void normal::map_potentials( wall &maze_memorizer, route &route_memorizer,
unsigned short int position[], unsigned short int &direction,
unsigned short int starting_position[], unsigned short int starting_direction,
unsigned short int aimed_position[], unsigned short int aimed_direction ) {
unsigned short int next_action = DUMMY;
unsigned short int the_count_of_facing_unvisited_blocks = 0; //precisely wrong name
unsigned short int potential_to_set = 0;
virtual_position[0] = position[0];
virtual_position[1] = position[1];
virtual_direction = direction;
route_memorizer.update_status( virtual_position, virtual_direction, GO_LEFTWARD );
if ( maze_memorizer.safe_to_go( position, direction, LEFT ) &&
!(virtual_position[0] == starting_position[0] && virtual_position[1] == starting_position[1]) ) {
if ( route_memorizer.visited( position, direction, LEFT ) ) {
if ( route_memorizer.get_potential( position, direction, LEFT ) > route_memorizer.get_potential( position ) + route_memorizer.t ) {
the_count_of_facing_unvisited_blocks++;
next_action = GO_LEFTWARD;
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t;
}
}
else {
the_count_of_facing_unvisited_blocks++;
next_action = GO_LEFTWARD;
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t;
}
}
virtual_position[0] = position[0];
virtual_position[1] = position[1];
virtual_direction = direction;
route_memorizer.update_status( virtual_position, virtual_direction, GO_FORWARD );
if ( maze_memorizer.safe_to_go( position, direction, UP ) &&
!(virtual_position[0] == starting_position[0] && virtual_position[1] == starting_position[1]) ) {
if ( route_memorizer.visited( position, direction, UP ) ) {
if ( route_memorizer.get_potential( position, direction, UP ) > route_memorizer.get_potential( position ) + route_memorizer.s ) {
the_count_of_facing_unvisited_blocks++;
if ( next_action == DUMMY ) {
next_action = GO_FORWARD;
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.s;
}
}
}
else {
the_count_of_facing_unvisited_blocks++;
if ( next_action == DUMMY ) {
next_action = GO_FORWARD;
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.s;
}
}
}
virtual_position[0] = position[0];
virtual_position[1] = position[1];
virtual_direction = direction;
route_memorizer.update_status( virtual_position, virtual_direction, GO_RIGHTWARD );
if ( maze_memorizer.safe_to_go( position, direction, RIGHT ) &&
!(virtual_position[0] == starting_position[0] && virtual_position[1] == starting_position[1]) ) {
if ( route_memorizer.visited( position, direction, RIGHT ) ) {
if ( route_memorizer.get_potential( position, direction, RIGHT ) > route_memorizer.get_potential( position ) + route_memorizer.t ) {
the_count_of_facing_unvisited_blocks++;
if ( next_action == DUMMY ) {
next_action = GO_RIGHTWARD;
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t;
}
}
}
else {
the_count_of_facing_unvisited_blocks++;
if ( next_action == DUMMY ) {
next_action = GO_RIGHTWARD;
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t;
}
}
}
if ( next_action != DUMMY ) {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_facing_unvisited_blocks - 1 );
route_memorizer.update_status( position, direction, next_action );
route_memorizer.put_a_sign_to_reverse( position, direction );
route_memorizer.update_visited_places( position );
route_memorizer.set_potential( position, potential_to_set );
}
else {
if ( position[0] == starting_position[0] && position[1] == starting_position[1] ) {
route_memorizer.update_status( position, direction, GO_BACKWARD );
route_memorizer.put_a_sign_to_reverse( position, direction );
route_memorizer.update_visited_places( position );
route_memorizer.set_potential( position, route_memorizer.t );
}
else {
route_memorizer.remove_a_sign_to_reverse( position );
route_memorizer.update_status( position, direction, GO_BACKWARD );
is_done = 1;
}
}
}
unsigned short int normal::next_action ( wall &maze_memorizer, route &route_memorizer,
unsigned short int position[], unsigned short int direction, wall &virtual_walls ) {
unsigned short int the_count_of_safe_to_go_blocks;
