
index 4a1dfb4..b0c9fe9 100644
--- a/Makefile
+++ b/Makefile
@@ -6,4 +6,4 @@ $(BIN): *.hpp $(OBJ)
 	g++ -o $@ $(OBJ) -lm -lsfml-system -lsfml-window -lsfml-graphics -O2 -std=c++11
 
 %.o: %.cpp *.hpp
-	g++ -c -o $@ $< -std=c++11 -O2
+	g++ -c -o $@ $< -std=c++11 -O2 -Wall -Wextra
diff --git a/geom.hpp b/geom.hpp
index e6dee0c..06b9e65 100644
--- a/geom.hpp
+++ b/geom.hpp
@@ -27,7 +27,7 @@ struct vec {
 	double angle() const {
 		if (is_nil()) return 0;
 		double xx = x / norm();
-		double a = acos(x);
+		double a = acos(xx);
 		return (y >= 0 ? a : -a + 2*M_PI);
 	}
 
@@ -144,6 +144,10 @@ struct circle {
 	vec at_angle(double theta) const {
 		return c + vec(r * cos(theta), r * sin(theta));
 	}
+
+	bool intersects(vec p) const {
+		return (c - p).norm() <= r;
+	}
 };
 
 struct circarc {
diff --git a/main.cpp b/main.cpp
index d1fa143..440a12f 100644
--- a/main.cpp
+++ b/main.cpp
@@ -4,9 +4,9 @@
 
 int main() {
 	hilare_a_param p;
-	p.l = 30;
-	p.r_c_car = 15;
-	p.r_c_trolley = 12;
+	p.l = 50;
+	p.r_c_car = 25;
+	p.r_c_trolley = 20;
 
 	UI the_ui(&p);
 
diff --git a/problem.cpp b/problem.cpp
index fb7670b..28ef8fa 100644
--- a/problem.cpp
+++ b/problem.cpp
@@ -56,14 +56,29 @@ bool hilare_a_mvt::intersects(const problem &p) const {
 // ================================= //
 
 solution solution::direct_sol(const hilare_a &pos_a, const hilare_a &pos_b) {
+	vector<hilare_a_mvt> sol;
+
 	// TODO: try different possibilities and chose the shortest one
-	return solution(vector<hilare_a_mvt>());
+	hilare_a_mvt mvt;
+	mvt.from = pos_a;
+	mvt.to = pos_b;
+	mvt.is_arc = false;
+	// la suite à compléter
+	sol.push_back(mvt);
+
+	return solution(sol);
 }
 
 // =============================== //
 // IMPLEMENTATION FOR CLASS SOLVER //
 // =============================== //
 
-// TODO
+solver::solver() {
+	// nothing ?
+}
+
+solver_internal solver::peek_internal() {
+	return _d;
+}
 
 /* vim: set ts=4 sw=4 tw=0 noet :*/
diff --git a/problem.hpp b/problem.hpp
index 3fc3054..f268d55 100644
--- a/problem.hpp
+++ b/problem.hpp
@@ -7,6 +7,7 @@
 
 struct obstacle {
 	circle c;
+	obstacle(circle cc) : c(cc) {}
 };
 
 struct hilare_a_param {
@@ -51,6 +52,7 @@ struct hilare_a_mvt {
 	// deux étapes dans le mouvement :
 	// - bien orienter la voiture (c'est l'angle dtheta_before)
 	// - avancer/reculer sur le cercle (c'est l'angle domega)
+	hilare_a_mvt() : center(0, 0) {}
 
 	hilare_a from, to;
 
@@ -88,14 +90,14 @@ struct solver_internal {
 	// intermediate data for the solver
 	// represents a graph of randomly chosen positions and simple solutions between them
 	std::vector<hilare_a> pts;
-	std::map<int, std::map<int, hilare_a_mvt> > paths;
+	std::map<int, std::map<int, solution> > paths;
 };
 
 class solver {
 	// mutex-protected asynchronous structure
 
 	private:
-	//todo
+	solver_internal _d;
 
 	public:
 	solver();
@@ -103,6 +105,8 @@ class solver {
 	void start(const problem &p);
 	bool finished();
 	solution get_solution();
+
+	solver_internal peek_internal();
 };
 
 
diff --git a/ui.cpp b/ui.cpp
index 23a2b48..1f61f03 100644
--- a/ui.cpp
+++ b/ui.cpp
@@ -1,19 +1,30 @@
+#include <iostream>
+
 #include "ui.hpp"
 
