Bug fixes

src/belt_finding/conflict_avoidance.rs

@@ -196,7 +196,7 @@ impl ConflictAvoidance {
                 if let Some(PathField::Underground { pos, dir, len }) = path.get(end_index + 1) {
                     if xrange.contains(&(pos.x as usize)) && yrange.contains(&(pos.y as usize)) {
                         let p = *pos - offset;
-                        println!("Blocked {:?}", p);
+                        // println!("Blocked {:?}", p);
                         if b.get_blocked(p.x as usize, p.y as usize) {
                             return None;
                         }
@@ -247,8 +247,8 @@ impl ConflictAvoidance {
 
         let mut b = b.build();
 
-        b.print();
-        self.print();
+        // b.print();
+        // self.print();
 
         let mut min_cost = f64::INFINITY;
         let mut solutions = Vec::new();
@@ -317,6 +317,8 @@ impl ConflictAvoidance {
         //     println!();
         // }
 
+        // self.print();
+
         let mut candidates = Vec::new();
 
         for y in 0..self.map.height {
@@ -337,10 +339,17 @@ impl ConflictAvoidance {
         if candidates.is_empty() {
             return false;
         }
+        // dbg!(&candidates);
 
         loop {
             candidates.sort_by_key(|c| -c.area());
-            let c = candidates.pop().unwrap();
+            // dbg!(&candidates);
+            let c = match candidates.pop() {
+                Some(c) => c,
+                None => {
+                    return false;
+                }
+            };
 
             self.range = Some((c.min.x..=c.max.x, c.min.y..=c.max.y));
 
@@ -425,12 +434,27 @@ impl ConflictAvoidance {
             if candidate != c && !candidates.iter().any(|c| c == &candidate) {
                 candidates.push(candidate);
             }
-            // dbg!(&candidates);
         }
     }
 
-    pub fn remove_all_conflicts(&mut self) {
+    pub fn remove_all_conflicts(&mut self) -> bool {
         while self.remove_conflict() {}
+
+        let mut conflicts: Map<bool> = Map::new(self.map.width, self.map.height);
+
+        for x in 0..self.map.width {
+            for y in 0..self.map.height {
+                if self.map.get(x, y).blocked {
+                    if conflicts.get(x, y) == &true {
+                        return false;
+                    } else {
+                        conflicts.set(x, y, true);
+                    }
+                }
+            }
+        }
+
+        true
     }
 
     pub fn print(&self) {