unsigned short int succeeded_virtual_foolish_solution;
if ( maze_memorizer.need_to_scan( position ) ) {
return SCAN;
}
else {
route_memorizer.update_for_virtual_walls( position, direction, maze_memorizer, virtual_walls );
the_count_of_safe_to_go_blocks =
maze_memorizer.the_count_of_safe_to_go_blocks(position,direction) - virtual_walls.the_count_of_unsafe_to_go_blocks(position,direction);
if ( the_count_of_safe_to_go_blocks ) {
if ( maze_memorizer.safe_to_go( position, direction, LEFT ) && virtual_walls.safe_to_go( position, direction, LEFT ) ) {
virtual_position[0] = position[0];
virtual_position[1] = position[1];
virtual_direction = direction;
route_memorizer.update_status( virtual_position, virtual_direction, GO_LEFTWARD );
if ( maze_memorizer.need_to_scan( virtual_position ) ) {
if ( the_count_of_safe_to_go_blocks > 1 ) {
succeeded_virtual_foolish_solution =
route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position );
route_memorizer.update_status( virtual_position, virtual_direction, TURN_L_90 );
if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) {
the_count_of_safe_to_go_blocks--;
virtual_walls.update( virtual_position, virtual_direction, LEFT, UNSAFE );
}
else {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 );
return GO_LEFTWARD;
}
}
else {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 );
return GO_LEFTWARD;
}
}
else {
the_count_of_safe_to_go_blocks--;
route_memorizer.update_visited_places( virtual_position );
route_memorizer.update_for_virtual_walls( position, direction, maze_memorizer, virtual_walls );
virtual_walls.update( position, direction, LEFT, UNSAFE );
}
}
if ( maze_memorizer.safe_to_go( position, direction, UP ) && virtual_walls.safe_to_go( position, direction, UP ) ) {
virtual_position[0] = position[0];
virtual_position[1] = position[1];
virtual_direction = direction;
route_memorizer.update_status( virtual_position, virtual_direction, GO_FORWARD );
if ( maze_memorizer.need_to_scan( virtual_position ) ) {
if ( the_count_of_safe_to_go_blocks > 1 ) {
succeeded_virtual_foolish_solution =
route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position );
route_memorizer.update_status( virtual_position, virtual_direction, TURN );
if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) {
the_count_of_safe_to_go_blocks--;
virtual_walls.update( virtual_position, virtual_direction, UP, UNSAFE );
}
else {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 );
return GO_FORWARD;
}
}
else {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 );
return GO_FORWARD;
}
}
else {
the_count_of_safe_to_go_blocks--;
route_memorizer.update_visited_places( virtual_position );
route_memorizer.update_for_virtual_walls( position, direction, maze_memorizer, virtual_walls );
virtual_walls.update( position, direction, UP, UNSAFE );
}
}
if ( maze_memorizer.safe_to_go( position, direction, RIGHT ) && virtual_walls.safe_to_go( position, direction, RIGHT ) ) {
virtual_position[0] = position[0];
virtual_position[1] = position[1];
virtual_direction = direction;
route_memorizer.update_status( virtual_position, virtual_direction, GO_RIGHTWARD );
if ( maze_memorizer.need_to_scan( virtual_position ) ) {
if ( the_count_of_safe_to_go_blocks > 1 ) {
succeeded_virtual_foolish_solution =
route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position );
route_memorizer.update_status( virtual_position, virtual_direction, TURN_R_90 );
if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) {
the_count_of_safe_to_go_blocks--;
virtual_walls.update( virtual_position, virtual_direction, RIGHT, UNSAFE );
}
else {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 );
return GO_RIGHTWARD;
}
}
else {
route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 );
return GO_RIGHTWARD;
}
}
else {
the_count_of_safe_to_go_blocks--;
route_memorizer.update_visited_places( virtual_position );
route_memorizer.update_for_virtual_walls( position, direction, maze_memorizer, virtual_walls );
virtual_walls.update( position, direction, RIGHT, UNSAFE );
}
}
}
is_done = 1;
return DUMMY;
}
}
