PRAStarUnit.cpp

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/*
 *  $Id: praStarUnit.cpp
 *  hog2
 *
 *  Created by Nathan Sturtevant on 1/16/05.
 *  Modified by Nathan Sturtevant on 02/29/20.
 *
 * This file is part of HOG2. See https://github.com/nathansttt/hog2 for licensing information.
 *
 */
 
#include "PRAStarUnit.h"
 
praStarUnit::praStarUnit(int _x, int _y, AbsMapUnit *_target, praStar *_alg)
:SearchUnit(_x, _y, _target, _alg), algorithm(_alg)
{ cache = 0; }
 
//praStarUnit::praStarUnit(int _x, int _y, int _r, int _g, int _b, unit *_target, praStar *_alg)
//:SearchUnit(_x, _y, _r, _g, _b, _target, _alg), algorithm(_alg)
//{ cache = 0; }
 
 
tDirection praStarUnit::makeMove(MapProvider *mp, reservationProvider *rp, SimulationInfo *simInfo)
{
        MapAbstraction *aMap = mp->GetMapAbstraction();
 
        algorithm->setExpandSearchRadius(false);
        if (moves.size() != 0)
        {
                return SearchUnit::makeMove(mp, rp, simInfo);
        }
        if (cache != 0)
        {
                node *n = aMap->GetNodeFromMap(loc.x, loc.y);
                node *l = aMap->GetNthParent(n, cache->n->GetLabelL(kAbstractionLevel));
                while (cache && (l != cache->n))
                {
                        path *tmp = cache;
                        cache = cache->next;
                        tmp->next = 0;
                        delete tmp;
                }
                if (cache)
                        assert(l == cache->n);
                if (cache && (cache->next == 0))
                {
                        delete cache;
                        cache = 0;
                }
        }
        algorithm->setCache(&cache);
        //printf("--- cached PRA --- start ---\n");
        tDirection where =  SearchUnit::makeMove(mp, rp, simInfo);
        //printf("--- cached PRA --- finish ---\n");
        return where;
}