search.h

#ifndef __SEARCH_H
#define __SEARCH_H

#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <unistd.h>

#define MAZE_SIZE 16
#define MAZE_AREA (16 * 16)
#define MAX_TARGETS 10
#define MAX_DISTANCE (MAZE_AREA - 1)

#define VISITED_BIT 1
#define EAST_BIT 2
#define SOUTH_BIT 4
#define WEST_BIT 8
#define NORTH_BIT 16

enum compass_direction {
	EAST = 1,
	SOUTH = -MAZE_SIZE,
	WEST = -1,
	NORTH = MAZE_SIZE,
};

struct walls_around {
	bool front : 1;
	bool left : 1;
	bool right : 1;
};

enum step_direction { NONE = -1, LEFT = 0, FRONT = 1, RIGHT = 2, BACK = 3 };

uint8_t read_cell_distance_value(uint8_t cell);
uint8_t read_cell_walls_value(uint8_t cell);
void add_goal(int x, int y);
void set_goal_classic(void);
void set_search_initial_direction(enum compass_direction direction);
void set_search_initial_state(void);
enum compass_direction search_direction(void);
bool current_side_wall(enum step_direction side);
void move_search_position(enum step_direction step);
enum step_direction best_neighbor_step(struct walls_around walls);
uint8_t search_position(void);
uint8_t search_distance(void);
enum step_direction search_step(bool left, bool front, bool right);
void initialize_maze_walls(void);
void set_distances(void);
void set_target_cell(uint8_t cell);
void set_target_goal(void);
void update_walls(struct walls_around walls);
bool current_cell_is_visited(void);
struct walls_around current_walls_around(void);
uint8_t find_unexplored_interesting_cell(void);

#endif /* __SEARCH_H */