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source/Pathfinding.cpp@128:6bde4483ce7b, 2017-05-14 (annotated)

Committer:
cittecla
Date:
Sun May 14 14:40:12 2017 +0000
Revision:
128:6bde4483ce7b
Parent:
113:c7afe49752b9
Child:
129:0f60bf9640bb
included path finding into state machine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cittecla 14:9e2ce5880fb0 1 /**
cittecla 14:9e2ce5880fb0 2 * Pathfinding function library
cittecla 14:9e2ce5880fb0 3 * Handels Pathfinding inside the Arena
cittecla 14:9e2ce5880fb0 4 * Version 3.0.0
cittecla 14:9e2ce5880fb0 5 **/
cittecla 14:9e2ce5880fb0 6
cittecla 14:9e2ce5880fb0 7 /**
cittecla 14:9e2ce5880fb0 8 * Release notes:
cittecla 14:9e2ce5880fb0 9 * Storage and run time optimized
cittecla 14:9e2ce5880fb0 10 * Starts from target to reduce code and run time
cittecla 14:9e2ce5880fb0 11 **/
cittecla 14:9e2ce5880fb0 12
cittecla 14:9e2ce5880fb0 13 /**
cittecla 14:9e2ce5880fb0 14 * Storage table:
cittecla 14:9e2ce5880fb0 15 * 80kB uint16_t [40000] open_list (contains open f values as well as closed list value = max of 16 bit = 65535)
cittecla 14:9e2ce5880fb0 16 * 80kB uint16_t [40000] g_list (contains g values from A to current incl. target, needed for pathtracing)
cittecla 14:9e2ce5880fb0 17 * 40kB uint8_t [40000] obstacle_list (contains hard surface as well as red and green LEGO stones)
cittecla 14:9e2ce5880fb0 18 * 2kB uint8_t [2000] walkpath (contains the path coordinates in a list, [0] = start, [n] = target)
cittecla 14:9e2ce5880fb0 19 **/
cittecla 14:9e2ce5880fb0 20
cittecla 14:9e2ce5880fb0 21 //#include "mbed.h"
cittecla 34:40d8d29b44b8 22 #include "Pathfinding.h"
cittecla 14:9e2ce5880fb0 23 #include <stdio.h>
cittecla 14:9e2ce5880fb0 24 #include <iostream>
cittecla 14:9e2ce5880fb0 25
cittecla 32:777976c4d733 26
cittecla 14:9e2ce5880fb0 27
cittecla 14:9e2ce5880fb0 28
cittecla 14:9e2ce5880fb0 29 using namespace std;
cittecla 15:32b5d97a4281 30
cittecla 41:462d379e85c4 31 //global
cittecla 113:c7afe49752b9 32 position walkpath[3 * row] = { 0 };
cittecla 41:462d379e85c4 33 position target = {0};
cittecla 128:6bde4483ce7b 34 position start = {0};
cittecla 14:9e2ce5880fb0 35
cittecla 14:9e2ce5880fb0 36 //should be local
cittecla 15:32b5d97a4281 37 static uint16_t open_list[row][col] = { 0 }; // contains open slots marked with their F value (G + H)
cittecla 15:32b5d97a4281 38 static uint16_t g_list[row][col] = { 0 }; // G = A to square (C) in absolut number
cittecla 14:9e2ce5880fb0 39
cittecla 15:32b5d97a4281 40 static uint16_t open_list_count = 0;
cittecla 15:32b5d97a4281 41 static uint16_t counter;
cittecla 14:9e2ce5880fb0 42
cittecla 128:6bde4483ce7b 43 static int path_found = 45;
cittecla 128:6bde4483ce7b 44 static int no_path_possible = 48;
cittecla 32:777976c4d733 45
cittecla 14:9e2ce5880fb0 46
cittecla 14:9e2ce5880fb0 47 /************************************************************************************************************
cittecla 14:9e2ce5880fb0 48 Main a_star handling
cittecla 14:9e2ce5880fb0 49 ************************************************************************************************************/
cittecla 32:777976c4d733 50 int pathfinding()
cittecla 32:777976c4d733 51 {
cittecla 16:4a20536c9bb8 52 define_obst();
cittecla 128:6bde4483ce7b 53 //start = get_current_pos();
cittecla 128:6bde4483ce7b 54 //target.x = 198; target.y = 198;
