scoutos / scout / libscout / src / behaviors / maze_solve.cpp @ 64ee446f
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/**
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include "maze_solve.h" |
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using namespace std; |
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// want to have a minimal working thing, use a big enough
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// static array and start in the middle
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// we assume we are facing right, that affects where we store
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// wall information
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// -1 for wall, 0 for unseen, 1 for traveled, 2 for critical
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static int map[60][60]; |
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#define WALL -1 |
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#define UNSEEN 0 |
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#define SEEN 1 |
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#define CRITICAL 2 |
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// facings
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#define UP 0 |
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#define RIGHT 1 |
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#define DOWN 2 |
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#define LEFT 3 |
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void maze_solve::run(){
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// TODO:first initialize map to all 0's
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solve(25,25, RIGHT); |
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} |
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bool maze_solve::solve(row, col, dir)
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{ |
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// use backtracking to solve the maze
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if (at_destination()) {
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// not really sure what to do next... just chill here
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return true; |
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} |
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else
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{ |
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// this function should fill the adjacent cells around me with
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// wall's or paths
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look_around(row, col, dir); |
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if (at_dead_end(row, col, dir))
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{ |
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// set the scout to a back tracking direction
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spot_turn(); |
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return false; |
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} |
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/* try go up */
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// no need to check range because we assume our map is big enough
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if (map[row-1][col] != WALL) |
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{ |
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turn_from_to(dir, UP); |
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line_follow(); |
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// halts at intersection
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bool solved = solve(row-1, col) |
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if (solved) {
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//yeah!!! don't really know what to do now...
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// hopefully send some message to some other scout
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// waiting for my valuable information
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} |
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else {
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// whoops, that path did not work out
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// redo the move, since the recursive call has
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// already put me into the right direction, I will just
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// drive back and halt at intersection
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line_follow(); |
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// undo the turning
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turn_from_to() |
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} |
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} |
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/* try right */
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if (map[row][col+1] != WALL) |
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{ |
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turn_from |
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} |
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} |
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} |
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// this function takes in the current direction and turns the scout
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// into it intended direction
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void maze_solve::turn_from_to(int current_dir, int intended_dir) { |
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switch ((4 + intended_dir - current_dir) % 4) |
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case 0: |
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turn_straight(); |
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break;
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case 1: |
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turn_right(); |
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break;
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case 2: |
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break;
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case 3: |
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turn_left(); |
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break;
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} |
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int maze_solve::look_around(row, col)
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{ |
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// look around current place using sonar
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// store whether or not
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// there is a wall into the map
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// stores at row col 2 if point is critical, 1 otherwise
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} |
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bool maze_solve::at_destination()
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{ |
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} |
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bool wall_in_direction()
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{ |
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} |