148 lines
3.4 KiB
C
148 lines
3.4 KiB
C
//
|
|
// Created by junwei on 31/10/23.
|
|
//
|
|
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
#include <stdlib.h>
|
|
|
|
#ifndef TEST_PROJECT_MAP_H
|
|
#define TEST_PROJECT_MAP_H
|
|
|
|
// Define the grid structure
|
|
typedef struct
|
|
{
|
|
bool **data; // 2D array to represent the grid
|
|
int rows; // Number of rows in the grid
|
|
int cols; // Number of columns in the grid
|
|
} Grid;
|
|
|
|
// Global grid to track the car's path
|
|
Grid *car_path_grid;
|
|
|
|
// Function to create and initialize a grid
|
|
Grid *
|
|
create_grid(int rows, int cols)
|
|
{
|
|
Grid *grid = (Grid *)malloc(sizeof(Grid));
|
|
grid->rows = rows;
|
|
grid->cols = cols;
|
|
|
|
// Allocate memory for the 2D array
|
|
grid->data = (bool **)malloc(rows * sizeof(bool *));
|
|
for (int i = 0; i < rows; i++)
|
|
{
|
|
grid->data[i] = (bool *)malloc(cols * sizeof(bool));
|
|
for (int j = 0; j < cols; j++)
|
|
{
|
|
grid->data[i][j] = false; // Initialize to 'false' (unvisited)
|
|
}
|
|
}
|
|
|
|
return grid;
|
|
}
|
|
|
|
// Function to mark a cell as visited
|
|
void
|
|
mark_cell(Grid *grid, int row, int col)
|
|
{
|
|
if (row >= 0 && row < grid->rows && col >= 0 && col < grid->cols)
|
|
{
|
|
grid->data[row][col] = true;
|
|
}
|
|
}
|
|
|
|
// Function to check if a cell has been visited
|
|
bool
|
|
is_cell_visited(Grid *grid, int row, int col)
|
|
{
|
|
if (row >= 0 && row < grid->rows && col >= 0 && col < grid->cols)
|
|
{
|
|
return grid->data[row][col];
|
|
}
|
|
return false; // Consider out-of-bounds as unvisited
|
|
}
|
|
|
|
// Function to destroy the grid and free memory
|
|
void
|
|
destroy_grid(Grid *grid)
|
|
{
|
|
for (int i = 0; i < grid->rows; i++)
|
|
{
|
|
free(grid->data[i]);
|
|
}
|
|
free(grid->data);
|
|
free(grid);
|
|
}
|
|
|
|
// Function to update the map based on car's current orientation
|
|
// Function to update the map based on car's current orientation and position
|
|
void
|
|
update_map(int orientation, int cur_x, int cur_y)
|
|
{
|
|
// Define offsets for different orientations
|
|
int offset_x = 0;
|
|
int offset_y = 0;
|
|
|
|
switch (orientation)
|
|
{
|
|
case NORTH:
|
|
offset_y = 1;
|
|
break;
|
|
case EAST:
|
|
offset_x = 1;
|
|
break;
|
|
case SOUTH:
|
|
offset_y = -1;
|
|
break;
|
|
case WEST:
|
|
offset_x = -1;
|
|
break;
|
|
case NORTH_EAST:
|
|
offset_x = 1;
|
|
offset_y = 1;
|
|
break;
|
|
case SOUTH_EAST:
|
|
offset_x = 1;
|
|
offset_y = -1;
|
|
break;
|
|
case SOUTH_WEST:
|
|
offset_x = -1;
|
|
offset_y = -1;
|
|
break;
|
|
case NORTH_WEST:
|
|
offset_x = -1;
|
|
offset_y = 1;
|
|
break;
|
|
}
|
|
|
|
// Update the map based on the car's current position and orientation
|
|
mark_cell(car_path_grid, cur_x, cur_y);
|
|
mark_cell(car_path_grid, cur_x + offset_x, cur_y + offset_y);
|
|
}
|
|
|
|
// Function to print the map
|
|
void
|
|
print_map()
|
|
{
|
|
// Invert the map, 0,0 is at the Middle
|
|
// Print 1 for visited cells and 0 for unvisited cells
|
|
for (int i = car_path_grid->rows - 1; i >= 0; i--)
|
|
{
|
|
for (int j = 0; j < car_path_grid->cols; j++)
|
|
{
|
|
(car_path_grid->data[j][i]) ? printf("1 ") : printf("0 ");
|
|
// case false:
|
|
// printf("0 ");
|
|
// break;
|
|
// case true:
|
|
// printf("1 ");
|
|
// break;
|
|
// }
|
|
}
|
|
printf("\n");
|
|
}
|
|
}
|
|
|
|
#endif // TEST_PROJECT_MAP_H
|