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source/pathfinding.cpp@33:8a98f8b9d859, 2017-03-20 (annotated)

Committer:
cittecla
Date:
Mon Mar 20 14:11:46 2017 +0000
Revision:
33:8a98f8b9d859
Parent:
32:777976c4d733 
Something

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 14:9e2ce5880fb0 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 32:777976c4d733 31 //will be replaced with
cittecla 14:9e2ce5880fb0 32 uint8_t obstacle_list[row][col] = { 0 };
cittecla 14:9e2ce5880fb0 33
cittecla 15:32b5d97a4281 34 //global
cittecla 14:9e2ce5880fb0 35 position walkpath[5 * row] = { 0 };
cittecla 14:9e2ce5880fb0 36
cittecla 14:9e2ce5880fb0 37 //should be local
cittecla 15:32b5d97a4281 38 static uint16_t open_list[row][col] = { 0 }; // contains open slots marked with their F value (G + H)
cittecla 15:32b5d97a4281 39 static uint16_t g_list[row][col] = { 0 }; // G = A to square (C) in absolut number
cittecla 14:9e2ce5880fb0 40
cittecla 15:32b5d97a4281 41 static uint16_t open_list_count = 0;
cittecla 15:32b5d97a4281 42 static uint16_t counter;
cittecla 14:9e2ce5880fb0 43
cittecla 33:8a98f8b9d859 44 static int path_found = 0;
cittecla 33:8a98f8b9d859 45 static int no_path_possible = 1;
cittecla 32:777976c4d733 46
cittecla 14:9e2ce5880fb0 47
cittecla 14:9e2ce5880fb0 48 /************************************************************************************************************
cittecla 14:9e2ce5880fb0 49 Main a_star handling
cittecla 14:9e2ce5880fb0 50 ************************************************************************************************************/
cittecla 32:777976c4d733 51 int pathfinding()
cittecla 32:777976c4d733 52 {
cittecla 16:4a20536c9bb8 53 define_obst();
cittecla 14:9e2ce5880fb0 54 position start = { 1,1 }; //start
cittecla 16:4a20536c9bb8 55 position target = { 198,198 }; //target
cittecla 14:9e2ce5880fb0 56 position current = { 0 }; //current pos
cittecla 14:9e2ce5880fb0 57
cittecla 16:4a20536c9bb8 58 memset(open_list, 0, sizeof(open_list));
cittecla 16:4a20536c9bb8 59 memset(g_list, 0, sizeof(g_list));
cittecla 16:4a20536c9bb8 60 memset(walkpath, 0, sizeof(walkpath));
cittecla 16:4a20536c9bb8 61 open_list_count = 0;
cittecla 16:4a20536c9bb8 62 counter = 0;
cittecla 32:777976c4d733 63
cittecla 14:9e2ce5880fb0 64 // check if position is reachable
cittecla 14:9e2ce5880fb0 65 if (obstacle_list[start.x][start.y] == 1 || start.x > row || start.y > col ||
cittecla 32:777976c4d733 66 obstacle_list[target.x][target.y] == 1 || target.x > row || target.y > col) {
cittecla 14:9e2ce5880fb0 67 printf("Fatal Error, no path calculation possible\n");
cittecla 32:777976c4d733 68 return no_path_possible;
cittecla 32:777976c4d733 69 } else {
cittecla 14:9e2ce5880fb0 70 position diff;
cittecla 14:9e2ce5880fb0 71 diff.x = abs(target.x - start.x);
cittecla 14:9e2ce5880fb0 72 diff.y = abs(target.y - start.y);
cittecla 14:9e2ce5880fb0 73 uint8_t diagonal;
cittecla 14:9e2ce5880fb0 74 if (diff.x > diff.y) {
cittecla 14:9e2ce5880fb0 75 diagonal = diff.x - (diff.x - diff.y);
cittecla 32:777976c4d733 76 } else {
