From 36d6fb1e467151e4fe278eb20257e984f96f4758 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?R=C3=A9tro?= <yann.roberge@polymtl.ca>
Date: Thu, 22 Oct 2020 20:48:48 -0400
Subject: [PATCH] =?UTF-8?q?Impl=C3=A9mentation=20de=20plus=20de=20fonction?=
=?UTF-8?q?s=20de=20d=C3=A9placement=20et=20leurs=20tests?=
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---
rsiTurtle.lua | 101 ++++++++++++++++++++++++++------------------------
test.lua | 86 +++++++++++++++++++++++++++++++++---------
2 files changed, 122 insertions(+), 65 deletions(-)
diff --git a/rsiTurtle.lua b/rsiTurtle.lua
index 800d603..797d662 100644
--- a/rsiTurtle.lua
+++ b/rsiTurtle.lua
@@ -47,6 +47,7 @@ function RSI_Turtle:init()
return turtle
end
+
---
-- \brief Affiche la position et l'orientation de la tortue
function RSI_Turtle:print()
@@ -70,25 +71,35 @@ function RSI_Turtle:print()
end
+---
+-- \brief Affiche la position et l'orientation de la tortue
+-- \return int,int,int Positions X, Y et Z
+function RSI_Turtle:getPos()
+ return self.pos_["x"], self.pos_["y"], self.pos_["z"]
+end
+
+
---
-- \brief Déplacement parallèle au sol
+-- \return bool Succès
function RSI_Turtle:moveTo2D(x, z)
- --TODO: Implementer
+ return self:move2D(x - self.pos_["x"], z - self.pos_["z"])
end
---
-- \brief Déplacement dans les trois dimensions
+-- \return bool Succès
function RSI_Turtle:moveTo(x, y, z)
- --TODO: Implementer
+ return self:move(x - self.pos_["x"], y - self.pos_["y"], z - self.pos_["z"])
end
---
--- \brief Déplacement s'assurant de rester au niveau du sol
--- escalade et descend automatiquement les pentes
-function RSI_Turtle:moveToGrounded(x, z)
- --TODO: Implementer
+-- \brief Retourner au point d'origine (0,0,0)
+-- \return bool Succès
+function RSI_Turtle:moveToOrigin()
+ return self:moveTo(0,0,0)
end
@@ -97,17 +108,16 @@ end
-- Ordre de déplacement: X, Z
-- \return bool Succès
function RSI_Turtle:move2D(dx, dz)
- local success
+ local success = true
if dx >= 0
then
self:face(12)
- else
+ success = self:moveForward(dx)
+ elseif dx < 0
+ then
self:face(6)
- end
- for i=1,dx,1
- do
- success = self:forward()
+ success = self:moveForward(-1*dx)
end
if not success
@@ -115,22 +125,32 @@ function RSI_Turtle:move2D(dx, dz)
return false
end
- if (dx <= 0 and dz >= 0) or (dx >= 0 and dz <= 0)
+ if (self.facing_ == 0)
then
- self:turnLeft()
- else
- self:turnRight()
+ if dz < 0
+ then
+ self:turnLeft()
+ elseif dz > 0
+ then
+ self:turnRight()
+ end
+ elseif (self.facing_ == 6)
+ then
+ if dz > 0
+ then
+ self:turnLeft()
+ elseif dz < 0
+ then
+ self:turnRight()
+ end
end
if not success
then
return false
end
-
- for i=1,dz,1
- do
- success = self:forward()
- end
+ succes = self:moveForward(math.abs(dz))
+
return success
end
@@ -141,7 +161,7 @@ end
-- Ordre de déplacement: X, Z, Y
-- \return bool Succès
function RSI_Turtle:move(dx, dy, dz)
- local success
+ local success = true
if (dy > 0)
then
@@ -165,6 +185,14 @@ function RSI_Turtle:move(dx, dy, dz)
end
+---
+-- \brief Déplacement s'assurant de rester au niveau du sol
