//solves the game on its own
void godSolve(int dim) {
//length of path to search
//int pathDepth = 3;
int failedCounter = 0;
while (true) {
//array that will save moves to do
int toMove[500];
//create pointer to location in toMove[]
int toMoveLoc = 0;
//save board
int savedBoard[d][d];
int savedZ[2];
for (int i = 0; i < d; i++)
for (int j = 0; j < d; j++)
savedBoard[i][j] = board[i][j];
savedZ[0] = z[0];
savedZ[1] = z[1];
//set manhattan distance to beat
float manDist = manDistance();
//declare manDist for new setup;
float manDistNew = manDist;
//this is to freeze rows near the top (i.e. tell algorithm to not include
//those squares in paths it searches
int rowComp = 0;
for (int i = 0; i < d*d; i++) {
if (board[i/d][i%d] == i+1) rowComp++;
else break;
}
rowComp = rowComp/d;
//do up to some# random moves, recording them, breaking early
////Sorry, I know this algorithm isn't really an algorithm, and it's terrible,
////but it meets the specification (solves things up to 4x4 (though really poorly)
////far from optimally). It kind of REALLY sucks for 5x5+... but that's why I was
////trying to figure out how to work out the A* in C (code that was commented out)
////.. but these arrays are difficult to work with, and I ran out of time
for (int i = 0; i < d*d + failedCounter; i++) {
int j = rand() % 4;
if (getTile(j) > rowComp*d) {
toMove[toMoveLoc++] = getTile(j);
movetile(getTile(j));
manDistNew = manDistance();
if (manDistNew < manDist) break;
}
}
/* STARt OF BETTER ALGORITHM -- COULD NOT COMPLETE IN TIME
// Working with arrays in C is a big headache... A* would've been really easy in Java?
// I'm probably just a noob though
Path pathSet[(int)pow(4,pathDepth)];
Path *tempPathSet = findPaths(pathDepth, pathSet);
for (int i = 0; i < pow(4,pathDepth); i++)
pathSet[i] = tempPathSet[i];
//for each path
for (int i = 0, n = pow(4,pathDepth); i < n; i++) {
//for each step in path, move tile
for (int j = 0; j < pathDepth; j++)
movetile(getTile(pathSet[i].array[j]));
//if new board > old board, save moves & reset path depth
manDistNew = manDistance();
if (manDistNew < manDist) {
toMove = pathSet[i].array;
pathDepth = 2;
}
//reset boards
for (int i = 0; i < d; i++)
for (int j = 0; j < d; j++)
board[i][j] = savedBoard[i][j];
z[0] = savedZ[0];
z[1] = savedZ[1];
}
*/
//reset boards
for (int i = 0; i < d; i++)
for (int j = 0; j < d; j++)
board[i][j] = savedBoard[i][j];
z[0] = savedZ[0];
z[1] = savedZ[1];
failedCounter ++;
//compare new manhattan distance to mandist to beat
//if better, do all those moves
if (manDistNew < manDist) {
//if (pathDepth == 2) { //new algo
failedCounter = 0;
for (int i = 0; i < toMoveLoc; i++) {
moveComplete(toMove[i]);
}
}
// pathDepth++;
}
}
void MadsPlayer::move() {
bool routeFlag = false;
if (_moving) {
int idx = _routeCount;
while (!_v844C0 && (_destPos.x == _playerPos.x) && (_destPos.y == _playerPos.y)) {
if (idx != 0) {
--idx;
SceneNode &node = _madsVm->scene()->getSceneResources()._nodes[_routeIndexes[idx]];
_destPos = node.pt;
routeFlag = true;
} else if (_v844BE == idx) {
// End of walking path
_routeCount = 0;
_moving = false;
turnToDestFacing();
routeFlag = true;
idx = _routeCount;
} else {
_v844C0 = _v844BE;
_v844BC = true;
_v844BE = 0;
_stepEnabled = true;
routeFlag = false;
}
if (!_moving)
break;
}
_routeCount = idx;
}
if (routeFlag && _moving)
startMovement();
if (_newDirection != _direction)
dirChanged();
else if (!_moving)
updateFrame();
int var1 = _unk1;
if (_unk4 && (_hypotenuse > 0)) {
int v1 = -(_currentScale - 100) * (_posDiff.x - 1) / _hypotenuse + _currentScale;
var1 = MAX(1, 10000 / (v1 * _currentScale * var1));
}
if (!_moving || (_direction != _newDirection))
return;
