hardware/board_interpreter.h¶

Physical board path planning and state management.

This module handles the translation between chess moves and physical gantry movements, including:

Temporary board state tracking during piece relocation
Path generation for different piece types
Blocker detection and parking spot selection
A* pathfinding for clear routes

This is a standalone program that communicates with:

The Kirin chess engine (receives moves + occupancy bitboard)
The gantry controller (sends movement commands)

Typedefs

using Bitboard = uint64_t¶

Enums

enum PieceType¶

Values:

enumerator PAWN¶

enumerator KNIGHT¶

enumerator BISHOP¶

enumerator ROOK¶

enumerator QUEEN¶

enumerator KING¶

enumerator UNKNOWN¶

Functions

inline int sign(int val)¶

std::vector<BoardCoord> getNeighbors(const BoardCoord &pos)¶

int chebyshevDistance(const BoardCoord &from, const BoardCoord &to)¶

int manhattanDistance(const BoardCoord &from, const BoardCoord &to)¶

inline void bb_setBit(Bitboard &bb, int square)¶

inline void bb_clearBit(Bitboard &bb, int square)¶

inline bool bb_getBit(Bitboard bb, int square)¶

int bb_countBits(Bitboard bb)¶

int bb_getLSB(Bitboard bb)¶

std::vector<Path> generatePath(const PhysicalMove &move)¶

std::vector<Path> generatePawnPath(const BoardCoord &from, const BoardCoord &to)¶

std::vector<Path> generateKnightPath(const BoardCoord &from, const BoardCoord &to)¶

std::vector<Path> generateBishopPath(const BoardCoord &from, const BoardCoord &to)¶

std::vector<Path> generateRookPath(const BoardCoord &from, const BoardCoord &to)¶

std::vector<Path> generateQueenPath(const BoardCoord &from, const BoardCoord &to)¶

std::vector<Path> generateKingPath(const BoardCoord &from, const BoardCoord &to)¶

Path generateDiagonalPath(const BoardCoord &from, const BoardCoord &to)¶

Path generateOrthogonalPath(const BoardCoord &from, const BoardCoord &to)¶

std::vector<BoardCoord> findBlockers(const PhysicalBoard &board, const Path &path)¶

Path selectBestPath(const PhysicalBoard &board, const std::vector<Path> &paths)¶

BoardCoord findParkingSpot(const PhysicalBoard &board, const BoardCoord &blockerPos, const std::set<BoardCoord> &excludeSquares)¶

Path findClearPath(const PhysicalBoard &board, const BoardCoord &from, const BoardCoord &to)¶

MovePlan planMove(PhysicalBoard &board, const PhysicalMove &move)¶

Bitboard parseBoardPosition(const char *pieces)¶

void printPath(const Path &path)¶

void printMovePlan(const MovePlan &plan)¶

struct BoardCoord¶

#include <board_interpreter.h>

Public Functions

inline BoardCoord()¶

inline BoardCoord(int r, int c)¶

inline bool operator==(const BoardCoord &other) const¶

inline bool operator!=(const BoardCoord &other) const¶

inline bool operator<(const BoardCoord &other) const¶

inline int toSquareIndex() const¶

void toFEN(char *out) const¶

Public Members

int row¶

int col¶

Public Static Functions

static inline BoardCoord fromSquareIndex(int square)¶

static BoardCoord fromFEN(const char *str)¶

struct Path¶

#include <board_interpreter.h>

Public Functions

inline Path()¶

inline void append(const BoardCoord &coord)¶

inline void clear()¶

inline int length() const¶

inline bool empty() const¶

inline BoardCoord destination() const¶

Public Members

std::vector<BoardCoord> squares¶

struct PhysicalMove¶

#include <board_interpreter.h>

Public Functions

inline PhysicalMove()¶

inline PhysicalMove(BoardCoord f, BoardCoord t, PieceType pt = UNKNOWN, bool cap = false)¶

Public Members

BoardCoord from¶

BoardCoord to¶

PieceType pieceType¶

bool isCapture¶

struct RelocationPlan¶

#include <board_interpreter.h>

Public Functions

inline RelocationPlan()¶

Public Members

BoardCoord from¶

BoardCoord to¶

Path path¶

struct MovePlan¶

#include <board_interpreter.h>

Public Functions

inline MovePlan()¶

Public Members

std::vector<RelocationPlan> relocations¶

PhysicalMove primaryMove¶

Path primaryPath¶

std::vector<RelocationPlan> restorations¶

bool isValid¶

const char *errorMessage¶

struct PlanObserver¶

#include <board_interpreter.h>

Public Members

void *context = nullptr¶

void (*onMovePlanned)(void *ctx, const char *label, const MovePlan &plan) = nullptr¶

class PhysicalBoard¶

#include <board_interpreter.h>

Public Functions

PhysicalBoard()¶

void setOccupancy(Bitboard occ)¶

inline Bitboard getOccupancy() const¶

bool isOccupied(const BoardCoord &coord) const¶

bool isOccupied(int row, int col) const¶

inline bool isEmpty(const BoardCoord &coord) const¶

inline bool isEmpty(int row, int col) const¶

void setOccupied(const BoardCoord &coord)¶

void clearSquare(const BoardCoord &coord)¶

void movePiece(const BoardCoord &from, const BoardCoord &to)¶

void print() const¶

Public Static Functions

static bool isValidSquare(const BoardCoord &coord)¶

static bool isValidSquare(int row, int col)¶

Public Static Attributes

static const int BOARD_SIZE = 8¶

Private Members

Bitboard occupied¶