int main()
{
int size = 0;
int i, j;
scanf("%d", &N);
struct Way *g = malloc(N * (N - 1) / 2 * sizeof(struct Way));
struct Ram *vertex = malloc(N * sizeof(struct Ram));
struct Vertex **vert = malloc(N * sizeof(struct Vertex*));
for (i = 0; i < N; i++)
{
vert[i] = malloc(N * sizeof(struct Vertex));
vertex[i].depth = 0;
vertex[i].parent = i;
scanf("%d %d", &vert[i]->x, &vert[i]->y);
}
struct Way *w = malloc(sizeof(struct Way));
for (i = 0; i < N; i++)
{
for (j = i + 1; j < N; j++)
{
w->x = i;
w->y = j;
double hh = Length(i, j, vert);
w->len = hh;
g[size++] = *w;
}
}
qsort(g, size, sizeof(struct Way), compareLen_of_way);
Spaning_Tree(g, size, vertex);
printf("%.2lf", res);
allfree (vert, g, vertex, w);
return 0;
}
int main()
{
init("COM3");
int i=0;
int flag=0;
while(1)
{
flag=0;
if(no_of_objects==0)
{
flag=1;
printf("\nAll objects sorted by Gripper\n\n");
}
if(flag==1 && allfree())
{
printf("\n\nDelivered all objects\n");
printf("Project successfully done :) \n");
while(1) {}
break;
}
if(gripper[0].is_free && flag==0)
{
collect_obj(0);
gripper[0].is_free = false;
}
data=new char[20];
getString();
printf("I read %s \n",data);
if(data[0] == 'd') // for delivery bot
{
deliver(data);
}
else if(data[0] == 'g')
{
if(data[3] == '\0') collect_obj(0);
else if(data[3] == '*') //object dropped successfully by gripper
{
updateafterdrop(0);
}
else
{
char* temp = new char;
temp = data+3;
printf("Received rfid: %s\n",temp);
int i = getdestn_rfid(temp);
gripper[0].dest_bot = i;
gripper[0].destn = delivery[i].p;
collect_obj(0);
}
}
else printf("Error signal\n");
}
}
