Direction _323500942_C::HandleAtD()
{
// checked if finished counting
if (m_nUnexploredOrDustyCellsCount == 0)
{
m_oCurrentState = AlgoState::Finished;
return HandleFinish();
}
// if about to finish
if( m_bAboutTofinish && m_stepsTillFinishing <= 1)
return Direction::Stay;
// if not charged yet - stay
if(m_nBatteryLevel + m_oConfig[BATTERY_RECHARGE_KEY] < m_oConfig[BATTERY_CAPACITY_KEY])
return Direction::Stay;
m_oCurrentState = AlgoState::FindWall;
return HandleFindWall();
}
int SystemDestruct(void)
{
save_paper(); //By zjh
SetIntSign(); /* cli:: disable creat message */
TimerEnd();
FontEnd();
CloseCache();
PageFinish();
MouseDestruct();
UnlockMouseMemory();
WindowEnd();
ItemFinish();
ChineseLibDone();
GraphFinish();
HandleFinish();
WriteDefaultScreenMode();
ReturnOK();
}
Direction _323500942_C::step(Direction prevStep)
{
//cout << m_oMatrix << endl;
m_oPos.i += (prevStep == Direction::South ? 1 : (prevStep == Direction::North ? -1 : 0));
m_oPos.j += (prevStep == Direction::East ? 1 : (prevStep == Direction::West ? -1 : 0));
if(prevStep != m_oPrevStep)
{
// reenter AdvanceToClean state;
m_bIsCurrentPathInit = false; // recalculate path
m_oCurrentState = AlgoState::FindWall;
m_oPrevStep = prevStep;
m_nMismatchCount++;
}
// get sensor information
SensorInformation oSI = m_pSensor->sense();
int i = m_oPos.i;
int j = m_oPos.j;
if (m_oMatrix.exists(m_oPos) && m_oMatrix[m_oPos] == '~' && oSI.dirtLevel == 0)
m_nUnexploredOrDustyCellsCount--;
// update current position dust level
if(!(i == 0 && j == 0) && m_oMatrix[m_oPos] != 'C')
m_oMatrix[m_oPos] = (char)(oSI.dirtLevel + '0');
if (m_oMatrix[m_oPos] == '0')
m_oMatrix[m_oPos] = ' ';
if (m_oMatrix[m_oPos] >= '1' && m_oMatrix[m_oPos] <= '9')
{
m_oMatrix[m_oPos]--;
if (m_oMatrix[m_oPos] == '0') // if finished cleaning
{
//m_oMatrix[m_oPos] = 'C';
m_nUnexploredOrDustyCellsCount--;
}
}
// update neighbours wall information
vector<Point> vNeighbours;
m_oPos.getNeighbours(vNeighbours);
for (Point point : vNeighbours)
{
int nIndex = DirToInt(direction(m_oPos, point));
if(oSI.isWall[nIndex] == false)
{
if (!m_oMatrix.exists(point))
{
m_oMatrix[point] = '~';
m_nUnexploredOrDustyCellsCount++;
}
}
else
{
m_oMatrix[point] = 'W';
}
}
Point prevPos = NeighbourTo(m_oPos, reverseDir(m_oPrevStep));
if(m_oMatrix[prevPos] == ' ' || m_oMatrix[prevPos] == '0')
{
vector<Point> vNeighbours;
prevPos.getNeighbours(vNeighbours);
int nWallNeighboursCount = 0;
for (Point oNeighbour : vNeighbours)
{
if(m_oMatrix[oNeighbour] == 'W')
nWallNeighboursCount++;
}
vector<Point> vExtendedNeighbours;
prevPos.getNeighbours(vExtendedNeighbours, true);
int nWallExtendedNeighboursCount = 0;
for (Point oNeighbour : vExtendedNeighbours)
{
if(isWallOrUnknown(oNeighbour))
nWallExtendedNeighboursCount++;
}
int nDiagonalNeighbours = nWallExtendedNeighboursCount - nWallNeighboursCount;
bool isWallable = false;
int i = prevPos.i;
int j = prevPos.j;
/*if(!(isWallOrUnknown({i + 1, j}) && (isWallOrUnknown({i - 1, j - 1}) || isWallOrUnknown({i - 1, j}) || isWallOrUnknown({i - 1, j + 1})))
&& !(isWallOrUnknown({i, j - 1}) && (isWallOrUnknown({i - 1, j + 1}) || isWallOrUnknown({i, j + 1}) || isWallOrUnknown({i + 1, j + 1})))
&& !(isWallOrUnknown({i - 1, j}) && (isWallOrUnknown({i + 1, j + 1}) || isWallOrUnknown({i + 1, j - 1})))
&& !(isWallOrUnknown({i, j + 1}) && (isWallOrUnknown({i - 1, j - 1}) || isWallOrUnknown({i + 1, j - 1}))))
{
isWallable = true;
}*/
if(nWallNeighboursCount == 0)
{
if(nDiagonalNeighbours == 1)
isWallable = true;
}
else if(nWallNeighboursCount == 1)
{
if(!(isWallOrUnknown({i + 1, j}) && (isWallOrUnknown({i - 1, j - 1}) || isWallOrUnknown({i - 1, j + 1})))
&& !(isWallOrUnknown({i, j - 1}) && (isWallOrUnknown({i - 1, j + 1}) || isWallOrUnknown({i + 1, j + 1})))
&& !(isWallOrUnknown({i - 1, j}) && (isWallOrUnknown({i + 1, j + 1}) || isWallOrUnknown({i + 1, j - 1})))
&& !(isWallOrUnknown({i, j + 1}) && (isWallOrUnknown({i - 1, j - 1}) || isWallOrUnknown({i + 1, j - 1}))))
{
isWallable = true;
}
}
else if(nWallNeighboursCount == 2)
{
if((isWallOrUnknown({i, j - 1}) && isWallOrUnknown({i + 1, j}) && !isWallOrUnknown({i - 1, j + 1}))
|| (isWallOrUnknown({i, j - 1}) && isWallOrUnknown({i - 1, j}) && !isWallOrUnknown({i + 1, j + 1}))
|| (isWallOrUnknown({i, j + 1}) && isWallOrUnknown({i + 1, j}) && !isWallOrUnknown({i - 1, j - 1}))
|| (isWallOrUnknown({i - 1, j}) && isWallOrUnknown({i, j + 1}) && !isWallOrUnknown({i + 1, j - 1})))
{
isWallable = true;
}
}
else if(nWallNeighboursCount == 3)
{
isWallable = true;
}
if(isWallable)
m_oMatrix[prevPos] = 'W';
}
// Handle current state
Direction oDir;
switch(m_oCurrentState)
{
case FindWall:
oDir = HandleFindWall();
break;
case FollowWall:
oDir = HandleFollowWall();
break;
case AdvanceToD:
oDir = HandleAdvanceToD();
break;
case AtD:
oDir = HandleAtD();
break;
case Finished:
oDir = HandleFinish();
break;
}
m_oPrevStep = oDir;
// update battery level (according to old position)
if (m_oMatrix[i][j] == 'D')
m_nBatteryLevel = std::min(m_nBatteryLevel + m_oConfig[BATTERY_RECHARGE_KEY], m_oConfig[BATTERY_CAPACITY_KEY]);
else
m_nBatteryLevel = std::max(m_nBatteryLevel - m_oConfig[BATTERY_CONSUMPTION_KEY], 0);
// update steps to finish
if (m_bAboutTofinish)
m_stepsTillFinishing--;
m_nSteps++;
//cout << m_oMatrix << endl;
return oDir;
}
