add a new functions

README.md

@@ -117,6 +117,8 @@ void turnRight();
 void turnLeft();
 void turnRight45();
 void turnLeft45();
+void runRight();
+void runLeft();
 
 void setWall(int x, int y, char direction);
 void clearWall(int x, int y, char direction);
@@ -205,6 +207,16 @@ int/float getStat(string stat);
 * **Action:** Turn the robot forty-five degrees to the left
 * **Response:** `ack` once the movement completes
 
+#### `runRight`
+* **Args:** None
+* **Action:** Round turn the robot ninty degrees to the right
+* **Response:** `ack` once the movement completes
+
+#### `runLeft`
+* **Args:** None
+* **Action:** Round Turn the robot ninty degrees to the left
+* **Response:** `ack` once the movement completes
+
 #### `setWall X Y D`
 * **Args:**
   * `X` - The X coordinate of the cell

src/Window.cpp

@@ -293,6 +293,10 @@ Window::Window(QWidget *parent)
   refreshMazeFileComboBox(path);
   updateMazeAndPath(maze, path);
 
+  QStringList SplitStr = path.split("/");
+  QString TitleStr = SplitStr.takeLast();
+  this->setWindowTitle("mms : "+TitleStr);
+
   // Add the mouse algos
   refreshMouseAlgoComboBox(SettingsMisc::getRecentMouseAlgo());
 
@@ -409,6 +413,10 @@ void Window::updateMazeAndPath(Maze *maze, QString path) {
   updateMaze(maze);
   m_currentMazeFile = path;
   SettingsMisc::setRecentMazeFile(path);
+
+  QStringList SplitStr = path.split("/");
+  QString TitleStr = SplitStr.takeLast();
+  this->setWindowTitle("mms : "+TitleStr);
 }
 
 void Window::updateMaze(Maze *maze) {
@@ -719,6 +727,9 @@ void Window::startRun() {
     // Only enabled while mouse is running
     m_pauseButton->setEnabled(true);
     m_resetButton->setEnabled(true);
+
+    // for mouse speed control
+    m_sliderValue = m_speedSlider->value();
   } else {
     // Clean up the failed process
     m_runOutput->appendPlainText(process->errorString());
@@ -1111,10 +1122,19 @@ QString Window::executeCommand(QString command) {
     }
     bool success = moveForward(numHalfSteps);
     return success ? "" : CRASH;
-  } else if (function == "turnRight" || function == "turnRight90") {
+  } else if (function == "runRight" ) {
+      turn(Movement::RUN_RIGHT);
+      return "";
+  } else if (function == "runLeft" ) {
+      turn(Movement::RUN_LEFT);
+      return "";
+  } else if (function == "turnBack" ) {
+      turn(Movement::TURN_RIGHT_180);
+      return "";
+  } else if (function == "turnRight" || function == "turnRight90" ) {
     turn(Movement::TURN_RIGHT_90);
     return "";
-  } else if (function == "turnLeft" || function == "turnLeft90") {
+  } else if (function == "turnLeft"  || function == "turnLeft90"  ) {
     turn(Movement::TURN_LEFT_90);
     return "";
   } else if (function == "turnRight45") {
@@ -1213,12 +1233,18 @@ double Window::progressRequired(Movement movement) {
     case Movement::TURN_RIGHT_45:
     case Movement::TURN_LEFT_45:
       return 16.66;
+    case Movement::TURN_RIGHT_180:
     case Movement::TURN_RIGHT_90:
     case Movement::TURN_LEFT_90:
       return 33.33;
+    case Movement::RUN_RIGHT:
+    case Movement::RUN_LEFT:
+      return 33.33 * 1.5;
     default:
       ASSERT_NEVER_RUNS();
   }
+
+  return 0.0;
 }
 
 void Window::updateMouseProgress(double progress) {
@@ -1265,6 +1291,12 @@ void Window::updateMouseProgress(double progress) {
     destinationRotation -= Angle::Degrees(90);
   } else if (m_movement == Movement::TURN_LEFT_90) {
     destinationRotation += Angle::Degrees(90);
+  } else if (m_movement == Movement::TURN_RIGHT_180) {
+      destinationRotation -= Angle::Degrees(180);
+  } else if (m_movement == Movement::RUN_RIGHT) {
+      destinationRotation -= Angle::Degrees(90);
+  } else if (m_movement == Movement::RUN_LEFT) {
+      destinationRotation += Angle::Degrees(90);
   } else {
     ASSERT_NEVER_RUNS();
   }
@@ -1279,15 +1311,65 @@ void Window::updateMouseProgress(double progress) {
   double fraction = 1.0 - (remaining / required);
 
