.gitignore

@@ -1,2 +1 @@
 a.out
-.clang-format

README.md

@@ -8,7 +8,7 @@ https://github.com/mackorone/mms
 ## Configuración en mms
 1. Clonar el repositorio
 
-   ```git clone git.fisionx.win/FisionX/mms-sim```
+   ```git clone git.fisionx.mooo.com/FisionX/mms-sim```
 
 2. Seleccionar el directorio del repo 
 3. Usar el comando de compilado

main.cpp

@@ -1,8 +1,8 @@
-#include "api.h"
-#include "mms.h"
-#include <queue>
 #include <string>
 #include <sys/types.h>
+#include <queue>
+#include "api.h"
+#include "mms.h"
 
 #define W 15 /* ancho y alto del laberinto -1 */
 
@@ -16,19 +16,39 @@ struct fill {
     int x, y, z;
 };
 
-void flood(struct maze *, struct mmstats *, int coordinates[2]);
+void flood(struct maze*, struct mmstats*);
 void follow(struct maze maze, class mmstats mms);
 int* nextcell(int i, int j, int dir, int ndir[2]);
 void updatepos(class mmstats* mms);
 void locateWall(struct maze& maze);
 
-void flood(struct maze *maze, struct mmstats *mmstats, int coordinates[2]) {
+void flood(struct maze* maze, struct mmstats* mmstats) {
     int i, j;
     int prevNum;
-    int marked[16][16] = {0};
+    int marked[16][16];
     std::queue<fill> myqueue;
 
-    myqueue.push({coordinates[0], coordinates[1], -1});
+    /*
+    myqueue.push({6,7,0});
+    myqueue.push({6,8,0});
+    myqueue.push({7,6,0});
+    myqueue.push({8,6,0});
+
+    myqueue.push({9,7,0});
+    myqueue.push({9,8,0});
+    myqueue.push({7,9,0});
+    myqueue.push({8,9,0});
+    */
+
+    myqueue.push({7,7,-1});
+    myqueue.push({7,8,-1});
+    myqueue.push({8,7,-1});
+    myqueue.push({8,8,-1});
+
+    API::setText(7, 7, 0);
+    API::setText(7, 8, 0);
+    API::setText(8, 7, 0);
+    API::setText(8, 8, 0);
 
     while (myqueue.size()) {
         i = myqueue.front().x;
@@ -36,9 +56,11 @@ void flood(struct maze *maze, struct mmstats *mmstats, int coordinates[2]) {
         prevNum = myqueue.front().z;
         myqueue.pop();
 
-        if (i < 0 || i > W || j < 0 || j > W || marked[i][j] == 1) {
+        if (i < 0 || i > W || j < 0 || j > W 
+                || marked[i][j]==1) {
             continue;
-        } else {
+        }
+        else {
             API::setText(i, j, prevNum+1);
             maze->mhtn[i][j] = prevNum+1;
             marked[i][j] = 1;
@@ -71,72 +93,53 @@ void follow(struct maze maze, class mmstats *mms) {
     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() ||
+    if(maze.mhtn[next[0]][next[1]] == nextmht && !API::wallFront() || !API::wallFront() && API::wallLeft() && API::wallRight()) {
-        !API::wallFront() && API::wallLeft() && API::wallRight()) {
-        if (maze.mhtn[next_L[0]][next_L[1]] <= nextmht &&
-            !API::wallLeft()) { /* Detectar si hay atajos */
-            API::turnLeft();
-            mms->turn(left);
-            log("left");
-            return;
-        } else if (maze.mhtn[next_R[0]][next_R[1]] <= nextmht &&
-                   !API::wallRight()) {
-            API::turnRight();
-            mms->turn(right);
-            log("right");
-            return;
-        } else {
         log("forward");
         return;
     }
-    } else if (maze.mhtn[next_L[0]][next_L[1]] <= nextmht && !API::wallLeft()) {
+    else if(maze.mhtn[next_L[0]][next_L[1]] <= nextmht && !API::wallLeft()) {
         API::turnLeft();
         mms->turn(left);
         log("left");
         return;
-    } else if (maze.mhtn[next_R[0]][next_R[1]] <= nextmht &&
+    }
-               !API::wallRight()) {
+    else if(maze.mhtn[next_R[0]][next_R[1]] <= nextmht && !API::wallRight()) {
         API::turnRight();
         mms->turn(right);
         log("right");
         return;
-    } else if (maze.mhtn[next_B[0]][next_B[1]] == nextmht ||
+    }
-               API::wallFront() && API::wallLeft() && API::wallRight()) {
+    else if(maze.mhtn[next_B[0]][next_B[1]] == nextmht
+            || API::wallFront() && API::wallLeft() && API::wallRight()) {
         API::turnRight();
         mms->turn(right);
         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]] &&
+    else if(maze.mhtn[next_R[0]][next_R[1]] <= maze.mhtn[next_B[0]][next_B[1]] && !API::wallRight()){
-               !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]] &&
+    else if(maze.mhtn[next_L[0]][next_L[1]] <= maze.mhtn[next_B[0]][next_B[1]] && !API::wallLeft()){
-               !API::wallLeft()) {
         API::turnLeft();
         mms->turn(left);
         log("bLeft");
     }
-    // log("error en la matri");
+    log("error en la matri");
 }
 
