FisionX/mms-sim
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FloodFill #2

Merged
FisionX merged 16 commits from floodfill into main 2024-08-09 18:29:49 -06:00
Conversation 0 Commits 16 Files Changed 6 +359 -24
6 changed files with 359 additions and 24 deletions
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23
Main.cpp
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@ -1,23 +0,0 @@
#include <iostream>
#include <string>
#include "API.h"
void log(const std::string& text) {
std::cerr << text << std::endl;
}
int main(int argc, char* argv[]) {
log("Running...");
API::setColor(0, 0, 'G');
API::setText(0, 0, "abc");
while (true) {
if (!API::wallLeft()) {
API::turnLeft();
}
while (API::wallFront()) {
API::turnRight();
}
API::moveForward();
}
}

14
API.cpp → api.cpp
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@ -1,4 +1,4 @@
#include "API.h" #include "api.h"
#include <cstdlib> #include <cstdlib>
#include <iostream> #include <iostream>
@ -89,6 +89,9 @@ void API::clearAllColor() {
void API::setText(int x, int y, const std::string& text) { void API::setText(int x, int y, const std::string& text) {
std::cout << "setText " << x << " " << y << " " << text << std::endl; std::cout << "setText " << x << " " << y << " " << text << std::endl;
} }
void API::setText(int x, int y, const int& text) {
std::cout << "setText " << x << " " << y << " " << text << std::endl;
}
void API::clearText(int x, int y) { void API::clearText(int x, int y) {
std::cout << "clearText " << x << " " << y << std::endl; std::cout << "clearText " << x << " " << y << std::endl;
@ -110,3 +113,12 @@ void API::ackReset() {
std::string ack; std::string ack;
std::cin >> ack; std::cin >> ack;
} }
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;
}

4
API.h → api.h
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@ -25,6 +25,7 @@ public:
static void clearAllColor(); static void clearAllColor();
static void setText(int x, int y, const std::string& text); static void setText(int x, int y, const std::string& text);
static void setText(int x, int y, const int& text);
static void clearText(int x, int y); static void clearText(int x, int y);
static void clearAllText(); static void clearAllText();
@ -32,3 +33,6 @@ public:
static void ackReset(); static void ackReset();
}; };
void log(const std::string&);
void log(const int&);

273
main.cpp Normal file
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@ -0,0 +1,273 @@
#include <string>
#include <sys/types.h>
#include <queue>
#include "api.h"
#include "mms.h"
#define W 15 /* ancho y alto del laberinto -1 */
struct maze { /* Distancias de Manhattan */
int vwalls[15][15];
int hwalls[15][15];
int mhtn[16][16];
}maze;
struct fill {
int x, y, z;
};
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 i, j;
int prevNum;
int marked[16][16];
std::queue<fill> myqueue;
/*
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;
j = myqueue.front().y;
prevNum = myqueue.front().z;
myqueue.pop();
if (i < 0 || i > W || j < 0 || j > W
|| marked[i][j]==1) {
continue;
}
else {
API::setText(i, j, prevNum+1);
maze->mhtn[i][j] = prevNum+1;
marked[i][j] = 1;
if (!maze->vwalls[i][j])
myqueue.push({i+1, j, 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});
}
}
}
void follow(struct maze maze, class mmstats* mms) {
/* para que el micromouse siga el camino descendente
* se tienen que dar 16 estados, esta funcion lo reduce a 4
*/
int mht = maze.mhtn[mms->x][mms->y];
int nextmht = mht-1;
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->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");
return;
}
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()) {
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]] <= 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]) {
switch (dir) {
case norte: j++;
break;
case este: i++;
break;
case sur: j--;
break;
case oeste: i--;
break;
}
ndir[0] = i;
ndir[1] = j;
return ndir;
}
void updatepos(class mmstats* mms) {
/* cada que se ejecuta moveForward la funcion actualiza
* la posicion del micromouse en el valor correspondiente
*/
switch (mms->dir) {
case norte: mms->y++;
break;
case este: mms->x++;
break;
case sur: mms->y--;
break;
case oeste: mms->x--;
break;
}
}
void locateWall(struct maze* maze, class mmstats *mms) {
switch (mms->dir) {
case norte:
if(API::wallFront() && mms->y != 15) {
maze->hwalls[mms->x][mms->y] = 1;
API::setWall(mms->x, mms->y, 'n');
}
if(API::wallLeft() && mms->x != 0){
maze->vwalls[mms->x -1][mms->y] = 1;
API::setWall(mms->x -1, mms->y, 'e');
}
if(API::wallRight() && mms->x != 15){
maze->vwalls[mms->x][mms->y] = 1;
API::setWall(mms->x, mms->y, 'e');
}
break;
case este:
if(API::wallFront() && mms->x != 15) {
maze->vwalls[mms->x][mms->y] = 1;
API::setWall(mms->x, mms->y, 'e');
}
if(API::wallLeft() && mms->y != 15){
maze->hwalls[mms->x][mms->y] = 1;
API::setWall(mms->x, mms->y, 'n');
}
if(API::wallRight() && mms->y != 0){
maze->hwalls[mms->x][mms->y -1] = 1;
API::setWall(mms->x, mms->y -1, 'n');
}
break;
case sur:
if(API::wallFront() && mms->y != 0) {
maze->hwalls[mms->x][mms->y-1] = 1;
API::setWall(mms->x, mms->y-1, 'n');
}
if(API::wallLeft() && mms->x != 15){
maze->vwalls[mms->x][mms->y] = 1;
API::setWall(mms->x, mms->y, 'e');
}
if(API::wallRight() && mms->x != 0){
maze->vwalls[mms->x -1][mms->y] = 1;
API::setWall(mms->x -1, mms->y, 'e');
}
break;
case oeste:
if(API::wallFront() && mms->x != 0) {
maze->vwalls[mms->x -1][mms->y] = 1;
API::setWall(mms->x -1, mms->y, 'e');
}
if(API::wallLeft() && mms->y != 0){
maze->hwalls[mms->x][mms->y -1] = 1;
API::setWall(mms->x, mms->y -1, 'n');
}
if(API::wallRight() && mms->y != 15){
maze->hwalls[mms->x][mms->y] = 1;
API::setWall(mms->x, mms->y, 'n');
}
break;
}
}
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) {
locateWall(&maze, &stats);
flood(&maze, &stats);
follow(maze, &stats);
if(maze.mhtn[stats.x][stats.y] == 0){
log("Finish");
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("");
}
*/
}

10
makefile Normal file
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@ -0,0 +1,10 @@
SRC = *.cpp
CC = g++
#ARGS = -lstdc++ -g -Wall
ARGS = -g -Wall
compile: ${SRC}
${CC} ${ARGS} $^ -o a.out
run: compile
@./a.out

59
mms.h Normal file
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@ -0,0 +1,59 @@
#include "api.h"
enum turn{left, right};
enum compass{norte, sur, este, oeste};
struct dirnode {
int value;
dirnode* next;
dirnode* prev;
dirnode(int val): value(val){};
};
class mmstats {
private:
dirnode* tail;
void addnode(int 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:
dirnode* head;
int y;
int x;
char dir;
mmstats(): tail(nullptr), head(nullptr) {
addnode(este);
addnode(sur);
addnode(oeste);
addnode(norte);
dir = norte;
}
void turn(int opt) {
if (opt)
head = head->next;
else head = head->prev;
dir = head->value;
/*
switch (dir) {
case norte: log("Norte");
break;
case este: log("Este");
break;
case sur: log("Sur");
break;
case oeste: log("Oeste");
break;
}
*/
}
};