cittecla 14:9e2ce5880fb0 77 diagonal = diff.y - (diff.y - diff.x);
cittecla 14:9e2ce5880fb0 78 }
cittecla 14:9e2ce5880fb0 79 open_list[target.x][target.y] = diff.x * 2 + diff.y * 2 - diagonal;
cittecla 14:9e2ce5880fb0 80 open_list_count += 1;
cittecla 14:9e2ce5880fb0 81 g_list[target.x][target.y] = 1;
cittecla 14:9e2ce5880fb0 82
cittecla 14:9e2ce5880fb0 83 do {
cittecla 14:9e2ce5880fb0 84
cittecla 14:9e2ce5880fb0 85 current = openList_lowest_F(); // Get the square with the lowest F score
cittecla 14:9e2ce5880fb0 86 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 87 open_list_count -= 1;
cittecla 14:9e2ce5880fb0 88
cittecla 14:9e2ce5880fb0 89 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 90 printf("Path found\n\n"); // PATH FOUND
cittecla 32:777976c4d733 91 break; // break the loop
cittecla 14:9e2ce5880fb0 92 }
cittecla 14:9e2ce5880fb0 93 calc_F(target, start, current); // Calculates F for each neighbour of current lowest F
cittecla 14:9e2ce5880fb0 94
cittecla 14:9e2ce5880fb0 95 } 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 96 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 97 printf("No Path possible\n");
cittecla 32:777976c4d733 98 return no_path_possible;
cittecla 32:777976c4d733 99 } else {
cittecla 14:9e2ce5880fb0 100 mapp_path(start); //mapps the path onto the open_list, be replaced by position vector array;
cittecla 14:9e2ce5880fb0 101 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 102 return path_found;
cittecla 14:9e2ce5880fb0 103 }
cittecla 14:9e2ce5880fb0 104 }
cittecla 14:9e2ce5880fb0 105 }
cittecla 14:9e2ce5880fb0 106
cittecla 14:9e2ce5880fb0 107 /************************************************************************************************************
cittecla 14:9e2ce5880fb0 108 only needed for test, will be done by mapping function, delete for use on robot
cittecla 14:9e2ce5880fb0 109 ************************************************************************************************************/
cittecla 32:777976c4d733 110 static void define_obst()
cittecla 32:777976c4d733 111 {
cittecla 14:9e2ce5880fb0 112
cittecla 14:9e2ce5880fb0 113 for (int i = 0; i < row; i++) {
cittecla 14:9e2ce5880fb0 114 obstacle_list[i][0] = 1;
cittecla 14:9e2ce5880fb0 115 obstacle_list[i][col - 1] = 1;
cittecla 14:9e2ce5880fb0 116 }
cittecla 14:9e2ce5880fb0 117
cittecla 14:9e2ce5880fb0 118 for (int i = 0; i < row; i++) {
cittecla 14:9e2ce5880fb0 119 obstacle_list[0][i] = 1;
cittecla 14:9e2ce5880fb0 120 obstacle_list[row - 1][i] = 1;
cittecla 14:9e2ce5880fb0 121 }
cittecla 14:9e2ce5880fb0 122
cittecla 14:9e2ce5880fb0 123 obstacle_list[1][5] = 1;
cittecla 14:9e2ce5880fb0 124 obstacle_list[2][5] = 1;
cittecla 14:9e2ce5880fb0 125 //obstacle_list[3][5] = 1;
cittecla 14:9e2ce5880fb0 126 obstacle_list[4][5] = 1;
cittecla 14:9e2ce5880fb0 127 //obstacle_list[5][5] = 1;
cittecla 14:9e2ce5880fb0 128
cittecla 14:9e2ce5880fb0 129 obstacle_list[5][0] = 1;
cittecla 14:9e2ce5880fb0 130 obstacle_list[5][1] = 1;
cittecla 14:9e2ce5880fb0 131 obstacle_list[5][2] = 1;