Common::Point newPos = _playerPos;
if (_v8452E < var1) {
do {
if (_v8452C < _posDiff.x)
_v8452C += _posDiff.y;
if (_v8452C >= _posDiff.x) {
if ((_posChange.y > 0) || (_v844C0 != 0))
newPos.y += _yDirection;
--_posChange.y;
_v8452C -= _posDiff.x;
}
if (_v8452C < _posDiff.x) {
if ((_posChange.x > 0) || (_v844C0 != 0))
newPos.x += _xDirection;
--_posChange.x;
}
if ((_v844BC == 0) && (_v844C0 == 0) && (_v844BE == 0)) {
routeFlag = _madsVm->scene()->getDepthHighBit(newPos);
if (_special == 0)
_special = _madsVm->scene()->getDepthHighBits(newPos);
}
_v8452E += _v84530;
} while ((_v8452E < var1) && !routeFlag && ((_posChange.x > 0) || (_posChange.y > 0) || (_v844C0 != 0)));
}
_v8452E -= var1;
if (routeFlag)
moveComplete();
else {
if (!_v844C0) {
// If the move is complete, make sure the position is exactly on the given destination
if (_posChange.x == 0)
newPos.x = _destPos.x;
if (_posChange.y == 0)
newPos.y = _destPos.y;
}
_playerPos = newPos;
}
}
void AMPIC887EpicsCoordinator::onAllConnected(bool connectedState)
{
if(connectedState) {
if(!controller_->isInValidState()) {
qDebug() << "Initialization: Setting Axes status to Error";
xAxisStatus_->move(4);
yAxisStatus_->move(4);
zAxisStatus_->move(4);
uAxisStatus_->move(4);
vAxisStatus_->move(4);
wAxisStatus_->move(4);
} else if (!connectedOnce_) {
connectedOnce_ = true;
// Initializing x Axis
if(!xAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::XAxis))) {
qDebug() << "Initialization: Setting x Axis position to " << controller_->currentPosition(AMGCS2::XAxis);
xAxisFeedback_->move(controller_->currentPosition(AMGCS2::XAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::XAxisIsMoving) && !xAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting x Axis status to moving";
xAxisStatus_->move(1);
} else if (!xAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting x Axis status to move done";
xAxisStatus_->move(0);
}
// Initializing y Axis
if(!yAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::YAxis))) {
qDebug() << "Initialzation: Setting y Axis position to " << controller_->currentPosition(AMGCS2::YAxis);
yAxisFeedback_->move(controller_->currentPosition(AMGCS2::YAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::YAxisIsMoving) && !yAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting y Axis status to moving";
yAxisStatus_->move(1);
} else if (!yAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting y Axis status to move done";
yAxisStatus_->move(0);
}
// Initializing z Axis
if(!zAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::ZAxis))) {
qDebug() << "Initialzation: Setting z Axis position to " << controller_->currentPosition(AMGCS2::ZAxis);
zAxisFeedback_->move(controller_->currentPosition(AMGCS2::ZAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::ZAxisIsMoving) && !zAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting z Axis status to moving";
zAxisStatus_->move(1);
} else if (!zAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting z Axis status to move done";
zAxisStatus_->move(0);
}
// Initializing u Axis
if(!uAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::UAxis))) {
qDebug() << "Initialzation: Setting u Axis position to " << controller_->currentPosition(AMGCS2::UAxis);
uAxisFeedback_->move(controller_->currentPosition(AMGCS2::UAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::UAxisIsMoving) && !uAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting u Axis status to moving";
uAxisStatus_->move(1);
} else if (!uAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting u Axis status to move done";
uAxisStatus_->move(0);
}
// Initializing v Axis
if(!vAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::VAxis))) {
