void initiateSecureSensors(){
#ifdef DEBUG
Serial.println("============= MySensors =============");
Serial.println("======= Secured Device Pairing ======");
#endif
#ifdef GATEWAY
initiateGateway();
#else
initiateNode();
#endif
}
int AStar(int startX, int startY, int targetX, int targetY, const unsigned char &map,
int mapWidth, int mapHeight, int *path, int pathLength)
{
Node target;
initiateNode(target, targetX, targetY, -1);
Node start;
initiateNode(start, startX, startY, -1);
updateCostGFH(start, 0.0f, target);
std::vector<Node> open, closed;
open.push_back(start);
while (open.size() != 0)
{
if (AStarStep(map, mapWidth, mapHeight, target, open, closed))
{
Node *tmp = &closed.back();
int finalLength = 0;
do{
if (finalLength > pathLength)
return -1;
path[finalLength] = tmp->x + tmp->y * mapWidth;
tmp = &closed[tmp->parent];
++finalLength;
}
while (tmp->parent != -1);
std::reverse(path, path + finalLength);
return finalLength;
}
}
// no path found
return -1;
}