cittecla 14:9e2ce5880fb0 132 obstacle_list[5][3] = 1;
cittecla 14:9e2ce5880fb0 133 obstacle_list[5][4] = 1;
cittecla 14:9e2ce5880fb0 134
cittecla 14:9e2ce5880fb0 135 obstacle_list[7][6] = 1;
cittecla 14:9e2ce5880fb0 136 obstacle_list[7][4] = 1;
cittecla 14:9e2ce5880fb0 137 obstacle_list[7][5] = 1;
cittecla 14:9e2ce5880fb0 138 obstacle_list[7][6] = 1;
cittecla 14:9e2ce5880fb0 139 obstacle_list[7][7] = 1;
cittecla 14:9e2ce5880fb0 140 obstacle_list[7][8] = 1;
cittecla 14:9e2ce5880fb0 141 }
cittecla 14:9e2ce5880fb0 142
cittecla 14:9e2ce5880fb0 143
cittecla 14:9e2ce5880fb0 144 /************************************************************************************************************
cittecla 14:9e2ce5880fb0 145 Essential function for calculating the distance
cittecla 14:9e2ce5880fb0 146 ************************************************************************************************************/
cittecla 32:777976c4d733 147 static void calc_F(position a, position b, position current)
cittecla 32:777976c4d733 148 {
cittecla 14:9e2ce5880fb0 149
cittecla 14:9e2ce5880fb0 150 position adjacent = current;
cittecla 14:9e2ce5880fb0 151 position corner1 = { 0 }, corner2 = { 0 };
cittecla 14:9e2ce5880fb0 152 uint16_t numb = 2;
cittecla 14:9e2ce5880fb0 153 for (int i = 0; i < 8; i++) {
cittecla 32:777976c4d733 154 switch (i) {
cittecla 32:777976c4d733 155 case 0:
cittecla 32:777976c4d733 156 adjacent.x = current.x - 1;
cittecla 32:777976c4d733 157 adjacent.y = current.y; // top
cittecla 32:777976c4d733 158 break;
cittecla 32:777976c4d733 159 case 1:
cittecla 32:777976c4d733 160 adjacent.x = current.x + 1;
cittecla 32:777976c4d733 161 adjacent.y = current.y; // bottom
cittecla 32:777976c4d733 162 break;
cittecla 32:777976c4d733 163 case 2:
cittecla 32:777976c4d733 164 adjacent.x = current.x;
cittecla 32:777976c4d733 165 adjacent.y = current.y - 1; // left
cittecla 32:777976c4d733 166 break;
cittecla 32:777976c4d733 167 case 3:
cittecla 32:777976c4d733 168 adjacent.x = current.x;
cittecla 32:777976c4d733 169 adjacent.y = current.y + 1; // right
cittecla 32:777976c4d733 170 break;
cittecla 32:777976c4d733 171 case 4:
cittecla 32:777976c4d733 172 adjacent.x = current.x - 1;
cittecla 32:777976c4d733 173 adjacent.y = current.y - 1;
cittecla 32:777976c4d733 174 numb = 3; // top left
cittecla 32:777976c4d733 175 corner1.x = current.x - 1;
cittecla 32:777976c4d733 176 corner1.y = current.y;
cittecla 32:777976c4d733 177 corner2.x = current.x;
cittecla 32:777976c4d733 178 corner2.y = current.y - 1;
cittecla 32:777976c4d733 179 break;
cittecla 32:777976c4d733 180 case 5:
cittecla 32:777976c4d733 181 adjacent.x = current.x - 1;
cittecla 32:777976c4d733 182 adjacent.y = current.y + 1; // top right
cittecla 32:777976c4d733 183 corner2.y = current.y + 1;
cittecla 32:777976c4d733 184 break;
cittecla 32:777976c4d733 185 case 6:
cittecla 32:777976c4d733 186 adjacent.x = current.x + 1;
cittecla 32:777976c4d733 187 adjacent.y = current.y + 1; // bottom right
cittecla 32:777976c4d733 188 corner1.x = current.x + 1;
cittecla 32:777976c4d733 189 break;