cittecla 128:6bde4483ce7b 55 position current = { 0 }; //current pos of the pathfinder
cittecla 14:9e2ce5880fb0 56
cittecla 16:4a20536c9bb8 57 memset(open_list, 0, sizeof(open_list));
cittecla 16:4a20536c9bb8 58 memset(g_list, 0, sizeof(g_list));
cittecla 16:4a20536c9bb8 59 memset(walkpath, 0, sizeof(walkpath));
cittecla 16:4a20536c9bb8 60 open_list_count = 0;
cittecla 16:4a20536c9bb8 61 counter = 0;
cittecla 32:777976c4d733 62
cittecla 14:9e2ce5880fb0 63 // check if position is reachable
cittecla 14:9e2ce5880fb0 64 if (obstacle_list[start.x][start.y] == 1 || start.x > row || start.y > col ||
cittecla 32:777976c4d733 65 obstacle_list[target.x][target.y] == 1 || target.x > row || target.y > col) {
cittecla 14:9e2ce5880fb0 66 printf("Fatal Error, no path calculation possible\n");
cittecla 32:777976c4d733 67 return no_path_possible;
cittecla 32:777976c4d733 68 } else {
cittecla 14:9e2ce5880fb0 69 position diff;
cittecla 14:9e2ce5880fb0 70 diff.x = abs(target.x - start.x);
cittecla 14:9e2ce5880fb0 71 diff.y = abs(target.y - start.y);
cittecla 14:9e2ce5880fb0 72 uint8_t diagonal;
cittecla 14:9e2ce5880fb0 73 if (diff.x > diff.y) {
cittecla 14:9e2ce5880fb0 74 diagonal = diff.x - (diff.x - diff.y);
cittecla 32:777976c4d733 75 } else {
cittecla 14:9e2ce5880fb0 76 diagonal = diff.y - (diff.y - diff.x);
cittecla 14:9e2ce5880fb0 77 }
cittecla 14:9e2ce5880fb0 78 open_list[target.x][target.y] = diff.x * 2 + diff.y * 2 - diagonal;
cittecla 14:9e2ce5880fb0 79 open_list_count += 1;
cittecla 14:9e2ce5880fb0 80 g_list[target.x][target.y] = 1;
cittecla 14:9e2ce5880fb0 81
cittecla 14:9e2ce5880fb0 82 do {
cittecla 14:9e2ce5880fb0 83
cittecla 14:9e2ce5880fb0 84 current = openList_lowest_F(); // Get the square with the lowest F score
cittecla 14:9e2ce5880fb0 85 open_list[current.x][current.y] = 65535; // add position to the closed list; open_list 1111 1111 1111 1111 ^= closed_list = 1
cittecla 14:9e2ce5880fb0 86 open_list_count -= 1;
cittecla 14:9e2ce5880fb0 87
cittecla 14:9e2ce5880fb0 88 if (open_list[start.x][start.y] == 65535) { // if we added the destination to the closed list, we've found a path
cittecla 14:9e2ce5880fb0 89 printf("Path found\n\n"); // PATH FOUND
cittecla 32:777976c4d733 90 break; // break the loop
cittecla 14:9e2ce5880fb0 91 }
cittecla 14:9e2ce5880fb0 92 calc_F(target, start, current); // Calculates F for each neighbour of current lowest F
cittecla 14:9e2ce5880fb0 93
cittecla 14:9e2ce5880fb0 94 } while (!(open_list_count == 0)); // Continue until there is no more available square in the open list (which means there is no path)
cittecla 14:9e2ce5880fb0 95 if (open_list[start.x][start.y] != 65535) { // if we added the destination to the closed list, we've found a path
cittecla 14:9e2ce5880fb0 96 printf("No Path possible\n");
cittecla 32:777976c4d733 97 return no_path_possible;
cittecla 32:777976c4d733 98 } else {
cittecla 14:9e2ce5880fb0 99 mapp_path(start); //mapps the path onto the open_list, be replaced by position vector array;
cittecla 14:9e2ce5880fb0 100 printf("\nPath from (%d:%d) to (%d:%d) has a total of %d steps\n\n", start.x, start.y, target.x, target.y, counter);
cittecla 32:777976c4d733 101 return path_found;
cittecla 14:9e2ce5880fb0 102 }
cittecla 14:9e2ce5880fb0 103 }
cittecla 14:9e2ce5880fb0 104 }
cittecla 14:9e2ce5880fb0 105
cittecla 14:9e2ce5880fb0 106 /************************************************************************************************************
