node* getOriginNode()
{
node* mazeArrayElement_pst = &mazeArray[originNodePos_i32];
if(NULLDIRECTION == getAvailableDirections(mazeArrayElement_pst))
{
return NULL;
}
else
{
return mazeArrayElement_pst;
}
}
node* searchMazeArray(int32 f_xCord_i32, int32 f_yCord_i32)
{
node* mazeArrayElement_pst = NULL;
uint32 it = 0; // better to initialize here
for(; it < mazeArrayElements_ui32; it++)
{
mazeArrayElement_pst = &mazeArray[it];
if (NULL != mazeArrayElement_pst)
{
coordinates mazeElementCoordinate_st = getNodeCoordinates(mazeArrayElement_pst);
if((f_xCord_i32 == mazeElementCoordinate_st.x_Coordinate_i32) &&
(f_yCord_i32 == mazeElementCoordinate_st.y_Coordinate_i32))
{
if(NULLDIRECTION == getAvailableDirections(mazeArrayElement_pst))
{
return NULL;
}
break;
}
else
{
// Left Intentionally blank
}
}
}
if((NULL == mazeArrayElement_pst) || (mazeArrayElements_ui32 == it))
{
return NULL;
}
else
{
return mazeArrayElement_pst;
}
}
static direction chooseDirection(direction currentDirection, struct node *node, uint8_t x, uint8_t y)
{
getAvailableDirections(currentDirection);
if (getNextNode(node, dirs[0]) != empty) {
return dirs[1];
} else if (getNextNode(node, dirs[1]) != empty) {
return dirs[0];
}
uint8_t diffX = abs(x - targetX);
uint8_t diffY = abs(y - targetY);
if (diffX > diffY) {
if (x > targetX) {
if ((dirs[0] == WEST) || (dirs[1] == WEST)) {
return WEST;
}
}
if (x < targetX) {
if ((dirs[0] == EAST) || (dirs[1] == EAST)) {
return EAST;
}
}
if (y > targetY) {
if ((dirs[0] == NORTH) || (dirs[1] == NORTH)) {
return NORTH;
}
}
if (y < targetY) {
if ((dirs[0] == SOUTH) || (dirs[1] == SOUTH)) {
return SOUTH;
}
}
} else {
if (y > targetY) {
if ((dirs[0] == NORTH) || (dirs[1] == NORTH)) {
return NORTH;
}
}
if (y < targetY) {
if ((dirs[0] == SOUTH) || (dirs[1] == SOUTH)) {
return SOUTH;
}
}
if (x > targetX) {
if ((dirs[0] == WEST) || (dirs[1] == WEST)) {
return WEST;
}
}
if (x < targetX) {
if ((dirs[0] == EAST) || (dirs[1] == EAST)) {
return EAST;
}
}
}
if (dirs[0] != NONE) {
return dirs[0];
}
return currentDirection;
}
