Colony » Colony Scout » Colony Scout OS

#include "navigationMap.h"

/** @brief Initializes the map */

navigationMap::navigationMap(std::string scoutname) : Behavior(scoutname)

{

  /** Initialize Map 

   *

   *   1           2          3         4

   *  ----|-----------|----------|---------|---------->

   *  <---|--5--------|--6-------|--7------|--8-------

   *      |           |          |         |

   *     9|         10|        11|       12|

   *      |           |          |         |

   *     ---         ---        ---       ---

   */

    Edge* a1 = {MAKE_EDGE(ISTRAIGHT, 2, 10), 

                MAKE_EDGE(IRIGHT, 9, 40),

                MAKE_EDGE(IUTURN, DEADEND, 0)};

    Edge* a2 = {MAKE_EDGE(ISTRAIGHT, 3, 10),

                MAKE_EDGE(IRIGHT, 10, 40),

                MAKE_EDGE(IUTURN, 5, 10)};

    Edge* a3 = {MAKE_EDGE(ISTRAIGHT, 4, 10),

                MAKE_EDGE(IRIGHT, 11, 40),

                MAKE_EDGE(IUTURN, 6, 10)};

    Edge* a4 = {MAKE_EDGE(ISTRAIGHT, DEADEND, 0),

                MAKE_EDGE(IRIGHT, 12, 40),

                MAKE_EDGE(IUTURN, 7, 10)};

    Edge* a5 = {MAKE_EDGE(ISTRAIGHT, DEADEND, 0),

                MAKE_EDGE(ILEFT, 9, 40),

                MAKE_EDGE(IUTURN, 2, 10)};

    Edge* a6 = {MAKE_EDGE(ISTRAIGHT, 5, 10),

                MAKE_EGE(ILEFT, 10, 40),

                MAKE_EDGE(IUTURN, 3, 10)};

    Edge* a7 = {MAKE_EDGE(ISTRAIGHT, 6, 10),

                MAKE_EGE(ILEFT, 11, 40),

                MAKE_EDGE(IUTURN, 4, 10)};

    Edge* a8 = {MAKE_EDGE(ISTRAIGHT, 7, 10),

                MAKE_EGE(ILEFT, 12, 40),

                MAKE_EDGE(IUTURN, DEADEND, 0)};

    Edge* a9 = {MAKE_EDGE(IRIGHT, 2, 10),

                MAKE_EGE(ILEFT, DEADEND, 0),

                MAKE_EDGE(IUTURN, 9, 40)};

    Edge* a10 = {MAKE_EDGE(IRIGHT, 3, 10),

                MAKE_EGE(ILEFT, 5, 10),

                MAKE_EDGE(IUTURN, 10, 40)};

    Edge* a11 = {MAKE_EDGE(IRIGHT, 4, 10),

                MAKE_EGE(ILEFT, 6, 10),

                MAKE_EDGE(IUTURN, 11, 40)};

    Edge* a12 = {MAKE_EDGE(IRIGHT, DEADEND, 0),

                MAKE_EGE(ILEFT, 7, 10),

                MAKE_EDGE(IUTURN, 12, 40)};

    map.pushback(a1);

    map.pushback(a2);

    map.pushback(a3);

    map.pushback(a4);

    map.pushback(a5);

    map.pushback(a6);

    map.pushback(a7);

    map.pushback(a8);

    map.pushback(a9);

    map.pushback(a10);

    map.pushback(a11);

    map.pushback(a12);

}

/** @brief Goes through and frees all allocated memory */

navigationMap::~navigationMap()

{

    while(!map.empty())

    {

      Edge** e = pop_back();

      for(int i=0; i<ARRAY_SIZE; i++)

      {

        delete e[i];

      }

    }

    return;

}

navigationMap::run()

{

}

navigationMap::get_state()

{

    return curr_state;

}

navigationMap::shortest_path(State target_state)

{

    // BFS algorithm

    State curr_state = get_state();

    char visited[MAX_NODES+1]; 

    //FAKE QUEUE OH NO 

    //TODO: real implementation

    Queue queue;

    queue.enqueue(curr_state);

    // 1 == visited, 0 == not visited

    visited[curr_state] = 1;

    while (!queue.is_empty)

    {

        State state = queue.dequeue();

        if (state == target_state)

        {   

            //TODO: implement moves_list

            State i;

            while(i != curr_state)

            {

                i = visited[i];

            }

            return moves_list;

        }

        Edge* edges = get_outbound_edges(state);

        int length = sizeof(edges) / sizeof(Edge);

        for (int i = 0; i < length; i++)

        {

            State new_state = GET_EDGE_STATE(edges[i]);

            if (!visited[new_state]) 

            {

                visited[new_state] = state;

                queue.enqueue(new_state);

            }

        }

    }

}

navigationMap::make_edge(Turn dir, State state, int dist)

{

    Edge* e = new Edge;

    e->direction = dir;

    e->state = state;

    e->distance = dist;

    return e;

}