unsigned short int solve::next_action( wall &maze_memorizer, route &route_memorizer,
unsigned short int position[], unsigned short int &direction ) {
if ( !route_memorizer.has_potential_map ) {
map_potentials( maze_memorizer, route_memorizer, position, direction );
}
if ( (position[0] == GOAL_I_MIN || position[0] == GOAL_I_MAX) && (position[1] == GOAL_J_MIN || position[1] == GOAL_J_MAX) ) {
if ( mode == NORMAL ) {
mode = REVERSE;
return GO_BACKWARD;
}
}
if ( mode == NORMAL ) {
route_memorizer.put_a_sign_to_reverse( position, direction );
return route_memorizer.get_the_direction_to_solve( position, direction );
}
else if ( mode == REVERSE ) {
return route_memorizer.get_the_direction_to_reverse( position, direction );
}
return DUMMY;
}
void reverse::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 potential_to_set = 0;
if ( position[0] == starting_position[0] && position[1] == starting_position[1] ) {
if ( direction == starting_direction ) {
route_memorizer.has_potential_map = 1;
route_memorizer.solve_the_maze( maze_memorizer, starting_position, starting_direction, aimed_position, aimed_direction );
route_memorizer.reset();
is_done = 1;
}
else {
if ( maze_memorizer.safe_to_go( position, direction, LEFT ) ) {
next_action = GO_LEFTWARD;
}
else if ( maze_memorizer.safe_to_go( position, direction, UP ) ) {
next_action = GO_FORWARD;
}
else if ( maze_memorizer.safe_to_go( position, direction, RIGHT ) ) {
next_action = GO_RIGHTWARD;
}
route_memorizer.update_status( position, direction, next_action );
if ( direction == starting_direction ) {
potential_to_set = route_memorizer.s;
}
else {
potential_to_set = route_memorizer.t;
}
route_memorizer.put_a_sign_to_reverse( position, direction );
route_memorizer.set_potential( position, potential_to_set );
route_memorizer.update_visited_places( position );
is_done = 1;
}
}
else {
if ( route_memorizer.signed_crossroad( position ) ) {
route_memorizer.decrement_the_count_of_facing_unvisited_blocks( position );
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.signed_crossroad( position ) ) {
next_action = GO_LEFTWARD;
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.s;
}
else if ( route_memorizer.visited( position, direction, LEFT ) ) {
if ( route_memorizer.get_potential( position, direction, LEFT ) > route_memorizer.get_potential( position ) + route_memorizer.s ) {
next_action = GO_LEFTWARD;
if ( maze_memorizer.safe_to_go( position, direction, RIGHT ) ) {
if ( route_memorizer.get_potential( position ) > route_memorizer.get_potential( position, direction, RIGHT ) ) {
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.s;
}
else {
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t;
}
}
else {
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t;
}
}
}
else {
next_action = GO_LEFTWARD;
if ( maze_memorizer.safe_to_go( position, direction, RIGHT ) ) {
if ( route_memorizer.get_potential( position ) > route_memorizer.get_potential( position, direction, RIGHT ) ) {
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.s;
}
else {
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t;
}
}
else {
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t;
}
}
}
if ( next_action == DUMMY ) {
next_action = GO_FORWARD;
potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t;
}
route_memorizer.update_status( position, direction, next_action );
route_memorizer.put_a_sign_to_reverse( position, direction );
route_memorizer.set_potential( position, potential_to_set );
route_memorizer.update_visited_places( position );
is_done = 1;
}
else {
next_action = route_memorizer.get_the_direction_to_reverse( position, direction );
route_memorizer.remove_a_sign_to_reverse( position );
route_memorizer.update_status( position, direction, next_action );
}
}
}