Merge pull request 'Ajustar algoritmo para regresar al inicio' (#3) from follow into main

Reviewed-on: #3

.gitignore

@@ -1 +1,2 @@
 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.mooo.com/FisionX/mms-sim```
+   ```git clone git.fisionx.win/FisionX/mms-sim```
 
 2. Seleccionar el directorio del repo 
 3. Usar el comando de compilado

main.cpp

@@ -1,8 +1,8 @@
-#include <string>
-#include <sys/types.h>
-#include <queue>
 #include "api.h"
 #include "mms.h"
+#include <queue>
+#include <string>
+#include <sys/types.h>
 
 #define W 15 /* ancho y alto del laberinto -1 */
 
@@ -16,39 +16,19 @@ struct fill {
     int x, y, z;
 };
 
-void flood(struct maze*, struct mmstats*);
+void flood(struct maze *, struct mmstats *, int coordinates[2]);
 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) {
+void flood(struct maze *maze, struct mmstats *mmstats, int coordinates[2]) {
     int i, j;
     int prevNum;
-    int marked[16][16];
+    int marked[16][16] = {0};
     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;
@@ -56,11 +36,9 @@ void flood(struct maze* maze, struct mmstats* mmstats) {
         prevNum = myqueue.front().z;
         myqueue.pop();
 
-        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;
-        }
+        } else {
-        else {
             API::setText(i, j, prevNum + 1);
             maze->mhtn[i][j] = prevNum + 1;
             marked[i][j] = 1;
@@ -93,53 +71,72 @@ 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() || !API::wallFront() && API::wallLeft() && API::wallRight()) {
+    if (maze.mhtn[next[0]][next[1]] == nextmht && !API::wallFront() ||
-        log("forward");
+        !API::wallFront() && API::wallLeft() && API::wallRight()) {
-        return;
+        if (maze.mhtn[next_L[0]][next_L[1]] <= nextmht &&
-    }
+            !API::wallLeft()) { /* Detectar si hay atajos */
-    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 &&
-    else if(maze.mhtn[next_R[0]][next_R[1]] <= nextmht && !API::wallRight()) {
+                   !API::wallRight()) {
             API::turnRight();
             mms->turn(right);
             log("right");
             return;
+        } else {
+            log("forward");
+            return;
         }
-    else if(maze.mhtn[next_B[0]][next_B[1]] == nextmht
+    } else if (maze.mhtn[next_L[0]][next_L[1]] <= nextmht && !API::wallLeft()) {
-            || API::wallFront() && API::wallLeft() && API::wallRight()) {
+        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 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]] <=
-    else if(maze.mhtn[next_R[0]][next_R[1]] <= maze.mhtn[next_B[0]][next_B[1]] && !API::wallRight()){
+                   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]] <=
-    else if(maze.mhtn[next_L[0]][next_L[1]] <= maze.mhtn[next_B[0]][next_B[1]] && !API::wallLeft()){
+                   maze.mhtn[next_B[0]][next_B[1]] &&
+               !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: j++; 
+    case norte:
+        j++;
         break;
-    case este: i++; 
+    case este:
+        i++;
         break;
-    case sur: j--; 
+    case sur:
+        j--;
         break;
-    case oeste: i--; 
+    case oeste:
+        i--;
         break;
     }
     ndir[0] = i;
@@ -152,13 +149,17 @@ void updatepos(class mmstats* mms) {
      * la posicion del micromouse en el valor correspondiente
      */
     switch (mms->dir) {
-    case norte: mms->y++; 
+    case norte:
+        mms->y++;
         break;
-    case este: mms->x++; 
+    case este:
+        mms->x++;
         break;
-    case sur: mms->y--; 
+    case sur:
+        mms->y--;
         break;
-    case oeste: mms->x--; 
+    case oeste:
+        mms->x--;
         break;
     }
 }
@@ -224,22 +225,23 @@ 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;
 
-    while (true) {
+    int next_pos[2] = {7, 7};
+
+    for (;;) {
         locateWall(&maze, &stats);
-        flood(&maze, &stats);
+        flood(&maze, &stats, next_pos);
         follow(maze, &stats);
         if (maze.mhtn[stats.x][stats.y] == 0) {
             log("Finish");
-            return 0;
+            break;
         }
         // log(stats.x);
         // log(stats.y);
@@ -247,27 +249,39 @@ int main(int argc, char* argv[]) {
         updatepos(&stats);
         // log(maze.hwalls[stats.x][stats.y]);
     }
-    /*
+
-    while (true) {
+    next_pos[0] = 0;
-        if (!API::wallLeft()) {
+    next_pos[1] = 0;
+    for (;;) {
         locateWall(&maze, &stats);
-            API::turnLeft();
+        flood(&maze, &stats, next_pos);
-            stats.turn(left);
+        follow(maze, &stats);
-            flood(&maze, &stats);
+        if (stats.x == 0 && stats.y == 0) {
+            log("start");
+            break;
         }
-        while (API::wallFront()) {
+        // log(stats.x);
-            locateWall(&maze, &stats);
+        // log(stats.y);
-            API::turnRight();
-            stats.turn(right);
-            flood(&maze, &stats);
-        }
-        locateWall(&maze, &stats);
         API::moveForward();
         updatepos(&stats);
-        flood(&maze, &stats);
+        // log(maze.hwalls[stats.x][stats.y]);
-        log(stats.x);
-        log(stats.y);
-        log("");
     }
-   */
+
+    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;
 }

makefile

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