main.c

#include <stdio.h>
#include "Locomotion.h"
#include "costAlgorithm.h"

// enable this to perform run via simulation.
#define ENABLE_SIMULATION 1
#if ENABLE_SIMULATION
    #include "Simulation/simulator.h"
#endif

extern CELL CURRENT_CELL;
extern ABSOLUTE_DIRECTION CURRENT_ABSOLUTE_DIRECTION;

// Path Finding from Home to goal and goal to home. Vice versa
void gotoGoal(CELL goal);

void gotoGoal(CELL goal)
{
    while ((CURRENT_CELL.x != goal.x) || (CURRENT_CELL.y != goal.y))
    {
        #if !ENABLE_SIMULATION
        // read the values from 3 sensors for mapping walls.
        WallState frontWall = (API_frontWall() == 1) ? WALL_PRESENT : WALL_ABSENT;
        WallState rightWall = (API_rightWall() == 1) ? WALL_PRESENT : WALL_ABSENT;
        WallState leftWall  = (API_leftWall() == 1) ? WALL_PRESENT : WALL_ABSENT;

        #elif ENABLE_SIMULATION
        // read the values from 3 sensors for mapping walls via simulation.
        WallState frontWall = 0;
        WallState rightWall = 0;
        WallState leftWall = 0;
        getSimulatedWall(CURRENT_CELL, CURRENT_ABSOLUTE_DIRECTION, &frontWall, &rightWall, &leftWall);
        #endif

        updateWalls(frontWall, rightWall, leftWall);
        
        propagateCost(goal);

        CELL nextCellToMove = smallestNextNeighbourCell(CURRENT_CELL, CURRENT_ABSOLUTE_DIRECTION);

        moveToCurrentLocation(CURRENT_CELL.x, CURRENT_CELL.y, nextCellToMove.x, nextCellToMove.y, &CURRENT_ABSOLUTE_DIRECTION);

        // Update current cell after movement.
        CURRENT_CELL.x = nextCellToMove.x; CURRENT_CELL.y = nextCellToMove.y;
        // break;
    }
}


int main() {
    printf("Hello, World!\n");
    /*
    * Initialise the Walls based on out "L" finger rule.
    * All boundaries are marked as wall present and rest all as unseen
    */
    initWalls();

    // assign the goal.
    CELL goal = END;

    // set current cell to 0,0
    CURRENT_CELL.x = 0;
    CURRENT_CELL.y = 0;
    
    // Set current pointing Direction
    CURRENT_ABSOLUTE_DIRECTION = NORTH;

    // do update walls and propagate Cost till current cell != goal
    gotoGoal(goal);

    // give home as new goal and make the bot come back. 
    gotoGoal((CELL){0,0});
    

    return 0;
}