Mapper-6

Project #2

CIS480

Option Explicit

Const maxNodes = 26

Const maxNeighs = 10

Dim numNodes As Integer

' Simulator data & structures

Private Type mapNode

 nodeName As String * 1

 numPaths As Integer

 neighbor(0 To maxNeighs - 1) As Integer

End Type

Dim robiLoc As Integer

Dim robiDir As Integer

Dim simMap(1 To maxNodes) As mapNode

Dim place(1 To maxNodes) As String * 1

' Robot data & structures

Private Type robiMapNode

 nodeName As String * 1

 mapped As Boolean

 numPaths As Integer

 neighbor(0 To maxNeighs - 1) As Integer

End Type

Private Type srchNode

 nodeNum As Integer

 parent As Integer

End Type

Private Type nodeRay

 low As Integer

 high As Integer

 nodeId(1 To maxNodes) As Integer

End Type

Dim myLocName As String * 1

Dim myLoc As Integer

Dim prevLoc As Integer

Dim myDir As Integer

Dim goalDir As Integer

Dim robiMap(1 To maxNodes) As robiMapNode

Private Sub cmdMap_Click()

Dim numP As Integer

Dim doneMapping As Boolean

Dim fromDir As Integer

 nextNewNode = 1

 myLocName = senseLoc

 numP = sensePaths

 myDir = 0

 goalDir = 0

 myLoc = makeNewNode(myLocName, numP)

 Call travel

 doneMapping = False

 While Not doneMapping

  prevLoc = myLoc

  myLocName = senseLoc

  numP = sensePaths

  If prevSeen(myLocName) Then

   myLoc = getLoc(myLocName)

   fromDir = getFromDir(myLoc, prevLoc)

  Else

   myLoc = makeNewNode(myLocName, numP)

   fromDir = 0

  End If

  myDir = (fromDir + 1) Mod numP

  robiMap(prevLoc).neighbor(goalDir) = myLoc

  robiMap(prevLoc).mapped = isMapped(prevLoc)

  If Not robiMap(myLoc).mapped Then

   robiMap(myLoc).neighbor(fromDir) = prevLoc

   robiMap(myLoc).mapped = isMapped(myLoc)

  End If

  If robiMap(myLoc).mapped Then

   doneMapping = gotoClosestInc(myLoc, myDir)

  End If

  If Not doneMapping Then

   goalDir = chooseDir(myLoc)

   turn ((goalDir + numP - myDir) Mod numP)

   Call travel

  End If

 Wend

 lblMesg.Caption = "DONE Mapping!"

End Sub

Private Sub cmdInit_Click()

 robiLoc = 4

 robiDir = 0

End Sub

' Robi's Logical sensors

Public Function senseLoc() As String

 senseLoc = place(robiLoc)

End Function

Public Function sensePaths()

 sensePaths = simMap(robiLoc).numPaths

End Function

' Robi's Logical actuators

Public Sub turn(ByVal numTicks As Integer)

 robiDir = (robiDir + numTicks) Mod simMap(robiLoc).numPaths

End Sub

Public Sub travel()

Dim prevRobiLoc As Integer

Dim robiFrom As Integer

 prevRobiLoc = robiLoc

 robiLoc = simMap(robiLoc).neighbor(robiDir)

 robiFrom = getRobiFrom(prevRobiLoc, robiLoc)

 robiDir = (robiFrom + 1) Mod simMap(robiLoc).numPaths

End Sub