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-rw-r--r--digital/io/src/path.c157
1 files changed, 86 insertions, 71 deletions
diff --git a/digital/io/src/path.c b/digital/io/src/path.c
index b0c8a733..e7c9d547 100644
--- a/digital/io/src/path.c
+++ b/digital/io/src/path.c
@@ -83,6 +83,10 @@ struct path_node_t
/** If this node can carry a corn, this is the index of the carried corn
* in the food table, else, 0xff. */
uint8_t carry_corn;
+ /** If this node is to the upper or lower left of a corn, this is the
+ * index of the corresponding corn, else 0xff. This is used for
+ * horizontal movements of two columns. */
+ uint8_t left_of_corn;
};
/** Context. */
@@ -108,71 +112,71 @@ static struct path_t path;
/** Static information on nodes. */
static const struct path_node_t path_nodes[PATH_GRID_NODES_NB] = {
/* {{{ */
- { 1, 0 }, /* 0 column 0. */
- { 1, 0xff }, /* 1 */
- { 1, 2 }, /* 2 */
- { 1, 0xff }, /* 3 */
- { 1, 4 }, /* 4 */
- { 1, 0xff }, /* 5 column 1. */
- { 1, 0xff }, /* 6 */
- { 1, 0xff }, /* 7 */
- { 1, 0xff }, /* 8 */
- { 1, 0xff }, /* 9 */
- { 1, 0xff }, /* 10 column 2. */
- { 1, 5 }, /* 11 */
- { 1, 0xff }, /* 12 */
- { 1, 7 }, /* 13 */
- { 1, 0xff }, /* 14 */
- { 1, 0xff }, /* 15 column 3. */
- { 1, 0xff }, /* 16 */
- { 1, 0xff }, /* 17 */
- { 1, 0xff }, /* 18 */
- { 1, 0xff }, /* 19 */
- { 0, 0xff }, /* 20 column 4. */
- { 1, 0xff }, /* 21 */
- { 1, 10 }, /* 22 */
- { 1, 0xff }, /* 23 */
- { 1, 12 }, /* 24 */
- { 1, 0xff }, /* 25 column 5. */
- { 1, 0xff }, /* 26 */
- { 1, 0xff }, /* 27 */
- { 1, 0xff }, /* 28 */
- { 1, 0xff }, /* 29 */
- { 0, 0xff }, /* 30 column 6. */
- { 1, 0xff }, /* 31 */
- { 1, 0xff }, /* 32 */
- { 1, 29 }, /* 33 */
- { 1, 0xff }, /* 34 */
- { 1, 0xff }, /* 35 column 7. */
- { 1, 0xff }, /* 36 */
- { 1, 0xff }, /* 37 */
- { 1, 0xff }, /* 38 */
- { 1, 0xff }, /* 39 */
- { 0, 0xff }, /* 40 column 8. */
- { 1, 0xff }, /* 41 */
- { 1, 24 }, /* 42 */
- { 1, 0xff }, /* 43 */
- { 1, 26 }, /* 44 */
- { 1, 0xff }, /* 45 column 9. */
- { 1, 0xff }, /* 46 */
- { 1, 0xff }, /* 47 */
- { 1, 0xff }, /* 48 */
- { 1, 0xff }, /* 49 */
- { 1, 0xff }, /* 50 column 10. */
- { 1, 19 }, /* 51 */
- { 1, 0xff }, /* 52 */
- { 1, 21 }, /* 53 */
- { 1, 0xff }, /* 54 */
- { 1, 0xff }, /* 55 column 11. */
- { 1, 0xff }, /* 56 */
- { 1, 0xff }, /* 57 */
- { 1, 0xff }, /* 58 */
- { 1, 0xff }, /* 59 */
- { 1, 14 }, /* 60 column 12. */
- { 1, 0xff }, /* 61 */
- { 1, 16 }, /* 62 */
- { 1, 0xff }, /* 63 */
- { 1, 18 }, /* 64 */
+ { 1, 0, 0xff }, /* 0 column 0. */
+ { 1, 0xff, 0xff }, /* 1 */
+ { 1, 2, 0xff }, /* 2 */
+ { 1, 0xff, 0xff }, /* 3 */
+ { 1, 4, 0xff }, /* 4 */
+ { 1, 0xff, 5 }, /* 5 column 1. */
+ { 1, 0xff, 5 }, /* 6 */
+ { 1, 0xff, 7 }, /* 7 */
+ { 1, 0xff, 7 }, /* 8 */
+ { 1, 0xff, 9 }, /* 9 */
+ { 1, 0xff, 0xff }, /* 10 column 2. */
+ { 1, 5, 0xff }, /* 11 */
+ { 1, 0xff, 0xff }, /* 12 */
+ { 1, 7, 0xff }, /* 13 */
+ { 1, 0xff, 0xff }, /* 14 */
+ { 1, 0xff, 0xff }, /* 15 column 3. */
+ { 1, 0xff, 10 }, /* 16 */
+ { 1, 0xff, 10 }, /* 17 */