 /*
 	All modes :
 		- h, j, k, l : move around
 		- i, o : zoom in/out
-	
+	Main mode (command mode) :
+		- s : select start pos
+		- e : select end pos
+		- a : add obstacle
+		- d : delete obstacle under mouse pointer
+	Select modes : no other keys
 */
 
-UI::UI(hilare_a_param *p) {
+using namespace std;
+
+UI::UI(hilare_a_param *p) : _sel_obs(vec(0,0), 0) {
 	_param = p;
 
 	_p.begin_pos.param = _p.end_pos.param = p;
 
 	_view.x0 = _view.y0 = 0;
 	_view.zoom = 1;
+
+	_mode = M_NORMAL;
 }
 
 void UI::run() {
@@ -32,8 +43,24 @@ void UI::run() {
 			if (ev.type == sf::Event::TextEntered) {
 				int k = ev.text.unicode;
 
-				// TODO
+				if (k == 'h') {
+					_view.x0 -= 20 / _view.zoom;
+				} else if (k == 'j') {
+					_view.y0 += 20 / _view.zoom;
+				} else if (k == 'k') {
+					_view.y0 -= 20 / _view.zoom;
+				} else if (k == 'l') {
+					_view.x0 += 20 / _view.zoom;
+				} else if (k == 'i') {
+					_view.zoom *= 1.1;
+				} else if (k == 'o') {
+					_view.zoom /= 1.1;
+				}
 			}
+
+			if (_mode == M_NORMAL) handle_normal(ev);
+			if (_mode == M_INS_OBSTACLE) handle_ins_obs(ev);
+			if (_mode == M_SEL_BEGIN || _mode == M_SEL_END) handle_sel_pos(ev);
 		}
 
 		_win.clear(sf::Color::Black);
@@ -42,10 +69,113 @@ void UI::run() {
 		render_solution();
 		render_problem();
 
+		if (_mode == M_INS_OBSTACLE)
+			render_circle(_sel_obs, sf::Color::Transparent, sf::Color::White, 0);
+		if (_mode == M_SEL_BEGIN || _mode == M_SEL_END)
+			render_pos(_sel_pos, sf::Color::White);
+
 		_win.display();
 	}
 }
 
