/**
* @brief Adds a new node to the move tree.
*
* A new node is added to the move tree. For every move in the generated move
* list, a new node is added recursively. If a certain level is reached, the
* recusrion is stopped.
*
* @param[in] color Color of move to set.
* @param[in] depth Counter that shows the level in the move tree.
* @param[in] alpha Alpha-Beta pruning
* @param[in] beta Alpha-Beta pruning
* @return Value of position
*/
int add_node( int color, int depth, int alpha, int beta )
{
int k, l;
int i, j;
int valid_moves[BOARD_SIZE_MAX * BOARD_SIZE_MAX][4];
int nr_of_valid_moves;
int best_value;
char x[2];
char y[3];
char indent[10];
int tactic_move = 0;
int qsearch = MAX_QSEARCH_DEPTH;
//unsigned hash_id;
int value_list[COUNT_BRAINS] = { 1, 2, 3, 4, 5, 6, 7, 8 };
best_value = ( color == BLACK ) ? INT_MIN : INT_MAX;
if ( ! ( ( search_depth + MAX_QSEARCH_DEPTH ) % 2 ) ) {
qsearch++;
}
depth++;
nr_of_valid_moves = get_valid_move_list( color, valid_moves );
// PASS if no valid move is possible:
if ( nr_of_valid_moves == 0 ) {
make_move( color, INVALID, INVALID );
best_value = evaluate_position( value_list, false );
undo_move();
}
// Count tactic moves:
for ( l = 0; l < nr_of_valid_moves; l++ ) {
if ( valid_moves[l][3] > 0 ) {
tactic_move++;
}
}
// Go through move list:
for ( k = 0; k < nr_of_valid_moves; k++ ) {
i = valid_moves[k][0];
j = valid_moves[k][1];
// Skip non-tactical moves in quiescense search:
if ( depth >= search_depth && tactic_move > 0) {
if ( valid_moves[k][3] == 0 ) {
continue;
}
}
// Make move:
node_count++;
make_move( color, i, j );
if ( depth < search_depth ) {
// Start recursion:
valid_moves[k][2] = add_node( color * -1, depth, alpha, beta );
}
else {
//insert_hash_table( hash_id, best_value );
if ( tactic_move && depth < search_depth + qsearch ) {
valid_moves[k][2] = add_node( color * -1, depth, alpha, beta );
count_quiet_search++;
}
else {
valid_moves[k][2] = evaluate_position( value_list, true );
}
}
if ( color == BLACK ) {
// For black: remember highest value
if ( valid_moves[k][2] > best_value ) {
best_value = valid_moves[k][2];
if ( best_value > alpha ) {
alpha = best_value;
}
}
}
else {
// For white: remember lowest value
if ( valid_moves[k][2] < best_value ) {
best_value = valid_moves[k][2];
if ( best_value < beta ) {
beta = best_value;
}
}
}
if ( do_log ) {
i_to_x( i, x );
j_to_y( j, y );
indent[0] = '\0';
for ( l = 1; l <= depth; l++ ) {
strcat( indent, "\t" );
}
fprintf( log_file, "%s%s%s (%d) (T: %d) (%d,%d,%d,%d,%d,%d,%d,%d) (a: %d, b: %d)\n"
, indent, x, y
, valid_moves[k][2], valid_moves[k][3], value_list[0], value_list[1]
, value_list[2], value_list[3], value_list[4], value_list[5]
, value_list[6], value_list[7]
, alpha, beta );
}
undo_move();
if ( color == BLACK ) {
if ( valid_moves[k][2] > beta ) { // Maybe only '>' is correct?!
beta_break++;
break;
}
}
else {
if ( valid_moves[k][2] < alpha ) { // Maybe only '<' is correct?!
alpha_break++;
break;
}
}
}
return best_value;
}
/**
* @brief Returnes list of valid moves for given color.
