FisionX/mms-sim
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primer intento de resolver el laberinto wip

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Fernando 2024-08-09 03:04:13 -06:00
parent 9201c4e75d
commit efa8485a4c
1 changed files with 65 additions and 46 deletions
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107
main.cpp
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@ -1,7 +1,7 @@
#include <string> #include <string>
#include <sys/types.h> #include <sys/types.h>
#include "api.h"
#include <queue> #include <queue>
#include "api.h"
#include "mms.h" #include "mms.h"
#define W 15 /* ancho y alto del laberinto -1 */ #define W 15 /* ancho y alto del laberinto -1 */
@ -11,12 +11,6 @@ struct maze { /* Distancias de Manhattan */
int vwalls[15][15]; int vwalls[15][15];
int hwalls[15][15]; int hwalls[15][15];
int mhtn[16][16]; int mhtn[16][16];
maze(){
mhtn[7][7] = 0; /* las celdas del centro tienen */
mhtn[7][8] = 0; /* un valor de cero porque son */
mhtn[8][7] = 0; /* la meta. */
mhtn[8][8] = 0;
}
}maze; }maze;
struct fill { struct fill {
@ -35,6 +29,7 @@ void flood(struct maze* maze, struct mmstats* mmstats) {
int marked[16][16]; int marked[16][16];
std::queue<fill> myqueue; std::queue<fill> myqueue;
/*
myqueue.push({6,7,0}); myqueue.push({6,7,0});
myqueue.push({6,8,0}); myqueue.push({6,8,0});
myqueue.push({7,6,0}); myqueue.push({7,6,0});
@ -44,11 +39,12 @@ void flood(struct maze* maze, struct mmstats* mmstats) {
myqueue.push({9,8,0}); myqueue.push({9,8,0});
myqueue.push({7,9,0}); myqueue.push({7,9,0});
myqueue.push({8,9,0}); myqueue.push({8,9,0});
*/
marked[7][7] = 1; /* las celdas del centro tienen */ myqueue.push({7,7,-1});
marked[7][8] = 1; /* un valor de cero porque son */ myqueue.push({7,8,-1});
marked[8][7] = 1; /* la meta. */ myqueue.push({8,7,-1});
marked[8][8] = 1; myqueue.push({8,8,-1});
API::setText(7, 7, 0); API::setText(7, 7, 0);
API::setText(7, 8, 0); API::setText(7, 8, 0);
@ -61,13 +57,6 @@ void flood(struct maze* maze, struct mmstats* mmstats) {
prevNum = myqueue.front().z; prevNum = myqueue.front().z;
myqueue.pop(); myqueue.pop();
if (mmstats->x == i && mmstats->y == j) {
log("flood end");
API::setText(i, j, prevNum+1);
maze->mhtn[i][j] = prevNum+1;
break;
}
if (i < 0 || i > W || j < 0 || j > W if (i < 0 || i > W || j < 0 || j > W
|| marked[i][j]==1) { || marked[i][j]==1) {
continue; continue;
@ -76,10 +65,17 @@ void flood(struct maze* maze, struct mmstats* mmstats) {
API::setText(i, j, prevNum+1); API::setText(i, j, prevNum+1);
maze->mhtn[i][j] = prevNum+1; maze->mhtn[i][j] = prevNum+1;
marked[i][j] = 1; marked[i][j] = 1;
myqueue.push({i+1, j, prevNum +1}); if (!maze->vwalls[i][j])
myqueue.push({i-1, j, prevNum +1}); myqueue.push({i+1, j, prevNum +1});
myqueue.push({i, j+1, prevNum +1});
myqueue.push({i, j-1, prevNum +1}); if (!maze->vwalls[i-1][j])
myqueue.push({i-1, j, prevNum +1});
if (!maze->hwalls[i][j])
myqueue.push({i, j+1, prevNum +1});
if (!maze->hwalls[i][j-1])
myqueue.push({i, j-1, prevNum +1});
} }
} }
} }
@ -91,30 +87,49 @@ void follow(struct maze maze, class mmstats* mms) {
int mht = maze.mhtn[mms->x][mms->y]; int mht = maze.mhtn[mms->x][mms->y];
int nextmht = mht-1; int nextmht = mht-1;
int next[2]; int next[2];
int next_L[2];
int next_R[2];
int next_B[2];
nextcell(mms->x, mms->y, mms->dir, next); nextcell(mms->x, mms->y, mms->dir, next);
if(maze.mhtn[next[0]][next[1]] == nextmht) { nextcell(mms->x, mms->y, mms->head->prev->value, next_L);
nextcell(mms->x, mms->y, mms->head->next->value, next_R);
nextcell(mms->x, mms->y, mms->head->next->next->value, next_B);
if(maze.mhtn[next[0]][next[1]] == nextmht && !API::wallFront() || !API::wallFront() && API::wallLeft() && API::wallRight()) {
log("forward"); log("forward");
return; return;
} }
