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96 lines
2.3 KiB
96 lines
2.3 KiB
/*
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* Copyright (c) 2021, Erich Styger
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#ifndef MAZE_H_
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#define MAZE_H_
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#include "platform.h"
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#if PL_CONFIG_APP_LINE_MAZE
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#include "Turn.h"
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uint8_t MAZE_ResetPresentCount();
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uint8_t MAZE_GetPresentCount();
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/*!
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* \brief Adds a new path while going forward through the maze
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* \param kind New path to be added
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*/
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void MAZE_AddPath(TURN_Kind kind);
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/*!
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* \brief Tries to simplify the path, basically cutting dead end paths.
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*/
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void MAZE_SimplifyPath(void);
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/*!
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* \brief Returns TRUE if the maze has been solved (finish has been found)
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* \return TRUE if finish has been found, so maze is solved
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*/
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bool MAZE_IsSolved(void);
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/*!
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* \brief Marks the maze as solved.
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*/
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void MAZE_SetSolved(void);
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/*!
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* This clears the solution, and MAZE_IsSolved() will return FALSE
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*/
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void MAZE_ClearSolution(void);
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/*!
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* \brief Used to get the solution turns, one after each other
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* \param solvedIdx Solution index, starting with zero. The callee will increment the index.
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* \return Solution turn
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*/
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TURN_Kind MAZE_GetSolvedTurn(uint8_t *solvedIdx);
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/*!
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* \brief Selects the new turn based.
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* \param prev Line previous the intersection
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* \param curr Line kind of the intersection.
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* \return The new turn.
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*/
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TURN_Kind MAZE_SelectTurn(REF_LineKind prev, REF_LineKind curr);
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/*!
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* \brief Function which returns the current strategy
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* \return Returns TRUE if using left-hand-on-the-wall, FALSE otherwise
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*/
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bool MAZE_IsLeftHandRule(void);
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/*!
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* \brief Performs a turn while going forward over a line.
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* \param finished TRUE if reached finished area
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* \pram deadEndGoBW TRUE if found dead end and going backward
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* \return Returns TRUE while turn is still in progress.
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*/
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uint8_t MAZE_EvaluteTurn(bool *finished, bool *deadEndGoBw);
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uint8_t MAZE_EvaluateTurnBw(void);
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#if PL_CONFIG_USE_SHELL
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#include "McuShell.h"
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/*!
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* \brief Module command line parser
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* \param cmd Pointer to command string to be parsed
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* \param handled Set to TRUE if command has handled by parser
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* \param io Shell standard I/O handler
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* \return Error code, ERR_OK if everything was ok
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*/
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uint8_t MAZE_ParseCommand(const unsigned char *cmd, bool *handled, const McuShell_StdIOType *io);
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#endif
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uint8_t MAZE_SetHandRule(bool isLeft);
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/*!
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* \brief Module initialization.
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*/
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void MAZE_Init(void);
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#endif /* PL_CONFIG_APP_LINE_MAZE */
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#endif /* MAZE_H_ */
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