*
* This function takes a list of pseudo valid moves (as created by
* get_pseudo_valid_move_list()) and drops the zero liberty moves. The
* number of valid moves is returned.
*
* @param[in] color Color of moving side (BLACK|WHITE)
* @param[out] valid_moves List of valid moves (zero liberty moves excluded)
* @return Number of valid moves
* @sa get_pseudo_valid_move_list()
* @warning The function get_pseudo_valid_move_list() must be called
* before get_valid_move_list().
*/
int get_valid_move_list( int color, int valid_moves[][4] )
{
int count;
int i, j;
int k, l;
int nr_of_removed_stones;
int captured_now[BOARD_SIZE_MAX * BOARD_SIZE_MAX][2];
int group_nr;
int nr_of_liberties;
bool is_valid;
int temp_moves[BOARD_SIZE_MAX * BOARD_SIZE_MAX][4];
int value;
int valid_moves_count;
int atari_groups_player_before;
int atari_groups_opponent_before;
int atari_groups_player_after;
int atari_groups_opponent_after;
//int count_liberties_player_before;
//int count_liberties_opponent_before;
//int count_liberties_player_after;
//int count_liberties_opponent_after;
int value_list[COUNT_BRAINS];
//init_brains();
valid_moves_count = get_pseudo_valid_move_list( color, valid_moves );
for ( k = 0; k < BOARD_SIZE_MAX * BOARD_SIZE_MAX; k++ ) {
temp_moves[k][0] = INVALID; // i coordinate
temp_moves[k][1] = INVALID; // j coordinate
temp_moves[k][2] = 0; // Value of move
temp_moves[k][3] = 0; // Number of captured stones and atari ...
}
count = 0;
for ( k = 0; k < valid_moves_count; k++ ) {
is_valid = false;
i = valid_moves[k][0];
j = valid_moves[k][1];
// Check for groups in atari before move is made:
scan_board_1();
atari_groups_player_before = get_worm_count_atari(color);
atari_groups_opponent_before = get_worm_count_atari( color * -1 );
//count_liberties_player_before = get_group_count_liberties(color);
//count_liberties_opponent_before = get_group_count_liberties( color * -1 );
// Make move
set_vertex( color, i, j );
scan_board_1();
nr_of_removed_stones = remove_stones( color * -1 );
// Check if this move is valid:
if ( nr_of_removed_stones > 0 ) {
is_valid = true;
}
else {
group_nr = get_worm_nr( i, j );
nr_of_liberties = get_nr_of_liberties(group_nr);
if ( nr_of_liberties > 0 ) {
is_valid = true;
}
}
atari_groups_player_after = get_worm_count_atari(color);
atari_groups_opponent_after = get_worm_count_atari( color * -1 );
// Check if move gives atari:
if ( atari_groups_opponent_after > atari_groups_opponent_before ) {
temp_moves[k][3]++;
}
// Check if move avoids atari:
if ( atari_groups_player_after < atari_groups_player_before ) {
temp_moves[k][3]++;
}
//count_liberties_player_after = get_group_count_liberties(color);
/*
count_liberties_opponent_after = get_group_count_liberties( color * -1 );
if ( count_liberties_opponent_after < count_liberties_opponent_before) {
temp_moves[k][3]++;
}
*/
value = evaluate_position( value_list, false );
// Undo move:
nr_of_removed_stones = get_captured_now(captured_now);
set_vertex( EMPTY, i, j );
for ( l = 0; l < nr_of_removed_stones; l++ ) {
set_vertex( color * -1, captured_now[l][0], captured_now[l][1] );
}
if ( color == BLACK ) {