 int* nextcell(int i, int j, int dir, int ndir[2]) {
     switch (dir) {
-    case norte:
+    case norte: j++; 
-        j++;
                 break;
-    case este:
+    case este: i++; 
-        i++;
                 break;
-    case sur:
+    case sur: j--; 
-        j--;
                 break;
-    case oeste:
+    case oeste: i--; 
-        i--;
                 break;
     }
     ndir[0] = i;
@@ -149,17 +152,13 @@ void updatepos(class mmstats *mms) {
      * la posicion del micromouse en el valor correspondiente
      */
     switch (mms->dir) {
-    case norte:
+    case norte: mms->y++; 
-        mms->y++;
                 break;
-    case este:
+    case este: mms->x++; 
-        mms->x++;
                 break;
-    case sur:
+    case sur: mms->y--; 
-        mms->y--;
                 break;
-    case oeste:
+    case oeste: mms->x--; 
-        mms->x--;
                 break;
     }
 }
@@ -225,63 +224,50 @@ void locateWall(struct maze *maze, class mmstats *mms) {
     }
 }
 
+
 int main(int argc, char* argv[]) {
     log("Running...");
     API::setColor(0, 0, 'G');
+//  API::setText(0, 0, "abc");
     mmstats stats;
-
     stats.x = 0;
     stats.y = 0;
     
-    int next_pos[2] = {7, 7};
+    while (true) {
-
-    for (;;) {
         locateWall(&maze, &stats);
-        flood(&maze, &stats, next_pos);
+        flood(&maze, &stats);
         follow(maze, &stats);
         if(maze.mhtn[stats.x][stats.y] == 0){
             log("Finish");
-            break;
-        }
-        // log(stats.x);
-        // log(stats.y);
-        API::moveForward();
-        updatepos(&stats);
-        // log(maze.hwalls[stats.x][stats.y]);
-    }
-
-    next_pos[0] = 0;
-    next_pos[1] = 0;
-    for (;;) {
-        locateWall(&maze, &stats);
-        flood(&maze, &stats, next_pos);
-        follow(maze, &stats);
-        if (stats.x == 0 && stats.y == 0) {
-            log("start");
-            break;
-        }
-        // log(stats.x);
-        // log(stats.y);
-        API::moveForward();
-        updatepos(&stats);
-        // log(maze.hwalls[stats.x][stats.y]);
-    }
-
-    next_pos[0] = 7;
-    next_pos[1] = 7;
-    for (;;) {
-        locateWall(&maze, &stats);
-        flood(&maze, &stats, next_pos);
-        follow(maze, &stats);
-        if (maze.mhtn[stats.x][stats.y] == 0) {
-            log("Finish");
-            break;
-        }
-        // log(stats.x);
-        // log(stats.y);
-        API::moveForward();
-        updatepos(&stats);
-    }
-    // log(maze.hwalls[stats.x][stats.y]);
             return 0;
         }
+        //log(stats.x);
+        //log(stats.y);
+        API::moveForward();
+        updatepos(&stats);
+        //log(maze.hwalls[stats.x][stats.y]);
+    }
+    /*
+    while (true) {
+        if (!API::wallLeft()) {
+            locateWall(&maze, &stats);
+            API::turnLeft();
+            stats.turn(left);
+            flood(&maze, &stats);
+        }
+        while (API::wallFront()) {
+            locateWall(&maze, &stats);
+            API::turnRight();
+            stats.turn(right);
+            flood(&maze, &stats);
+        }
+        locateWall(&maze, &stats);
+        API::moveForward();
+        updatepos(&stats);
+        flood(&maze, &stats);
+        log(stats.x);
+        log(stats.y);
+        log("");
+   }
+   */
+}

makefile

@@ -6,8 +6,5 @@ ARGS = -g -Wall
 compile: ${SRC}
 	${CC} ${ARGS} $^ -o a.out
 
-dir: ${SRC}
+run: compile
-	${CC} ${ARGS} -DDIR $^ -o a.out
-
-run: a.out
 	@./a.out

mms.h

@@ -42,7 +42,7 @@ public:
             head = head->next;
         else head = head->prev;
         dir = head->value;
-#ifdef DIR
+        /*
         switch (dir) {
         case norte: log("Norte");
                   break;
@@ -53,7 +53,7 @@ public:
         case oeste: log("Oeste");
                   break;
         }
-#endif
+        */
     }
 
 };