qDebug() << "Initialzation: Setting v Axis position to " << controller_->currentPosition(AMGCS2::VAxis);
vAxisFeedback_->move(controller_->currentPosition(AMGCS2::VAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::VAxisIsMoving) && !vAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting v Axis status to moving";
vAxisStatus_->move(1);
} else if (!vAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting v Axis status to move done";
vAxisStatus_->move(0);
}
// Initializing w Axis
if(!wAxisFeedback_->withinTolerance(controller_->currentPosition(AMGCS2::WAxis))) {
qDebug() << "Initialzation: Setting w Axis position to " << controller_->currentPosition(AMGCS2::WAxis);
wAxisFeedback_->move(controller_->currentPosition(AMGCS2::WAxis));
}
if(controller_->movementStatuses().testFlag(AMGCS2::WAxisIsMoving) && !wAxisStatus_->withinTolerance(1)) {
qDebug() << "Initialization: Setting w Axis status to moving";
wAxisStatus_->move(1);
} else if (!wAxisStatus_->withinTolerance(0)) {
qDebug() << "Initialization: Setting w Axis status to move done";
wAxisStatus_->move(0);
}
// Initialize system velocity
if(!systemVelocityFeedback_->withinTolerance(controller_->systemVelocity())) {
qDebug() << "Initialization: Setting system velocity to " << controller_->systemVelocity();
systemVelocityFeedback_->move(controller_->systemVelocity());
}
if(!systemVelocitySetpoint_->withinTolerance(controller_->systemVelocity())) {
qDebug() << "Initialization: Setting system velocity setpoint to " << controller_->systemVelocity();
systemVelocitySetpoint_->move(controller_->systemVelocity());
}
// Initialize the record rate.
if(!recordRateFeedback_->withinTolerance(controller_->recordRate())) {
qDebug() << "Initialization: Setting record rate to " << controller_->recordRate();
recordRateFeedback_->move(controller_->recordRate());
}
if(!recordRateSetpoint_->withinTolerance(controller_->recordRate())) {
qDebug() << "Initialization: Setting record rate setpoint to " << controller_->recordRate();
recordRateSetpoint_->move(controller_->recordRate());
}
// Initialize data recorder active state
double dataRecorderActiveValue = controller_->isDataRecorderActive() ? 1.0 : 0.0;
if(dataRecorderActive_->withinTolerance(dataRecorderActiveValue)) {
qDebug() << "Initialization: Setting data recorder active status to " << dataRecorderActiveValue;
dataRecorderActive_->move(dataRecorderActiveValue);
}
}
connect(systemVelocitySetpoint_, SIGNAL(valueChanged(double)), this, SLOT(onSystemVelocitySetpointChanged(double)));
connect(recordRateSetpoint_, SIGNAL(valueChanged(double)), this, SLOT(onRecordRateSetpointPVChanged(double)));
connect(dataRecorderActive_, SIGNAL(valueChanged(double)), this, SLOT(onDataRecorderActivePVChanged(double)));
connect(stopAll_, SIGNAL(valueChanged(double)), this, SLOT(onStopAll(double)));
connect(controller_, SIGNAL(moveStarted(AMGCS2::AxisMovementStatuses)), this, SLOT(onMotionStartedChanged(AMGCS2::AxisMovementStatuses)));
connect(controller_, SIGNAL(moveFailed(AMGCS2::AxisMovementStatuses)), this, SLOT(onMotionFailed(AMGCS2::AxisMovementStatuses)));
connect(controller_, SIGNAL(moveComplete()), this, SLOT(onMotionCompleted()));
connect(controller_, SIGNAL(positionUpdate(AMPIC887AxisMap<double>)), this, SLOT(onPositionUpdate(AMPIC887AxisMap<double>)));
connect(controller_, SIGNAL(systemVelocityChanged(double)), this, SLOT(onSystemVelocityChanged(double)));
connect(controller_, SIGNAL(recordRateChanged(double)), this, SLOT(onControllerRecordRateChanged(double)));
connect(controller_, SIGNAL(dataRecorderActiveStateChanged(bool)), this, SLOT(onControllerDataRecorderActiveChanged(bool)));
}
}
