Gal Yaroslavsky / MicroMouse-v1

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Dependencies:   L3GD20 LSM303DLHC mbed

Headers/Flooding.h@7:95ebadc83fc7, 2014-04-03 (annotated)

Committer:
goy5022
Date:
Thu Apr 03 23:57:31 2014 +0000
Revision:
7:95ebadc83fc7
Parent:
2:997f57aee3b7 
gal's about to fuck with it

Who changed what in which revision?

UserRevisionLine numberNew contents of line
goy5022 2:997f57aee3b7 1 #ifndef FLOODING_H
goy5022 2:997f57aee3b7 2 #define FLOODING_H
goy5022 2:997f57aee3b7 3
goy5022 2:997f57aee3b7 4
goy5022 2:997f57aee3b7 5 #include "Mapping.h"
goy5022 2:997f57aee3b7 6
goy5022 2:997f57aee3b7 7 enum MOVE
goy5022 2:997f57aee3b7 8 {
goy5022 2:997f57aee3b7 9 M_NORTH,
goy5022 2:997f57aee3b7 10 M_SOUTH,
goy5022 2:997f57aee3b7 11 M_EAST,
goy5022 2:997f57aee3b7 12 M_WEST,
goy5022 2:997f57aee3b7 13 M_INVALID
goy5022 2:997f57aee3b7 14 };
goy5022 2:997f57aee3b7 15
goy5022 2:997f57aee3b7 16 unsigned char destX = 8;
goy5022 2:997f57aee3b7 17 unsigned char destY = 8;
goy5022 2:997f57aee3b7 18 unsigned char pathX = 8;
goy5022 2:997f57aee3b7 19 unsigned char pathY = 8;
goy5022 2:997f57aee3b7 20
goy5022 7:95ebadc83fc7 21
goy5022 2:997f57aee3b7 22 unsigned char flood[16][16] =
goy5022 2:997f57aee3b7 23 {
goy5022 2:997f57aee3b7 24 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 25 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 26 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 27 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 28 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 29 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 30 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 31 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 32 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 33 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 34 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 35 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 36 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 37 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 38 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
goy5022 2:997f57aee3b7 39 {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
goy5022 2:997f57aee3b7 40 };
goy5022 2:997f57aee3b7 41
goy5022 2:997f57aee3b7 42 void clearFlood()
goy5022 2:997f57aee3b7 43 {
goy5022 2:997f57aee3b7 44 for(unsigned char i = 0; i < (unsigned char)16; i++)
goy5022 2:997f57aee3b7 45 for(unsigned char j = 0; j < (unsigned char)16; j++)
goy5022 2:997f57aee3b7 46 flood[i][j] = 0x00;
goy5022 2:997f57aee3b7 47 }
goy5022 2:997f57aee3b7 48
goy5022 2:997f57aee3b7 49 bool flood_getTop(int i, int j)
goy5022 2:997f57aee3b7 50 {
goy5022 2:997f57aee3b7 51 if(validDimen(i, j) && flood[i][j] == 0)
goy5022 2:997f57aee3b7 52 return !((MAP[i + 1][j] & TOP) == TOP || ((MAP[i][j] & BOTTOM) == BOTTOM));
goy5022 2:997f57aee3b7 53
goy5022 2:997f57aee3b7 54 return false;
goy5022 2:997f57aee3b7 55 }
goy5022 2:997f57aee3b7 56
goy5022 2:997f57aee3b7 57 bool flood_getRight(int i, int j)
goy5022 2:997f57aee3b7 58 {
goy5022 2:997f57aee3b7 59 if(validDimen(i, j) && flood[i][j] == 0)
goy5022 2:997f57aee3b7 60 return !((MAP[i][j - 1] & RIGHT) == RIGHT || ((MAP[i][j] & LEFT) == LEFT));
goy5022 2:997f57aee3b7 61
goy5022 2:997f57aee3b7 62 return false;
goy5022 2:997f57aee3b7 63 }
goy5022 2:997f57aee3b7 64
goy5022 2:997f57aee3b7 65 bool flood_getLeft(int i, int j)
goy5022 2:997f57aee3b7 66 {
goy5022 2:997f57aee3b7 67 if(validDimen(i, j) && flood[i][j] == 0)
goy5022 2:997f57aee3b7 68 return !((MAP[i][j + 1] & LEFT) == LEFT || ((MAP[i][j] & RIGHT) == RIGHT));
goy5022 2:997f57aee3b7 69
goy5022 2:997f57aee3b7 70 return false;
goy5022 2:997f57aee3b7 71 }
goy5022 2:997f57aee3b7 72
goy5022 2:997f57aee3b7 73 bool flood_getBottom(int i, int j)
goy5022 2:997f57aee3b7 74 {
goy5022 2:997f57aee3b7 75 if(validDimen(i, j) && flood[i][j] == 0)
