门户网站建设模式包括网站群和,商城手机网站建设多少钱,淄博seo开发,wordpress 主题更改语言实现效果如下 类似 推箱子小游戏 的变种 C/C版本 BFS最短路径 黑色代表墙壁 不能越过 蓝色代表HOME点 灰色代表要找的小箱子 绿色代表路径 最终目标是将灰色的小箱子移动到蓝色的HOME点 需要两次搜索 第一次是 出发点到灰色小箱子 第二次是灰色小箱子到蓝色HOME点 BF…实现效果如下 类似 推箱子小游戏 的变种 C/C版本 BFS最短路径 黑色代表墙壁 不能越过 蓝色代表HOME点 灰色代表要找的小箱子 绿色代表路径   最终目标是将灰色的小箱子移动到蓝色的HOME点  需要两次搜索 第一次是 出发点到灰色小箱子  第二次是灰色小箱子到蓝色HOME点 BFS 搜索路径之后 找到一条最短路径  动画效果用的是JAVA的 一个jar包  完整的代码 包含动画效果已经上传点击这里下载 C语言编译 gcc box.c graphics.c -o boxC编译 g box.cpp graphics.c -o box需要安装jdk 17版本   如下图 将 安装包里的所有文件放到 如下的jdk bin目录   执行如下代码  最后的jar包 用绝对路径就可以  ./box | ./java -jar /home/QMCY/robot/drawppp.jar代码很乱  临时记录下  C语言版本 #include string.h #include graphics.h#define GRID_SIZE_X 10 #define GRID_SIZE_Y 10#define ROBOT R#define HOME_X 9 #define HOME_Y 2#define MARKER_X 7 #define MARKER_Y 7#define ROBOT_X 6 #define ROBOT_Y 5 #define MAX_N 105int g_father[MAX_N][MAX_N]; int dist[MAX_N][MAX_N]; int last_dir[MAX_N][MAX_N];int dir[MAX_N*MAX_N]; char g_has_visited[MAX_N][MAX_N]; //vis[x][y]表示xy点是否遍历过int Queue[MAX_N*MAX_N]; //用Q来模拟队列 给定两个下标 front和rear 那么入队则是Q[rear]u 出队是uQ[front]int coordinate[MAX_N*MAX_N];const int squareSize 50;const int windowSize 600;// Define the grid elements const char EMPTY ; const char BLOCK #; const char MARKER *; const char HOME H;// Define robot directions typedef enum { WEST , EAST, NORTH, SOUTH }Direction;// Define the robot struct typedef struct {int x;int y;Direction direction;char carryingMarker; }Robot;void drawStep(int homeX, int homeY) {background();setColour(pink);homeX homeX*squareSize;homeY homeY*squareSize;fillRect(homeX, homeY, squareSize, squareSize); }void drawMarker(int x,int y) {background();setColour(gray);x x*squareSize;y y*squareSize;fillRect(x, y, squareSize, squareSize); }void drawBlocks(int x,int y) {background();setColour(black);x x*squareSize;y y*squareSize;fillRect(x, y, squareSize, squareSize); }void drawEmpty(int x,int y) {foreground();setColour(white);x x*squareSize;y y*squareSize;fillRect(x, y, squareSize, squareSize); }// Function to initialize the grid void initializeGrid(char grid[][GRID_SIZE_Y]) {// Initialize the grid with empty spacesfor (int i 0; i GRID_SIZE_X; i) {for (int j 0; j GRID_SIZE_X; j) {grid[i][j] EMPTY;}}// Place blocks, markers, and home squaregrid[8][8] BLOCK;grid[9][5] BLOCK;grid[8][5] BLOCK;grid[7][5] BLOCK;grid[6][7] BLOCK;grid[8][7] BLOCK; grid[7][8] BLOCK; grid[7][8] BLOCK; grid[2][2] BLOCK; grid[3][3] BLOCK; grid[4][4] BLOCK; grid[5][5] BLOCK; grid[6][6] BLOCK; grid[MARKER_X][MARKER_Y] MARKER;grid[HOME_X][HOME_Y] HOME; }// Function to display the grid void displayGrid(const char grid[][GRID_SIZE_X]) {setWindowSize(windowSize, windowSize);background(); // Must draw on the background layer.int x;int y;for (x0; xGRID_SIZE_X; x) {for (y0; yGRID_SIZE_X; y){drawRect(x*squareSize, y*squareSize, squareSize, squareSize);}}}void draw_north(int x, int y) {int x_coords[] {x, x50, x25};int y_coords[] {y50, y50, y};fillPolygon(3, x_coords, y_coords); }void draw_east(int x, int y) {int x_coords[] {x, x, x50};int y_coords[] {y, y50, y25};fillPolygon(3, x_coords, y_coords); }void draw_south(int x, int y) {int x_coords[] {x, x50, x25};int y_coords[] {y, y, y50};fillPolygon(3, x_coords, y_coords); }void draw_west(int x, int y) {int