void PathFinder::findReturnPath(int robx, int roby) {
restore();
std::queue<Point> list = std::queue<Point>();
Point target = Point(robx, roby);
list.push(target);
PFgrid[robx][roby].cost = 0;
while (true) {
target = list.front();
if (target.x == WIDTH / 2 && target.y == HEIGHT / 2) {
break;
}
fillSeenAround(&list, target, -1, 0, 2);
fillSeenAround(&list, target, 1, 0, 2);
fillSeenAround(&list, target, 0, -1, 2);
fillSeenAround(&list, target, 0, 1, 2);
fillSeenAround(&list, target, -1, -1, 3);
fillSeenAround(&list, target, -1, 1, 3);
fillSeenAround(&list, target, 1, -1, 3);
fillSeenAround(&list, target, 1, 1, 3);
list.pop();
if (list.empty()) {
break;
}
}
if (isStartAccessible()) {
choosePath(Point(WIDTH / 2, HEIGHT / 2), robx, roby);
#ifdef PRINT
PRINT("RETURN PATH FOUND");
#endif
}
};
void FormMain_OnCommand(HWND hwnd, int id, HWND hwndCtl, UINT codeNotify)
{
if (controlWithDefValue != 0 && id == controlWithDefValue
&& codeNotify==EN_CHANGE)
controlWithDefValue= 0;
switch (id)
{
case IDOK:
btnOk_Click(hwnd); break;
case IDCANCEL:
btnCancel_Click(hwnd); break;
case IDC_BUTTON_DETAILS:
btnDetails_Click(hwnd); break;
case IDC_BUTTON_HELP:
btnHelp_Click(hwnd); break;
case IDC_BUTTON_TEST:
btnTest_Click(hwnd); break;
case IDC_SSLKEYCHOOSER:
chooseFile(hwnd, IDC_EDIT_sslkey); break;
case IDC_SSLCERTCHOOSER:
chooseFile(hwnd, IDC_EDIT_sslcert); break;
case IDC_SSLCACHOOSER:
chooseFile(hwnd, IDC_EDIT_sslca); break;
case IDC_SSLCAPATHCHOOSER:
choosePath(hwnd, IDC_EDIT_sslcapath); break;
case IDC_RSAKEYCHOOSER:
chooseFile(hwnd, IDC_EDIT_rsakey); break;
case IDC_CHOOSER_plugin_dir:
choosePath(hwnd, IDC_EDIT_plugin_dir); break;
case IDC_RADIO_tcp:
case IDC_RADIO_pipe:
SwitchTcpOrPipe(hwnd, !!Button_GetCheck(GetDlgItem(hwnd, IDC_RADIO_pipe)));
break;
case IDC_CHECK_cursor_prefetch_active:
{
HWND cursorTab= TabCtrl_1.hTabPages[CURSORS_TAB-1];
assert(cursorTab);
HWND prefetch= GetDlgItem(cursorTab, IDC_EDIT_cursor_prefetch_number);
assert(prefetch);
EnableWindow(prefetch, !!Button_GetCheck(GetDlgItem(cursorTab,
IDC_CHECK_cursor_prefetch_active)));
if (Edit_GetTextLength(prefetch) == 0)
{
setUnsignedFieldData(cursorTab, default_cursor_prefetch,
IDC_EDIT_cursor_prefetch_number);
}
}
break;
case IDC_EDIT_name:
{
if (codeNotify==EN_CHANGE)
{
int len = Edit_GetTextLength(GetDlgItem(hwnd,IDC_EDIT_name));
Button_Enable(GetDlgItem(hwnd,IDOK), len > 0);
Button_Enable(GetDlgItem(hwnd,IDC_BUTTON_TEST), len > 0);
RedrawWindow(hwnd,NULL,NULL,RDW_INVALIDATE);
}
break;
}
case IDC_EDIT_dbname:
processDbCombobox(hwnd, hwndCtl, codeNotify);
break;
case IDC_EDIT_charset:
processCharsetCombobox(hwnd, hwndCtl, codeNotify);
}
return;
}
void PathFinder::findNewPath(int robx, int roby) {
restore();
std::queue<Point> list = std::queue<Point>();
Point target = Point(robx, roby);
list.push(target);
PFgrid[robx][roby].cost = 0;
bool margin = PFgrid[robx][roby].margin;
// 0 margins not filled, break at !seen
// 1 unwalkable not filled, switch at !margin
while (true) {
target = list.front();
// if unseen found
if (!grid[target.x][target.y].seen) {
mapExplored = 0;
break;
}
// if not-margin found, stop searching through the margin
if (!PFgrid[target.x][target.y].margin) {
margin = 0;
}
if (margin) {
fillWalkableAround(&list, target, -1, 0, 2);
fillWalkableAround(&list, target, 1, 0, 2);
fillWalkableAround(&list, target, 0, -1, 2);
fillWalkableAround(&list, target, 0, 1, 2);
fillWalkableAround(&list, target, -1, -1, 3);
fillWalkableAround(&list, target, -1, 1, 3);
fillWalkableAround(&list, target, 1, -1, 3);
fillWalkableAround(&list, target, 1, 1, 3);
} else {
fillNotMarginAround(&list, target, -1, 0, 2);
fillNotMarginAround(&list, target, 1, 0, 2);
fillNotMarginAround(&list, target, 0, -1, 2);
fillNotMarginAround(&list, target, 0, 1, 2);
fillNotMarginAround(&list, target, -1, -1, 3);
fillNotMarginAround(&list, target, -1, 1, 3);
fillNotMarginAround(&list, target, 1, -1, 3);
fillNotMarginAround(&list, target, 1, 1, 3);
}
list.pop();
if (list.empty()) {
mapExplored = 1;
break;
}
}
if (mapExplored) {
#ifdef PRINT
PRINT("MAX EXPLORED");
#endif
findReturnPath(robx, roby);
} else {
choosePath(target, robx, roby);
}
};
