// Determine if p is a valid proof. A proof is valid only when all
// goals have been dischared. An invalid proof is one where any
// goal is determined to be invalid. A proof is incomplete if any
// subgoaol is incomplete.
Validation
check_proof(Proof& p)
{
Goal_list& goals = p.goals();
auto iter = goals.begin();
while (!goals.empty()) {
Validation v = check_goal(p, *iter);
if (v == valid_proof)
iter = p.discharge(iter);
else if (v == invalid_proof || v == incomplete_proof)
return v;
++iter;
}
return valid_proof;
}
// to_goalがtrueのとき、ゴールまでの経路を探索する
// to_goalがfalseのとき、未探索の地点までの経路を探索する
enum action_t agent_explore(void) {
queueInit();
for(int y = 0; y < size; ++y) {
for(int x = 0; x < size; ++x) {
if(check_goal(y, x)) {
d[y][x] = 0;
inQueue[y][x] = true;
queueEnqueue(y, x);
}
else {
d[y][x] = UCHAR_MAX - 1;
inQueue[y][x] = false;
}
}
}
while(queueEmpty() == false) {
int vy, vx;
queueDequeue(&vy, &vx);
inQueue[vy][vx] = false;
for (int k = 0; k < 4; k++) {
if (wall[vy][vx][k] == false) {
int ny = vy + dy[k];
int nx = vx + dx[k];
if(d[ny][nx] > d[vy][vx] + 1) {
d[ny][nx] = d[vy][vx] + 1;
if(inQueue[ny][nx] == false) {
inQueue[ny][nx] = true;
queueEnqueue(ny, nx);
}
}
}
}
}
if(wall[curY][curX][(dir + 0)%4] == false &&
d[curY + dy[(dir + 0)%4]][curX + dx[(dir + 0)%4]] + 1 == d[curY][curX]) {
// GoForward
curY += dy[dir];
curX += dx[dir];
return GO_FORWARD;
}
if(wall[curY][curX][(dir + 1)%4] == false &&
d[curY + dy[(dir + 1)%4]][curX + dx[(dir + 1)%4]] + 1 == d[curY][curX]) {
// TurnLeft
dir = (dir + 1) % 4;
return TURN_LEFT;
}
if(wall[curY][curX][(dir + 3)%4] == false &&
d[curY + dy[(dir + 3)%4]][curX + dx[(dir + 3)%4]] + 1 == d[curY][curX]) {
// TurnRight
dir = (dir + 3) % 4;
return TURN_RIGHT;
}
if(wall[curY][curX][(dir + 2)%4] == false &&
d[curY + dy[(dir + 2)%4]][curX + dx[(dir + 2)%4]] + 1 == d[curY][curX]) {
// TurnLeft
dir = (dir + 1) % 4;
return TURN_LEFT;
}
return NO_OPERATION;
}
