//Main Function
int main()
{
i = 0;
/*
printf("Enter Terminal Colors\n");
for(i;i<4;i++)
{
printf("T%d : ",i);
scanf("%d %d",&terminalColors[i][0],&terminalColors[i][1]);
printf("\n");
}
*/
noOfSteps = 4; // Initial Cost Till BlackHole
printCost("Initial Cost Till BlackHole");
noOfSteps = noOfSteps + 2 + 1;
printCost("Going to Terminal One");
init_sort();
if (checkForCompletion1())
{
printf("Sorted");
}
else printf("Not Sorted");
while (1);
return 1;
}
void Pathfinder::printCost()
{
printCost(DIR_XP);
printCost(DIR_XM);
printCost(DIR_ZP);
printCost(DIR_ZM);
}
void gotoSort()
{
//forwardJaa();
noOfSteps++;
printCost("Going From Terminal to Sort");
}
void nodeFront()
{
noOfSteps++;
printCost("Going Forward");
//forwardJaa();
//printf("\nGoing Straight\n");
}
void goBack()
{
/*
if(Center_white_line>40)
{
back();
set_color();
while(Center_white_line>40 && (Left_white_line>40 || Right_white_line>40))
{ return;}
}
else
{
noNatak();
goBack();
}
*/
noOfSteps++;
printCost("Going from Sort to Terminal");
}
void travel(unsigned char nxTerm)
{
//forwardJaa();
noOfSteps++;
printCost("Goint To Sort");
//swapEncounterdAction
swapMan(CT % 2, nxTerm);
/*
lcd_print(1,11,(CT==1 && (nxTerm == 3 || nxTerm== 4)),1);// ||
lcd_print(1,12,(CT==4 && (nxTerm == 1 || nxTerm== 2)),1);
lcd_print(1,13,(CT==2 && (nxTerm == 3 || nxTerm== 4)),1); // ||
lcd_print(1,14,(CT==3 && (nxTerm == 1 || nxTerm== 2)),1);
*/
if ((CT == 1 && (nxTerm == 2 || nxTerm == 4)) || (CT == 4 && (nxTerm == 1 || nxTerm == 3)))
{
nodeLeft();
noOfSteps += 2;
noOfSteps += 2;
printCost("Going Opposite Side");
//forwardJaa();
//_delay_ms(1000);
//forwardJaa();
CT = nxTerm; //changed for drop,pickup
swapMan(nxTerm % 2, nxTerm);
if (nxTerm == 1 || nxTerm == 4)
nodeRight();
else
nodeLeft();
}
else if ((CT == 2 && (nxTerm == 1 || nxTerm == 3)) || (CT == 3 && (nxTerm == 2 || nxTerm == 4)))
{
nodeRight();
noOfSteps += 2;
noOfSteps += 2;
printCost("Going Opposite Side");
//forwardJaa();
//_delay_ms(500);
//forwardJaa();
CT = nxTerm; //changed for drop,pickup
swapMan(nxTerm % 2, nxTerm);
if (nxTerm == 2 || nxTerm == 3)
nodeLeft();
else
nodeRight();
}
else
{
//_delay_ms(1000);
}
//forwardJaa();
noOfSteps++;
CT = nxTerm;
printCost("Going To Terminal");
//stop();
//stop();
//buzzer();
}
std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
PathAlgorithm algo)
{
#ifdef PATHFINDER_CALC_TIME
timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
#endif
std::vector<v3s16> retval;
//check parameters
if (env == 0) {
ERROR_TARGET << "missing environment pointer" << std::endl;
return retval;
}
m_searchdistance = searchdistance;
m_env = env;
m_maxjump = max_jump;
m_maxdrop = max_drop;
m_start = source;
m_destination = destination;
m_min_target_distance = -1;
m_prefetch = true;
if (algo == PA_PLAIN_NP) {
m_prefetch = false;
}
int min_x = MYMIN(source.X, destination.X);
int max_x = MYMAX(source.X, destination.X);
