Diff: source/Pathfinding.cpp

Revision:

128:6bde4483ce7b

Parent:

113:c7afe49752b9

Child:

129:0f60bf9640bb

--- a/source/Pathfinding.cpp	Sun May 14 13:40:17 2017 +0000
+++ b/source/Pathfinding.cpp	Sun May 14 14:40:12 2017 +0000
@@ -31,6 +31,7 @@
 //global
 position walkpath[3 * row] = { 0 };
 position target = {0};
+position start = {0};
 
 //should be local
 static uint16_t open_list[row][col] = { 0 };           // contains open slots marked with their F value (G + H)
@@ -39,8 +40,8 @@
 static uint16_t open_list_count = 0;
 static uint16_t counter;
 
-static int path_found = 0;
-static int no_path_possible = 1;
+static int path_found = 45;
+static int no_path_possible = 48;
 
 
 /************************************************************************************************************
@@ -49,9 +50,9 @@
 int pathfinding()
 {
     define_obst();
-    position start = { 1,1 };   //start
-    target.x = 198;     target.y = 198;
-    position current = { 0 };   //current pos
+    //start = get_current_pos();
+    //target.x = 198;     target.y = 198;
+    position current = { 0 };   //current pos of the pathfinder
 
     memset(open_list, 0, sizeof(open_list));
     memset(g_list, 0, sizeof(g_list));
@@ -118,24 +119,6 @@
         obstacle_list[row - 1][i] = 1;
     }
 
-    obstacle_list[1][5] = 1;
-    obstacle_list[2][5] = 1;
-    //obstacle_list[3][5] = 1;
-    obstacle_list[4][5] = 1;
-    //obstacle_list[5][5] = 1;
-
-    obstacle_list[5][0] = 1;
-    obstacle_list[5][1] = 1;
-    obstacle_list[5][2] = 1;
-    obstacle_list[5][3] = 1;
-    obstacle_list[5][4] = 1;
-
-    obstacle_list[7][6] = 1;
-    obstacle_list[7][4] = 1;
-    obstacle_list[7][5] = 1;
-    obstacle_list[7][6] = 1;
-    obstacle_list[7][7] = 1;
-    obstacle_list[7][8] = 1;
 }
 
 
@@ -191,7 +174,7 @@
                 corner2.y = current.y - 1;
                 break;
             default:
-                printf("Fatal Error, unknown position");
+                printf("Fatal Error, unknown position\r\n");
                 break;
         }
         if (obstacle_list[adjacent.x][adjacent.y] == 0 && ((obstacle_list[corner1.x][corner1.y] == 0 && obstacle_list[corner2.x][corner2.y] == 0) ||
@@ -291,7 +274,7 @@
                     x.y = y.y + 1;
                     break;
                 default:
-                    printf("Fatal Error, unknown position");
+                    printf("Fatal Error, unknown position\r\n");
                     break;
             }
             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]) {