int main()
{
// First get your robot to properly calibrate
initialize();
// Now solve the maze!
maze_solve();
}
enum plugin_status plugin_start(const void* parameter)
{
int button;
#ifdef MAZE_NEW_PRE
int lastbutton = BUTTON_NONE;
#endif
int quit = 0;
struct maze maze;
(void)parameter;
/* Turn off backlight timeout */
backlight_ignore_timeout();
/* Seed the RNG */
rb->srand(*rb->current_tick);
FOR_NB_SCREENS(i)
rb->screens[i]->set_viewport(NULL);
/* Draw the background */
#if LCD_DEPTH > 1
rb->lcd_set_backdrop(NULL);
#if LCD_DEPTH >= 16
rb->lcd_set_foreground(LCD_RGBPACK( 0, 0, 0));
rb->lcd_set_background(LCD_RGBPACK(182, 198, 229)); /* rockbox blue */
#elif LCD_DEPTH == 2
rb->lcd_set_foreground(0);
rb->lcd_set_background(LCD_DEFAULT_BG);
#endif
#endif
/* Initialize and draw the maze */
maze_init(&maze);
maze_generate(&maze);
FOR_NB_SCREENS(i)
maze_draw(&maze, rb->screens[i]);
while(!quit) {
#ifdef __PLUGINLIB_ACTIONS_H__
button = pluginlib_getaction(TIMEOUT_BLOCK, plugin_contexts,
ARRAYLEN(plugin_contexts));
#else
button = rb->button_get(true);
#endif
switch(button) {
case MAZE_NEW:
#ifdef MAZE_NEW_PRE
if(lastbutton != MAZE_NEW_PRE)
break;
#endif
maze_init(&maze);
maze_generate(&maze);
FOR_NB_SCREENS(i)
maze_draw(&maze, rb->screens[i]);
break;
case MAZE_SOLVE:
maze_solve(&maze);
FOR_NB_SCREENS(i)
maze_draw(&maze, rb->screens[i]);
break;
case MAZE_UP:
case MAZE_UP_REPEAT:
maze_move_player_up(&maze);
FOR_NB_SCREENS(i)
maze_draw(&maze, rb->screens[i]);
break;
case MAZE_RIGHT:
case MAZE_RIGHT_REPEAT:
maze_move_player_right(&maze);
FOR_NB_SCREENS(i)
maze_draw(&maze, rb->screens[i]);
break;
case MAZE_DOWN:
case MAZE_DOWN_REPEAT:
maze_move_player_down(&maze);
FOR_NB_SCREENS(i)
maze_draw(&maze, rb->screens[i]);
break;
case MAZE_LEFT:
case MAZE_LEFT_REPEAT:
maze_move_player_left(&maze);
FOR_NB_SCREENS(i)
maze_draw(&maze, rb->screens[i]);
break;
case MAZE_QUIT:
/* quit plugin */
quit=1;
break;
default:
if (rb->default_event_handler(button) == SYS_USB_CONNECTED) {
/* quit plugin */
quit=2;
}
break;
}
#ifdef MAZE_NEW_PRE
if( button != BUTTON_NONE )
lastbutton = button;
#endif
}
/* Turn on backlight timeout (revert to settings) */
backlight_use_settings();
return ((quit == 1) ? PLUGIN_OK : PLUGIN_USB_CONNECTED);
}
int main(int argc, char *argv[])
{
unsigned long long dt;
int i = 1;
struct maze *mp;
double q;
int solved = 1;
char *binin = NULL;
char *binout = NULL;
FILE *figfp = stdout;
char *figout = NULL;
int figupc = 300;
int figupcgiven = 0;
int figvisit = 0;
int generate = 0;
int rows = 41;
int cols = 32;
double straightfrac = 0.2;
double segbends = 4;
double revisit = 0.2;
unsigned long seed = current_time();
int startrow = 0;
int startcol = 0;
int endrow = -1;
int endcol = -1;
int wallin = 0;
int wallinrow;
int wallincol;
int solve = 1;
int clear = 0;
/* Parse arguments. */
while (i < argc) {
if (strcmp(argv[i], "--input") == 0) {
if (generate)
usage(argv[0],
"Conflict: --input and --generate\n");