   // Calculate the current translation and rotation
-  Coordinate startingTranslation = getCoordinate(m_startingPosition);
+  Coordinate startingTranslation    = getCoordinate(m_startingPosition);
   Coordinate destinationTranslation = getCoordinate(destinationLocation);
+  Angle      startingRotation       = DIRECTION_TO_ANGLE().value(m_startingDirection);
+
+  Coordinate currentTranslation = startingTranslation * (1.0 - fraction) + destinationTranslation * fraction;
+  Angle currentRotation         = startingRotation    * (1.0 - fraction) + destinationRotation    * fraction;
+
+  // Calculate the current translation and rotation for a curv turn
+  if (m_movement == Movement::RUN_RIGHT || m_movement == Movement::RUN_LEFT) {
+     //-   m_runOutput->appendPlainText("run test");
+      if (m_startingDirection == SemiDirection::NORTH) {
+          destinationLocation.y += 1;
+          if (m_movement == Movement::RUN_RIGHT) {
+              currentTranslation += Coordinate::Cartesian( Dimensions::halfTileLength() * (1.0 - currentRotation.getSin()) * +1,  Dimensions::halfTileLength()*currentRotation.getCos() * +1 );
+              //destinationLocation.first  += 1;
+          }
+          else if (m_movement == Movement::RUN_LEFT) {
+              currentTranslation += Coordinate::Cartesian( Dimensions::halfTileLength() * (1.0 - currentRotation.getSin()) * -1,  Dimensions::halfTileLength()*currentRotation.getCos() * -1 );
+              //destinationLocation.first  -= 1;
+          }
+      }
+      else if (m_startingDirection == SemiDirection::EAST) {
+          destinationLocation.x  += 1;
+          if (m_movement == Movement::RUN_RIGHT) {
+              currentTranslation += Coordinate::Cartesian( Dimensions::halfTileLength() * (      currentRotation.getSin()) * -1,  Dimensions::halfTileLength()*(1.0 - currentRotation.getCos()) * -1 );
+              //destinationLocation.second -= 1;
+          }
+          else if (m_movement == Movement::RUN_LEFT) {
+              currentTranslation += Coordinate::Cartesian( Dimensions::halfTileLength() * (      currentRotation.getSin()) * +1,  Dimensions::halfTileLength()*(1.0 - currentRotation.getCos()) * +1);
+              //destinationLocation.second += 1;
+          }
+      }
+      else if (m_startingDirection == SemiDirection::SOUTH) {
+          destinationLocation.y -= 1;
+          if (m_movement == Movement::RUN_RIGHT) {
+              currentTranslation += Coordinate::Cartesian( Dimensions::halfTileLength() * (1.0 + currentRotation.getSin()) * -1,  Dimensions::halfTileLength()*(      currentRotation.getCos()) * +1 );
+              //destinationLocation.first  -= 1;
+          }
+          else if (m_movement == Movement::RUN_LEFT) {
+              currentTranslation += Coordinate::Cartesian( Dimensions::halfTileLength() * (1.0 + currentRotation.getSin()) * +1,  Dimensions::halfTileLength()*(      currentRotation.getCos()) * -1);
+              //destinationLocation.first  += 1;
+          }
+      }
+      else if (m_startingDirection == SemiDirection::WEST) {
+          destinationLocation.x  -= 1;
+          if (m_movement == Movement::RUN_RIGHT) {
+              currentTranslation += Coordinate::Cartesian( Dimensions::halfTileLength() * (      currentRotation.getSin()) * -1,  Dimensions::halfTileLength()*(1.0 + currentRotation.getCos()) * +1);
+              //destinationLocation.second += 1;
+          }
+          else if (m_movement == Movement::RUN_LEFT) {
+              currentTranslation += Coordinate::Cartesian( Dimensions::halfTileLength() * (      currentRotation.getSin()) * +1,  Dimensions::halfTileLength()*(1.0 + currentRotation.getCos()) * -1);
+              //destinationLocation.second -= 1;
+          }
+      }else {
+        //  stopRun("Stop running because of a wrong direction!");
+          return;
+      }
 
