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 ); } } }
void normal::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 the_count_of_facing_unvisited_blocks = 0; //precisely wrong name unsigned short int potential_to_set = 0; 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.visited( position, direction, LEFT ) ) { if ( route_memorizer.get_potential( position, direction, LEFT ) > route_memorizer.get_potential( position ) + route_memorizer.t ) { the_count_of_facing_unvisited_blocks++; next_action = GO_LEFTWARD; potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t; } } else { the_count_of_facing_unvisited_blocks++; next_action = GO_LEFTWARD; potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t; } } virtual_position[0] = position[0]; virtual_position[1] = position[1]; virtual_direction = direction; route_memorizer.update_status( virtual_position, virtual_direction, GO_FORWARD ); if ( maze_memorizer.safe_to_go( position, direction, UP ) && !(virtual_position[0] == starting_position[0] && virtual_position[1] == starting_position[1]) ) { if ( route_memorizer.visited( position, direction, UP ) ) { if ( route_memorizer.get_potential( position, direction, UP ) > route_memorizer.get_potential( position ) + route_memorizer.s ) { the_count_of_facing_unvisited_blocks++; if ( next_action == DUMMY ) { next_action = GO_FORWARD; potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.s; } } } else { the_count_of_facing_unvisited_blocks++; if ( next_action == DUMMY ) { next_action = GO_FORWARD; potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.s; } } } virtual_position[0] = position[0]; virtual_position[1] = position[1]; virtual_direction = direction; route_memorizer.update_status( virtual_position, virtual_direction, GO_RIGHTWARD ); if ( maze_memorizer.safe_to_go( position, direction, RIGHT ) && !(virtual_position[0] == starting_position[0] && virtual_position[1] == starting_position[1]) ) { if ( route_memorizer.visited( position, direction, RIGHT ) ) { if ( route_memorizer.get_potential( position, direction, RIGHT ) > route_memorizer.get_potential( position ) + route_memorizer.t ) { the_count_of_facing_unvisited_blocks++; if ( next_action == DUMMY ) { next_action = GO_RIGHTWARD; potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t; } } } else { the_count_of_facing_unvisited_blocks++; if ( next_action == DUMMY ) { next_action = GO_RIGHTWARD; potential_to_set = route_memorizer.get_potential( position ) + route_memorizer.t; } } } if ( next_action != DUMMY ) { route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_facing_unvisited_blocks - 1 ); route_memorizer.update_status( position, direction, next_action ); route_memorizer.put_a_sign_to_reverse( position, direction ); route_memorizer.update_visited_places( position ); route_memorizer.set_potential( position, potential_to_set ); } else { if ( position[0] == starting_position[0] && position[1] == starting_position[1] ) { route_memorizer.update_status( position, direction, GO_BACKWARD ); route_memorizer.put_a_sign_to_reverse( position, direction ); route_memorizer.update_visited_places( position ); route_memorizer.set_potential( position, route_memorizer.t ); } else { route_memorizer.remove_a_sign_to_reverse( position ); route_memorizer.update_status( position, direction, GO_BACKWARD ); is_done = 1; } } }
unsigned short int reverse::next_action ( wall &maze_memorizer, route &route_memorizer, unsigned short int position[], unsigned short int direction, wall &virtual_walls ) { unsigned short int succeeded_virtual_foolish_solution; if ( route_memorizer.signed_crossroad( position ) ) { virtual_walls.update( position, direction, DOWN, UNSAFE ); if ( maze_memorizer.safe_to_go( position, direction, LEFT ) && virtual_walls.safe_to_go( position, direction, LEFT ) ) { 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.need_to_scan( virtual_position ) ) { succeeded_virtual_foolish_solution = route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position ); route_memorizer.update_status( virtual_position, virtual_direction, TURN_L_90 ); if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) { virtual_walls.update( virtual_position, virtual_direction, LEFT, UNSAFE ); } else { is_done = 1; return GO_LEFTWARD; } } else { route_memorizer.update_visited_places( virtual_position ); route_memorizer.update_for_virtual_walls( virtual_position, virtual_direction, maze_memorizer, virtual_walls ); virtual_walls.update( position, direction, LEFT, UNSAFE ); } } if ( route_memorizer.signed_crossroad( position ) && maze_memorizer.safe_to_go( position, direction, UP ) && virtual_walls.safe_to_go( position, direction, UP ) ) { 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_FORWARD ); if ( maze_memorizer.need_to_scan( virtual_position ) ) { succeeded_virtual_foolish_solution = route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position ); route_memorizer.update_status( virtual_position, virtual_direction, TURN ); if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) { virtual_walls.update( virtual_position, virtual_direction, UP, UNSAFE ); } else { is_done = 1; return GO_FORWARD; } } else { route_memorizer.update_visited_places( virtual_position ); route_memorizer.update_for_virtual_walls( virtual_position, virtual_direction, maze_memorizer, virtual_walls ); virtual_walls.update( position, direction, UP, UNSAFE ); } } if ( route_memorizer.signed_crossroad( position ) && maze_memorizer.safe_to_go( position, direction, RIGHT ) && virtual_walls.safe_to_go( position, direction, RIGHT ) ) { 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_RIGHTWARD ); if ( maze_memorizer.need_to_scan( virtual_position ) ) { succeeded_virtual_foolish_solution = route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position ); route_memorizer.update_status( virtual_position, virtual_direction, TURN_R_90 ); if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) { virtual_walls.update( virtual_position, virtual_direction, RIGHT, UNSAFE ); } else { is_done = 1; return GO_RIGHTWARD; } } else { route_memorizer.update_visited_places( virtual_position ); route_memorizer.update_for_virtual_walls( virtual_position, virtual_direction, maze_memorizer, virtual_walls ); virtual_walls.update( position, direction, RIGHT, UNSAFE ); } } } if ( maze_memorizer.safe_to_go( position, direction, LEFT ) && virtual_walls.safe_to_go( position, direction, LEFT ) ) { return GO_LEFTWARD; } else if ( maze_memorizer.safe_to_go( position, direction, UP ) && virtual_walls.safe_to_go( position, direction, UP ) ) { return GO_FORWARD; } else if ( maze_memorizer.safe_to_go( position, direction, RIGHT ) && virtual_walls.safe_to_go( position, direction, RIGHT ) ) { return GO_RIGHTWARD; } return DUMMY; }
unsigned short int normal::next_action ( wall &maze_memorizer, route &route_memorizer, unsigned short int position[], unsigned short int direction, wall &virtual_walls ) { unsigned short int the_count_of_safe_to_go_blocks; unsigned short int succeeded_virtual_foolish_solution; if ( maze_memorizer.need_to_scan( position ) ) { return SCAN; } else { route_memorizer.update_for_virtual_walls( position, direction, maze_memorizer, virtual_walls ); the_count_of_safe_to_go_blocks = maze_memorizer.the_count_of_safe_to_go_blocks(position,direction) - virtual_walls.the_count_of_unsafe_to_go_blocks(position,direction); if ( the_count_of_safe_to_go_blocks ) { if ( maze_memorizer.safe_to_go( position, direction, LEFT ) && virtual_walls.safe_to_go( position, direction, LEFT ) ) { 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.need_to_scan( virtual_position ) ) { if ( the_count_of_safe_to_go_blocks > 1 ) { succeeded_virtual_foolish_solution = route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position ); route_memorizer.update_status( virtual_position, virtual_direction, TURN_L_90 ); if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) { the_count_of_safe_to_go_blocks--; virtual_walls.update( virtual_position, virtual_direction, LEFT, UNSAFE ); } else { route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 ); return GO_LEFTWARD; } } else { route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 ); return GO_LEFTWARD; } } else { the_count_of_safe_to_go_blocks--; route_memorizer.update_visited_places( virtual_position ); route_memorizer.update_for_virtual_walls( position, direction, maze_memorizer, virtual_walls ); virtual_walls.update( position, direction, LEFT, UNSAFE ); } } if ( maze_memorizer.safe_to_go( position, direction, UP ) && virtual_walls.safe_to_go( position, direction, UP ) ) { virtual_position[0] = position[0]; virtual_position[1] = position[1]; virtual_direction = direction; route_memorizer.update_status( virtual_position, virtual_direction, GO_FORWARD ); if ( maze_memorizer.need_to_scan( virtual_position ) ) { if ( the_count_of_safe_to_go_blocks > 1 ) { succeeded_virtual_foolish_solution = route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position ); route_memorizer.update_status( virtual_position, virtual_direction, TURN ); if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) { the_count_of_safe_to_go_blocks--; virtual_walls.update( virtual_position, virtual_direction, UP, UNSAFE ); } else { route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 ); return GO_FORWARD; } } else { route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 ); return GO_FORWARD; } } else { the_count_of_safe_to_go_blocks--; route_memorizer.update_visited_places( virtual_position ); route_memorizer.update_for_virtual_walls( position, direction, maze_memorizer, virtual_walls ); virtual_walls.update( position, direction, UP, UNSAFE ); } } if ( maze_memorizer.safe_to_go( position, direction, RIGHT ) && virtual_walls.safe_to_go( position, direction, RIGHT ) ) { virtual_position[0] = position[0]; virtual_position[1] = position[1]; virtual_direction = direction; route_memorizer.update_status( virtual_position, virtual_direction, GO_RIGHTWARD ); if ( maze_memorizer.need_to_scan( virtual_position ) ) { if ( the_count_of_safe_to_go_blocks > 1 ) { succeeded_virtual_foolish_solution = route_memorizer.virtual_foolish_solution( maze_memorizer, virtual_position, virtual_direction, position ); route_memorizer.update_status( virtual_position, virtual_direction, TURN_R_90 ); if ( virtual_direction == direction && succeeded_virtual_foolish_solution ) { the_count_of_safe_to_go_blocks--; virtual_walls.update( virtual_position, virtual_direction, RIGHT, UNSAFE ); } else { route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 ); return GO_RIGHTWARD; } } else { route_memorizer.set_the_count_of_facing_unvisited_blocks( position, the_count_of_safe_to_go_blocks - 1 ); return GO_RIGHTWARD; } } else { the_count_of_safe_to_go_blocks--; route_memorizer.update_visited_places( virtual_position ); route_memorizer.update_for_virtual_walls( position, direction, maze_memorizer, virtual_walls ); virtual_walls.update( position, direction, RIGHT, UNSAFE ); } } } is_done = 1; return DUMMY; } }