x_coords[] {x50, x50, x};int y_coords[] {y, y50, y25};fillPolygon(3, x_coords, y_coords); }// Function to drop a marker void dropMarker(Robot *robot, char grid[][GRID_SIZE_X]) {if (!robot-carryingMarker) {return; // Robot is not carrying a marker}grid[robot-x][robot-y] MARKER;robot-carryingMarker 0;//drawRobot(robot.x, robot.y, (int)robot.direction);}void drawRobot(int x, int y, int direction) {foreground();clear();setColour(green);x x*squareSize;y y*squareSize;switch (direction){case NORTH: draw_north(x, y); break;case EAST: draw_east(x, y); break;case SOUTH: draw_south(x, y); break;case WEST: draw_west(x, y); break;}}void drawRobotWithBg(int x, int y, int direction) {foreground();clear();setColour(gray);x x*squareSize;y y*squareSize;fillRect(x, y, squareSize, squareSize); setColour(green);switch (direction){case NORTH: draw_north(x, y); break;case EAST: draw_east(x, y); break;case SOUTH: draw_south(x, y); break;case WEST: draw_west(x, y); break;}}void drawHome(int homeX, int homeY) {background();setColour(blue);homeX homeX*squareSize;homeY homeY*squareSize;fillRect(homeX, homeY, squareSize, squareSize); }void drawShort(int homeX, int homeY) {background();setColour(orange);homeX homeX*squareSize;homeY homeY*squareSize;fillRect(homeX, homeY, squareSize, squareSize); }void forward(Robot *robot, char grid[][GRID_SIZE_X]) {// Calculate the next position based on the directionint nextX robot-x;int nextY robot-y;if (robot-direction NORTH) {--nextX;} else if (robot-direction SOUTH) {nextX;} else if (robot-direction EAST) {nextY;} else if (robot-direction WEST) {--nextY;}// Check if the next position is validif (nextX 0 nextX GRID_SIZE_X nextY 0 nextY GRID_SIZE_X grid[nextX][nextY] ! BLOCK) {// Move the robotgrid[robot-x][robot-y] EMPTY;robot-x nextX;robot-y nextY;grid[robot-x][robot-y] ROBOT;}drawRobot(robot-x, robot-y, robot-direction);}char markersLeft(char grid[][GRID_SIZE_X]) {for (int i 0; i GRID_SIZE_X; i) {for (int j 0; j GRID_SIZE_X; j) {if (grid[i][j] MARKER) {return 1;}}}return 0; }void turn_left(Robot *robot) {if (robot-direction NORTH) {robot-direction WEST;} else if (robot-direction SOUTH) {robot-direction EAST;} else if (robot-direction EAST) {robot-direction NORTH;} else if (robot-direction WEST) {robot-direction SOUTH;}drawRobot(robot-x, robot-y, robot-direction);}void turn_right(Robot *robot) {if (robot-direction NORTH) {robot-direction EAST;} else if (robot-direction SOUTH) {robot-direction WEST;} else if (robot-direction EAST) {robot-direction SOUTH;} else if (robot-direction WEST) {robot-direction NORTH;}drawRobot(robot-x, robot-y, robot-direction);}// Function to pick up a marker void pickUpMarker(Robot *robot, char grid[][GRID_SIZE_Y]) {if (grid[robot-x][robot-y] MARKER) {robot-carryingMarker 1;grid[robot-x][robot-y] EMPTY;} }void findAndCollectMarkers(Robot *robot, char grid[][GRID_SIZE_X]) {while (markersLeft(grid)) {int initialX robot-x;int initialY robot-y;Direction initialDirection robot-direction;// Use the right hand rule to navigateif (robot-direction NORTH) {if (grid[robot-x][robot-y 1] ! BLOCK) {turn_right(robot);} else if (grid[robot-x - 1][robot-y] ! BLOCK) {forward(robot, grid);} else {turn_left(robot);}} else if (robot-direction SOUTH) {if (grid[robot-x][robot-y - 1] ! BLOCK) {turn_right(robot);} else if (grid[robot-x 1][robot-y] ! BLOCK) {forward(robot, grid);} else {turn_left(robot);}} else if (robot-direction EAST) {if (grid[robot-x 1][robot-y] ! BLOCK) {turn_right(robot);} else if (grid[robot-x][robot-y 1] ! BLOCK) {forward(robot, grid);} else {turn_left(robot);}} else if (robot-direction WEST) {if (grid[robot-x - 1][robot-y] ! BLOCK) {turn_right(robot);} else if (grid[robot-x][robot-y - 1] ! BLOCK) {forward(robot, grid);} else {turn_left(robot);}}if (initialX robot-x initialY robot-y initialDirection robot-direction) {// Robot is stuck, rotate 180 degreesturn_left(robot);turn_left(robot);}forward(robot, grid);sleep(500); // Adjust sleep duration for animation speedpickUpMarker(robot, grid);} }int canMoveForward(Robot *robot, char grid[][GRID_SIZE_X]) {int nextX robot-x;int nextY robot-y;if (robot-direction NORTH) {--nextY;} else if (robot-direction SOUTH) {nextY;} else if (robot-direction EAST) {nextX;} else if (robot-direction WEST) {--nextX;}// Check if the next position is validif (nextX 1 nextX GRID_SIZE_X nextY 1 nextY GRID_SIZE_X grid[nextX][nextY] ! BLOCK) {// Move the robot//grid[robot-x][robot-y] EMPTY;//robot-x nextX;//robot-y nextY;//grid[robot-x][robot-y] R; // Robot represented by Rreturn 1;}return 0;}// Function to turn the robot left (anti-clockwise) void left(Robot *robot) {if (robot-direction NORTH) {robot-direction WEST;} else if (robot-direction SOUTH) {robot-direction EAST;} else if (robot-direction EAST) {robot-direction NORTH;} else if (robot-direction WEST) {robot-direction SOUTH;}drawRobot(robot-x, robot-y, robot-direction);}void right(Robot *robot) {if (robot-direction NORTH) {robot-direction EAST;} else if (robot-direction SOUTH) {robot-direction WEST;} else if (robot-direction EAST) {robot-direction SOUTH;} else if (robot-direction WEST) {robot-direction NORTH;}drawRobot(robot-x, robot-y, robot-direction);}#if 0 bool findShortestPath(Robot robot, char grid[][GRID_SIZE_X]) {// Use BFS to find the shortest pathstd::queuestd::pairint, int q; // Queue for BFSstd::vectorstd::vectorbool visited(GRID_SIZE_X, std::vectorbool(GRID_SIZE_X, false));q.push({robot.x, robot.y});visited[robot.x][robot.y] true;int urobot.x*GRID_SIZE_Xrobot.y;father[robot.x][robot.y]u;sleep(2000);while (!q.empty()) {int x q.front().first;int y q.front().second;q.pop();//drawRobot(x, y, (int)robot.direction);if (grid[x][y] MARKER) {// Found a marker, pick it uppickUpMarker(robot, grid);//dropMarker(robot, grid);//drawMarker(MARKER_X,MARKER_Y);//drawRobot(x, y, (int)robot.direction);return true;}// Explore neighboring cellsint dx[] {-1, 1, 0, 0};int dy[] {0, 0, -1, 1};for (int i 0; i 4; i) {ux*GRID_SIZE_Xy;int nx x dx[i];int ny y dy[i];if (nx 0 nx GRID_SIZE_X ny 0 ny GRID_SIZE_X !visited[nx][ny] grid[nx][ny] ! BLOCK) {q.push({nx, ny});//drawRobot(nx, ny, (int)robot.direction);//drawStep(nx, ny);//printf(x%d y%d \n,nx,ny);visited[nx][ny] true;father[nx][ny]u;//dist[nx][ny]1dist[x][y];last_dir[nx][ny]i;}// printf(findShortestPath 2222\n);//sleep(200);}//drawRobot(robot.x, robot.y, (int)robot.direction);//sleep(10);}return false; // No markers found }#elsechar findShortestPath(int robot_x,int robot_y, char