unsigned short int reverse::next_action ( wall &maze_memorizer, route &route_memorizer,
unsigned short int position[], unsigned short int direction, wall &virtual_walls ) {
unsigned short int succeeded_virtual_foolish_solution;
if ( route_memorizer.signed_crossroad( position ) ) {
virtual_walls.update( position, direction, DOWN, UNSAFE );
if ( maze_memorizer.safe_to_go( position, direction, LEFT ) && virtual_walls.safe_to_go( position, direction, LEFT ) ) {
route_memorizer.decrement_the_count_of_facing_unvisited_blocks( position );
virtual_position[0] = position[0];
virtual_position[1] = position[1];
virtual_direction = direction;
route_memorizer.update_status( virtual_position, virtual_direction, GO_LEFTWARD );
if ( maze_memorizer.need_to_scan( virtual_position ) ) {
succeeded_virtual_foolish_solution =
route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position );
route_memorizer.update_status( virtual_position, virtual_direction, TURN_L_90 );
if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) {
virtual_walls.update( virtual_position, virtual_direction, LEFT, UNSAFE );
}
else {
is_done = 1;
return GO_LEFTWARD;
}
}
else {
route_memorizer.update_visited_places( virtual_position );
route_memorizer.update_for_virtual_walls( virtual_position, virtual_direction, maze_memorizer, virtual_walls );
virtual_walls.update( position, direction, LEFT, UNSAFE );
}
}
if ( route_memorizer.signed_crossroad( position ) &&
maze_memorizer.safe_to_go( position, direction, UP ) && virtual_walls.safe_to_go( position, direction, UP ) ) {
route_memorizer.decrement_the_count_of_facing_unvisited_blocks( position );
virtual_position[0] = position[0];
virtual_position[1] = position[1];
virtual_direction = direction;
route_memorizer.update_status( virtual_position, virtual_direction, GO_FORWARD );
if ( maze_memorizer.need_to_scan( virtual_position ) ) {
succeeded_virtual_foolish_solution =
route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position );
route_memorizer.update_status( virtual_position, virtual_direction, TURN );
if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) {
virtual_walls.update( virtual_position, virtual_direction, UP, UNSAFE );
}
else {
is_done = 1;
return GO_FORWARD;
}
}
else {
route_memorizer.update_visited_places( virtual_position );
route_memorizer.update_for_virtual_walls( virtual_position, virtual_direction, maze_memorizer, virtual_walls );
virtual_walls.update( position, direction, UP, UNSAFE );
}
}
if ( route_memorizer.signed_crossroad( position ) &&
maze_memorizer.safe_to_go( position, direction, RIGHT ) && virtual_walls.safe_to_go( position, direction, RIGHT ) ) {
route_memorizer.decrement_the_count_of_facing_unvisited_blocks( position );
virtual_position[0] = position[0];
virtual_position[1] = position[1];
virtual_direction = direction;
route_memorizer.update_status( virtual_position, virtual_direction, GO_RIGHTWARD );
if ( maze_memorizer.need_to_scan( virtual_position ) ) {
succeeded_virtual_foolish_solution =
route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position );
route_memorizer.update_status( virtual_position, virtual_direction, TURN_R_90 );
if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) {
virtual_walls.update( virtual_position, virtual_direction, RIGHT, UNSAFE );
}
else {
is_done = 1;
return GO_RIGHTWARD;
}
}
else {
route_memorizer.update_visited_places( virtual_position );
route_memorizer.update_for_virtual_walls( virtual_position, virtual_direction, maze_memorizer, virtual_walls );
virtual_walls.update( position, direction, RIGHT, UNSAFE );
}
}
}
if ( maze_memorizer.safe_to_go( position, direction, LEFT ) && virtual_walls.safe_to_go( position, direction, LEFT ) ) {
return GO_LEFTWARD;
}
else if ( maze_memorizer.safe_to_go( position, direction, UP ) && virtual_walls.safe_to_go( position, direction, UP ) ) {
return GO_FORWARD;
}
else if ( maze_memorizer.safe_to_go( position, direction, RIGHT ) && virtual_walls.safe_to_go( position, direction, RIGHT ) ) {
return GO_RIGHTWARD;
}
return DUMMY;
}
unsigned short int normal::next_action ( wall &maze_memorizer, route &route_memorizer,
