cube-solver/mbed.cpp at master · alan196/cube-solver · GitHub

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#include <stdio.h>

#include <stdint.h>

#include <pthread.h>

#include <unistd.h>

#include <cstring>

#include <stdlib.h>

#include <time.h>

#include "mbed.h"

char soln_moves[] = "UDLRFB";

uint8_t board_ids[] = {0,3,4,1,2,5};

sequence_t solve_sequence;

move_t moves[30];

// 0, ... ,5, UDLRFB

// 6, 2

// 7, '

// 8, <space>

// -1 other

int get_char_type(char a)

{

for(int i = 0; i < 6; i++)

if(soln_moves[i] == a)

return i;

if(a == '2')

return 6;

if(a == 39) // '

return 7;

if(a == ' ')

return 8;

printf("[ERROR] unrecognized character in solution %c (decimal %d)\n",a,a);

}

void string_to_sequence(char* string)

{

int move = 0;

for(int i = 0; i < strlen(string); i++)

{

int type = get_char_type(string[i]);

// direction

if(i%3 == 0)

{

if(type>5 || type <0)

{

printf("[ERROR] Could not find direction for move %d! Got %c instead.\n",move,string[i]);

return;

}

moves[move].face = (face_t)type;

}

if(i%3 == 1)

{

if(type == 6)

moves[move].n_turns = 2;

else if(type == 7)

moves[move].n_turns = -1;

else if(type == 8)

moves[move].n_turns = 1;

else

{

printf("[ERROR] Not a valid move modifier for move %d: %c\n",move,string[i]);

return;

}

if(i%3 == 2)

{

if(type != 8)

{

printf("[ERROR] Got invalid space character for move %d: %c\n",move,string[i]);

return;

}

move++;

}

solve_sequence.n_moves = move;

solve_sequence.moves = moves;

}

sequence_t* get_sequence()

{

return &solve_sequence;

}

void print_sequence()

{

int n_moves = solve_sequence.n_moves;

printf("Sequence with %d moves\n",n_moves);

for(int i = 0; i < n_moves; i++)

printf("\tMove face %c %d turns.\n",soln_moves[solve_sequence.moves[i].face],solve_sequence.moves[i].n_turns);

}

int sequence_to_serial(sequence_t* seq, uint8_t* buffer, int n_bytes)

{

printf("[sequence to serial] sequence with %d moves.\n",seq->n_moves);

if(n_bytes < seq->n_moves)

{

printf("SERIAL BUFFER TOO SMALL!\n");

return 1;

}

// i = 0

buffer[0] = K_START;

// i = 1

buffer[1] = K_MOVES + (seq->n_moves & 0x3f);

// i = 2 .. (n_moves+2)

for(int i = 0; i < seq->n_moves; i++)

buffer[i+2] = (0x7 & (seq->moves[i].n_turns)) + (0x38 & ((uint8_t)board_ids[seq->moves[i].face]<<3));

return seq->n_moves + 2;

}

int serial_to_sequence(sequence_t* seq, uint8_t* buffer, int n_bytes)

{

int start_index = -1;

int n_moves = -1;

for(int i = 0; i < n_bytes; i++)

{

if(buffer[i] == K_START)

{

start_index = i+2;

break;

}

if(start_index == -1)

{

printf("FAILED TO FIND START OF MOVE!\n");

return 1;

}

if((buffer[start_index-1] & 0xC0) != K_MOVES)

{

printf("COULD NOT FIND NUMBER OF MOVES!\n");

return 1;

}

n_moves = buffer[start_index-1]&0x3f;

seq->n_moves = n_moves;

if(n_moves < 15)

{

printf("NUMBER OF MOVES LESS THAN 15.\n");

return 1;

}

for(int i = 0; i < n_moves; i++)

{

uint8_t ser_move = buffer[start_index+i];

int8_t face = (face_t)((ser_move>>3) & 0x07);

int8_t n_turns = (int8_t)((ser_move) & 0x07);

// 2's complement negation

if(n_turns > 2) n_turns |= 0xf8;

if(face < 0 || face > 5)

{

printf("GOT INVALID FACE.\n");

return 1;

}

if(!(n_turns == -2 || n_turns == -1 || n_turns == 1 || n_turns == 2))