cittecla 14:9e2ce5880fb0 107 only needed for test, will be done by mapping function, delete for use on robot
cittecla 14:9e2ce5880fb0 108 ************************************************************************************************************/
cittecla 32:777976c4d733 109 static void define_obst()
cittecla 32:777976c4d733 110 {
cittecla 14:9e2ce5880fb0 111
cittecla 14:9e2ce5880fb0 112 for (int i = 0; i < row; i++) {
cittecla 14:9e2ce5880fb0 113 obstacle_list[i][0] = 1;
cittecla 14:9e2ce5880fb0 114 obstacle_list[i][col - 1] = 1;
cittecla 14:9e2ce5880fb0 115 }
cittecla 14:9e2ce5880fb0 116
cittecla 14:9e2ce5880fb0 117 for (int i = 0; i < row; i++) {
cittecla 14:9e2ce5880fb0 118 obstacle_list[0][i] = 1;
cittecla 14:9e2ce5880fb0 119 obstacle_list[row - 1][i] = 1;
cittecla 14:9e2ce5880fb0 120 }
cittecla 14:9e2ce5880fb0 121
cittecla 14:9e2ce5880fb0 122 }
cittecla 14:9e2ce5880fb0 123
cittecla 14:9e2ce5880fb0 124
cittecla 14:9e2ce5880fb0 125 /************************************************************************************************************
cittecla 14:9e2ce5880fb0 126 Essential function for calculating the distance
cittecla 14:9e2ce5880fb0 127 ************************************************************************************************************/
cittecla 32:777976c4d733 128 static void calc_F(position a, position b, position current)
cittecla 32:777976c4d733 129 {
cittecla 14:9e2ce5880fb0 130
cittecla 14:9e2ce5880fb0 131 position adjacent = current;
cittecla 14:9e2ce5880fb0 132 position corner1 = { 0 }, corner2 = { 0 };
cittecla 14:9e2ce5880fb0 133 uint16_t numb = 2;
cittecla 14:9e2ce5880fb0 134 for (int i = 0; i < 8; i++) {
cittecla 32:777976c4d733 135 switch (i) {
cittecla 32:777976c4d733 136 case 0:
cittecla 32:777976c4d733 137 adjacent.x = current.x - 1;
cittecla 32:777976c4d733 138 adjacent.y = current.y; // top
cittecla 32:777976c4d733 139 break;
cittecla 32:777976c4d733 140 case 1:
cittecla 32:777976c4d733 141 adjacent.x = current.x + 1;
cittecla 32:777976c4d733 142 adjacent.y = current.y; // bottom
cittecla 32:777976c4d733 143 break;
cittecla 32:777976c4d733 144 case 2:
cittecla 32:777976c4d733 145 adjacent.x = current.x;
cittecla 32:777976c4d733 146 adjacent.y = current.y - 1; // left
cittecla 32:777976c4d733 147 break;
cittecla 32:777976c4d733 148 case 3:
cittecla 32:777976c4d733 149 adjacent.x = current.x;
cittecla 32:777976c4d733 150 adjacent.y = current.y + 1; // right
cittecla 32:777976c4d733 151 break;
cittecla 32:777976c4d733 152 case 4:
cittecla 32:777976c4d733 153 adjacent.x = current.x - 1;
cittecla 32:777976c4d733 154 adjacent.y = current.y - 1;
cittecla 32:777976c4d733 155 numb = 3; // top left
cittecla 32:777976c4d733 156 corner1.x = current.x - 1;
cittecla 32:777976c4d733 157 corner1.y = current.y;
cittecla 32:777976c4d733 158 corner2.x = current.x;
cittecla 32:777976c4d733 159 corner2.y = current.y - 1;
cittecla 32:777976c4d733 160 break;
cittecla 32:777976c4d733 161 case 5:
cittecla 32:777976c4d733 162 adjacent.x = current.x - 1;
cittecla 32:777976c4d733 163 adjacent.y = current.y + 1; // top right
cittecla 32:777976c4d733 164 corner2.y = current.y + 1;
cittecla 32:777976c4d733 165 break;
cittecla 32:777976c4d733 166 case 6:
cittecla 32:777976c4d733 167 adjacent.x = current.x + 1;
cittecla 32:777976c4d733 168 adjacent.y = current.y + 1; // bottom right
