/*
* Recursive help function for DFS.
* Returns 1 if area is NOT closed.
* Returns 0 if area is closed.
*/
uint8_t dfs_help(uint8_t startx, uint8_t starty){
if(visited[startx][starty] == 0){
if(rmem(startx,starty) == OUTSIDE){
return 1;
}
if(rmem(startx,starty) == WALL){
return 0;
}
visited[startx][starty] = 1;
if(dfs_help(startx,starty-1) == 1){
return 1;
}
if(dfs_help(startx+1,starty) == 1){
return 1;
}
if(dfs_help(startx,starty+1) == 1){
return 1;
}
if(dfs_help(startx-1,starty) == 1){
return 1;
}
}
return 0;
}
void purge_iwalls(){
uint8_t i;
uint8_t j;
for(i = 0; i < 32; i++){
for(j = 0; j < 32; j++){
if(rmem(i,j) == IWALL){
uint8_t alone_iwall = 1;
// check the 8 surronding tiles
if(rmem(i+1, j) == UNEXP){
alone_iwall = 0;
}
if(rmem(i-1, j) == UNEXP){
alone_iwall = 0;
}
if(rmem(i, j+1) == UNEXP){
alone_iwall = 0;
}
if(rmem(i, j-1) == UNEXP){
alone_iwall = 0;
}
if(rmem(i+1, j+1) == UNEXP){
alone_iwall = 0;
}
if(rmem(i-1, j-1) == UNEXP){
alone_iwall = 0;
}
if(rmem(i-1, j+1) == UNEXP){
alone_iwall = 0;
}
if(rmem(i+1, j-1) == UNEXP){
alone_iwall = 0;
}
// if none unexp, mark as wall
if(alone_iwall == 1){
wmem_auto(WALL,i,j);
}
}
}
}
}
/*
* Weak aliases for breakpoint management,
* can be overriden by architectures when needed:
*/
char *
arch_set_breakpoint(GdbState *ks, struct bkpt *bpt)
{
char *err;
err = rmem(bpt->saved_instr, ks->threadid, bpt->bpt_addr, machdata->bpsize);
if (err)
return err;
err = wmem(bpt->bpt_addr, ks->threadid, machdata->bpinst, machdata->bpsize);
return err;
}
/*
* Returns 0 if there are any IWALL tiles on the map.
* Otherwise returns 0.
*/
uint8_t done_iwall(){
uint8_t answer = 1;
uint8_t i;
uint8_t j;
for(i = 0; i < 32; i++){
for(j = 0; j < 32; j++){
if(rmem(i,j) == IWALL){
answer = 0;
}
}
}
return answer;
}
/*
* Returns 0 if there are any UNEXP tiles on the map.
* Otherwise returns 1.
*/
uint8_t done_unexp(){
uint8_t answer = 1;
uint8_t i;
uint8_t j;
for(i = 0; i < 32; i++){
for(j = 0; j < 32; j++){
if(rmem(i,j) == UNEXP){
answer = 0;
}
}
}
return answer;
}
/*
* Generate next action
*/
void think(){
if((curr_action == EMPTY) && (map_complete == 0)){
if(follow_wall == 1){ //If in follow wall mode
if((s_ir_front < 11) && (s_ir_front > 2)){ //If to close to the wall, back up a bit
curr_action = BACKWARD;
}
else if(((t_vagg_h_f == 0) && (t_vagg_h_b == 0)) || ((t_vagg_h_f == 1) && (t_vagg_h_b == 1))){ //If there is no wall to the right of the robot
curr_action = SPIN_R;
if((s_ir_front > 12) && (s_ir_front < 30)){ //If we're close to wall, nudge to it.