if (i >= argc - 1)
usage(argv[0], "--input requires path name\n");
binin = argv[++i];
} else if (strcmp(argv[i], "--output") == 0) {
if (i >= argc - 1)
usage(argv[0], "--output requires path name\n");
binout = argv[++i];
} else if (strcmp(argv[i], "--fig") == 0) {
if (i >= argc - 1)
usage(argv[0], "--fig requires path name\n");
figout = argv[++i];
figfp = fopen(figout, "w");
if (figfp == NULL)
usage(argv[0], "--fig file unwriteable\n");
} else if (strcmp(argv[i], "--figupc") == 0) {
if (i >= argc - 1)
usage(argv[0],
"--figupc requires fig units per cell\n");
figupc = strtol(argv[++i], NULL, 0);
if (figupc <= 0)
usage(argv[0],
"--figupc must be non-negative\n");
figupcgiven = 1;
} else if (strcmp(argv[i], "--figlinethickness") == 0) {
if (i >= argc - 1)
usage(argv[0],
"--figlinethickness requires number\n");
line_thickness = strtol(argv[++i], NULL, 0);
if (line_thickness <= 0)
usage(argv[0],
"--figlinethickness must be "
"non-negative\n");
} else if (strcmp(argv[i], "--figvisit") == 0) {
figvisit = 1;
} else if (strcmp(argv[i], "--nofig") == 0) {
if (figfp != stdout)
usage(argv[0], "Conflict: --fig and --nofig\n");
figfp = NULL;
} else if (strcmp(argv[i], "--generate") == 0) {
generate = 1;
if (binin)
usage(argv[0],
"Conflict: --generate and --input\n");
if (i < argc - 1 && argv[i + 1][0] != '-') {
rows = strtol(argv[++i], NULL, 0);
cols = rows;
}
if (i < argc - 1 && argv[i + 1][0] != '-')
cols = strtol(argv[++i], NULL, 0);
} else if (strcmp(argv[i], "--gen_sf") == 0) {
if (i >= argc - 1)
usage(argv[0],
"--gen_sf requires straightfrac\n");
straightfrac = strtod(argv[++i], NULL);
if (straightfrac <= 0.0)
usage(argv[0],
"--gen_sf requires straightfrac > 0");
} else if (strcmp(argv[i], "--gen_sb") == 0) {
if (i >= argc - 1)
usage(argv[0], "--gen_sb requires segbends\n");
segbends = strtod(argv[++i], NULL);
if (segbends < 0.0)
usage(argv[0],
"--gen_sb requires segbends >= 0\n");
} else if (strcmp(argv[i], "--gen_rv") == 0) {
if (i >= argc - 1)
usage(argv[0], "--gen_rv requires revisit\n");
revisit = strtod(argv[++i], NULL);
if (revisit < 0.0 || revisit > 1.0)
usage(argv[0], "--gen_rv: 0 <= revisit <= 1\n");
} else if (strcmp(argv[i], "--seed") == 0) {
if (i >= argc - 1)
usage(argv[0], "--seed requires integer\n");
seed = strtol(argv[++i], NULL, 0);
} else if (strcmp(argv[i], "--solve") == 0) {
solve = 1;
} else if (strcmp(argv[i], "--start") == 0) {
if (i >= argc - 2)
usage(argv[0], "--start requires position\n");
startrow = strtol(argv[++i], NULL, 0);
startcol = strtol(argv[++i], NULL, 0);
} else if (strcmp(argv[i], "--end") == 0) {
if (i >= argc - 2)
usage(argv[0], "--end requires position\n");
endrow = strtol(argv[++i], NULL, 0);
endcol = strtol(argv[++i], NULL, 0);
} else if (strcmp(argv[i], "--wall-in") == 0) {
if (i >= argc - 2)
usage(argv[0], "--wall-in requires position\n");
if (wallin)
usage(argv[0], "Multiple --wall-in commands\n");
wallin = 1;
wallinrow = strtol(argv[++i], NULL, 0);