set_black_captured( get_black_captured() - nr_of_removed_stones );
}
else {
set_white_captured( get_white_captured() - nr_of_removed_stones );
}
// Save only valid moves in temporary list:
if ( is_valid ) {
temp_moves[count][0] = i;
temp_moves[count][1] = j;
temp_moves[count][2] = value;
temp_moves[count][3] += nr_of_removed_stones;
count++;
}
}
// Copy only valid moves into valid_moves list:
for ( k = 0; k < count; k++ ) {
valid_moves[k][0] = temp_moves[k][0];
valid_moves[k][1] = temp_moves[k][1];
valid_moves[k][2] = temp_moves[k][2];
valid_moves[k][3] = temp_moves[k][3];
}
valid_moves[count][0] = INVALID;
valid_moves[count][1] = INVALID;
// Sort valid moves list by value
if ( color == BLACK ) {
qsort( valid_moves, (size_t)count, sizeof(valid_moves[0]), compare_value_black );
}
else {
qsort( valid_moves, (size_t)count, sizeof(valid_moves[0]), compare_value_white );
}
return count;
}
int main(int argc, char *argv[])
{
int ret;
int choice;
int i, j;
float Ts=0.002;
float T;
float vm=0.05; //mean speed
matrix xd, xd_dot, J;
float q0[5], q_final[5];
float p0[3];
float p1[3];
DUNIT *unit;
unsigned short motor[NUM_MOTORS];
unsigned char sensor[NUM_SENSORS];
pSM = (SM*) mbuff_alloc(NAME_OF_MEMORY, sizeof(SM));
if(pSM == NULL) {
perror("mbuff_alloc failed");
return -1;
}
// Header = 1,;
// Step = 2,
motor[0] = 0;
motor[1] = 0;
motor[2] = 2100;
motor[3] = 4200;
motor[4] = -2500;
motor[5] = 0;
motor[6] = 18100;
motor[7] = -2100;
motor[8] = 1000;
motor[9] = 6200;
motor[10] = 0;
motor[11] = 0;
motor[12] = -2100;
motor[13] = -4180;
motor[14] = 2500;
motor[15] = 0;
motor[16] = -18810;
motor[17] = 2000;
motor[18] = -1000;
motor[19] = -6200;
motor[20] = 2100;
motor[21] = 60;
motor[22] = 60;
sensor[0] = 'R';
sensor[1] = 'R';
sensor[2] = 'R';
sensor[3] = 'R';
unit = (DUNIT*)&(pSM->Data.IntDat);
ret = send_commands(motor, sensor, unit);
pSM->VarIF.ResRep = 0;
pSM->VarIF.Mode = IDLE;
pSM->VarIF.InterruptSend = TRUE;
//watch return
readret(unit);
//desired final configuration
//q_final[0]=PI*3/5;
//q_final[1]=PI/3;
//q_final[2]=PI/6;
//q_final[3]=-PI/4;
//q_final[4]=0;
//evaluate_position(q_final, p1);
q0[4]=0;
open_hand (motor, sensor, unit);
while (1)
{
//present position
read_positions(unit, motor);
robot2DH (&motor[16], q0);
evaluate_position(q0, p0);
printf("\nPresent position: (%f,%f,%f)\n",p0[0],p0[1],p0[2]);
//select desired position
choice=select_desired_position (p1);
if (choice==-1) break;
if (choice==1) close_hand (motor, sensor, unit);
if (choice==2) open_hand (motor, sensor, unit);
printf("\nDesired final position: (%f,%f,%f)\n",p1[0],p1[1],p1[2]);
//execution time
T=evaluate_execution_time (p0, p1, vm);
//initializing matrixes
initialize_matrix (&xd, T/Ts+1, 3);
initialize_matrix (&xd_dot, T/Ts+1, 3);
initialize_matrix (&J, 3, 5);
//evaluate desired trajectory
trajectory_left_arm (Ts, T, p0, p1, &xd, &xd_dot);
//inverse kinematics
inverse_kinematics (Ts, T, &xd, &xd_dot, unit);
}
//close_hand (motor, sensor, unit);
free(xd.vector);
free(xd_dot.vector);
free(J.vector);
//free memory
mbuff_free(NAME_OF_MEMORY, (void*)pSM);
return 0;
}