+void UI::handle_normal(const sf::Event &ev) {
+	if (ev.type == sf::Event::TextEntered) {
+		int k = ev.text.unicode;
+
+		if (k == 's') {
+			_mode = M_SEL_BEGIN;
+			_sel_step = S_XY;
+			_sel_pos = _p.begin_pos;
+			vec p = mouse_coord();
+			_sel_pos.x = p.x;
+			_sel_pos.y = p.y;
+		}
+		if (k == 'e') {
+			_mode = M_SEL_END;
+			_sel_step = S_XY;
+			_sel_pos = _p.end_pos;
+			vec p = mouse_coord();
+			_sel_pos.x = p.x;
+			_sel_pos.y = p.y;
+		}
+		if (k == 'a') {
+			_mode = M_INS_OBSTACLE;
+			_sel_step = S_XY;
+			_sel_obs.c = mouse_coord();
+			_sel_obs.r = 20 / _view.zoom;
+		}
+		if (k == 'd') {
+			vec p = mouse_coord();
+			vector<obstacle> o2;
+			for(auto& i: _p.obstacles) {
+				if (!i.c.intersects(p)) o2.push_back(i);
+			}
+			_p.obstacles = o2;
+		}
+	}
+}
+
+void UI::handle_ins_obs(const sf::Event &ev) {
+	if (_sel_step == S_XY) {
+		if (ev.type == sf::Event::MouseMoved) {
+			_sel_obs.c = mouse_coord();
+		} else if (ev.type == sf::Event::MouseButtonReleased
+				&& ev.mouseButton.button == sf::Mouse::Button::Left) {
+			_sel_step = S_RADIUS;
+		}
+	} else {
+		if (ev.type == sf::Event::MouseMoved) {
+			_sel_obs.r = (mouse_coord() - _sel_obs.c).norm();
+		} else if (ev.type == sf::Event::MouseButtonReleased
+				&& ev.mouseButton.button == sf::Mouse::Button::Left) {
+			_p.obstacles.push_back(obstacle(_sel_obs));
+			_mode = M_NORMAL;
+		}
+	}
+
+	if (ev.type == sf::Event::MouseButtonReleased
+			&& ev.mouseButton.button == sf::Mouse::Button::Right) {
+		_mode = M_NORMAL;	// cancel out
+	}
+}
+
+void UI::handle_sel_pos(const sf::Event &ev) {
+	if (_sel_step == S_XY) {
+		if (ev.type == sf::Event::MouseMoved) {
+			vec p = mouse_coord();
+			_sel_pos.x = p.x;
+			_sel_pos.y = p.y;
+		} else if (ev.type == sf::Event::MouseButtonReleased
+				&& ev.mouseButton.button == sf::Mouse::Button::Left) {
+			_sel_step = S_THETA;
+		}
+	} else if (_sel_step == S_THETA) {
+		if (ev.type == sf::Event::MouseMoved) {
+			_sel_pos.theta = (mouse_coord() - _sel_pos.pos()).angle();
+		} else if (ev.type == sf::Event::MouseButtonReleased
+				&& ev.mouseButton.button == sf::Mouse::Button::Left) {
+			_sel_step = S_PHI;
+		}
+	} else {
+		if (ev.type == sf::Event::MouseMoved) {
+			_sel_pos.phi = (mouse_coord() - _sel_pos.pos()).angle() - _sel_pos.theta;
+		} else if (ev.type == sf::Event::MouseButtonReleased
+				&& ev.mouseButton.button == sf::Mouse::Button::Left) {
+			if (_mode == M_SEL_BEGIN) {
+				_p.begin_pos = _sel_pos;
+			} else {
+				_p.end_pos = _sel_pos;
+			}
+			_mode = M_NORMAL;	// cancel out
+		}
+	}
+
+	if (ev.type == sf::Event::MouseButtonReleased
+			&& ev.mouseButton.button == sf::Mouse::Button::Right) {
+		_mode = M_NORMAL;	// cancel out
+	}
+}
+
 void UI::render_circle(const circle &c, sf::Color border, sf::Color inside, int w) {
 	double r = c.r * _view.zoom;
 	sf::CircleShape a(r);
@@ -60,6 +190,17 @@ void UI::render_circle(const circle &c, sf::Color border, sf::Color inside, int
 void UI::render_pos(const hilare_a &pos, sf::Color c) {
 	render_circle(circle(pos.pos(), pos.param->r_c_car), c, sf::Color::Transparent, 2);
 
+	sf::ConvexShape l;
+
+	l.setPointCount(3);
+	l.setPoint(0, to_view(pos.pos() - vec::from_polar(pos.param->r_c_car * 0.8, pos.theta + M_PI / 2)));
+	l.setPoint(1, to_view(pos.pos() + vec::from_polar(pos.param->r_c_car * 0.8, pos.theta + M_PI / 2)));
+	l.setPoint(2, to_view(pos.pos() + vec::from_polar(pos.param->r_c_car * 0.8, pos.theta)));
+
+	l.setFillColor(c);
+
+	_win.draw(l);
+
 	render_circle(circle(pos.pos_trolley(), pos.param->r_c_trolley), c, sf::Color::Transparent, 2);
 }
 
@@ -67,8 +208,34 @@ void UI::render_obstacle(const obstacle &o) {
 	render_circle(o.c, sf::Color::Transparent, sf::Color(100, 100, 100), 0);
 }
 
-void UI::render_mvt(const hilare_a_mvt &m) {
-	// TODO
+void UI::render_mvt(const hilare_a_mvt &m, sf::Color c) {
+	if (m.is_arc) {
+		sf::Vertex l[20];
+
+		l[0] = sf::Vertex(to_view(m.from.pos()), c);
+
+		double th = (m.from.pos() - m.center).angle();
+		double r = (m.from.pos() - m.center).norm();
+		for (int i = 1; i < 19; i++) {
+			l[i] = sf::Vertex(to_view(m.center + vec::from_polar(r, th + m.domega * i / 20)), c);
+		}
+
+		l[19] = sf::Vertex(to_view(m.to.pos()), c);
+
+		_win.draw(l, 20, sf::Lines);
+	} else {
+		sf::Vertex l[] = {
+			sf::Vertex(to_view(m.from.pos()), c),
+			sf::Vertex(to_view(m.to.pos()), c),
+		};
+		_win.draw(l, 2, sf::Lines);
+	}
+}
+
+void UI::render_sol(const solution &s, sf::Color c) {
+	for (auto i: s.movement) {
+		render_mvt(i, c);
+	}
 }
 
