maze_solver.h

00001 #include <string>
00002 #include <vector>
00003 #include <iostream>
00004 #include <fstream>
00005 #include "drivecontrol.h"
00006 
00007 const unsigned char MAZE_SIZE = 16;
00008 const unsigned char NORTH = 0;
00009 const unsigned char SOUTH = 1;
00010 const unsigned char WEST = 2;
00011 const unsigned char EAST = 3;
00012 const int MAX = 256;
00013 
00014 using namespace std;
00015 
00016 class Cell {
00017 public:
00018     unsigned char x, y;
00019     unsigned char dist;
00020     bool top_wall, right_wall;
00021     Cell(unsigned char x, unsigned char y, unsigned char dist) :
00022         x(x), y(y), dist(dist) {
00023         top_wall = right_wall = false;
00024     }
00025     Cell(unsigned char x, unsigned char y, bool top_wall, bool right_wall)
00026         : x(x), y(y), top_wall(top_wall), right_wall(right_wall) {}
00027 };
00028 
00029 class Maze {
00030 public:
00031     Maze();
00032 
00033     ~Maze() {};
00034 
00035     unsigned char manhattan_dist(unsigned char x1, unsigned char x2, unsigned char y1, unsigned char y2);
00036 
00037     unsigned char min4(unsigned char a, unsigned char b, unsigned char c, unsigned char d);
00038 
00039     bool is_center(unsigned char x, unsigned char y);
00040 
00041     void print_maze(int x, int y, int dir);
00042 
00043     void print_maze();
00044 
00045     void print_mouse(int dir);
00046 
00047     void move();
00048 
00049     void load_maze(string file_name);
00050 
00051     Cell * maze[MAZE_SIZE][MAZE_SIZE];
00052 };
00053 
00054 class Mouse {
00055 public:
00056     unsigned char direction, next_cell_dir, prev_mouse_dir;
00057     //the current position of Mouse, should be identical to the Cell'x and y
00058     unsigned char mouse_x,  mouse_y;
00059     // the previous direction, the previous direction is open by default
00060     unsigned char prev;
00061     bool north_open, south_open, east_open, west_open;
00062     bool front_sensor, left_sensor, right_sensor;
00063     Maze * detected_maze;
00064     std::vector <Cell*> stk; //vc was used as a stack to update the distance
00065 
00066     Mouse( DriveControl * driver);
00067 
00068     ~Mouse() {
00069         for (int i = 0; i < MAZE_SIZE; i++) {
00070             // delete [] *maze[i];
00071             for (int j = 0; j < MAZE_SIZE; j++) {
00072                 delete detected_maze->maze[i][j];
00073             }
00074         }
00075         delete detected_maze;
00076     };
00077 
00078     void set_direction(unsigned char dir);
00079 
00080     unsigned char get_direction();
00081 
00082     bool get_front_sensor_value(); //read the value from the front sensor and will update the wall properly
00083 
00084     bool get_left_sensor_value(); //read the value from the left sensor and will update the wall properly
00085 
00086     bool get_right_sensor_value(); //read the value from the right sensor and will update the wall properly
00087 
00088     bool can_move();
00089 
00090     void update_distance();
00091 
00092     unsigned char min_open_neighbor(vector<Cell*> cells);
00093 
00094     void check_open_neighbor();
00095 
00096     int solve_maze();
00097     
00098     bool center_found();
00099     
00100     void clear_stack();
00101     
00102     bool can_reset_mouse;
00103     
00104     bool is_center;
00105 
00106     void move_one_cell();
00107     
00108     int get_prev_direction();
00109     
00110     int get_next_cell_direction();
00111 
00112 };