int main(void){
initSysTick();
initTcb();
//taskSwitch();
//testFunc();
TaskBlock tb_LED1;
TaskBlock tb_LED2;
TaskBlock tb_LED5;
initLED();
initLED2();
initLED5();
initPushButton1();
initTaskBlock(&tb_LED1);
initTaskBlock(&tb_LED2);
initTaskBlock(&tb_LED5);
while(1){
SD1(&tb_LED1);
SD2(&tb_LED2);
SD5(&tb_LED5);
}
}
/***********************************************************************
*from positions 1 and 2 shortest distance to R is same
*count1 has the number of points in the shortest path from pos1 to R
*count2 has the number of points in the shortest path from pos2 to R
*returns position with maximum number of count.
***********************************************************************/
int best2(int pos1,int pos2,int x,int y,char** maze,int N,int l){
int a1,a2,b1,b2,count1,count2,i,j,first1,sec1,first2,sec2;
a1=a2=x;
b1=b2=y;
if(pos1==0)a1--;
else if(pos1==1)b1++;
else if(pos1==2)a1++;
else if(pos1==3)b1--;
if(pos2==0)a2--;
else if(pos2==1)b2++;
else if(pos2==2)a2++;
else if(pos2==3)b2--;
int *m = malloc(sizeof(int));// m,n store temporarily visited B coordinates
int *n = malloc(sizeof(int));
int** v= malloc(N*sizeof(int*));//visited matrix only for B's
for(i=0; i<N ;i++){
v[i] = malloc(N*sizeof(int));
}
for(i=0 ; i<N ;i++){
for(j=0 ; j<N ;j++)
v[i][j]=0;
}
if(maze[a1][b1]=='B')
{
count1=1;
v[a1][b1]=1;
*m=a1,*n=b1;
}
else count1=0;
first1 = SD_2(maze,N,a1,b1,'B',m,n,v);
while(first1!=-1 )
{
sec1=SD2(maze,N,*m,*n,'R');
if(first1+sec1==l)
count1++;
first1 = SD_2(maze,N,a1,b1,'B',m,n,v);
}
for(i=0 ; i<N ;i++){
for(j=0 ; j<N ;j++)
v[i][j]=0; //initially all elements are non visited
}
if(maze[a2][b2]=='B')
{
count2=1;
v[a2][b2]=1;
*m=a2;*n=b2;
}
else count2=0;
first2 = SD_2(maze,N,a2,b2,'B',m,n,v);
while(first2!=-1 )
{
sec2=SD2(maze,N,*m,*n,'R');
if(first2+sec2==l)
count2++;
first2 = SD_2(maze,N,a2,b2,'B',m,n,v);
}
if(count1>=count2)
return pos1;
else
return pos2;
}
/***************************************************************************
*returns position to which bot should move
*a1,a2 coordinates of our bot
*b1,b2 coordinates of enemy bot
*positions 0(UP)
1(RIGHT)
2(DOWN)
3(LEFT)
********************************************************************************/
int bot2(int** Maze,char** maze,int N,int score1,int score2,int a1,int a2,int b1,int b2)
{ int x=a1;
int y=a2;
int p;
char c1,c2,c3,c0;
c1=maze[x][y+1];
c3=maze[x][y-1];
c0=maze[x-1][y];
c2=maze[x+1][y];
int sd[4];//sd : shortest distance from each points to R
if(c1=='R')
return 1;
else if(c2=='R')
return 2;
else if(c3=='R')
return 3;
else if(c0=='R')
return 0;
if(c1!='#')
sd[1]=SD2(maze,N,x,y+1,'R');
else
sd[1]=N*N;//N*N is maximum distance possible
if(c2!='#')
sd[2]=SD2(maze,N,x+1,y,'R');
else
sd[2]=N*N;
if(c3!='#')
sd[3]=SD2(maze,N,x,y-1,'R');
else
sd[3]=N*N;
if(c0!='#')
sd[0]=SD2(maze,N,x-1,y,'R');
else
sd[0]=N*N;
//comparing shortest distances
if(sd[1]<sd[2])
p=1;
else if(sd[1]>sd[2])
p=2;
else if(sd[1]==sd[2] && sd[1]<=sd[3] && sd[1]<=sd[0])
p=best2(1,2,x,y,maze,N,sd[1]);// Call for the best of two possible positions
else {
p=1;
sd[p]=N*N;
}
if(sd[3]<sd[p])
p=3;
else if(sd[3]==sd[p] && sd[3]<=sd[0])
p=best2(p,3,x,y,maze,N,sd[3]);
if(sd[0]<sd[p])
p=0;
else if(sd[0]==sd[p])
p=best2(0,p,x,y,maze,N,sd[0]);
return p;
}