FRESULT pf_open (
const char *path /* Pointer to the file name */
)
{
FRESULT res;
DIR dj;
BYTE sp[12], dir[32];
FATFS *fs = FatFs;
if (!fs) return FR_NOT_ENABLED; /* Check file system */
fs->flag = 0;
dj.fn = sp;
res = follow_path(&dj, dir, path); /* Follow the file path */
if (res != FR_OK) return res; /* Follow failed */
if (!dir[0] || (dir[DIR_Attr] & AM_DIR)) /* It is a directory */
return FR_NO_FILE;
fs->org_clust = get_clust(dir); /* File start cluster */
fs->fsize = LD_DWORD(dir+DIR_FileSize); /* File size */
fs->fptr = 0; /* File pointer */
fs->flag = FA_OPENED;
return FR_OK;
}
FRESULT pf_open (
const char *path /* Pointer to the file name */
)
{
FRESULT res;
DIR dj;
BYTE sp[12], dir[32];
FATFS *fs = FatFs;
if (!fs) /* Check file system */
return FR_NOT_ENABLED;
fs->flag = 0;
fs->buf = dir;
dj.fn = sp;
res = follow_path(&dj, path); /* Follow the file path */
if (res != FR_OK) return res; /* Follow failed */
if (!dir[0] || (dir[DIR_Attr] & AM_DIR)) /* It is a directory */
return FR_NO_FILE;
fs->org_clust = /* File start cluster */
#if _FS_FAT32
((DWORD)LD_WORD(dir+DIR_FstClusHI) << 16) |
#endif
LD_WORD(dir+DIR_FstClusLO);
fs->fsize = LD_DWORD(dir+DIR_FileSize); /* File size */
fs->fptr = 0; /* File pointer */
fs->flag = FA_READ;
return FR_OK;
}
FRESULT pf_opendir (
DIR *dj, /* Pointer to directory object to create */
const char *path /* Pointer to the directory path */
)
{
FRESULT res;
BYTE sp[12], dir[32];
FATFS *fs = FatFs;
if (!fs) { /* Check file system */
res = FR_NOT_ENABLED;
} else {
dj->fn = sp;
res = follow_path(dj, dir, path); /* Follow the path to the directory */
if (res == FR_OK) { /* Follow completed */
if (dir[0]) { /* It is not the root dir */
if (dir[DIR_Attr] & AM_DIR) /* The object is a directory */
dj->sclust = get_clust(dir);
else /* The object is not a directory */
res = FR_NO_FILE;
}
if (res == FR_OK)
res = dir_rewind(dj); /* Rewind dir */
}
}
return res;
}
void baiter_enemy(void)
{
OBJECT *obj=current_proc->pa8;
short ta4;
/* be_e1 */
do
{
obj->oxpos.u.intpos=wave_x_position+(short)obj->ochar;
obj->oypos.u.intpos=wave_y_position+(short)obj->oid;
obj->oxvel.u.intpos=wave_x_velocity;
obj->oyvel.u.intpos=wave_y_velocity;
if (are_we_shot()==SYSTEM_CARRY_SET)
be_9d;
if (are_we_hitting_player()!=0)
{
kill_player();
be_9d;
}
/* be_e3 */
process_sleep(1);
if (randper(dive_randper)==SYSTEM_CARRY_SET)
{
if (follow_path(srandarc(SCX(0x20000)),SCY(0x12000)+srandarc(SCY(0x2000)),be_pr)==SYSTEM_CARRY_SET)
be_99;
else obj->oypos.u.intpos=-5;
/* be_e5 */
do
{
ta4=move_to_point(wave_x_position+(short)obj->ochar,wave_y_position+(short)obj->oid,2);
if (ta4<2)
break;
process_sleep(1);
if (are_we_shot()==SYSTEM_CARRY_SET)
be_9d;
if (are_we_hitting_player()!=0)
{
kill_player();
be_9d;
}
}
while(1);
}
}
while(1);
}
void CALifeMonsterDetailPathManager::update (const ALife::_TIME_ID &time_delta)
{
// first update has enormous time delta, therefore just skip it
if (!m_last_update_time)
return;
if (completed())
return;
if (!actual()) {
actualize ();
if (failed())
return;
}
follow_path (time_delta);
}
FRESULT pf_opendir (
DIR *dj, /* Pointer to directory object to create */
const char *path /* Pointer to the directory path */
)
{
FRESULT res;
BYTE sp[12], dir[32];
FATFS *fs = FatFs;
if (!fs) { /* Check file system */
res = FR_NOT_ENABLED;
} else {
fs->buf = dir;
dj->fn = sp;
res = follow_path(dj, path); /* Follow the path to the directory */
if (res == FR_OK) { /* Follow completed */
if (dir[0]) { /* It is not the root dir */
if (dir[DIR_Attr] & AM_DIR) { /* The object is a directory */
dj->sclust =
#if _FS_FAT32
((DWORD)LD_WORD(dir+DIR_FstClusHI) << 16) |
#endif
LD_WORD(dir+DIR_FstClusLO);
} else { /* The object is not a directory */
res = FR_NO_PATH;
}
}
if (res == FR_OK) {
res = dir_rewind(dj); /* Rewind dir */
}
}
if (res == FR_NO_FILE) res = FR_NO_PATH;
}
return res;
}
int main() {
connect_to_robot();
initialize_robot();
set_origin();
printf("Ghandy-Bot activated, destroy!!!\n");
//Set front IR sensors to to face left and right
set_ir_angle(LEFT, -45);
set_ir_angle(RIGHT, 45);
init_map();
print_map();
robot.map[1][1].walls[0] = 1;
robot.map[1][2].walls[2] = 1;
robot.map[1][1].walls[1] = 1;
robot.map[2][1].walls[3] = 1;
robot.map[1][3].walls[2] = 1;
robot.map[1][2].walls[0] = 1;
robot.map[0][4].walls[2] = 1;
robot.map[0][3].walls[0] = 1;
robot.map[3][4].walls[3] = 1;
robot.map[2][4].walls[1] = 1;
robot.map[3][2].walls[2] = 1;
robot.map[3][1].walls[0] = 1;
robot.map[3][2].walls[3] = 1;
robot.map[2][2].walls[1] = 1;
int i;
for(i=1;i<=4;i++)
robot.map[0][i].walls[3] = 1;
for(i=1;i<=4;i++)
robot.map[i][1].walls[2] = 1;
for(i=1;i<=4;i++)
robot.map[3][i].walls[1] = 1;
print_map();
/* Phase 1 */
//Perform depth first search on maze
//dfs(0, 0, M_PI / 2);
/* Phase 2 */
lee(0,1); //Update matrix with Lee costs from node [0,1]
/* Generate shortest path to node [3,4] (finish line) */
generate_path(3,4);
follow_path(); //Follow the generated path to finish
//Phew, did we win???
printf("Ghandy-Bot deactivated!\n");
return 0;
}
WORD follow_path_11(PATHPTR *pa10)
{
return(follow_path(0x10000,0x10000,pa10));
}
