From 13c09a8995ec449512f520ce6be2bf6957adfa7b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Peter=20Babi=C4=8D?= <babicpet@gmail.com>
Date: Sun, 8 Mar 2015 20:04:03 +0100
Subject: [PATCH] preparation for a*search

---
 src/myrobot/FirstRobot.java | 115 ++++++++++++++++++++++++++++++------
 src/world/Generator.java    |  18 +++++-
 src/world/Node.java         |  10 ++++
 3 files changed, 122 insertions(+), 21 deletions(-)
 create mode 100644 src/world/Node.java

diff --git a/src/myrobot/FirstRobot.java b/src/myrobot/FirstRobot.java
index a8d3c31..8a72387 100644
--- a/src/myrobot/FirstRobot.java
+++ b/src/myrobot/FirstRobot.java
@@ -1,37 +1,73 @@
 package myrobot;
 
+import java.util.HashSet;
+import java.util.Set;
+
 import robocode.Robot;
+import world.Generator;
+import world.Point;
 
 
 public class FirstRobot extends Robot {
 
+	// cost is always 1 because we do not move on diagonals
+	public static final int G = 1;
+	
+	private static Generator gen = new Generator();
+	
+	private static Set<Point> open = new HashSet<>();
+	private static Set<Point> closed = new HashSet<>();
+	
+	private static Point lowestP;
+	private static int lowestF = 0;
+	
 	public void run() {
 
+		
 		while (true) {
-			doNothing();
-
+		
+			open.add(gen.start);
+			
+			for (Point p : open) {
+				int H = Manhattan(p, gen.stop);
+				int F = G + H;
+				
+				if (lowestF == 0 || lowestF >= F) {
+					lowestF = F;
+					lowestP = p;
+				}
+			}
+			
+			open.remove(lowestP);
+			closed.add(lowestP);
+			
+			Point pu = new Point(lowestP.getX(), lowestP.getY() + 1);
+			Point pr = new Point(lowestP.getX() + 1, lowestP.getY());
+			Point pd = new Point(lowestP.getX(), lowestP.getY() - 1);
+			Point pl = new Point(lowestP.getX() - 1, lowestP.getY());
+			
+			
+			
+//			if (lowestP)
 		}
 
 	}
-
-	public void north() {
-		turn(0);
-	}
-
-	public void east() {
-		turn(90);
-	}
-
-	public void south() {
-		turn(180);
-	}
-
-	public void west() {
-		turn(270);
+	
+	private void calculatePoint(Point p) {
+		if (isWalkable(p)) {
+			if (!open.contains(p)) {
+				open.add(p);	
+			}
+		}
 	}
 	
-	public void steps(int num) {
-		ahead(num * world.Generator.PX_STEP);
+	private boolean isWalkable(Point p) {
+		return (!gen.obstacles.contains(p) && 
+				!closed.contains(p) &&
+				p.getX() >= 0 && 
+				p.getX() < Generator.ROWS &&
+				p.getY() >= 0 &&
+				p.getY() < Generator.COLS);
 	}
 
 	private void turn(int dest) {
@@ -44,8 +80,49 @@ public class FirstRobot extends Robot {
 				turnLeft(diff);
 		}
 	}
+	
+	public void steps(int num) {
+		ahead(num * world.Generator.PX_STEP);
+	}
 
+	private int Manhattan(Point start, Point stop) {
+		return Math.abs(start.getX() - stop.getX()) + Math.abs(start.getX() - stop.getY());
+	}
+	
+	public void up() {
+		north();
+		steps(1);
+	}
+	
+	public void right() {
+		east();
+		steps(1);
+	}
+	
+	public void down() {
+		south();
+		steps(1);
+	}
+	
+	public void left() {
+		west();
+		steps(1);
+	}
 
+	public void north() {
+		turn(0);
+	}
+
+	public void east() {
+		turn(90);
+	}
 
+	public void south() {
+		turn(180);
+	}
+
+	public void west() {
+		turn(270);
+	}	
 
 }
diff --git a/src/world/Generator.java b/src/world/Generator.java
index 1e30948..6e306d2 100644
--- a/src/world/Generator.java
+++ b/src/world/Generator.java
@@ -4,7 +4,6 @@ import java.util.HashSet;
 import java.util.Random;
 import java.util.Set;
 
-import world.Point;
 
 public class Generator {
 
@@ -25,7 +24,7 @@ public class Generator {
 //	public static Point[] obstacles = new Point[NUM_OBSTACLES];
 //	public static Point[] agent = new Point[2];		
 	public Set<Point> obstacles = new HashSet<>();
-	public Point start;
+	public Point start, stop;
 	
 	
 	Random rand;
@@ -83,6 +82,21 @@ public class Generator {
 		}
 	}
 	
+	public void addStop() {
+		// try to find free place for an obstacle
+		while (true) {
+			// -1 is due the offset
+			int x = randInt(0, COLS -1);
+			int y = randInt(0, ROWS -1);
+			
+			Point point = new Point(x, y);
+			if (!obstacles.contains(point) && start != point) {
+				stop = point;
+				return;
+			}
+		}
+	}
+	
 
 //	
 //	public boolean isObstacle(int x, int y) {
diff --git a/src/world/Node.java b/src/world/Node.java
new file mode 100644
index 0000000..408c3f4
--- /dev/null
+++ b/src/world/Node.java
@@ -0,0 +1,10 @@
+package world;
+
+public class Node extends Point {
+
+	public Node(int x, int y) {
+		super(x, y);
+		// TODO Auto-generated constructor stub
+	}
+
+}