int main()
{
printf("Hello world!\n");
RobotInit("/dev/ttyUSB1");
printf("Moving!\n");
RobotMove(10,10);
while ( RobotManoeuvresPending() == 1 ) { RobotWait(1000); fprintf(stderr,"."); }
fprintf(stderr,"done move forward!\n");
RobotPrintPosition();
RobotMove(10,-10);
while ( RobotManoeuvresPending() == 1 ) { RobotWait(1000); fprintf(stderr,"."); }
fprintf(stderr,"done move backward!\n");
RobotPrintPosition();
RobotMove(10,10);
while ( RobotManoeuvresPending() == 1 ) { RobotWait(1000); fprintf(stderr,"."); }
fprintf(stderr,"done move forward!\n");
RobotPrintPosition();
fprintf(stderr,"DONE!\n");
// getchar();
RobotClose();
return 0;
}
bool check_new_position_for_robot(
Node const& crt_position_, Robot const& new_position_,
Robot::names r_, Directions::types dir_)
{
// std::cout << new_position_ << std::flush;
if (crt_position_.m_state[r_] == new_position_) {
// The specific case (crt == new) is an optimzation as a
// robot against a wall won't be able to move in the
// wall direction
// std::cout << " same place => discard" << std::endl;
this->m_stats.inc_discarded();
return false;
}
const State pl = crt_position_.move_robot_to(r_, new_position_);
// const Set::const_iterator it = this->m_seen.find(pl);
// const bool known = it == this->m_seen.end();
const bool known = this->has_been_seen(pl);
if (!known)
{
Node* node = this->find_pending(pl);
if (node) {
// ignore this new path as the Node are stored by
// growing energy
// std::cout << " in stack => discard" << std::endl;
this->m_stats.inc_discarded();
this->updateOrigins(*node, r_, dir_); // no-op when origin-policies==None
} else {
Node path(pl, crt_position_.m_state, RobotMove(r_, dir_), crt_position_.nrj()+1); // link to previous state, and to nrj, here only
this->insert_pending(path);
// std::cout << " not in stack " << std::flush;
if (m_goal == new_position_)
{
// std::cout << "; GOAL " << std::flush;
// update solution for this robot
if (! must_search_for_other_solutions(path, r_))
{
std::cout << "; all solutions found!" << std::endl;
return true;
}
}
// std::cout << std::endl;
}
}
else
{
// std::cout << " seen => discard" << std::endl;
this->m_stats.inc_discarded();
// by construction, seen elements are searched by
// growing energy
// assert(it->m_energy <= crt_position_.nrj());
// ignore this new path
}
this->m_stats.printSituationSoFar(false);
return false;
}