grid[][GRID_SIZE_X]) {// Use BFS to find the shortest path//std::queuestd::pairint, int q; // Queue for BFS//std::vectorstd::vectorbool visited(GRID_SIZE_X, std::vectorbool(GRID_SIZE_X, false));int front,rear;rearfront0;Robot robot;robot.x robot_x;robot.y robot_y;//q.push({robot.x, robot.y});g_has_visited[robot.x][robot.y] 1;int urobot.x*GRID_SIZE_Xrobot.y;g_father[robot.x][robot.y]u;Queue[rear]u;sleep(1000);//while (!q.empty()) while(rearfront){uQueue[front];//int x q.front().first;//int y q.front().second;//q.pop();//drawRobot(x, y, (int)robot.direction);int xu/GRID_SIZE_X;int yu%GRID_SIZE_X;if (grid[x][y] MARKER) {// Found a marker, pick it uppickUpMarker(robot, grid);//dropMarker(robot, grid);//drawMarker(MARKER_X,MARKER_Y);//drawRobot(x, y, (int)robot.direction);return 1;}// Explore neighboring cellsint dx[] {-1, 1, 0, 0};int dy[] {0, 0, -1, 1};for (int i 0; i 4; i) {//ux*GRID_SIZE_Xy;int nx x dx[i];int ny y dy[i];if (nx 0 nx GRID_SIZE_X ny 0 ny GRID_SIZE_X !g_has_visited[nx][ny] grid[nx][ny] ! BLOCK) {#if 0q.push({nx, ny});//drawRobot(nx, ny, (int)robot.direction);//drawStep(nx, ny);//printf(x%d y%d \n,nx,ny);visited[nx][ny] true;father[nx][ny]u;//dist[nx][ny]1dist[x][y];last_dir[nx][ny]i;#elseint vnx*GRID_SIZE_Xny;Queue[rear]v;g_has_visited[nx][ny]1;g_father[nx][ny]u;dist[nx][ny]1dist[x][y];last_dir[nx][ny]i;if (grid[nx][ny] MARKER){return 1;}#endif}// printf(findShortestPath 2222\n);//sleep(200);}//drawRobot(robot.x, robot.y, (int)robot.direction);//sleep(10);}return 0; // No markers found }#endifvoid print_path(int x,int y,char has_marker) {int steps0;int pos_x,pos_y,direction;while(1){int ug_father[x][y];int fxu/GRID_SIZE_X;int fyu%GRID_SIZE_X;if (fxx fyy){break;}dir[steps]last_dir[x][y];coordinate[steps] x*GRID_SIZE_Xy;xfx;yfy;}while(steps--){pos_x coordinate[steps]/GRID_SIZE_X;pos_y coordinate[steps]%GRID_SIZE_X;direction dir[steps];if(has_marker){drawRobotWithBg(pos_x,pos_y,direction);}else{drawRobot(pos_x, pos_y,direction);}sleep(300);}}int main(int argc, char **argv) {char grid[GRID_SIZE_X][GRID_SIZE_X];initializeGrid(grid);Robot robot;robot.x ROBOT_X; // Initial X positionrobot.y ROBOT_Y; // Initial Y positionrobot.direction EAST;robot.carryingMarker 0;// Display the initial griddisplayGrid(grid);drawHome(HOME_X, HOME_Y);drawMarker(MARKER_X,MARKER_Y);drawBlocks(8,8); drawBlocks(9,5);drawBlocks(8,5);drawBlocks(7,5);drawBlocks(6,7);drawBlocks(8,7);drawBlocks(7,8);drawBlocks(2,2);drawBlocks(3,3);drawBlocks(4,4);drawBlocks(5,5);drawBlocks(6,6);#if 0findAndCollectMarkers(robot, grid);#elif 0while (!robot.carryingMarker) {if(canMoveForward(robot, grid)){forward(robot, grid);}else{left(robot);}sleep(500);//printf(robot.x %d y %d dir %d\n,robot.x,robot.y,robot.direction);} #elsewhile (!findShortestPath(robot.x,robot.y, grid)) {forward(robot, grid);sleep(500); // Adjust sleep duration for animation speed}print_path(MARKER_X,MARKER_Y,0);robot.x MARKER_X;robot.y MARKER_Y;grid[MARKER_X][MARKER_Y] EMPTY;grid[HOME_X][HOME_Y] MARKER;memset(g_has_visited,0,sizeof(g_has_visited));while (!findShortestPath(robot.x,robot.y, grid)) {forward(robot, grid);sleep(500); // Adjust sleep duration for animation speed}print_path(HOME_X,HOME_Y,1);#endifreturn 0; } C版本 #include