wallincol = strtol(argv[++i], NULL, 0);
} else if (strcmp(argv[i], "--nosolve") == 0) {
solve = 0;
} else if (strcmp(argv[i], "--clear") == 0) {
clear = 1;
} else if (strcmp(argv[i], "--help") == 0) {
usage(argv[0], "");
} else {
int j = maze_solve_parse(i, argc, argv);
if (i == j)
usage(argv[0], "Unrecognized argument: %s\n",
argv[i]);
i = j - 1;
}
i++;
}
/* Get maze. */
srandom(seed);
if (generate) {
if (startrow < 0)
startrow = maze_row_col_frac(rows, 1, -startrow);
if (startcol < 0)
startcol = maze_row_col_frac(cols, 1, -startcol);
if (endrow < 0)
endrow = maze_row_col_frac(rows, 1, -endrow);
if (endcol < 0)
endcol = maze_row_col_frac(cols, 1, -endcol);
mp = maze_create(rows, cols, startrow, startcol,
straightfrac, segbends, revisit);
} else if (binin != NULL) {
mp = maze_binary_in(binin);
if (mp == NULL)
usage(argv[0], "Bad --input file\n");
if (clear)
maze_unvisit_all(mp);
if (startrow < 0)
startrow = maze_row_col_frac(mp->nrows, 1, -startrow);
if (startcol < 0)
startcol = maze_row_col_frac(mp->ncols, 1, -startcol);
if (endrow < 0)
endrow = maze_row_col_frac(mp->nrows, 1, -endrow);
if (endcol < 0)
endcol = maze_row_col_frac(mp->ncols, 1, -endcol);
} else {
usage(argv[0], "Must specify one of --input and --generate\n");
}
if (startrow == endrow && startcol == endcol)
usage(argv[0], "--start and --end both (%d, %d)\n",
startrow, startcol);
/* Wall-in the specified cell. */
if (wallin) {
if (wallinrow < 0)
wallinrow = maze_row_col_frac(mp->nrows, 1, -wallinrow);
if (wallincol < 0)
wallincol = maze_row_col_frac(mp->ncols, 1, -wallincol);
if (!maze_wall_in(mp, wallinrow, wallincol))
usage(argv[0],
"--wall-in %d %d must be within maze, "
"limits: %d %d.\n",
wallinrow, wallincol, mp->nrows, mp->ncols);
}
/* Solve maze. */
if (solve) {
maze_unvisit_all(mp); /* Erase any prior solution. */
if (!maze_cell_exists(mp, startrow, startcol)) {
fprintf(stderr,
"Start position %d %d must be within maze: "
"(0-%d, 0-%d)\n",
startrow, startcol,
mp->nrows - 1, mp->ncols - 1);
exit(EXIT_FAILURE);
}
if (!maze_cell_exists(mp, endrow, endcol)) {
fprintf(stderr,
"End position %d %d must be within maze: "
"(0-%d, 0-%d)\n",
endrow, endcol, mp->nrows - 1, mp->ncols - 1);
exit(EXIT_FAILURE);
}
q = maze_solve(mp, startrow, startcol, endrow, endcol, &dt);
if (q == 0) {
fprintf(stderr, "Maze has no solution\n");
solved = 0;
}
q = q / (double)(abs(endrow - startrow) +
abs(endcol - startcol) + 1);
fprintf(stderr,
"Maze quality: %g dt = %g visits = %d/%d (%g%%)\n",
q, ((double)dt) / (double)1000000, mp->vi,
mp->nrows * mp->ncols,
mp->vi * 100. / (double)(mp->nrows * mp->ncols));
}
/* Output binary, if requested. */
if (binout != NULL)
maze_binary_out(binout, mp);
/* Output fig, if requested. */
if (figfp != NULL) {
if (!figupcgiven) { /* Set up for US Letter. */
int fr = 300 * 41 / mp->nrows;
int fc = 300 * 32 / mp->ncols;
if (fr < fc)
figupc = fr;
else
figupc = fc;
}
maze_to_fig(figfp, mp, figupc, !solved || figvisit);
}
return EXIT_SUCCESS;
}