 void UI::render_problem() {
@@ -84,20 +251,40 @@ void UI::render_solution() {
 	for (auto i = _s.movement.begin(); i != _s.movement.end(); i++) {
 		if (i != _s.movement.begin())
 			render_pos(i->from, sf::Color::Green);
-		render_mvt(*i);
 	}
+	render_sol(_s.movement, sf::Color::Green);
 }
 
 void UI::render_internal() {
-	// TODO
+	solver_internal x = _solver.peek_internal();
+
+	for (auto& p: x.pts) {
+		render_pos(p, sf::Color(42, 42, 42));
+	}
+
+	for (auto& kv: x.paths) {
+		for (auto kv2: kv.second) {
+			render_sol(kv2.second, sf::Color(42, 42, 42));
+		}
+	}
 }
 
 sf::Vector2f UI::to_view(const vec &p) {
-	return sf::Vector2f((p.x - _view.x0) * _view.zoom, (p.y - _view.y0) * _view.zoom);
+	sf::Vector2u s = _win.getSize();
+	return sf::Vector2f((p.x - _view.x0) * _view.zoom + (s.x/2), (p.y - _view.y0) * _view.zoom + (s.y/2));
 }
 
 vec UI::from_view(const sf::Vector2f &p) {
-	return vec(p.x / _view.zoom + _view.x0, p.y / _view.zoom + _view.y0);
+	sf::Vector2u s = _win.getSize();
+	return vec((p.x - s.x/2) / _view.zoom + _view.x0, (p.y - s.y/2) / _view.zoom + _view.y0);
+}
+
+vec UI::from_view(const sf::Vector2i &p) {
+	return from_view(sf::Vector2f(p.x, p.y));
+}
+
+vec UI::mouse_coord() {
+	return from_view(sf::Mouse::getPosition() - _win.getPosition());
 }
 
 /* vim: set ts=4 sw=4 tw=0 noet :*/
diff --git a/ui.hpp b/ui.hpp
index 552dfa2..8496b58 100644
--- a/ui.hpp
+++ b/ui.hpp
@@ -10,7 +10,6 @@
 enum {
 	M_NORMAL,
 	M_INS_OBSTACLE,
-	M_DEL_OBSTACLE,
 	M_SEL_BEGIN,
 	M_SEL_END
 };
@@ -19,7 +18,6 @@ enum {
 	S_XY,
 	S_THETA,
 	S_PHI,
-	S_CENTER,
 	S_RADIUS
 };
 
@@ -28,8 +26,8 @@ class UI {
 	hilare_a_param *_param;
 
 	problem _p;
-
 	solution _s;
+	solver _solver;
 
 	struct {
 		double x0, y0, zoom;
@@ -40,14 +38,22 @@ class UI {
 
 	// interaction mode
 	int _mode, _sel_step;
+	hilare_a _sel_pos;
+	circle _sel_obs;
 
 	public:
 	UI(hilare_a_param *p);
 
+	void handle_normal(const sf::Event &ev);
+	void handle_ins_obs(const sf::Event &ev);
+	void handle_sel_pos(const sf::Event &ev);
+
 	void render_circle(const circle& c, sf::Color border, sf::Color inside, int linewidth);
+
 	void render_pos(const hilare_a &pos, sf::Color c);
 	void render_obstacle(const obstacle &o);
-	void render_mvt(const hilare_a_mvt &m);
+	void render_mvt(const hilare_a_mvt &m, sf::Color c);
+	void render_sol(const solution &s, sf::Color c);
 
 	void render_problem();
 	void render_solution();
@@ -55,6 +61,8 @@ class UI {
 
 	sf::Vector2f to_view(const vec &p);
 	vec from_view(const sf::Vector2f &p);
+	vec from_view(const sf::Vector2i &p);
+	vec mouse_coord();
 
 	void run();
 };