cittecla 32:777976c4d733 169 corner1.x = current.x + 1;
cittecla 32:777976c4d733 170 break;
cittecla 32:777976c4d733 171 case 7:
cittecla 32:777976c4d733 172 adjacent.x = current.x + 1;
cittecla 32:777976c4d733 173 adjacent.y = current.y - 1; // bottom left
cittecla 32:777976c4d733 174 corner2.y = current.y - 1;
cittecla 32:777976c4d733 175 break;
cittecla 32:777976c4d733 176 default:
cittecla 128:6bde4483ce7b 177 printf("Fatal Error, unknown position\r\n");
cittecla 32:777976c4d733 178 break;
cittecla 14:9e2ce5880fb0 179 }
cittecla 14:9e2ce5880fb0 180 if (obstacle_list[adjacent.x][adjacent.y] == 0 && ((obstacle_list[corner1.x][corner1.y] == 0 && obstacle_list[corner2.x][corner2.y] == 0) ||
cittecla 32:777976c4d733 181 (corner1.x == 0 && corner1.y == 0 && corner2.x == 0 && corner2.y == 0))) {
cittecla 14:9e2ce5880fb0 182 if (open_list[adjacent.x][adjacent.y] != 65535) { // if this adjacent square is already in the closed list ignore it
cittecla 14:9e2ce5880fb0 183 uint16_t g_value = g_list[current.x][current.y] + numb;
cittecla 14:9e2ce5880fb0 184 position diff;
cittecla 14:9e2ce5880fb0 185 diff.x = abs(adjacent.x - b.x);
cittecla 14:9e2ce5880fb0 186 diff.y = abs(adjacent.y - b.y);
cittecla 14:9e2ce5880fb0 187 uint8_t diagonal;
cittecla 14:9e2ce5880fb0 188 if (diff.x > diff.y) {
cittecla 14:9e2ce5880fb0 189 diagonal = diff.x - (diff.x - diff.y);
cittecla 32:777976c4d733 190 } else {
cittecla 14:9e2ce5880fb0 191 diagonal = diff.y - (diff.y - diff.x);
cittecla 14:9e2ce5880fb0 192 }
cittecla 14:9e2ce5880fb0 193 if (open_list[adjacent.x][adjacent.y] == 0) { // if its not in the open list
cittecla 14:9e2ce5880fb0 194 open_list_count += 1;
cittecla 14:9e2ce5880fb0 195 g_list[adjacent.x][adjacent.y] = g_value; // compute its score, set the parent
cittecla 14:9e2ce5880fb0 196 open_list[adjacent.x][adjacent.y] = g_value + (diff.x * 2 + diff.y * 2 - diagonal);
cittecla 32:777976c4d733 197 } else { // if its already in the open list
cittecla 14:9e2ce5880fb0 198 if (g_value < g_list[adjacent.x][adjacent.y]) { // test if new path is better
cittecla 14:9e2ce5880fb0 199 g_list[adjacent.x][adjacent.y] = g_value;
cittecla 14:9e2ce5880fb0 200 open_list[adjacent.x][adjacent.y] = g_list[adjacent.x][adjacent.y] + (diff.x * 2 + diff.y * 2 - diagonal);
cittecla 14:9e2ce5880fb0 201 }
cittecla 14:9e2ce5880fb0 202 }
cittecla 14:9e2ce5880fb0 203 }
cittecla 14:9e2ce5880fb0 204 }
cittecla 14:9e2ce5880fb0 205 }
cittecla 14:9e2ce5880fb0 206 }
cittecla 14:9e2ce5880fb0 207
cittecla 14:9e2ce5880fb0 208 /************************************************************************************************************
cittecla 14:9e2ce5880fb0 209 Essential function for getting the next position
cittecla 14:9e2ce5880fb0 210 ************************************************************************************************************/
cittecla 32:777976c4d733 211 static position openList_lowest_F()
cittecla 32:777976c4d733 212 {
cittecla 14:9e2ce5880fb0 213 uint16_t lowest = row * col;
cittecla 14:9e2ce5880fb0 214 position lowest_pos;
cittecla 14:9e2ce5880fb0 215 for (uint8_t i = 0; i < row; i++) {
cittecla 14:9e2ce5880fb0 216 for (uint8_t j = 0; j < col; j++) {
cittecla 14:9e2ce5880fb0 217 if (open_list[i][j] > 1 && open_list[i][j] < lowest && open_list[i][j] != 65535) {
cittecla 14:9e2ce5880fb0 218 lowest_pos.x = i;
cittecla 14:9e2ce5880fb0 219 lowest_pos.y = j;
