Diff: Maze/maze_solver.cpp

Revision:

28:600932142201

Parent:

27:b980fce784ea

Child:

30:daf286ac049f

--- a/Maze/maze_solver.cpp	Fri May 26 05:45:02 2017 +0000
+++ b/Maze/maze_solver.cpp	Sat May 27 07:21:02 2017 +0000
@@ -1,6 +1,7 @@
 #include "maze_solver.h"
-
 DriveControl * driver;
+int prev_mouse_dir_print = 5;
+int prev_mouse_dir = NORTH;
 
 Maze:: Maze() {
     unsigned char goal1 = MAZE_SIZE / 2;
@@ -28,7 +29,6 @@
     return abs(x1 - x2) + abs(y1 - y2);
 }
 
-
 // Function that takes the minimum of the four given distances
 unsigned char Maze:: min4(unsigned char a, unsigned char b, unsigned char c, unsigned char d) {
     unsigned char min;
@@ -82,14 +82,12 @@
     else if(direction == EAST){
         if(mouse_y == MAZE_SIZE-1)
             return 1;
-        // TODO: has_wall = reference_maze->maze[mouse_x][mouse_y]->right_wall;
         has_wall = driver->has_front_wall();
         detected_maze->maze[mouse_x][mouse_y]->right_wall = has_wall;
     }       
     else{ //WEST
         if(mouse_y == 0)
             return 1;
-        // TODO: has_wall = reference_maze->maze[mouse_x][mouse_y-1]->right_wall;
         has_wall = driver->has_front_wall();
         detected_maze->maze[mouse_x][mouse_y-1]->right_wall = has_wall;
     }
@@ -364,66 +362,80 @@
     return detected_maze->is_center(mouse_x, mouse_y);
 }
 
+int Mouse::get_next_cell_direction() {
+    return direction;    
+}
+
+int Mouse::get_prev_direction() {
+    return prev_mouse_dir_print;
+}
+
 int Mouse:: solve_maze() {
     const unsigned char STRAIGHT = 0, LEFT = 1, RIGHT = 2, UTURN = 3;
-    prev_mouse_dir = NORTH;
+    
+    prev_mouse_dir_print = prev_mouse_dir;
+    
+  //  
 