unistd.h // For sleep function#include graphics.h#define GRID_SIZE_X 10 #define GRID_SIZE_Y 10#define ROBOT Rconst int maxn105;#define HOME_X 0 #define HOME_Y 0#define MARKER_X 7 #define MARKER_Y 7#define ROBOT_X 9 #define ROBOT_Y 0int father[maxn][maxn]; int dist[maxn][maxn]; int last_dir[maxn][maxn];int dir[maxn*maxn]; bool visit_first[maxn][maxn]; //vis[x][y]表示xy点是否遍历过 bool visit_second[maxn][maxn]; //vis[x][y]表示xy点是否遍历过int Queue[maxn*maxn]; //用Q来模拟队列 给定两个下标 front和rear 那么入队则是Q[rear]u 出队是uQ[front]int coordinate[maxn*maxn];const int squareSize 50;const int windowSize 600;// Define the grid elements const char EMPTY ; const char BLOCK #; const char MARKER *; const char HOME H;// Define robot directions enum Direction { WEST , EAST, NORTH, SOUTH };// Define the robot struct struct Robot {int x;int y;Direction direction;bool carryingMarker; };void drawStep(int homeX, int homeY) {background();setColour(pink);homeX homeX*squareSize;homeY homeY*squareSize;fillRect(homeX, homeY, squareSize, squareSize); }void drawMarker(int x,int y) {background();setColour(gray);x x*squareSize;y y*squareSize;fillRect(x, y, squareSize, squareSize); }void drawBlocks(int x,int y) {background();setColour(black);x x*squareSize;y y*squareSize;fillRect(x, y, squareSize, squareSize); }void drawEmpty(int x,int y) {foreground();setColour(white);x x*squareSize;y y*squareSize;fillRect(x, y, squareSize, squareSize); }// Function to initialize the grid void initializeGrid(char grid[][GRID_SIZE_Y]) {// Initialize the grid with empty spacesfor (int i 0; i GRID_SIZE_X; i) {for (int j 0; j GRID_SIZE_X; j) {grid[i][j] EMPTY;}}// Place blocks, markers, and home squaregrid[8][8] BLOCK;grid[9][5] BLOCK;grid[8][5] BLOCK;grid[7][5] BLOCK;grid[6][7] BLOCK;grid[8][7] BLOCK; grid[7][8] BLOCK; grid[7][8] BLOCK; grid[2][2] BLOCK; grid[3][3] BLOCK; grid[4][4] BLOCK; grid[5][5] BLOCK; grid[6][6] BLOCK; grid[MARKER_X][MARKER_Y] MARKER;grid[HOME_X][HOME_Y] HOME; }// Function to display the grid void displayGrid(const char grid[][GRID_SIZE_X]) {setWindowSize(windowSize, windowSize);background(); // Must draw on the background layer.int x;int y;for (x0; xGRID_SIZE_X; x) {for (y0; yGRID_SIZE_X; y){drawRect(x*squareSize, y*squareSize, squareSize, squareSize);}}}void draw_north(int x, int y) {int x_coords[] {x, x50, x25};int y_coords[] {y50, y50, y};fillPolygon(3, x_coords, y_coords); }void draw_east(int x, int y) {int x_coords[] {x, x, x50};int y_coords[] {y, y50, y25};fillPolygon(3, x_coords, y_coords); }void draw_south(int x, int y) {int x_coords[] {x, x50, x25};int y_coords[] {y, y, y50};fillPolygon(3, x_coords, y_coords); }void draw_west(int x, int y) {int x_coords[] {x50, x50, x};int y_coords[] {y, y50, y25};fillPolygon(3, x_coords, y_coords); }// Function to drop a marker void dropMarker(Robot robot, char grid[][GRID_SIZE_X]) {if (!robot.carryingMarker) {return; // Robot is not carrying a marker}grid[robot.x][robot.y] MARKER;robot.carryingMarker false;//drawRobot(robot.x, robot.y, (int)robot.direction);}void drawRobot(int x, int y, int direction) {foreground();clear();setColour(green);x x*squareSize;y y*squareSize;switch (direction){case Direction::NORTH: draw_north(x, y); break;case Direction::EAST: draw_east(x, y); break;case