debug maps

8 files changed, 109 insertions, 0 deletions

diff --git a/.gitignore b/.gitignore
index 774fe47..d493881 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 compile_commands.json
+__pycache__
 *.o
 robot/out.hex
 robot/a.out
diff --git a/maps/map1.map b/maps/map1.map
new file mode 100644
index 0000000..980c069
--- /dev/null
+++ b/maps/map1.map
diff --git a/maps/map1.txt b/maps/map1.txt
new file mode 100644
index 0000000..37ab452
--- /dev/null
+++ b/maps/map1.txt
@@ -0,0 +1,16 @@
+c559e59c98
+ac16f163aa
+aac92c553a
+6ba6969c9a
+c369ac7be3
+69cba2c3e9
+c3aae9ac3a
+2c3a26361a
+c38a8c559a
+6d3673c532
+cfddddf988
+efff777baa
+eff3000aaa
+eff9000efb
+efffdddbaa
+6777777322
diff --git a/maps/map2.map b/maps/map2.map
new file mode 100644
index 0000000..c7777c9
--- /dev/null
+++ b/maps/map2.map
diff --git a/maps/map2.txt b/maps/map2.txt
new file mode 100644
index 0000000..6465c5a
--- /dev/null
+++ b/maps/map2.txt
@@ -0,0 +1,5 @@
+c5559
+ac59a
+aa8aa
+a63aa
+6553a
diff --git a/maps/mapgen.py b/maps/mapgen.py
new file mode 100755
index 0000000..a7e6817
--- /dev/null
+++ b/maps/mapgen.py
@@ -0,0 +1,31 @@
+import sys
+from struct import pack
+
+def mapgen(filename):
+  file = open(filename, 'r')
+  target = open(filename + '.map', 'wb')
+  contents = file.read()
+
+  lines = contents.strip().split("\n")
+  target.write(pack('>H', len(lines[0])))
+  target.write(pack('>H', len(lines)))
+
+  first_nibble = False
+  temp_byte = 0
+  for char in contents.replace('\n', '').strip():
+    first_nibble = not first_nibble
+    num = int(char, 16)
+    temp_byte |= num << (4 * first_nibble)
+    if not first_nibble:
+      target.write(pack('B', temp_byte))
+      temp_byte = 0
+  if first_nibble: target.write(pack('B', temp_byte))
+
+  file.close()
+  target.close()
+
+if __name__ == "__main__":
+  if len(sys.argv) > 1:
+    mapgen(sys.argv[1])
+  else:
+    exit(1)
diff --git a/maps/mapprint.py b/maps/mapprint.py
new file mode 100755
index 0000000..4b56db6
--- /dev/null
+++ b/maps/mapprint.py
@@ -0,0 +1,24 @@
+import sys
+from struct import unpack
+
+def mapprint(filename):
+  file = open(filename, 'rb')
+  contents = file.read()
+  file.close()
+
+  width, height = unpack('>HH', contents[0:4])
+
+  for y in range(height):
+    for x in range(width):
+      nibble = x + y * width
+      byte = int(nibble / 2)
+      shift = byte * 2 - nibble + 1
+      num = (contents[4 + byte] & (0xf << 4 * shift)) >> 4 * shift
+      print(" ─│┘──└┴│┐│┤┌┬├┼"[num], end='')
+    print("\n", end='')
+
+if __name__ == "__main__":
+  if len(sys.argv) > 1:
+    mapprint(sys.argv[1])
+  else:
+    exit(1)
diff --git a/maps/readme.md b/maps/readme.md
new file mode 100644
index 0000000..85f94b0
--- /dev/null
+++ b/maps/readme.md
@@ -0,0 +1,32 @@
+# maps
+
+this directory contains map files. a .map file contains a binary representation
+of a maze, and can be sent to the robot over the wireless serial connection.
+map files have the following structure: first the width of the map as an
+unsigned 16-bit integer, then the height of the map also as an unsigned 16-bit
+integer. the rest of the file is the map content in reading order, where each
+byte contains two (nibble) map tiles. tiles are stored in the most significant
+portion of the byte first, so the last byte of a map file containing an uneven
+amount of tiles would look like `0x?0`.
+
+example tile:
+
+```
+┌───────┐      ┌───┬───┐
+│   b   │      │   │   │
+│ a   c │      │   └───┤
+│   d   │      │       │
+└───────┘      └───────┘
+ 0bDCBA       0b0110 (0x6)
+```
+
+garbage python scripts for generating and viewing these maps are included.
+[this](https://www.figma.com/file/GUKV1am9sqWpPoes9h8Ram/robotrun?node-id=0%3A1)
+figma file can be used to create a map, and then read out the hexadecimal
+notation for the map. google drive ocr works well enough to read out the red
+characters if you turn off path visibility in the figma document. figma also
+allows pdf export so you can print the maps, but the tiles are 24x24 pixels,
+not robot-sized (one tile is supposed to have about the same width and height
+as the robot's diameter). but maybe i'll make another script that stitches
+together the map tiles as svg, and then converts the whole thing to pdf.
+