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#include <curses.h>
#include <signal.h>
#include <stdlib.h>
#include <string.h>
#include <stdio.h>
#include <unistd.h>
#include <time.h>
#include "map.h"
#include "structs.h"
#include "config.h"
#include "error.h"
#include "priority_queue.h"
#include "path.h"
#include "bmp.h"
/* So, TODO for now:
- Allow maps to have costs
- Implement greedy-best-first algorithm (4 and 8 dir)
- Implement Dijkstra algorithm (4 and 8 dir)
- Implement the A* algorithm (4 and 8 dir)
- MORE MAPS FOR THE MAP PEOPLE
- Implement controls (to change maps, move start/goal, etc.)
- Clean up unused `#include`s
- mouse controls to edit map, drag start and end around */
void sigint_handler(int sig) {
(void)sig; /* We know it's a SIGINT */
endwin();
printf("Received SIGINT\n");
exit(1);
}
void initialize_colors(void) {
start_color();
use_default_colors();
init_pair(EMPTY_COLOR, COLOR_BLACK, -1);
init_pair(VISITED_COLOR, COLOR_GREEN, COLOR_GREEN);
init_pair(GOAL_COLOR, -1, COLOR_RED);
init_pair(WALL_COLOR, COLOR_WHITE, COLOR_WHITE);
init_pair(START_COLOR, -1, COLOR_RED);
init_pair(PATH_COLOR, COLOR_YELLOW, COLOR_RED);
init_pair(FRONTIER_COLOR, COLOR_BLUE, COLOR_BLUE);
init_pair(CURSOR_COLOR, -1, COLOR_RED);
}
void init_ncurses(void) {
initscr(); /* Initialize the ncurses screen */
cbreak(); /* Process input one char at a time */
curs_set(0); /* Hide the cursor */
noecho(); /* Don't echo characters */
initialize_colors();
}
int main(int argc, char **argv) {
Position start_pos, end_pos;
size_t width, height;
Map map = NULL;
Path (*path_func)(int, Map, size_t, size_t, Position, Position, char **, char) = &astar_path;
size_t mwidth = 20; /* Maze width */
size_t mheight = 10; /* Maze height */
char is_maze = 0;
char bmp_only = 0;
char *bmp_filename = NULL;
char anim = 0;
int dirs = 8;
srand(time(NULL));
/* Handle args.
* Currently supported:
* -a to animate the pathfinding (get input after each step)
* -d for Dijkstra
* -m {width}x{height} to give a maze of given size
* -f {filename} to load a map from the filename
* -b {filename} to just generate a bitmap, no interface
* -4 for four directions
* -8 for eight directions */
/* TODO: Argument to choose the algorithm */
/* TODO: Argument to set seed */
int opt;
while ((opt = getopt(argc, argv, ":adm:f:b:48")) != -1) {
switch (opt) {
case 'a': anim = 1; break;
case 'd': path_func = &dijkstra_path; break;
case 'm':
if (sscanf(optarg, "%zux%zu", &mwidth, &mheight) != 2) error("Wrong maze size string in argument\n");
is_maze = 1;
map = rbt_maze_map(mwidth, mheight, rand());
start_pos.x = 0;
start_pos.y = 0;
height = mheight * 2 - 1;
width = mwidth * 2 - 1;
end_pos.x = width - 1;
end_pos.y = height - 1;
break;
case 'f':
map = file_plaintext_map(optarg, &width, &height, &start_pos, &end_pos);
break;
case 'b':
bmp_only = 1;
bmp_filename = optarg;
break;
case '4': dirs = 4; break;
case '8': dirs = 8; break;
case '?': error("Unknown option: %c\n", optopt);
case ':': error("Option %c requires an argument\n", optopt);
}
}
if (map == NULL) { /* If no map were given */
is_maze = 1;
if (argc == 4) { /* maze size as argv[2] and [3] */
mwidth = atoi(argv[2]);
mheight = atoi(argv[3]);
}
map = rbt_maze_map(mwidth, mheight, rand());
start_pos.x = 0;
start_pos.y = 0;
height = mheight * 2 - 1;
width = mwidth * 2 - 1;
end_pos.x = width - 1;
end_pos.y = height - 1;
}
signal(SIGINT, sigint_handler);
if (!bmp_only) {
init_ncurses();
}
int offset_x = 0, offset_y = 0;
//draw_map(map, width, height, offset_x, offset_y, start_pos, end_pos, NULL, NULL, NULL, NULL);
//print_map_out(map, width, height);
char **visited = visited_new(width, height);
Path path = NULL;
path = path_func(dirs, map, width, height, start_pos, end_pos, visited, anim);
if (bmp_only) {
map_to_bmp(map, width, height, start_pos, end_pos, path, visited, bmp_filename);
printf("Wrote the bmp to %s\n", bmp_filename);
exit(0);
}
while (1) {
draw_map(map, width, height, offset_x, offset_y, start_pos, end_pos, NULL, path, visited, NULL);
char c = getch();
switch (c) {
/* FIXME: scroll the view not the content or whatever */
case 'h': offset_x += 2; break;
case 'l': offset_x -= 2; break;
case 'j': offset_y -= 1; break;
case 'k': offset_y += 1; break;
case 'a': anim = !anim; break;
case 'y':
case 'o':
case 'u':
case 'i':
if(is_maze) {
switch (c) {
case 'y': mwidth -= 1; break;
case 'o': mwidth += 1; break;
case 'u': mheight += 1; break;
case 'i': mheight -= 1; break;
}
map_free(map, height);
visited_free(visited, height);
path_free(path, height);
height = mheight * 2 - 1;
width = mwidth * 2 - 1;
end_pos.x = width - 1;
end_pos.y = height - 1;
map = rbt_maze_map(mwidth, mheight, rand());
visited = visited_new(width, height);
path = path_func(dirs, map, width, height, start_pos, end_pos, visited, anim);
}
break;
case 's':
/* TODO: prompt for filename? or do a define idk */
map_to_bmp(map, width, height, start_pos, end_pos, path, visited, "out.bmp");
mvprintw(height + offset_y + DRAW_MAP_OFFSET_Y + 1, offset_x, "Saved to out.bmp");
getch();
break;
case 'n':
if (is_maze) {
map_free(map, height);
map = rbt_maze_map(mwidth, mheight, rand());
path_free(path, height);
path = path_func(dirs, map, width, height, start_pos, end_pos, visited, anim);
}
break;
case 'q': map_free(map, height); path_free(path, height); endwin(); return 0;
}
}
endwin();
return 0;
}
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