Direction::SOUTH: draw_south(x, y); break;case Direction::WEST: draw_west(x, y); break;}}void drawRobotWithBg(int x, int y, int direction) {foreground();clear();setColour(gray);x x*squareSize;y y*squareSize;fillRect(x, y, squareSize, squareSize); setColour(green);switch (direction){case Direction::NORTH: draw_north(x, y); break;case Direction::EAST: draw_east(x, y); break;case Direction::SOUTH: draw_south(x, y); break;case Direction::WEST: draw_west(x, y); break;}}void drawHome(int homeX, int homeY) {background();setColour(blue);homeX homeX*squareSize;homeY homeY*squareSize;fillRect(homeX, homeY, squareSize, squareSize); }void drawShort(int homeX, int homeY) {background();setColour(orange);homeX homeX*squareSize;homeY homeY*squareSize;fillRect(homeX, homeY, squareSize, squareSize); }void forward(Robot *robot, char grid[][GRID_SIZE_X]) {// Calculate the next position based on the directionint nextX robot-x;int nextY robot-y;if (robot-direction NORTH) {--nextX;} else if (robot-direction SOUTH) {nextX;} else if (robot-direction EAST) {nextY;} else if (robot-direction WEST) {--nextY;}// Check if the next position is validif (nextX 0 nextX GRID_SIZE_X nextY 0 nextY GRID_SIZE_X grid[nextX][nextY] ! BLOCK) {// Move the robotgrid[robot-x][robot-y] EMPTY;robot-x nextX;robot-y nextY;grid[robot-x][robot-y] ROBOT;}drawRobot(robot-x, robot-y, robot-direction);}bool markersLeft(char grid[][GRID_SIZE_X]) {for (int i 0; i GRID_SIZE_X; i) {for (int j 0; j GRID_SIZE_X; j) {if (grid[i][j] MARKER) {return true;}}}return false; }void turn_left(Robot *robot) {if (robot-direction NORTH) {robot-direction WEST;} else if (robot-direction SOUTH) {robot-direction EAST;} else if (robot-direction EAST) {robot-direction NORTH;} else if (robot-direction WEST) {robot-direction SOUTH;}drawRobot(robot-x, robot-y, robot-direction);}void turn_right(Robot *robot) {if (robot-direction NORTH) {robot-direction EAST;} else if (robot-direction SOUTH) {robot-direction WEST;} else if (robot-direction EAST) {robot-direction SOUTH;} else if (robot-direction WEST) {robot-direction NORTH;}drawRobot(robot-x, robot-y, robot-direction);}// Function to pick up a marker void pickUpMarker(Robot *robot, char grid[][GRID_SIZE_Y]) {if (grid[robot-x][robot-y] MARKER) {robot-carryingMarker true;grid[robot-x][robot-y] EMPTY;} }void findAndCollectMarkers(Robot *robot, char grid[][GRID_SIZE_X]) {while (markersLeft(grid)) {int initialX robot-x;int initialY robot-y;Direction initialDirection robot-direction;// Use the right hand rule to navigateif (robot-direction NORTH) {if (grid[robot-x][robot-y 1] ! BLOCK) {turn_right(robot);} else if (grid[robot-x - 1][robot-y] ! BLOCK) {forward(robot, grid);} else {turn_left(robot);}} else if (robot-direction SOUTH) {if (grid[robot-x][robot-y - 1] ! BLOCK) {turn_right(robot);} else if (grid[robot-x 1][robot-y] ! BLOCK) {forward(robot, grid);} else {turn_left(robot);}} else if (robot-direction EAST) {if (grid[robot-x 1][robot-y] ! BLOCK) {turn_right(robot);} else if (grid[robot-x][robot-y 1] ! BLOCK) {forward(robot, grid);} else {turn_left(robot);}} else if (robot-direction WEST) {if (grid[robot-x - 1][robot-y] ! BLOCK) {turn_right(robot);} else if (grid[robot-x][robot-y - 