public ArrayList<Node> getSuccessors(Node parent, int nX, int nY, Memory mem) {
ArrayList<Node> successors = new ArrayList<Node>();
// up
if (mem.validPosition(nX, nY - 1)) {
successors.add(new Node(parent, nX, nY - 1, 'u'));
}
// down
if (mem.validPosition(nX, nY + 1)) {
successors.add(new Node(parent, nX, nY + 1, 'd'));
}
// left
if (mem.validPosition(nX - 1, nY)) {
successors.add(new Node(parent, nX - 1, nY, 'l'));
}
// right
if (mem.validPosition(nX + 1, nY)) {
successors.add(new Node(parent, nX + 1, nY, 'r'));
}
// Stay still
successors.add(new Node(parent, nX, nY, this.getHeading()));
return successors;
}
public void run(PPP ppp, int maxMoves, boolean verbose, boolean showSteps) {
short[] pos = this.getPos();
if ((pos[0] > (ppp.size * 2)) || (pos[1] > ppp.size)) {
System.err.println("Bot started on an invalid Position!");
System.err.printf(
"Position: %d,%d :: PPP is %dx%d, ignoring the boundary wall\n",
pos[0], pos[1], 2 * ppp.size, ppp.size);
System.exit(1);
}
short goalX = (short) (ppp.size * 2);
short goalY = ppp.size;
int moves = this.route_taken.size();
this.aprioriPlan(goalX, goalY);
// If we have a limited memory, we won't be able to see the route taken across the whole map
// So create an overview map (which won't be used by the bot) to print the route on later
Memory routeMap = null;
if (this.currentMem instanceof LimitedMemory) {
routeMap = new Memory(ppp);
}
if (verbose) {
if (this.planned_route.size() > 0) {
if (this.apriori != null) {
System.out.println("\nPlanned route via A Priori knowledge");
this.apriori.prettyPrintRoute(this.planned_route);
// this.printPlannedRoute();
}
}
System.out.println();
}
while (!this.state.isPos(goalX, goalY)) {
if (this.currentMem instanceof LimitedMemory) {
this.currentMem.rePlot(this.getPos());
}
this.sense(ppp);
// this.currentMem.prettyPrintRoute(route_taken);
try {
this.plan();
} catch (Exception e) {
System.out.println("Route Taken");
this.currentMem.prettyPrintRoute(this.route_taken);
System.out.println("\n\nRoute Planned");
this.currentMem.prettyPrintRoute(this.planned_route);
System.out.println("\n\n Reachability");
this.currentMem.prettyPrintRoute(this.route_taken, true);
System.err.print(e);
e.printStackTrace();
System.exit(1);
}
try {
// this.move(ppp);
if (showSteps) {
this.currentMem.prettyPrintRoute(this.route_taken);
System.out.printf("Step %d\n\n", moves);
Thread.sleep(this.STEP_TIME);
}
this.move(ppp);
} catch (InvalidMoveError e) {
if (verbose) {
System.err.println(e + " -- replanning\n");
}
} catch (InterruptedException e) {
e.printStackTrace();
}
moves++;
if (moves >= maxMoves) {
break;
}
}
// Sense around goal pos to tidy up the map
if (this.currentMem instanceof LimitedMemory) {
this.currentMem.rePlot(this.getPos());
}
this.sense(ppp);
boolean success = false;
if (this.state.isPos(goalX, goalY)) {
if (verbose) {
System.out.printf("Reached Goal %d,%d in %d moves\n", goalX, goalY, moves);
}
success = true;
} else {
if (verbose) {
System.out.printf("Failed to reach goal in %d moves\n", moves);
}
}
if (verbose) {
if (routeMap == null) {
routeMap = this.currentMem;
}
System.out.println("\nRoute Taken");
routeMap.prettyPrintRoute(route_taken);
System.out.println("\nReachability Map");
routeMap.prettyPrintRoute(null, true);
// this.printTakenRoute();
}
this.finished(moves, success);
}