-  Angle startingRotation = DIRECTION_TO_ANGLE().value(m_startingDirection);
-  Coordinate currentTranslation = startingTranslation * (1.0 - fraction) +
-                                  destinationTranslation * fraction;
-  Angle currentRotation =
-      startingRotation * (1.0 - fraction) + destinationRotation * fraction;
-
+  }
   // Teleport the mouse, reset movement state if done
   m_mouse->teleport(currentTranslation, currentRotation);
   if (remaining == 0.0) {
@@ -1445,6 +1527,25 @@ bool Window::moveForward(int numHalfSteps) {
     stats->startRun();
   }
   // TODO: upforgrabs
+  // increase the speed by the distance that will be travelled
+    switch(numHalfSteps) {
+  case 1:
+  case 2:
+      m_speedSlider->setValue(m_sliderValue);
+      break;
+  case 3 :
+  case 4 :
+      m_speedSlider->setValue(m_sliderValue*1.25);
+      break;
+  case 5:
+  case 6:
+      m_speedSlider->setValue(m_sliderValue*1.5);
+      break;
+  default :
+      m_speedSlider->setValue(m_sliderValue*2.0);
+      break;
+  }
+  // TODO: upforgrabs
   // Half steps shouldn't count as a full move
   // increase the stats by the distance that will be travelled
   stats->addDistance(numHalfSteps);
@@ -1454,10 +1555,13 @@ bool Window::moveForward(int numHalfSteps) {
 }
 
 void Window::turn(Movement movement) {
-  ASSERT_TR(movement == Movement::TURN_LEFT_45 ||
+  ASSERT_TR(movement == Movement::RUN_LEFT  ||
+            movement == Movement::RUN_RIGHT ||
+            movement == Movement::TURN_LEFT_45 ||
             movement == Movement::TURN_LEFT_90 ||
             movement == Movement::TURN_RIGHT_45 ||
-            movement == Movement::TURN_RIGHT_90);
+            movement == Movement::TURN_RIGHT_90 ||
+            movement == Movement::TURN_RIGHT_180  );
 
   m_movement = movement;
   // TODO: upforgrabs
@@ -1670,6 +1774,7 @@ bool Window::isWall(SemiPosition semiPos, SemiDirection semiDir) const {
   } else {
     ASSERT_NEVER_RUNS();
   }
+  return false;
 }
 
 bool Window::isWall(SemiPosition semiPos, SemiDirection semiDir,
@@ -1679,8 +1784,9 @@ bool Window::isWall(SemiPosition semiPos, SemiDirection semiDir,
   if (isWall(semiPos, semiDir)) {
     return true;
   }
+ // m_runOutput->appendPlainText( QVariant(semiPos.x).toString() + " , " + QVariant(semiPos.y).toString() );
   for (int i = 1; i <= halfStepsAhead; i += 1) {
-    switch (semiDir) {
+    switch (m_mouse->getCurrentDiscretizedRotation()) {
       case SemiDirection::NORTH:
         semiPos.y += 1;
         break;
@@ -1712,9 +1818,10 @@ bool Window::isWall(SemiPosition semiPos, SemiDirection semiDir,
       default:
         ASSERT_NEVER_RUNS();
     }
-    if (isWall(semiPos, semiDir)) {
+  }
+  //m_runOutput->appendPlainText( QVariant(halfStepsAhead).toString() + "-(" + QVariant(semiPos.x).toString() + " , " + QVariant(semiPos.y).toString() + "):" +QVariant( (int) semiDir ).toString() );
+  if (isWall(semiPos, semiDir)) {
       return true;
-    }
   }
   return false;
 }

src/Window.h

@@ -29,8 +29,11 @@ enum class Movement {
   MOVE_DIAGONAL,
   TURN_RIGHT_45,
   TURN_RIGHT_90,
+  TURN_RIGHT_180,
   TURN_LEFT_45,
   TURN_LEFT_90,
+  RUN_RIGHT,
+  RUN_LEFT ,
   NONE,
 };
 
@@ -177,6 +180,7 @@ class Window : public QMainWindow {
   double m_movementProgress;
   double m_movementStepSize;
   QSlider *m_speedSlider;
+  int    m_sliderValue;
 
   double progressRequired(Movement movement);
   void updateMouseProgress(double progress);