1] ! BLOCK) {forward(robot, grid);} else {turn_left(robot);}}if (initialX robot-x initialY robot-y initialDirection robot-direction) {// Robot is stuck, rotate 180 degreesturn_left(robot);turn_left(robot);}forward(robot, grid);sleep(500); // Adjust sleep duration for animation speedpickUpMarker(robot, grid);} }int canMoveForward(Robot *robot, char grid[][GRID_SIZE_X]) {int nextX robot-x;int nextY robot-y;if (robot-direction Direction::NORTH) {--nextY;} else if (robot-direction Direction::SOUTH) {nextY;} else if (robot-direction Direction::EAST) {nextX;} else if (robot-direction Direction::WEST) {--nextX;}// Check if the next position is validif (nextX 1 nextX GRID_SIZE_X nextY 1 nextY GRID_SIZE_X grid[nextX][nextY] ! BLOCK) {// Move the robot//grid[robot-x][robot-y] EMPTY;//robot-x nextX;//robot-y nextY;//grid[robot-x][robot-y] R; // Robot represented by Rreturn 1;}return 0;}// Function to turn the robot left (anti-clockwise) void left(Robot *robot) {if (robot-direction Direction::NORTH) {robot-direction Direction::WEST;} else if (robot-direction Direction::SOUTH) {robot-direction Direction::EAST;} else if (robot-direction Direction::EAST) {robot-direction Direction::NORTH;} else if (robot-direction Direction::WEST) {robot-direction Direction::SOUTH;}drawRobot(robot-x, robot-y, robot-direction);}void right(Robot *robot) {if (robot-direction Direction::NORTH) {robot-direction Direction::EAST;} else if (robot-direction Direction::SOUTH) {robot-direction Direction::WEST;} else if (robot-direction Direction::EAST) {robot-direction Direction::SOUTH;} else if (robot-direction Direction::WEST) {robot-direction Direction::NORTH;}drawRobot(robot-x, robot-y, robot-direction);}// Function to pick up a marker void pickUpMarker(Robot robot, char grid[][GRID_SIZE_X]) {if (grid[robot.x][robot.y] MARKER) {robot.carryingMarker true;grid[robot.x][robot.y] EMPTY;//drawRobot(robot.x, robot.y, (int)robot.direction);} }#if 0 bool findShortestPath(Robot robot, char grid[][GRID_SIZE_X]) {// Use BFS to find the shortest pathstd::queuestd::pairint, int q; // Queue for BFSstd::vectorstd::vectorbool visited(GRID_SIZE_X, std::vectorbool(GRID_SIZE_X, false));q.push({robot.x, robot.y});visited[robot.x][robot.y] true;int urobot.x*GRID_SIZE_Xrobot.y;father[robot.x][robot.y]u;sleep(2000);while (!q.empty()) {int x q.front().first;int y q.front().second;q.pop();//drawRobot(x, y, (int)robot.direction);if (grid[x][y] MARKER) {// Found a marker, pick it uppickUpMarker(robot, grid);//dropMarker(robot, grid);//drawMarker(MARKER_X,MARKER_Y);//drawRobot(x, y, (int)robot.direction);return true;}// Explore neighboring cellsint dx[] {-1, 1, 0, 0};int dy[] {0, 0, -1, 1};for (int i 0; i 4; i) {ux*GRID_SIZE_Xy;int nx x dx[i];int ny y dy[i];if (nx 0 nx GRID_SIZE_X ny 0 ny GRID_SIZE_X !visited[nx][ny] grid[nx][ny] ! BLOCK) {q.push({nx, ny});//drawRobot(nx, ny, (int)robot.direction);//drawStep(nx, ny);//printf(x%d y%d \n,nx,ny);visited[nx][ny] true;father[nx][ny]u;//dist[nx][ny]1dist[x][y];last_dir[nx][ny]i;}// printf(findShortestPath 2222\n);//sleep(200);}//drawRobot(robot.x, robot.y, (int)robot.direction);//sleep(10);}return false; // No markers found }#elsebool findShortestPath(int robot_x,int robot_y, char grid[][GRID_SIZE_X],bool