nextcell(mms->x, mms->y, mms->head->prev->value, next); else if(maze.mhtn[next_L[0]][next_L[1]] <= nextmht && !API::wallLeft()) {
if(maze.mhtn[next[0]][next[1]] == nextmht) {
API::turnLeft(); API::turnLeft();
mms->turn(left); mms->turn(left);
log("left"); log("left");
return; return;
} }
nextcell(mms->x, mms->y, mms->head->next->value, next); else if(maze.mhtn[next_R[0]][next_R[1]] <= nextmht && !API::wallRight()) {
if(maze.mhtn[next[0]][next[1]] == nextmht) {
API::turnRight(); API::turnRight();
mms->turn(right); mms->turn(right);
log("right"); log("right");
return; return;
} }
API::turnRight(); else if(maze.mhtn[next_B[0]][next_B[1]] == nextmht
mms->turn(right); || API::wallFront() && API::wallLeft() && API::wallRight()) {
API::turnRight(); API::turnRight();
mms->turn(right); mms->turn(right);
log("180"); API::turnRight();
mms->turn(right);
log("180");
return;
}
else if(maze.mhtn[next_R[0]][next_R[1]] <= maze.mhtn[next_B[0]][next_B[1]] && !API::wallRight()){
API::turnRight();
mms->turn(right);
log("bRight");
}
else if(maze.mhtn[next_L[0]][next_L[1]] <= maze.mhtn[next_B[0]][next_B[1]] && !API::wallLeft()){
API::turnLeft();
mms->turn(left);
log("bLeft");
}
log("error en la matri");
} }
int* nextcell(int i, int j, int dir, int ndir[2]) { int* nextcell(int i, int j, int dir, int ndir[2]) {
@ -181,15 +196,15 @@ void locateWall(struct maze* maze, class mmstats *mms) {
break; break;
case sur: case sur:
if(API::wallFront() && mms->y != 0) { if(API::wallFront() && mms->y != 0) {
maze->vwalls[mms->x][mms->y-1] = 1; maze->hwalls[mms->x][mms->y-1] = 1;
API::setWall(mms->x, mms->y-1, 'n'); API::setWall(mms->x, mms->y-1, 'n');
} }
if(API::wallLeft() && mms->x != 15){ if(API::wallLeft() && mms->x != 15){
maze->hwalls[mms->x][mms->y] = 1; maze->vwalls[mms->x][mms->y] = 1;
API::setWall(mms->x, mms->y, 'e'); API::setWall(mms->x, mms->y, 'e');
} }
if(API::wallRight() && mms->x != 0){ if(API::wallRight() && mms->x != 0){
maze->hwalls[mms->x -1][mms->y] = 1; maze->vwalls[mms->x -1][mms->y] = 1;
API::setWall(mms->x -1, mms->y, 'e'); API::setWall(mms->x -1, mms->y, 'e');
} }
break; break;
@ -202,7 +217,7 @@ void locateWall(struct maze* maze, class mmstats *mms) {
maze->hwalls[mms->x][mms->y -1] = 1; maze->hwalls[mms->x][mms->y -1] = 1;
API::setWall(mms->x, mms->y -1, 'n'); API::setWall(mms->x, mms->y -1, 'n');
} }
if(API::wallRight() && mms->y != 0){ if(API::wallRight() && mms->y != 15){
maze->hwalls[mms->x][mms->y] = 1; maze->hwalls[mms->x][mms->y] = 1;
API::setWall(mms->x, mms->y, 'n'); API::setWall(mms->x, mms->y, 'n');
} }
@ -219,37 +234,41 @@ int main(int argc, char* argv[]) {
stats.x = 0; stats.x = 0;
stats.y = 0; stats.y = 0;
flood(&maze, &stats);
/*
while (true) { while (true) {
locateWall(&maze, &stats);
flood(&maze, &stats);
follow(maze, &stats); follow(maze, &stats);
API::moveForward();
updatepos(&stats);
if(maze.mhtn[stats.x][stats.y] == 0){ if(maze.mhtn[stats.x][stats.y] == 0){
log("Finish"); log("Finish");
return 0; return 0;
} }
log(stats.x); //log(stats.x);
log(stats.y); //log(stats.y);
log(""); API::moveForward();
updatepos(&stats);
//log(maze.hwalls[stats.x][stats.y]);
} }
*/ /*
while (true) { while (true) {
if (!API::wallLeft()) { if (!API::wallLeft()) {
locateWall(&maze, &stats); locateWall(&maze, &stats);
API::turnLeft(); API::turnLeft();
stats.turn(left); stats.turn(left);
flood(&maze, &stats);
} }
while (API::wallFront()) { while (API::wallFront()) {
locateWall(&maze, &stats); locateWall(&maze, &stats);
API::turnRight(); API::turnRight();
stats.turn(right); stats.turn(right);
flood(&maze, &stats);
} }
locateWall(&maze, &stats); locateWall(&maze, &stats);
API::moveForward(); API::moveForward();
updatepos(&stats); updatepos(&stats);
flood(&maze, &stats);
log(stats.x); log(stats.x);
log(stats.y); log(stats.y);
log(""); log("");
} }
*/
} }