{

printf("GOT INVALID NUMBER OF TURNS: %d\n",n_turns);

printf("Serial data: " BYTE_TO_BINARY_PATTERN "\n",BYTE_TO_BINARY(ser_move));

return 1;

}

seq->moves[i].n_turns = n_turns;

seq->moves[i].face = (face_t)face;

}

return 0;

}

int states[6] = {0,0,0,0,0,0};

int move_counts[6] = {0,0,0,0,0,0};

int wait_counter[6] = {0,0,0,0,0,0};

//states:

// 0 - start command

// 1 - delay for command

// 2 - wait for and

// 3 - delay for and

// 4 - done.

void reset_mbed()

{

for(int i = 0; i < 6; i++)

{

states[i] = 0;

move_counts[i] = 0;

wait_counter[i] = 0;

}

void* run_sequence_2(void* command)

{

mbed_info_t* cmd = (mbed_info_t*)command;

int n_moves = cmd->seq->n_moves;

int n_turns = 0;

if(states[cmd->face] == 0)

{

cmd->set_and(0,cmd->face); // and off

// check if done

if(move_counts[cmd->face] > n_moves)

{

cmd->set_and(1,cmd->face);

states[cmd->face] = 4;

return NULL;

}

// check how many turns needed

if(cmd->face == cmd->seq->moves[move_counts[cmd->face]].face)

{

n_turns = cmd->seq->moves[move_counts[cmd->face]].n_turns;

}

else n_turns = 0;

// increment move counter

move_counts[cmd->face]++;

// rotate if needed

if(n_turns)

cmd->rotate(n_turns,cmd->face);

// wait...

states[cmd->face] = 1;

wait_counter[cmd->face] = 0;

return NULL;

}

else if(states[cmd->face] == 1)

{

//printf("b%d 1\n",cmd->face);

wait_counter[cmd->face]++;

if(wait_counter[cmd->face] < 500) return NULL;

states[cmd->face] = 2;

cmd->set_and(1,cmd->face);

return NULL;

}

else if(states[cmd->face] == 2)

{

//printf("b%d 2\n",cmd->face);

//printf("b 1 %d\n",cmd->face);

if(cmd->get_and())

{

wait_counter[cmd->face] = 0;

states[cmd->face] = 3;

return NULL;

}

else if(states[cmd->face] == 3)

{

//printf("b%d 3\n",cmd->face);

if(wait_counter[cmd->face]++ < 100) return NULL;

states[cmd->face] = 0;

cmd->set_and(0,cmd->face);

return NULL;

}

else if(states[cmd->face] == 4)

;

return NULL;

//printf("b%d 4\n",cmd->face);

}

void print_sequence_2(sequence_t* seq, uint8_t* buffer)

{

printf("Sequence of %d moves:\n",seq->n_moves);

for(int i = 0; i < seq->n_moves; i++)

{

printf(" Move %d: face %d, %d turns.\n",i,(int)seq->moves[i].face,seq->moves[i].n_turns);

if(buffer != NULL)

printf(" Buffer: " BYTE_TO_BINARY_PATTERN "\n",BYTE_TO_BINARY(buffer[2+i]));

}

uint8_t buffer_2[300];

sequence_to_serial(seq,buffer_2,seq->n_moves);

for(int i = 0; i < seq->n_moves; i++)

printf("0x%hhx, ",buffer_2[i]);

printf("\n");

}

void make_random_sequence(sequence_t* seq)

{

int n_moves = random(15,18);

seq->n_moves = n_moves;

for(int i = 0; i < n_moves; i++)

{

seq->moves[i].face = (face_t)random(0,5);

int n_turns = random(-2,1);

if(n_turns==0)n_turns=2;

seq->moves[i].n_turns = n_turns;

printf("random move %d: %d turns, face %d\n",i,n_turns,seq->moves[i].face);

}

void reset_sequence(sequence_t* seq)

{

seq->n_moves = 0;

for(int i = 0; i < 30; i ++)

{

seq->moves[i].face = (face_t)0;

seq->moves[i].n_turns = 0;

}

int random(int min, int max)

{

int rn = (rand() % (max + 1 - min)) + min;

if(rn > max || rn < min)

printf("RANDOM ERROR\n");

return rn;

}

cube-solver/mbed.cpp at master · alan196/cube-solver · GitHub

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