visit[][maxn]) {// Use BFS to find the shortest path//std::queuestd::pairint, int q; // Queue for BFS//std::vectorstd::vectorbool visited(GRID_SIZE_X, std::vectorbool(GRID_SIZE_X, false));int front,rear;rearfront0;Robot robot;robot.x robot_x;robot.y robot_y;//q.push({robot.x, robot.y});bool **visited NULL;visit[robot.x][robot.y] true;int urobot.x*GRID_SIZE_Xrobot.y;father[robot.x][robot.y]u;Queue[rear]u;sleep(1000);//while (!q.empty()) while(rearfront){uQueue[front];//int x q.front().first;//int y q.front().second;//q.pop();//drawRobot(x, y, (int)robot.direction);int xu/GRID_SIZE_X;int yu%GRID_SIZE_X;if (grid[x][y] MARKER) {// Found a marker, pick it uppickUpMarker(robot, grid);//dropMarker(robot, grid);//drawMarker(MARKER_X,MARKER_Y);//drawRobot(x, y, (int)robot.direction);return true;}// Explore neighboring cellsint dx[] {-1, 1, 0, 0};int dy[] {0, 0, -1, 1};for (int i 0; i 4; i) {//ux*GRID_SIZE_Xy;int nx x dx[i];int ny y dy[i];if (nx 0 nx GRID_SIZE_X ny 0 ny GRID_SIZE_X !visit[nx][ny] grid[nx][ny] ! BLOCK) {#if 0q.push({nx, ny});//drawRobot(nx, ny, (int)robot.direction);//drawStep(nx, ny);//printf(x%d y%d \n,nx,ny);visited[nx][ny] true;father[nx][ny]u;//dist[nx][ny]1dist[x][y];last_dir[nx][ny]i;#elseint vnx*GRID_SIZE_Xny;Queue[rear]v;visit[nx][ny]true;father[nx][ny]u;dist[nx][ny]1dist[x][y];last_dir[nx][ny]i;if (grid[nx][ny] MARKER){return true;}#endif}// printf(findShortestPath 2222\n);//sleep(200);}//drawRobot(robot.x, robot.y, (int)robot.direction);//sleep(10);}return false; // No markers found }#endifvoid print_path(int x,int y,bool has_marker) {int steps0;int pos_x,pos_y,direction;while(true){int ufather[x][y];int fxu/GRID_SIZE_X;int fyu%GRID_SIZE_X;if (fxx fyy){break;}dir[steps]last_dir[x][y];coordinate[steps] x*GRID_SIZE_Xy;xfx;yfy;}while(steps--){pos_x coordinate[steps]/GRID_SIZE_X;pos_y coordinate[steps]%GRID_SIZE_X;direction dir[steps];if(has_marker){drawRobotWithBg(pos_x,pos_y,direction);}else{drawRobot(pos_x, pos_y,direction);}sleep(300);}}int main(int argc, char **argv) {char grid[GRID_SIZE_X][GRID_SIZE_X];initializeGrid(grid);Robot robot;robot.x ROBOT_X; // Initial X positionrobot.y ROBOT_Y; // Initial Y positionrobot.direction Direction::EAST;robot.carryingMarker false;// Display the initial griddisplayGrid(grid);drawHome(HOME_X, HOME_Y);drawMarker(MARKER_X,MARKER_Y);drawBlocks(8,8); drawBlocks(9,5);drawBlocks(8,5);drawBlocks(7,5);drawBlocks(6,7);drawBlocks(8,7);drawBlocks(7,8);drawBlocks(2,2);drawBlocks(3,3);drawBlocks(4,4);drawBlocks(5,5);drawBlocks(6,6);#if 0findAndCollectMarkers(robot, grid);#elif 0while (!robot.carryingMarker) {if(canMoveForward(robot, grid)){forward(robot, grid);}else{left(robot);}sleep(500);//printf(robot.x %d y %d dir %d\n,robot.x,robot.y,robot.direction);} #elsewhile (!findShortestPath(robot.x,robot.y, grid,visit_first)) {forward(robot, grid);sleep(500); // Adjust sleep duration for animation speed}print_path(MARKER_X,MARKER_Y,false);robot.x MARKER_X;robot.y MARKER_Y;grid[MARKER_X][MARKER_Y] EMPTY;grid[HOME_X][HOME_Y] MARKER;while (!findShortestPath(robot.x,robot.y, grid,visit_second)) {forward(robot, grid);sleep(500); // Adjust sleep duration for animation speed}print_path(HOME_X,HOME_Y,true);#endifreturn 0; }