Micromouse consciente de su direccion

api.cpp

@@ -116,6 +116,9 @@ void API::ackReset() {
 void log(const std::string& text) {
     std::cerr << text << std::endl;
 }
+void log(const char& text) {
+    std::cerr << text << std::endl;
+}
 void log(const int& num) {
     std::cerr << num << std::endl;
 }

main.cpp

@@ -3,19 +3,19 @@
 #include "api.h"
 #include <queue>
 
-// floodfill
+enum turn{left = 0, right =1};
-
-struct mmstats {
-    int y;
-    int x;
-}stats;
-
 struct fill {
     int x, y, z;
 };
 
+struct dirnode {
+    char value;
+    dirnode* next;
+    dirnode* prev;
+    dirnode(char val): value(val){};
+};
+
 struct maze { /* Distancias de Manhattan */
-    public:
     int vwalls[15][15];
     int hwalls[15][15];
     int mhtn[16][16];
@@ -27,6 +27,55 @@ struct maze { /* Distancias de Manhattan */
     }
 }maze;
 
+class mmstats {
+private:
+    dirnode* tail;
+    dirnode* head;
+    void addnode(char val) {
+        dirnode* temp = new dirnode(val);
+        if (head != nullptr) {
+            head->next = temp;
+            temp->prev = head;
+            temp->next = tail;
+            head = temp;
+            tail->prev = head;
+        }
+
+        if (head == nullptr) {
+            head = temp;
+            tail = temp;
+        }
+    }
+public:
+    int y;
+    int x;
+    char dir;
+    mmstats(): tail(nullptr), head(nullptr) {
+        addnode('e');
+        addnode('s');
+        addnode('w');
+        addnode('n');
+        dir = 'n';
+    }
+    void turn(int opt) {
+        if (opt)
+            head = head->next;
+        else head = head->prev;
+        dir = head->value;
+        switch (dir) {
+        case 'n': log("Norte");
+                  break;
+        case 'e': log("Este");
+                  break;
+        case 's': log("Sur");
+                  break;
+        case 'w': log("Oeste");
+                  break;
+        }
+    }
+
+}stats;
+
 void flood(struct maze*, struct mmstats*);
 
 void flood(struct maze* maze, struct mmstats* mmstats) {
@@ -46,12 +95,16 @@ void flood(struct maze* maze, struct mmstats* mmstats) {
     myqueue.push({7,9,0});
     myqueue.push({8,9,0});
     
-
     marked[7][7] = 1; /* las celdas del centro tienen */
     marked[7][8] = 1; /* un valor de cero porque son  */
     marked[8][7] = 1; /* la meta.                     */
     marked[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;
         j = myqueue.front().y;
@@ -84,15 +137,18 @@ int main(int argc, char* argv[]) {
     API::setColor(0, 0, 'G');
 //  API::setText(0, 0, "abc");
     API::setWall(1, 0, 'e');
-    stats = {0,0};
+    stats.x = 0;
+    stats.y = 0;
     flood(&maze, &stats);
 
-    while (false) {
+    while (true) {
         if (!API::wallLeft()) {
             API::turnLeft();
+            stats.turn(left);
         }
         while (API::wallFront()) {
             API::turnRight();
+            stats.turn(right);
         }
         API::moveForward();
    }