+ { 1, 0xff, 12 }, /* 18 */
+ { 1, 0xff, 12 }, /* 19 */
+ { 0, 0xff, 0xff }, /* 20 column 4. */
+ { 1, 0xff, 0xff }, /* 21 */
+ { 1, 10, 0xff }, /* 22 */
+ { 1, 0xff, 0xff }, /* 23 */
+ { 1, 12, 0xff }, /* 24 */
+ { 1, 0xff, 0xff }, /* 25 column 5. */
+ { 1, 0xff, 0xff }, /* 26 */
+ { 1, 0xff, 29 }, /* 27 */
+ { 1, 0xff, 29 }, /* 28 */
+ { 1, 0xff, 31 }, /* 29 */
+ { 0, 0xff, 0xff }, /* 30 column 6. */
+ { 1, 0xff, 0xff }, /* 31 */
+ { 1, 0xff, 0xff }, /* 32 */
+ { 1, 29, 0xff }, /* 33 */
+ { 1, 0xff, 0xff }, /* 34 */
+ { 1, 0xff, 0xff }, /* 35 column 7. */
+ { 1, 0xff, 24 }, /* 36 */
+ { 1, 0xff, 24 }, /* 37 */
+ { 1, 0xff, 26 }, /* 38 */
+ { 1, 0xff, 26 }, /* 39 */
+ { 0, 0xff, 0xff }, /* 40 column 8. */
+ { 1, 0xff, 0xff }, /* 41 */
+ { 1, 24, 0xff }, /* 42 */
+ { 1, 0xff, 0xff }, /* 43 */
+ { 1, 26, 0xff }, /* 44 */
+ { 1, 0xff, 19 }, /* 45 column 9. */
+ { 1, 0xff, 19 }, /* 46 */
+ { 1, 0xff, 21 }, /* 47 */
+ { 1, 0xff, 21 }, /* 48 */
+ { 1, 0xff, 23 }, /* 49 */
+ { 1, 0xff, 0xff }, /* 50 column 10. */
+ { 1, 19, 0xff }, /* 51 */
+ { 1, 0xff, 0xff }, /* 52 */
+ { 1, 21, 0xff }, /* 53 */
+ { 1, 0xff, 0xff }, /* 54 */
+ { 1, 0xff, 0xff }, /* 55 column 11. */
+ { 1, 0xff, 0xff }, /* 56 */
+ { 1, 0xff, 0xff }, /* 57 */
+ { 1, 0xff, 0xff }, /* 58 */
+ { 1, 0xff, 0xff }, /* 59 */
+ { 1, 14, 0xff }, /* 60 column 12. */
+ { 1, 0xff, 0xff }, /* 61 */
+ { 1, 16, 0xff }, /* 62 */
+ { 1, 0xff, 0xff }, /* 63 */
+ { 1, 18, 0xff }, /* 64 */
/* }}} */
};
@@ -377,7 +381,7 @@ path_astar_neighbor_callback_grid (uint8_t node,
{
uint8_t neighbors_nb = 0;
uint8_t i;
- /* Add neighbors in all 6 directions. */
+ /* Add neighbors in all 8 directions. */
static const struct {
/** Column offset of this neighbor. */
int8_t column_offset;
@@ -390,9 +394,11 @@ path_astar_neighbor_callback_grid (uint8_t node,
} star_n[] = {
{ 0, -1, 0, 250 }, /* N */
{ -1, -1, 1, 514 / 2 }, /* NW */
+ { -2, 0, 0, 450 }, /* Wx2 */
{ -1, 0, 1, 514 / 2 }, /* SW */
{ 0, 1, 0, 250 }, /* S */
{ 1, 0, 1, 514 / 2 }, /* SE */
+ { 2, 0, 0, 450 }, /* Ex2 */
{ 1, -1, 1, 514 / 2 }, /* NE */
};
uint8_t col = node / PATH_COLUMN_NODES_NB;
@@ -405,12 +411,21 @@ path_astar_neighbor_callback_grid (uint8_t node,
+ (odd ? star_n[i].odd_line_offset : 0);
int8_t new_node = new_col * PATH_COLUMN_NODES_NB + new_line;
if (new_col >= 0 && new_col < PATH_COLUMNS_NB
- && new_line >= 0 && new_line < PATH_COLUMN_NODES_NB
- && path.valid[new_node])
+ && new_line >= 0 && new_line < PATH_COLUMN_NODES_NB)
{
- neighbors[neighbors_nb].node = new_node;
- neighbors[neighbors_nb].weight = star_n[i].weight + 1;
- neighbors_nb++;
+ uint8_t valid = path.valid[new_node];
+ if (star_n[i].column_offset == -2)
+ valid = valid
+ && !food_blocking (path_nodes[new_node].left_of_corn);
+ else if (star_n[i].column_offset == 2)
+ valid = valid
+ && !food_blocking (path_nodes[node].left_of_corn);
+ if (valid)
+ {
+ neighbors[neighbors_nb].node = new_node;
+ neighbors[neighbors_nb].weight = star_n[i].weight + 1;
+ neighbors_nb++;
+ }
}
}
/* Check if direct path OK. */