static long MazeDispatch( short action, long command, long *refCon, ScreenParams *params )
{
long result;
result = 0;
switch( action )
{
case kDoScreenPreflight:
result = MazePreflight( params->initValue );
break;
case kDoScreenReset:
MazeReset( *refCon );
break;
case kDoScreenSetupCommand:
*refCon = MazeSetup( params );
break;
case kDoScreenCommand:
result = MazeCommand( command, *refCon, params );
break;
case kDoScreenKill:
MazeKill( *refCon );
break;
default:
ERROR_MESG( "Got bad selector in Maze Dispatch" );
break;
}
return result;
}
int main()
{
printf("Maze Test\n");
Maze maze;
MazeReset(&maze);
importMaze("mazes/Region1_2015.txt", &maze);
RobotState state;
MousePositionInit(&state.pos, NORTH, 0, 15);
state.targetXmin = 7;
state.targetYmin = 7;
state.targetXmax = 8;
state.targetYmax = 8;
// Execute Flood Fill on current maze
FloodFill floodFill;
floodFill.state = &state;
floodFill.maze = &maze;
SimpleFloodFillSolve(&floodFill);
MazePrint(&maze, state.pos.x, state.pos.y);
char ortho[255];
char diag[255];
PathGenOrtho(&maze, &state, ortho);
PathGenDiag(ortho, diag);
printf("%s\n", ortho);
printf("%s\n", diag);
// Maze Init
/*Maze maze;
MazeReset(&maze);
importMaze("mazes/test.txt", &maze);
Maze learningMaze;
MazeReset(&learningMaze);
// Robot State Init
RobotState state;
MousePositionInit(&state.pos, NORTH, 15, 15);
state.targetXmin = 13;
state.targetYmin = 13;
state.targetXmax = 13;
state.targetYmax = 13;
// Execute Flood Fill on current maze
FloodFill floodFill;
floodFill.state = &state;
floodFill.maze = &maze;
SimpleFloodFillSolve(&floodFill);
MazePrint(&maze, state.pos.x, state.pos.y);
floodFill.maze = &learningMaze;
MousePositionGoForward(&state.pos);
char ortho[255];
int lc = 0;
while (1==1)
{
int i; for (i = 0; i < 255; i++) ortho[i] = 0;
printf("---Adding Walls to Maze---\n");
int valueForward = MazeHasAWallRelative(&maze,
state.pos.x, state.pos.y, state.pos.forwardDirection, FORWARD);
int valueLeft = MazeHasAWallRelative(&maze,
state.pos.x, state.pos.y, state.pos.forwardDirection, LEFT);
int valueRight = MazeHasAWallRelative(&maze,
state.pos.x, state.pos.y, state.pos.forwardDirection, RIGHT);
printf("Walls = F:%d L:%d R:%d\n", valueForward, valueLeft, valueRight);
MazeSetWallRelative(&learningMaze, state.pos.x, state.pos.y, valueForward,
state.pos.forwardDirection, FORWARD);
MazeSetWallRelative(&learningMaze, state.pos.x, state.pos.y, valueLeft,
state.pos.forwardDirection, LEFT);
MazeSetWallRelative(&learningMaze, state.pos.x, state.pos.y, valueRight,
state.pos.forwardDirection, RIGHT);
printf("---Flood Filling---\n");
SimpleFloodFillSolve(&floodFill);
MazePrint(&learningMaze, state.pos.x, state.pos.y);
printf("---Generating Path---\n");
PathGenOrtho(&learningMaze, &state, ortho);
// Move!
if (*ortho == 'f' || *ortho == 'F')
{
MousePositionGoForward(&state.pos);
}
else if (*ortho == 'r' || *ortho == 'R')
{
MousePositionRotateRight(&state.pos);
MousePositionGoForward(&state.pos);
}
else if (*ortho == 'l' || *ortho == 'L')
{
MousePositionRotateLeft(&state.pos);
MousePositionGoForward(&state.pos);
}
else if (*ortho == 'b' || *ortho == 'B')
{
MousePositionGoBackward(&state.pos);
}
printf("New Position = %d, %d\n", state.pos.x, state.pos.y);
printf("Ortho = %s\n", ortho);
if (state.pos.x >= state.targetXmin && state.pos.x <= state.targetXmax &&
state.pos.y >= state.targetYmin && state.pos.y <= state.targetYmax)
break;
if (lc++ > 15) break;
}
*/
printf("Done!\n");
return 0;
}
