task main()
{
displayCenteredTextLine(0, "Station");
displayCenteredBigTextLine(1, "RoboTaxi");
displayCenteredTextLine(3, "Using A*");
displayCenteredTextLine(5, "Ashesi");
displayCenteredTextLine(6, "Fall 2015");
sleep(5000);
eraseDisplay();
//store input from the numeric keypad
base_station();
//displays values received as location and destination
displayTextLine(1, "Test Values: ");
displayTextLine(2, "Xval: %d", passenger_location_x);
displayTextLine(3, "Yval: %d", passenger_location_y);
displayTextLine(4, "XDest: %d", passenger_destination_x);
displayTextLine(5, "YDest: %d", passenger_destination_y);
wait1Msec(100);
goal_x = passenger_destination_x;
goal_y = passenger_destination_y;
//find goal with taxi1 in mind
findGoal(taxi1base_x, taxi1base_y, passenger_location_x, passenger_location_y);
//get distance from taxi1 to passenger
int dist1 = get_distance(taxi1base_x, taxi1base_y, passenger_location_x, passenger_location_y);
//find goal with taxi2 in mind
findGoal(taxi2base_x, taxi2base_y, passenger_location_x, passenger_location_y);
//get distance from taxi2 to passenger
int dist2 = get_distance(taxi2base_x, taxi2base_y, passenger_location_x, passenger_location_y);
//compare distances between taxis and passengers. select taxi with shorter distance
if (dist1 < dist2){//if taxi1 is shorter
eraseDisplay();
displayTextLine(1, "taxi 1 ");
wait1Msec(500);
sendMessageWithParm(TAXI1LOC,passenger_location_x,passenger_location_y);//11 is location to taxi1
wait1Msec(500);
displayTextLine(1, "to taxi 1.1 ");
sendMessageWithParm(TAXI1DEST,passenger_destination_x,passenger_destination_y);//12 is destination to taxi1
wait1Msec(500);
displayTextLine(1, "to taxi 1.2 ");
}
else {//if taxi2 is shorter
displayTextLine(1, "taxi 2 ");
wait1Msec(500);
sendMessageWithParm(TAXI2LOC,passenger_location_x,passenger_location_y);//21 is location to taxi2
wait1Msec(500);
displayTextLine(1, "to taxi 2.1 ");
sendMessageWithParm(TAXI2DEST,passenger_destination_x,passenger_destination_y);//22 is destination to taxi2
wait1Msec(500);
displayTextLine(1, "to taxi 2.2 ");
}
}
void ContProgress::Run(){
//履歴を移動
for(int i = 4; i > 1; i--){
this->innerMemory->setFBoard(i, this->innerMemory->getFBoard(i - 1));
}
//最新状態を更新
this->innerMemory->setFBoard(0, this->getInput(0));
int step = this->getIBoard(0);
if(step == NO_SIGNAL){
this->setIBoard(0, 0);
}else{
this->setIBoard(0, step + 1);
}
//初期値はNO_SIGNAL
float signalX = NO_SIGNAL;
#ifdef IMPORTANCE_BASED
this->importance = NO_SIGNAL;
#endif //IMPORTANCE_BASED
//現在地
float pos = this->getInput(0);
//進度
float progress = pos / (float)step;
if(progress < PROGRESS_LOW){
signalX = (float)MAX_DRIVE;
#ifdef IMPORTANCE_BASED
//進捗が遅いほど，重要とする
this->importance = 1.0f * this->calcImportance(1.0f - progress / PROGRESS_LOW);
#endif //IMPORTANCE_BASED
}else{
signalX = NO_SIGNAL;
#ifdef IMPORTANCE_BASED
this->importance = NO_SIGNAL;
#endif //IMPORTANCE_BASED
}
int goal = findGoal();
if(goal != -1){
if(goal != 0){
signalX = (float)MAX_DRIVE;
#ifdef IMPORTANCE_BASED
this->importance = 2.0f;
#endif //IMPORTANCE_BASED
}
}
//出力
this->setOutput(0, signalX);
}
int simplehero::selectNeighbor(GraphMap* map, int cur_x, int cur_y)
{
// printf("Selecting neighbor\n");
int x, y, a, b;
Pos* goal = findGoal(map, cur_x, cur_y);
int g;
if(goal == 0)
{
printf("Couldn't find goal\n");
return 0;
}
g = map->getVertex(goal->getX(), goal->getY());
int toGo = BFSearch(map, cur_x, cur_y, g);
//printf("Done searching\n");
if(toGo == -1)
{
// printf("No target found\n");
delete goal;
return 0;
}
/* if(p == 0 || p[1]->getX() < 0)
{
printf("ERRRORRORROR\n");
goal = findGoal(map, cur_x, cur_y);
toGo = BFSearch(map ,cur_x, cur_y, goal);
}*/
map->getPosition(toGo, x, y);
for(int i = 0; i < map->getNumNeighbors(cur_x, cur_y); i++)
{
map->getNeighbor(cur_x, cur_y, i, a, b);
if(x == a && y == b)
{
delete goal;
return i;
}
}
printf("Shouldn't get here");
return 0;
}