     //while the mouse has not find the center of the Maze
-    // while(!detected_maze->is_center(mouse_x, mouse_y)) {
-        move_one_cell();
-        unsigned char state = 5;
-        if (prev_mouse_dir == direction) {
-            state = STRAIGHT;
-        }
-        // Mouse is facing south
-        else if (prev_mouse_dir == SOUTH && direction == NORTH) {
-            state = UTURN;
-            prev_mouse_dir = NORTH;
-        } else if (prev_mouse_dir == SOUTH && direction == EAST) {
-            state = LEFT;
-            prev_mouse_dir = EAST;
-        } else if (prev_mouse_dir == SOUTH && direction == WEST) {
-            state = RIGHT;
-            prev_mouse_dir = WEST;
-        }
-        // Mouse is facing north
-        else if (prev_mouse_dir == NORTH && direction == EAST) {
-            state = RIGHT;
-            prev_mouse_dir = EAST;
-        } else if (prev_mouse_dir == NORTH && direction == WEST) {
-            state = LEFT;
-            prev_mouse_dir = WEST;
-        } else if (prev_mouse_dir == NORTH && direction == SOUTH) {
-            state = UTURN;
-            prev_mouse_dir = SOUTH;
-        }
-        // Mouse is facing west
-        else if (prev_mouse_dir == WEST && direction == NORTH) {
-            state = RIGHT;
-            prev_mouse_dir = NORTH;
-        } else if (prev_mouse_dir == WEST && direction == SOUTH) {
-            state = LEFT;
-            prev_mouse_dir = SOUTH;
-        } else if (prev_mouse_dir == WEST && direction == EAST) {
-            state = UTURN;
-            prev_mouse_dir = EAST;
-        }
-        // Mouse is facing west
-        else if (prev_mouse_dir == EAST && direction == NORTH) {
-            state = LEFT;
-            prev_mouse_dir = NORTH;
-        } else if (prev_mouse_dir == EAST && direction == SOUTH) {
-            state = RIGHT;
-            prev_mouse_dir = SOUTH;
-        } else if (prev_mouse_dir == EAST && direction == WEST) {
-            state = UTURN;
-            prev_mouse_dir = WEST;
-        }
-        
-        return state;
-    // }
+    move_one_cell();
+    unsigned char state = 5;
+    
+    
+    if (prev_mouse_dir == direction) {
+        state = STRAIGHT;
+    }
+    // Mouse is facing south
+    else if (prev_mouse_dir == SOUTH && direction == NORTH) {
+        state = UTURN;
+        prev_mouse_dir = NORTH;
+    } else if (prev_mouse_dir == SOUTH && direction == EAST) {
+        state = LEFT;
+        prev_mouse_dir = EAST;
+    } else if (prev_mouse_dir == SOUTH && direction == WEST) {
+        state = RIGHT;
+        prev_mouse_dir = WEST;
+    }
+    // Mouse is facing north
+    else if (prev_mouse_dir == NORTH && direction == EAST) {
+        state = RIGHT;
+        prev_mouse_dir = EAST;
+    } else if (prev_mouse_dir == NORTH && direction == WEST) {
+        state = LEFT;
+        prev_mouse_dir = WEST;
+    } else if (prev_mouse_dir == NORTH && direction == SOUTH) {
+        state = UTURN;
+        prev_mouse_dir = SOUTH;
+    }
+    // Mouse is facing west
+    else if (prev_mouse_dir == WEST && direction == NORTH) {
+        state = RIGHT;
+        prev_mouse_dir = NORTH;
+    } else if (prev_mouse_dir == WEST && direction == SOUTH) {
+        state = LEFT;
+        prev_mouse_dir = SOUTH;
+    } else if (prev_mouse_dir == WEST && direction == EAST) {
+        state = UTURN;
+        prev_mouse_dir = EAST;
+    }
+    // Mouse is facing west
+    else if (prev_mouse_dir == EAST && direction == NORTH) {
+        state = LEFT;
+        prev_mouse_dir = NORTH;
+    } else if (prev_mouse_dir == EAST && direction == SOUTH) {
+        state = RIGHT;
+        prev_mouse_dir = SOUTH;
+    } else if (prev_mouse_dir == EAST && direction == WEST) {
+        state = UTURN;
+        prev_mouse_dir = WEST;
+    }
+
+    
+    return state;
 }
 
+
+
 Mouse:: Mouse(DriveControl * prev_driver) {
     driver = prev_driver;
     detected_maze = new Maze();
@@ -431,25 +443,4 @@
     direction = NORTH;
     mouse_x = mouse_y = 0;
     north_open = south_open = east_open = west_open = 0;
-}
-
-//void solve_maze() {
-//    Mouse * my_mouse = new Mouse();
-//    printf("Maze Format: [Row, Col]. Size %d by %d\n", MAZE_SIZE, MAZE_SIZE);
-//    cout << "Start at the bottom leftmost corner [0,0]." << endl;
-//
-//    my_mouse->load_maze("apec2016.txt");
-//    printf("Here is the inital Maze:\n");
-//
-//    my_mouse->print_reference_maze();
-//    printf("Let's see how the Mouse is going to solve it:\n");
-//
-//    for (unsigned char i = 0; i < MAZE_SIZE; i++) {
-//        for (unsigned char j = 0; j < MAZE_SIZE; j++) {
-//            if(my_mouse->reference_maze->maze[i][j]->x != i || my_mouse->reference_maze->maze[i][j]->y != j) {
-//                printf("Supposed to be <%d,%d> but is <%d,%d>\n", i, j, my_mouse->reference_maze->maze[i][j]->x, my_mouse->reference_maze->maze[i][j]->y);
-//            }
-//        }
-//    }
-//    my_mouse->solve_maze();
-//}
\ No newline at end of file
+}
\ No newline at end of file