vmann/gpn-maze-bot
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hardcode field size ;)

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This commit is contained in:
Thomas Lindner 2022-05-21 10:56:12 +02:00
parent 219f454e6c
commit 737ae965d0
1 changed files with 12 additions and 5 deletions
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17
src/main.cc
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@ -55,6 +55,7 @@ class Bot {
int x, y;
bool up, right, down, left;
std::map<std::pair<int, int>, unsigned> known_map;
int field_width, field_height;
asio::awaitable<void> Protocol();
asio::awaitable<void> Join();
@ -75,7 +76,9 @@ Bot::Bot(asio::any_io_executor executor, std::string_view name,
socket{executor},
server{server},
name{name},
pass{pass} {
pass{pass},
field_width{22},
field_height{22} {
asio::co_spawn(executor, std::bind(&Bot::Protocol, this), asio::detached);
}
@ -200,19 +203,23 @@ unsigned Bot::ShortestPath(int x, int y) {
if (visited.count(position)) {
continue;
}
if (!(known_map[position] & static_cast<unsigned>(Direction::LEFT))) {
if (!(known_map[position] & static_cast<unsigned>(Direction::LEFT)) &&
position.first > 0) {
auto pos = std::make_pair(position.first - 1, position.second);
queue.emplace(distance + 1 + AStarHeuristic(pos), pos);
}
if (!(known_map[position] & static_cast<unsigned>(Direction::RIGHT))) {
if (!(known_map[position] & static_cast<unsigned>(Direction::RIGHT)) &&
position.first < field_width) {
auto pos = std::make_pair(position.first + 1, position.second);
queue.emplace(distance + 1 + AStarHeuristic(pos), pos);
}
if (!(known_map[position] & static_cast<unsigned>(Direction::UP))) {
if (!(known_map[position] & static_cast<unsigned>(Direction::UP)) &&
position.second > 0) {
auto pos = std::make_pair(position.first, position.second - 1);
queue.emplace(distance + 1 + AStarHeuristic(pos), pos);
}
if (!(known_map[position] & static_cast<unsigned>(Direction::DOWN))) {
if (!(known_map[position] & static_cast<unsigned>(Direction::DOWN)) &&
position.second < field_height) {
auto pos = std::make_pair(position.first, position.second + 1);
queue.emplace(distance + 1 + AStarHeuristic(pos), pos);
}