void bt_node_free ( bt_node_t *_node )
{
// the array could be NULL;
if ( _node->children ) {
// free children nodes
ex_array_each ( _node->children, bt_node_t *, child ) {
bt_node_free ( child );
} ex_array_each_end
// free array
if ( _node->children ) {
ex_array_free (_node->children);
}
}
/* clean bt_node tree while it's cleaning bt_node
*/
void clean_bin_tree(struct btree_node *node, int depth)
{
struct btree_node *parent;
if (node->left || node->right || !depth)
return;
parent = node->parent;
if (!parent)
return;
if (parent->left == node)
parent->left = NULL;
if (parent->right == node)
parent->right = NULL;
bt_node_free(node);
clean_bin_tree(parent, --depth);
}
static int gen_bin_tree_tail(unsigned char *maze, unsigned char *map,
struct s_link **head)
{
struct btree_node *bt_new_node, *bt_node;
struct s_link *sl_node;
struct s_link *sl_new_node, *tail_new_list = NULL;
unsigned char i, index, abs_dir;
struct btree_node bt_node_backup;
char dir, is_goal = 0, found_node;
#ifdef CONFIG_PATH_LIMIT
int path_limit = 0;
#endif
if (!maze || !map || !head || !*head) {
print_error("NULL pointer error! %X %X %X %X\n",
(unsigned int)maze, (unsigned int)map,
(unsigned int)head, (unsigned int)*head);
}
print_dbg(DEBUG_S_LINK, "Check input linked list: %08X\n",
(unsigned int)*head);
debug_sl_node(*head);
print_dbg(DEBUG_S_LINK, "Find next lower contour level\n");
/* Find next lower contour cube arond current location */
for (sl_node = *head; sl_node; sl_node = sl_node->node) {
index = sl_node->bt_node->pos;
abs_dir = sl_node->bt_node->abs_dir;
bt_node = sl_node->bt_node;
/* when it's set, found turn. on the unkonwn blocks,
* there may be too many pathes to calculate.
**/
found_node = 0;
bt_node_backup.time = 0; /* use to check FD detection */
for (i = NI; i <= WI; i++) {
if (!(maze[index] & wall_bit(i)) &&
(map[index] == map[index + maze_dxy[i]] + 1)) {
dir = relative_direction(abs_dir, i);
/* if block is unknown, then take turn prior
* to straight path. It's to save memory
* and calculation time.
*/
if (dir == FD && ((maze[index]&0xF0) != 0xF0)) {
bt_node_backup.pos = index+maze_dxy[i];
bt_node_backup.dir = dir;
bt_node_backup.abs_dir = i;
/* to mark block has meaningful data */
bt_node_backup.time = 1;
continue;
}
found_node = 1;
/* create new bt_node and save next mouse index
* and absolute direction of mouse at next block
*/
bt_new_node =
bt_node_alloc(index+maze_dxy[i], i);
/* Next bt_node->dir is to save how mouse made
* a turn to come the block.
*/
bt_new_node->dir = dir;
/* there can be 3rd child, only take 2 child at
* a time
*/
if (!add_bt_node(bt_node, bt_new_node)) {
sl_new_node = s_link_alloc(bt_new_node);
add_sl_node(&tail_new_list, sl_new_node);
#ifdef CONFIG_PATH_LIMIT
path_limit++;
#endif
} else {
bt_node_free(bt_new_node);
}
/*
* debug_sl_node(tail_new_list);
*/
}
}
/* if forward is the only one in known block,
* then use it
*/
if (!found_node && bt_node_backup.time) {
bt_new_node =
bt_node_alloc(bt_node_backup.pos,
bt_node_backup.abs_dir);
bt_new_node->dir = bt_node_backup.dir;
add_bt_node(bt_node, bt_new_node);
sl_new_node = s_link_alloc(bt_new_node);
add_sl_node(&tail_new_list, sl_new_node);
#ifdef CONFIG_PATH_LIMIT
path_limit++;
#endif
}
if (map[index] == 1 && !is_goal)
is_goal = 1;
/* Remove bt_node if there is no child, it'll search
* parent node and remove the node if it had no child
*/
if (!is_goal)
clean_bin_tree(bt_node, 80);
#ifdef CONFIG_PATH_LIMIT
/* 10 pathes : max 20KB
* 20 pathes : max 30 KB
* 40 pathes : max 57 KB
*/
if (path_limit >= 20)
break;
#endif
}
if (tail_new_list)
debug_sl_node(tail_new_list);
#ifdef DEBUG
if (is_goal) {
i = 0;
print_dbg(DEBUG_BINTREE,
"Found maze goal!!!\n");
print_dbg(DEBUG_BINTREE,
"tail_new_list for tail: 0x%08X\n",
(unsigned int)tail_new_list);
print_dbg(DEBUG_BINTREE,
"*head pointer: %08X\n",
(unsigned int)*head);
if (tail_new_list)
print_error("tail_new_list must be NULL!\n");
for (sl_node = *head; sl_node; sl_node = sl_node->node) {
index = sl_node->bt_node->pos;
bt_node = sl_node->bt_node;
i++;
}
print_dbg(DEBUG_BINTREE, "Total path: %d\n", i);
}
#endif
/* critical error to find next contour maps */
if (!is_goal && tail_new_list == NULL) {
printf("contour map\n");
print_full(map);
printf("maze map\n");
print_map(maze);
for (sl_node = *head; sl_node; sl_node = sl_node->node) {
index = sl_node->bt_node->pos;
abs_dir = sl_node->bt_node->abs_dir;
bt_node = sl_node->bt_node;
printf("mouse:(%d,%d),abs_dir:%d\n", pos_x(index),
pos_y(index), abs_dir);
}
}
/* free s_link nodes */
if (!is_goal) {
sl_node_free(*head);
*head = tail_new_list;
}
return is_goal;
}
