基于qt的软PLC 源码

#include <stdio.h> #include "maze.h" #include "aov_element.h" //迷宫算法：node 为一格地砖 status值为0表示没走过 1表示走过 type为地砖类型 // 向右走条件：next_node不为0 右边node->status值为0 type>=0 或 type = -3 // 向上走条件：up_node不为0 上方node->status值为 0 type >=0 或type = -3 // 向下走条件：down_node不为0 下方node->status 值为 0 type >=0或type = -3 // 向左走条件：previous_node不为0 左边node->status值为 0 type >=0或type = -3 class Aov_Element; int AOV::find(Node *node,QStringList *list) { node->status = CHECKED; int find_result=0; int result; result = find_right(node,list); if(result == 1)//已到达边界线并回到前几个node find_result = 1; else if(result == 2) { find_result = 1; return find_result; } if(find_buttom(node,list))find_result = 1; if(find_left(node,list))find_result = 1; if(find_top(node,list))find_result = 1; node->status = UNCHECK; return find_result; } int AOV::find_right(Node *node, QStringList *list) { Node *node1; if(!node->next_node) { node->status = UNCHECK;//到达尽头，status重置 return 2; } if(node->next_node->type == -2 ||node->next_node->type == -1 || node->next_node->status == CHECKED) return 0; else if(node->next_node){ // printf("right\n"); if(node->next_node->type == 0 || node->next_node->type == -3) { if(node->type == -3 || node->type == 0)//判断前一个node类型 { node1 = node->next_node; if(!node->front_node_list.isEmpty()) { node1->front_node_list.append(node->front_node_list.last()); node1->front_position_list.append(node->front_position_list.last()); } if(!find(node1,list)) { if(!node1->front_node_list.isEmpty()) { node1->front_node_list.removeLast(); node1->front_position_list.removeLast(); } return 0; } } else if(node->type > 0) { node1 = node->next_node; node1->front_node_list.append(node); node1->front_position_list.append(RIGHT); if(!find(node1,list)) { if(!node1->front_node_list.isEmpty()) { node1->front_node_list.removeLast(); node1->front_position_list.removeLast(); } return 0; } } } else if(node->next_node->type >0) { int flag = 0; if(!node->front_node_list.isEmpty()) { if(!node->next_node->front_node_list.contains(node->front_node_list.last())) { node->next_node->front_node_list.append(node->front_node_list.last()); node->next_node->front_position_list.append(node->front_position_list.last()); flag = 1; } if(!node->front_node_list.last()->next_node_list.contains(node->next_node)) { node->front_node_list.last()->next_node_list.append(node->next_node); node->front_node_list.last()->next_position_list.append(LEFT); } } node1 = node->next_node; list->append(node1->command); if(!find(node1,list)) { if(!node1->front_node_list.isEmpty()) { if(flag) { node1->front_node_list.last()->next_node_list.removeLast(); node1->front_node_list.last()->next_position_list.removeLast(); node1->front_node_list.removeLast(); node1->front_position_list.removeLast(); } } return 0; } } return 1; } } int AOV::find_buttom(Node *node, QStringList *list) { Node *node1; int num = 0,i; if(!node->down_node) return 0; if(node->down_node->status == CHECKED) return 0; else { // printf("buttom\n"); if(!node->front_node_list.isEmpty()) { node->down_node->front_node_list.append(node->front_node_list.last()); node->down_node->front_position_list.append(node->front_position_list.last()); } node1 = node->down_node; if(!find(node1,list)) { if(!node1->front_node_list.isEmpty()) { node1->front_node_list.removeLast(); node1->front_position_list.removeLast(); } return 0; } else { return 1; } } } int AOV::find_left(Node *node, QStringList *list) { Node *node1; if(!node->previous_node) { return 0; } if(node->previous_node->type == -2 ||node->previous_node->type == -1 || node->previous_node->status == CHECKED) return 0; else if(node->previous_node){ // printf("left\n"); if(node->previous_node->type == 0 || node->previous_node->type == -3) { if(node->type == -3 || node->type == 0)//判断前一个node类型 { node1 = node->previous_node; if(!node->front_node_list.isEmpty()) { node1->front_node_list.append(node->front_node_list.last()); node1->front_position_list.append(node->front_position_list.last()); } if(!find(node1,list)) { if(!node1->front_node_list.isEmpty()) { node1->front_node_list.removeLast(); node1->front_position_list.removeLast(); } return 0; } } else if(node->type > 0) { node1 = node->previous_node; node1->front_node_list.append(node); node1->front_position_list.append(LEFT); if(!find(node1,list)) { if(!node1->front_node_list.isEmpty()) { node1->front_node_list.removeLast(); node1->front_position_list.removeLast(); } return 0; } } } else if(node->previous_node->type >0) { int flag = 0; if(!node->front_node_list.isEmpty()) { if(!node->previous_node->front_node_list.contains(node->front_node_list.last())) { node->previous_node->front_node_list.append(node->front_node_list.last()); node->previous_node->front_position_list.append(node->front_position_list.last()); flag = 1; } if(!node->front_node_list.last()->next_node_list.contains(node->previous_node)) { node->front_node_list.last()->next_node_list.append(node->previous_node); node->front_node_list.last()->next_position_list.ap