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Bug fixes

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This commit is contained in:
hal8174 2024-08-31 02:00:28 +02:00
parent a11b39cf9f
commit f20a1841c9
6 changed files with 75 additions and 25 deletions
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45
src/belt_finding/conflict_avoidance.rs
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@ -213,12 +213,16 @@ impl ConflictAvoidance {
}
}
let start_pos_offset = start_pos - offset;
b.set_blocked(
start_pos_offset.x as usize,
start_pos_offset.y as usize,
true,
);
if xrange.contains(&(start_pos.x as usize))
&& yrange.contains(&(start_pos.y as usize))
{
let p = start_pos - offset;
// println!("Blocked {:?}", p);
if b.get_blocked(p.x as usize, p.y as usize) {
return None;
}
b.set_blocked(p.x as usize, p.y as usize, true);
}
if let PathField::Underground { pos, dir, len } = path[start_index] {
for l in 1..len {
@ -231,6 +235,7 @@ impl ConflictAvoidance {
}
}
let start_pos_offset = start_pos - offset;
b.add_path((start_pos_offset, start_dir), (end_pos - offset, end_dir));
mapping.push((i, start_index, end_index));
@ -255,6 +260,7 @@ impl ConflictAvoidance {
while b.next_finish_state() {
// println!("{}", b);
// b.print();
let c = b.cost();
if c < min_cost {
min_cost = c;
@ -363,6 +369,7 @@ impl ConflictAvoidance {
let yrange = c.min.y as usize..=c.max.y as usize;
let offset = Position::new(*xrange.start() as i32 - 1, *yrange.start() as i32 - 1);
if let Some(r) = result {
// println!("Here");
for BruteForceEntry {
path_id,
start,
@ -454,6 +461,32 @@ impl ConflictAvoidance {
}
}
for path in &self.belts {
for p in &path[1..] {
match p {
PathField::Belt { pos, dir: _ } => {
if conflicts.get(pos.x as usize, pos.y as usize) == &true {
return false;
} else {
conflicts.set(pos.x as usize, pos.y as usize, true);
}
}
PathField::Underground { pos, dir, len } => {
if conflicts.get(pos.x as usize, pos.y as usize) == &true {
return false;
} else {
conflicts.set(pos.x as usize, pos.y as usize, true);
}
let end = pos.in_direction(dir, *len as PositionType);
if conflicts.get(end.x as usize, end.y as usize) == &true {
return false;
} else {
conflicts.set(end.x as usize, end.y as usize, true);
}
}
}
}
}
true
}