+-- escalade et descend automatiquement les pentes
+function RSI_Turtle:moveToGrounded(x, z)
+ --TODO: Implementer
+end
+
+
---
-- \brief Déplacement s'assurant de rester au niveau du sol
-- escalade et descend automatiquement les pentes
@@ -201,17 +229,7 @@ end
-- \brief Déplacement avant
-- \return bool Succès
function RSI_Turtle:forward()
- turtle.forward()
-
- if self.facing_ == 0 then
- self.pos_["x"] = self.pos_["x"] + 1
- elseif self.facing_ == 3 then
- self.pos_["z"] = self.pos_["z"] + 1
- elseif self.facing_ == 6 then
- self.pos_["x"] = self.pos_["x"] - 1
- elseif self.facing_ == 9 then
- self.pos_["z"] = self.pos_["z"] - 1
- end
+ return self:moveForward(1)
end
---
@@ -225,7 +243,7 @@ function RSI_Turtle:moveForward(distance)
do
traveled = traveled + 1
end
-
+
if self.facing_ == 0 then
self.pos_["x"] = self.pos_["x"] + traveled
elseif self.facing_ == 3 then
@@ -244,20 +262,7 @@ end
-- \brief Déplacement arrière
-- \return bool Succès
function RSI_Turtle:backward()
- result = turtle.back()
-
- if result then
- if self.facing_ == 0 then
- self.pos_["x"] = self.pos_["x"] - 1
- elseif self.facing_ == 3 then
- self.pos_["z"] = self.pos_["z"] - 1
- elseif self.facing_ == 6 then
- self.pos_["x"] = self.pos_["x"] + 1
- elseif self.facing_ == 9 then
- self.pos_["z"] = self.pos_["z"] + 1
- end
- end
- return result
+ return self:moveBackward(1)
end
diff --git a/test.lua b/test.lua
index 73aa4a8..ec796e6 100644
--- a/test.lua
+++ b/test.lua
@@ -58,23 +58,75 @@ e:print()
-- print("Test ground();")
-- t:ground()
-print("Test move;")
-print("1;")
-t:move(0,0,5)
-print("2;")
-t:move(-3,-2,5)
-print("3;")
-t:move(2,2)
-t:ground()
-
-print("Test moveForward;")
-t:moveForward(5)
-
-print("Test move;")
-t:moveBackward(5)
-
-print("Test move;")
-t:moveBackward(5)
+-- print("Test move;")
+-- print("1;")
+-- t:move(0,0,5)
+-- print("2;")
+-- t:move(-3,-2,5)
+-- print("3;")
+-- t:move(2,2)
+-- t:ground()
+
+-- print("Test moveForward;")
+-- t:moveForward(5)
+
+-- print("Test moveBackward;")
+-- t:moveBackward(5)
+
+function checkPos(x,y,z)
+ xPos, yPos, zPos = t:getPos()
+ return ( xPos == x and yPos == y and zPos == z )
+end
+
+-- print("Tests face;")
+-- for i=0,9,3
+-- do
+-- for j=0,9,3
+-- do
+-- t:face(i)
+-- assert(t.facing_ == 0
+-- t
+-- end
+-- end
+
+print("Tests moveTo;")
+assert(t:moveToOrigin())
+print(t:getPos())
+assert(checkPos(0,0,0))
+
+assert(t:moveTo2D(5,0))
+print(t:getPos())
+assert(checkPos(5,0,0))
+
+assert(t:moveToOrigin())
+print(t:getPos())
+assert(checkPos(0,0,0))
+
+print("Tests problematiques")
+assert(t:moveTo2D(0, 5))
+print(t:getPos())
+assert(checkPos(0,0,5))
+
+assert(t:moveTo2D(0,-5))
+print(t:getPos())
+assert(checkPos(0,0,-5))
+
+assert(t:moveToOrigin())
+print(t:getPos())
+assert(checkPos(0,0,0))
+
+assert(t:moveTo(10,2,-1))
+print(t:getPos())
+assert(checkPos(10,2,-1))
+
+assert(t:moveTo(-5,5,5))
+print(t:getPos())
+assert(checkPos(-5,5,5))
+
+assert(t:moveToOrigin())
+print(t:getPos())
+assert(checkPos(0,0,0))
+t:face(12)
print("Fin des tests")
--
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