unsigned short int search::next_action( wall &maze_memorizer, route &route_memorizer,
unsigned short int position[], unsigned short int direction ) {
unsigned short int next_action;
if ( mode == REVERSE && virtual_route.get_the_direction_to_solve( position, direction ) == DUMMY ) {
mode = NORMAL;
virtual_route.has_potential_map = 0;
virtual_route.reset_the_map_to_solve();
}
if ( mode == NORMAL ) {
next_action = _normal.next_action( maze_memorizer, route_memorizer, position, direction, virtual_walls );
if ( _normal.is_done ) {
mode = REVERSE;
_normal.is_done = 0;
}
}
if ( mode == REVERSE ) {
if ( !virtual_route.has_potential_map ) {
mode = NORMAL;
map_potentials( maze_memorizer, route_memorizer, position, direction );
mode = REVERSE;
}
next_action = virtual_route.get_the_direction_to_solve( position, direction );
}
return next_action;
}
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;
}