Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#include "maze_solve.h"

using namespace std;

// want to have a minimal working thing, use a big enough 

// static array and start in the middle

// we assume we are facing right, that affects where we store

// wall information

// -1 for wall, 0 for unseen, 1 for traveled, 2 for critical

static int map[60][60];

#define WALL -1

#define UNSEEN 0

#define SEEN 1

#define CRITICAL 2

// facings

#define UP 0

#define RIGHT 1

#define DOWN 2

#define LEFT 3

void maze_solve::run(){

    // TODO:first initialize map to all 0's

    solve(25,25, RIGHT);

}

bool maze_solve::solve(row, col, dir)

{   

    // use backtracking to solve the maze

    if (at_destination()) {

        // not really sure what to do next... just chill here

        return true;

    }

    else

    {

        // this function should fill the adjacent cells around me with

        // wall's or paths

        look_around(row, col, dir);

        if (at_dead_end(row, col, dir))

        {

            // set the scout to a back tracking direction

            spot_turn();

            return false;

        }

        /* try go up */

        // no need to check range because we assume our map is big enough

        if (map[row-1][col] != WALL)

        {

            turn_from_to(dir, UP);

            line_follow();

            // halts at intersection

            bool solved = solve(row-1, col)

            if (solved) {

                //yeah!!! don't really know what to do now...

                // hopefully send some message to some other scout

                // waiting for my valuable information

            }

            else {

                // whoops, that path did not work out

                // redo the move, since the recursive call has 

                // already put me into the right direction, I will just 

                // drive back and halt at intersection

                line_follow();

                // undo the turning

                turn_from_to()

            }            

        }

        /* try right */

        if (map[row][col+1] != WALL)

        {

            turn_from

        }

    }

}

// this function takes in the current direction and turns the scout

// into it intended direction

void maze_solve::turn_from_to(int current_dir, int intended_dir) {

    switch ((4 + intended_dir - current_dir) % 4) 

        case 0:

            turn_straight();

            break;

        case 1:

            turn_right();

            break;

        case 2:

            break;

        case 3:

            turn_left();

            break;

}

int maze_solve::look_around(row, col)

{

    // look around current place using sonar

    // store whether or not

    // there is a wall into the map

    // stores at row col 2 if point is critical, 1 otherwise

}

bool maze_solve::at_destination() 

{

}

bool wall_in_direction()

{

}

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#ifndef _MAZE_SOLVE_H_

#define _MAZE_SOLVE_H_

#include "../Behavior.h"

class maze_solve: public line_follow

{

    public:

        maze_solve(std::string scoutname, Sensors* sensors):

            line_follow(scoutname, "maze_solve", sensors) {};

        void run();

}

#endif