cittecla 32:777976c4d733 190 case 7:
cittecla 32:777976c4d733 191 adjacent.x = current.x + 1;
cittecla 32:777976c4d733 192 adjacent.y = current.y - 1; // bottom left
cittecla 32:777976c4d733 193 corner2.y = current.y - 1;
cittecla 32:777976c4d733 194 break;
cittecla 32:777976c4d733 195 default:
cittecla 32:777976c4d733 196 printf("Fatal Error, unknown position");
cittecla 32:777976c4d733 197 break;
cittecla 14:9e2ce5880fb0 198 }
cittecla 14:9e2ce5880fb0 199 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 200 (corner1.x == 0 && corner1.y == 0 && corner2.x == 0 && corner2.y == 0))) {
cittecla 14:9e2ce5880fb0 201 if (open_list[adjacent.x][adjacent.y] != 65535) { // if this adjacent square is already in the closed list ignore it
cittecla 14:9e2ce5880fb0 202 uint16_t g_value = g_list[current.x][current.y] + numb;
cittecla 14:9e2ce5880fb0 203 position diff;
cittecla 14:9e2ce5880fb0 204 diff.x = abs(adjacent.x - b.x);
cittecla 14:9e2ce5880fb0 205 diff.y = abs(adjacent.y - b.y);
cittecla 14:9e2ce5880fb0 206 uint8_t diagonal;
cittecla 14:9e2ce5880fb0 207 if (diff.x > diff.y) {
cittecla 14:9e2ce5880fb0 208 diagonal = diff.x - (diff.x - diff.y);
cittecla 32:777976c4d733 209 } else {
cittecla 14:9e2ce5880fb0 210 diagonal = diff.y - (diff.y - diff.x);
cittecla 14:9e2ce5880fb0 211 }
cittecla 14:9e2ce5880fb0 212 if (open_list[adjacent.x][adjacent.y] == 0) { // if its not in the open list
cittecla 14:9e2ce5880fb0 213 open_list_count += 1;
cittecla 14:9e2ce5880fb0 214 g_list[adjacent.x][adjacent.y] = g_value; // compute its score, set the parent
cittecla 14:9e2ce5880fb0 215 open_list[adjacent.x][adjacent.y] = g_value + (diff.x * 2 + diff.y * 2 - diagonal);
cittecla 32:777976c4d733 216 } else { // if its already in the open list
cittecla 14:9e2ce5880fb0 217 if (g_value < g_list[adjacent.x][adjacent.y]) { // test if new path is better
cittecla 14:9e2ce5880fb0 218 g_list[adjacent.x][adjacent.y] = g_value;
cittecla 14:9e2ce5880fb0 219 open_list[adjacent.x][adjacent.y] = g_list[adjacent.x][adjacent.y] + (diff.x * 2 + diff.y * 2 - diagonal);
cittecla 14:9e2ce5880fb0 220 }
cittecla 14:9e2ce5880fb0 221 }
cittecla 14:9e2ce5880fb0 222 }
cittecla 14:9e2ce5880fb0 223 }
cittecla 14:9e2ce5880fb0 224 }
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 position openList_lowest_F()
cittecla 32:777976c4d733 231 {
cittecla 14:9e2ce5880fb0 232 uint16_t lowest = row * col;
cittecla 14:9e2ce5880fb0 233 position lowest_pos;
cittecla 14:9e2ce5880fb0 234 for (uint8_t i = 0; i < row; i++) {
cittecla 14:9e2ce5880fb0 235 for (uint8_t j = 0; j < col; j++) {
cittecla 14:9e2ce5880fb0 236 if (open_list[i][j] > 1 && open_list[i][j] < lowest && open_list[i][j] != 65535) {
cittecla 14:9e2ce5880fb0 237 lowest_pos.x = i;
cittecla 14:9e2ce5880fb0 238 lowest_pos.y = j;
cittecla 14:9e2ce5880fb0 239 lowest = open_list[i][j];
cittecla 14:9e2ce5880fb0 240 }
cittecla 14:9e2ce5880fb0 241 }
cittecla 14:9e2ce5880fb0 242 }
cittecla 14:9e2ce5880fb0 243 return lowest_pos;
cittecla 14:9e2ce5880fb0 244 }
cittecla 14:9e2ce5880fb0 245