unsigned short int position[], unsigned short int direction, wall &virtual_walls ) {
unsigned short int the_count_of_safe_to_go_blocks;
unsigned short int succeeded_virtual_foolish_solution;
if ( maze_memorizer.need_to_scan( position ) ) {
return SCAN;
}
else {
route_memorizer.update_for_virtual_walls( position, direction, maze_memorizer, virtual_walls );
the_count_of_safe_to_go_blocks =
maze_memorizer.the_count_of_safe_to_go_blocks(position,direction) - virtual_walls.the_count_of_unsafe_to_go_blocks(position,direction);
if ( the_count_of_safe_to_go_blocks ) {
if ( maze_memorizer.safe_to_go( position, direction, LEFT ) && virtual_walls.safe_to_go( position, direction, LEFT ) ) {
virtual_position[0] = position[0];
virtual_position[1] = position[1];
virtual_direction = direction;
route_memorizer.update_status( virtual_position, virtual_direction, GO_LEFTWARD );
if ( maze_memorizer.need_to_scan( virtual_position ) ) {
if ( the_count_of_safe_to_go_blocks > 1 ) {
succeeded_virtual_foolish_solution =
route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position );
route_memorizer.update_status( virtual_position, virtual_direction, TURN_L_90 );
if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) {
the_count_of_safe_to_go_blocks--;
virtual_walls.update( virtual_position, virtual_direction, LEFT, UNSAFE );
}
else {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 );
return GO_LEFTWARD;
}
}
else {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 );
return GO_LEFTWARD;
}
}
else {
the_count_of_safe_to_go_blocks--;
route_memorizer.update_visited_places( virtual_position );
route_memorizer.update_for_virtual_walls( position, direction, maze_memorizer, virtual_walls );
virtual_walls.update( position, direction, LEFT, UNSAFE );
}
}
if ( maze_memorizer.safe_to_go( position, direction, UP ) && virtual_walls.safe_to_go( position, direction, UP ) ) {
virtual_position[0] = position[0];
virtual_position[1] = position[1];
virtual_direction = direction;
route_memorizer.update_status( virtual_position, virtual_direction, GO_FORWARD );
if ( maze_memorizer.need_to_scan( virtual_position ) ) {
if ( the_count_of_safe_to_go_blocks > 1 ) {
succeeded_virtual_foolish_solution =
route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position );
route_memorizer.update_status( virtual_position, virtual_direction, TURN );
if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) {
the_count_of_safe_to_go_blocks--;
virtual_walls.update( virtual_position, virtual_direction, UP, UNSAFE );
}
else {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 );
return GO_FORWARD;
}
}
else {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 );
return GO_FORWARD;
}
}
else {
the_count_of_safe_to_go_blocks--;
route_memorizer.update_visited_places( virtual_position );
route_memorizer.update_for_virtual_walls( position, direction, maze_memorizer, virtual_walls );
virtual_walls.update( position, direction, UP, UNSAFE );
}
}
if ( maze_memorizer.safe_to_go( position, direction, RIGHT ) && virtual_walls.safe_to_go( position, direction, RIGHT ) ) {
virtual_position[0] = position[0];
virtual_position[1] = position[1];
virtual_direction = direction;
route_memorizer.update_status( virtual_position, virtual_direction, GO_RIGHTWARD );
if ( maze_memorizer.need_to_scan( virtual_position ) ) {
if ( the_count_of_safe_to_go_blocks > 1 ) {
succeeded_virtual_foolish_solution =
route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position );
route_memorizer.update_status( virtual_position, virtual_direction, TURN_R_90 );
if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) {
the_count_of_safe_to_go_blocks--;
virtual_walls.update( virtual_position, virtual_direction, RIGHT, UNSAFE );
}
else {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 );
return GO_RIGHTWARD;
}
}
else {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 );
return GO_RIGHTWARD;
}
}
else {
the_count_of_safe_to_go_blocks--;
route_memorizer.update_visited_places( virtual_position );
route_memorizer.update_for_virtual_walls( position, direction, maze_memorizer, virtual_walls );
virtual_walls.update( position, direction, RIGHT, UNSAFE );
}
}
}
is_done = 1;
return DUMMY;
}
}