cittecla 14:9e2ce5880fb0 220 lowest = open_list[i][j];
cittecla 14:9e2ce5880fb0 221 }
cittecla 14:9e2ce5880fb0 222 }
cittecla 14:9e2ce5880fb0 223 }
cittecla 14:9e2ce5880fb0 224 return lowest_pos;
cittecla 14:9e2ce5880fb0 225 }
cittecla 14:9e2ce5880fb0 226
cittecla 14:9e2ce5880fb0 227 /************************************************************************************************************
cittecla 14:9e2ce5880fb0 228 Essential function for getting the next position
cittecla 14:9e2ce5880fb0 229 ************************************************************************************************************/
cittecla 32:777976c4d733 230 static void mapp_path(position b)
cittecla 32:777976c4d733 231 {
cittecla 14:9e2ce5880fb0 232 // write path to walkpath array
cittecla 14:9e2ce5880fb0 233
cittecla 14:9e2ce5880fb0 234 position x = b; // lower value
cittecla 14:9e2ce5880fb0 235 position y = b; // higher value
cittecla 14:9e2ce5880fb0 236 counter = 0;
cittecla 14:9e2ce5880fb0 237 walkpath[0] = y;
cittecla 14:9e2ce5880fb0 238 printf("(%d | %d) \n", walkpath[0].x, walkpath[0].y);
cittecla 14:9e2ce5880fb0 239 while (g_list[y.x][y.y] > 1) {
cittecla 14:9e2ce5880fb0 240 counter += 1;
cittecla 14:9e2ce5880fb0 241 position s = b;
cittecla 14:9e2ce5880fb0 242 for (int i = 0; i < 8; i++) {
cittecla 32:777976c4d733 243 switch (i) {
cittecla 32:777976c4d733 244 case 0:
cittecla 32:777976c4d733 245 x.x = y.x - 1;
cittecla 32:777976c4d733 246 x.y = y.y;
cittecla 32:777976c4d733 247 break;
cittecla 32:777976c4d733 248 case 1:
cittecla 32:777976c4d733 249 x.x = y.x + 1;
cittecla 32:777976c4d733 250 x.y = y.y;
cittecla 32:777976c4d733 251 break;
cittecla 32:777976c4d733 252 case 2:
cittecla 32:777976c4d733 253 x.x = y.x;
cittecla 32:777976c4d733 254 x.y = y.y - 1;
cittecla 32:777976c4d733 255 break;
cittecla 32:777976c4d733 256 case 3:
cittecla 32:777976c4d733 257 x.x = y.x;
cittecla 32:777976c4d733 258 x.y = y.y + 1;
cittecla 32:777976c4d733 259 break;
cittecla 32:777976c4d733 260 case 4:
cittecla 32:777976c4d733 261 x.x = y.x - 1;
cittecla 32:777976c4d733 262 x.y = y.y - 1;
cittecla 32:777976c4d733 263 break;
cittecla 32:777976c4d733 264 case 5:
cittecla 32:777976c4d733 265 x.x = y.x - 1;
cittecla 32:777976c4d733 266 x.y = y.y + 1;
cittecla 32:777976c4d733 267 break;
cittecla 32:777976c4d733 268 case 6:
cittecla 32:777976c4d733 269 x.x = y.x + 1;
cittecla 32:777976c4d733 270 x.y = y.y - 1;
cittecla 32:777976c4d733 271 break;
cittecla 32:777976c4d733 272 case 7:
cittecla 32:777976c4d733 273 x.x = y.x + 1;
cittecla 32:777976c4d733 274 x.y = y.y + 1;
cittecla 32:777976c4d733 275 break;
cittecla 32:777976c4d733 276 default:
cittecla 128:6bde4483ce7b 277 printf("Fatal Error, unknown position\r\n");
cittecla 32:777976c4d733 278 break;
cittecla 14:9e2ce5880fb0 279 }
cittecla 14:9e2ce5880fb0 280 if (g_list[x.x][x.y] < g_list[y.x][y.y] && g_list[x.x][x.y] != 0 && g_list[s.x][s.y] > g_list[x.x][x.y]) {
cittecla 14:9e2ce5880fb0 281 s = x;
cittecla 14:9e2ce5880fb0 282 }
cittecla 14:9e2ce5880fb0 283 }
cittecla 14:9e2ce5880fb0 284 y = s;
cittecla 14:9e2ce5880fb0 285 walkpath[counter].x = y.x;
cittecla 14:9e2ce5880fb0 286 walkpath[counter].y = y.y;
cittecla 14:9e2ce5880fb0 287 printf("(%d | %d) \n", walkpath[counter].x, walkpath[counter].y);
cittecla 14:9e2ce5880fb0 288
cittecla 14:9e2ce5880fb0 289 }
cittecla 14:9e2ce5880fb0 290 }
cittecla 14:9e2ce5880fb0 291
cittecla 14:9e2ce5880fb0 292