cittecla 14:9e2ce5880fb0 246 /************************************************************************************************************
cittecla 14:9e2ce5880fb0 247 Essential function for getting the next position
cittecla 14:9e2ce5880fb0 248 ************************************************************************************************************/
cittecla 32:777976c4d733 249 static void mapp_path(position b)
cittecla 32:777976c4d733 250 {
cittecla 14:9e2ce5880fb0 251 // write path to walkpath array
cittecla 14:9e2ce5880fb0 252
cittecla 14:9e2ce5880fb0 253 position x = b; // lower value
cittecla 14:9e2ce5880fb0 254 position y = b; // higher value
cittecla 14:9e2ce5880fb0 255 counter = 0;
cittecla 14:9e2ce5880fb0 256 walkpath[0] = y;
cittecla 14:9e2ce5880fb0 257 printf("(%d | %d) \n", walkpath[0].x, walkpath[0].y);
cittecla 14:9e2ce5880fb0 258 while (g_list[y.x][y.y] > 1) {
cittecla 14:9e2ce5880fb0 259 counter += 1;
cittecla 14:9e2ce5880fb0 260 position s = b;
cittecla 14:9e2ce5880fb0 261 for (int i = 0; i < 8; i++) {
cittecla 32:777976c4d733 262 switch (i) {
cittecla 32:777976c4d733 263 case 0:
cittecla 32:777976c4d733 264 x.x = y.x - 1;
cittecla 32:777976c4d733 265 x.y = y.y;
cittecla 32:777976c4d733 266 break;
cittecla 32:777976c4d733 267 case 1:
cittecla 32:777976c4d733 268 x.x = y.x + 1;
cittecla 32:777976c4d733 269 x.y = y.y;
cittecla 32:777976c4d733 270 break;
cittecla 32:777976c4d733 271 case 2:
cittecla 32:777976c4d733 272 x.x = y.x;
cittecla 32:777976c4d733 273 x.y = y.y - 1;
cittecla 32:777976c4d733 274 break;
cittecla 32:777976c4d733 275 case 3:
cittecla 32:777976c4d733 276 x.x = y.x;
cittecla 32:777976c4d733 277 x.y = y.y + 1;
cittecla 32:777976c4d733 278 break;
cittecla 32:777976c4d733 279 case 4:
cittecla 32:777976c4d733 280 x.x = y.x - 1;
cittecla 32:777976c4d733 281 x.y = y.y - 1;
cittecla 32:777976c4d733 282 break;
cittecla 32:777976c4d733 283 case 5:
cittecla 32:777976c4d733 284 x.x = y.x - 1;
cittecla 32:777976c4d733 285 x.y = y.y + 1;
cittecla 32:777976c4d733 286 break;
cittecla 32:777976c4d733 287 case 6:
cittecla 32:777976c4d733 288 x.x = y.x + 1;
cittecla 32:777976c4d733 289 x.y = y.y - 1;
cittecla 32:777976c4d733 290 break;
cittecla 32:777976c4d733 291 case 7:
cittecla 32:777976c4d733 292 x.x = y.x + 1;
cittecla 32:777976c4d733 293 x.y = y.y + 1;
cittecla 32:777976c4d733 294 break;
cittecla 32:777976c4d733 295 default:
cittecla 32:777976c4d733 296 printf("Fatal Error, unknown position");
cittecla 32:777976c4d733 297 break;
cittecla 14:9e2ce5880fb0 298 }
cittecla 14:9e2ce5880fb0 299 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 300 s = x;
cittecla 14:9e2ce5880fb0 301 }
cittecla 14:9e2ce5880fb0 302 }
cittecla 14:9e2ce5880fb0 303 y = s;
cittecla 14:9e2ce5880fb0 304 walkpath[counter].x = y.x;
cittecla 14:9e2ce5880fb0 305 walkpath[counter].y = y.y;
cittecla 14:9e2ce5880fb0 306 printf("(%d | %d) \n", walkpath[counter].x, walkpath[counter].y);
cittecla 14:9e2ce5880fb0 307
cittecla 14:9e2ce5880fb0 308 }
cittecla 14:9e2ce5880fb0 309 }
cittecla 14:9e2ce5880fb0 310
cittecla 14:9e2ce5880fb0 311