int min_y = MYMIN(source.Y, destination.Y);
int max_y = MYMAX(source.Y, destination.Y);
int min_z = MYMIN(source.Z, destination.Z);
int max_z = MYMAX(source.Z, destination.Z);
m_limits.MinEdge.X = min_x - searchdistance;
m_limits.MinEdge.Y = min_y - searchdistance;
m_limits.MinEdge.Z = min_z - searchdistance;
m_limits.MaxEdge.X = max_x + searchdistance;
m_limits.MaxEdge.Y = max_y + searchdistance;
m_limits.MaxEdge.Z = max_z + searchdistance;
v3s16 diff = m_limits.MaxEdge - m_limits.MinEdge;
m_max_index_x = diff.X;
m_max_index_y = diff.Y;
m_max_index_z = diff.Z;
delete m_nodes_container;
if (diff.getLength() > 5) {
m_nodes_container = new MapGridNodeContainer(this);
} else {
m_nodes_container = new ArrayGridNodeContainer(this, diff);
}
#ifdef PATHFINDER_DEBUG
printType();
printCost();
printYdir();
#endif
//validate and mark start and end pos
v3s16 StartIndex = getIndexPos(source);
v3s16 EndIndex = getIndexPos(destination);
PathGridnode &startpos = getIndexElement(StartIndex);
PathGridnode &endpos = getIndexElement(EndIndex);
if (!startpos.valid) {
VERBOSE_TARGET << "invalid startpos" <<
"Index: " << PP(StartIndex) <<
"Realpos: " << PP(getRealPos(StartIndex)) << std::endl;
return retval;
}
if (!endpos.valid) {
VERBOSE_TARGET << "invalid stoppos" <<
"Index: " << PP(EndIndex) <<
"Realpos: " << PP(getRealPos(EndIndex)) << std::endl;
return retval;
}
endpos.target = true;
startpos.source = true;
startpos.totalcost = 0;
bool update_cost_retval = false;
switch (algo) {
case PA_DIJKSTRA:
update_cost_retval = updateAllCosts(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
case PA_PLAIN_NP:
case PA_PLAIN:
update_cost_retval = updateCostHeuristic(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
default:
ERROR_TARGET << "missing PathAlgorithm"<< std::endl;
break;
}
if (update_cost_retval) {
#ifdef PATHFINDER_DEBUG
std::cout << "Path to target found!" << std::endl;
printPathLen();
#endif
//find path
std::vector<v3s16> path;
buildPath(path, EndIndex, 0);
#ifdef PATHFINDER_DEBUG
std::cout << "Full index path:" << std::endl;
printPath(path);
#endif
//finalize path
std::vector<v3s16> full_path;
for (std::vector<v3s16>::iterator i = path.begin();
i != path.end(); ++i) {
full_path.push_back(getIndexElement(*i).pos);
}
#ifdef PATHFINDER_DEBUG
std::cout << "full path:" << std::endl;
printPath(full_path);
#endif
#ifdef PATHFINDER_CALC_TIME
timespec ts2;
clock_gettime(CLOCK_REALTIME, &ts2);
int ms = (ts2.tv_nsec - ts.tv_nsec)/(1000*1000);
int us = ((ts2.tv_nsec - ts.tv_nsec) - (ms*1000*1000))/1000;
int ns = ((ts2.tv_nsec - ts.tv_nsec) - ( (ms*1000*1000) + (us*1000)));
std::cout << "Calculating path took: " << (ts2.tv_sec - ts.tv_sec) <<
"s " << ms << "ms " << us << "us " << ns << "ns " << std::endl;
#endif
return full_path;
}
else {
#ifdef PATHFINDER_DEBUG
printPathLen();
#endif
ERROR_TARGET << "failed to update cost map"<< std::endl;
}
//return
return retval;
}