curr_action = NUDGE_TO_WALL;
}
else if((t_vagg_v_f == 1) && (t_vagg_v_b == 1)){ // parallelize against a wall far to the left
if(t_p_v != 0){
curr_action = P_WEAK_L;
}
}
}
else if( (t_vagg_h_f != 2) && (t_vagg_h_b == 2) ){ //If there is no wall to the right of the robot
curr_action = NUDGE_FORWARD;
}
else if(t_vagg_front == 2){ //If the robot has a wall right in front of it, turn where there is an empty tile, right is prefered
if(t_p_h != 0){
curr_action = P_WEAK;
}
else{
if((s_ir_front > 13) && (s_ir_front < 30)){
curr_action = NUDGE_TO_WALL;
}
else{ //If there is a wall front and right, turn left
curr_action = SPIN_L;
}
}
}
else{
curr_action = FORWARD;
}
if(map_enclosed == 1){ //outer wall is connected, enclosing the inner area.
uint8_t temp_x, temp_y;
switch(dir){
case(0):
temp_x = 0;
temp_y = -1;
break;
case(1):
temp_x = 1;
temp_y = 0;
break;
case(2):
temp_x = 0;
temp_y = 1;
break;
case(3):
temp_x = -1;
temp_y = 0;
break;
}
if((lets_go_home == 0) && (follow_island == 0)){
if ((rmem(robot_pos_x + temp_y, robot_pos_y - temp_x) == IWALL) ||
(rmem(robot_pos_x + temp_y * 2, robot_pos_y - temp_x * 2) == IWALL)){
land_o_hoy = 0;
first_time_on_island = 1;
curr_action = PARALLELIZE;
next_action = SPIN_L;
}
}
}
}
think_hard();
}
return;
}
std::uint16_t VirtualCPU::executeInstructionAtAddress(std::uint16_t address) {
debugger_.pc_ = address; //HACK FOR NOW
switch (memoryController_.readAtAddress(address)) {
case 0:
return address + halt();
case 1:
return address + set(memoryController_.readAtAddress(address + 1), memoryController_.readAtAddress(address + 2));
case 2:
return address + push(memoryController_.readAtAddress(address + 1));
case 3:
return address + pop(memoryController_.readAtAddress(address + 1));
case 4:
return address +
eq(memoryController_.readAtAddress(address + 1),
memoryController_.readAtAddress(address + 2),
memoryController_.readAtAddress(address + 3));
case 5:
return address + gt(memoryController_.readAtAddress(address + 1),
memoryController_.readAtAddress(address +2),
memoryController_.readAtAddress(address + 3));
case 6:
return jump(memoryController_.readAtAddress(address + 1), address);
case 7:
return jt(memoryController_.readAtAddress(address + 1),
memoryController_.readAtAddress(address + 2),
address);
case 8:
return jf(memoryController_.readAtAddress(address + 1),
memoryController_.readAtAddress(address + 2),
address);
case 9:
return address + add(memoryController_.readAtAddress(address + 1),
memoryController_.readAtAddress(address + 2),
memoryController_.readAtAddress(address + 3));
case 10:
return address + mult(memoryController_.readAtAddress(address + 1),
memoryController_.readAtAddress(address + 2),
memoryController_.readAtAddress(address + 3));
case 11:
return address + mod(memoryController_.readAtAddress(address + 1),
memoryController_.readAtAddress(address + 2),
memoryController_.readAtAddress(address + 3));
case 12:
return address + and_i(memoryController_.readAtAddress(address + 1),
memoryController_.readAtAddress(address + 2),
memoryController_.readAtAddress(address + 3));
case 13:
return address + or_i(memoryController_.readAtAddress(address + 1),
memoryController_.readAtAddress(address + 2),
memoryController_.readAtAddress(address + 3));
case 14:
return address + not_i(memoryController_.readAtAddress(address + 1),
memoryController_.readAtAddress(address + 2));
case 15:
return address + rmem(memoryController_.readAtAddress(address + 1),
memoryController_.readAtAddress(address + 2));
case 16:
return address + wmem(memoryController_.readAtAddress(address + 1),
memoryController_.readAtAddress(address + 2));
case 17:
return call(memoryController_.readAtAddress(address + 1), address);
case 18:
return ret();
case 19:
return address + out(memoryController_.readAtAddress(address + 1));
case 21:
return address + noop();
case 20:
return address + in(memoryController_.readAtAddress(address + 1));
default:
std::cout << "CPU ERROR illegal op code: " << memoryController_.readAtAddress(address) << std::endl;
return address + 1;
}
}