goy5022 2:997f57aee3b7 76 return !((MAP[i - 1][j] & BOTTOM) == BOTTOM || ((MAP[i][j] & TOP) == TOP));
goy5022 2:997f57aee3b7 77
goy5022 2:997f57aee3b7 78 return false;
goy5022 2:997f57aee3b7 79 }
goy5022 2:997f57aee3b7 80
goy5022 2:997f57aee3b7 81 int flood_getCell(int i, int j)
goy5022 2:997f57aee3b7 82 {
goy5022 2:997f57aee3b7 83 if(validDimen(i, j))
goy5022 2:997f57aee3b7 84 return flood[i][j];
goy5022 2:997f57aee3b7 85
goy5022 2:997f57aee3b7 86 return 0;
goy5022 2:997f57aee3b7 87 }
goy5022 2:997f57aee3b7 88
goy5022 2:997f57aee3b7 89 void flood_floodStep(int step)
goy5022 2:997f57aee3b7 90 {
goy5022 2:997f57aee3b7 91 for(int i = 4; i >= 0 ; i--)
goy5022 2:997f57aee3b7 92 {
goy5022 2:997f57aee3b7 93 for(int j = 0; j < 5; j++)
goy5022 2:997f57aee3b7 94 {
goy5022 2:997f57aee3b7 95 if(flood[i][j] == step)
goy5022 2:997f57aee3b7 96 {
goy5022 2:997f57aee3b7 97 if(flood_getTop(i - 1, j))
goy5022 2:997f57aee3b7 98 {
goy5022 2:997f57aee3b7 99 flood[i - 1][j] = (char) (step + 1);
goy5022 2:997f57aee3b7 100 }
goy5022 2:997f57aee3b7 101
goy5022 2:997f57aee3b7 102 if(flood_getBottom(i + 1, j))
goy5022 2:997f57aee3b7 103 {
goy5022 2:997f57aee3b7 104 flood[i + 1][j] = (char) (step + 1);
goy5022 2:997f57aee3b7 105 }
goy5022 2:997f57aee3b7 106
goy5022 2:997f57aee3b7 107 if(flood_getLeft(i, j - 1))
goy5022 2:997f57aee3b7 108 {
goy5022 2:997f57aee3b7 109 flood[i][j - 1] = (char) (step + 1);
goy5022 2:997f57aee3b7 110 }
goy5022 2:997f57aee3b7 111 if(flood_getRight(i, j + 1))
goy5022 2:997f57aee3b7 112 {
goy5022 2:997f57aee3b7 113 flood[i][j + 1] = (char) (step + 1);
goy5022 2:997f57aee3b7 114 }
goy5022 2:997f57aee3b7 115 }
goy5022 2:997f57aee3b7 116 }
goy5022 2:997f57aee3b7 117 }
goy5022 2:997f57aee3b7 118 }
goy5022 2:997f57aee3b7 119
goy5022 2:997f57aee3b7 120 MOVE flood_bestMove(int x, int y)
goy5022 2:997f57aee3b7 121 {
goy5022 2:997f57aee3b7 122 int target = flood_getCell(x, y) - 1;
goy5022 2:997f57aee3b7 123
goy5022 2:997f57aee3b7 124 if(flood_getCell(x + 1, y) == target && ((MAP[x + 1][y] & TOP) != TOP))
goy5022 2:997f57aee3b7 125 {
goy5022 2:997f57aee3b7 126 pathX++;
goy5022 2:997f57aee3b7 127 return M_NORTH;
goy5022 2:997f57aee3b7 128 }
goy5022 2:997f57aee3b7 129 if(flood_getCell(x, y - 1) == target && ((MAP[x][y - 1] & RIGHT) != RIGHT))
goy5022 2:997f57aee3b7 130 {
goy5022 2:997f57aee3b7 131 pathY--;
goy5022 2:997f57aee3b7 132 return M_EAST;
goy5022 2:997f57aee3b7 133 }
goy5022 2:997f57aee3b7 134
goy5022 2:997f57aee3b7 135 if(flood_getCell(x, y + 1) == target && ((MAP[x][y + 1] & LEFT) != LEFT))
goy5022 2:997f57aee3b7 136 {
goy5022 2:997f57aee3b7 137 pathY++;
goy5022 2:997f57aee3b7 138 return M_WEST;
goy5022 2:997f57aee3b7 139 }
goy5022 2:997f57aee3b7 140 if(flood_getCell(x - 1, y) == target && ((MAP[x - 1][y] & BOTTOM) != BOTTOM))
goy5022 2:997f57aee3b7 141 {
goy5022 2:997f57aee3b7 142 pathX--;
goy5022 2:997f57aee3b7 143 return M_SOUTH;
goy5022 2:997f57aee3b7 144 }
goy5022 2:997f57aee3b7 145
goy5022 2:997f57aee3b7 146 return M_INVALID;
goy5022 2:997f57aee3b7 147 }
goy5022 2:997f57aee3b7 148
goy5022 2:997f57aee3b7 149 MOVE flood_findPath(int xt, int yt)
goy5022 2:997f57aee3b7 150 {
goy5022 2:997f57aee3b7 151 flood[xt][yt] = 1;
goy5022 2:997f57aee3b7 152
goy5022 2:997f57aee3b7 153 int step = 1;
goy5022 2:997f57aee3b7 154 while(flood[destX][destY] == 0)
goy5022 2:997f57aee3b7 155 {
goy5022 2:997f57aee3b7 156 flood_floodStep(step++);
goy5022 2:997f57aee3b7 157 }
goy5022 2:997f57aee3b7 158
goy5022 2:997f57aee3b7 159 MOVE last = M_INVALID;
goy5022 2:997f57aee3b7 160
goy5022 2:997f57aee3b7 161 while (flood_getCell(pathX, pathY) != 1)
goy5022 2:997f57aee3b7 162 {
goy5022 2:997f57aee3b7 163 last = flood_bestMove(pathX, pathY);
goy5022 2:997f57aee3b7 164 }
goy5022 2:997f57aee3b7 165
goy5022 2:997f57aee3b7 166 return last;
goy5022 2:997f57aee3b7 167 }
goy5022 2:997f57aee3b7 168
goy5022 2:997f57aee3b7 169 #endif