day 19: save before reverting scanners's beacons/distances to linked lists

This commit is contained in:
2022-01-19 17:23:26 +01:00
parent 6c3672f8d1
commit 9fd980c71b

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@@ -18,7 +18,7 @@
#include "pool.h" #include "pool.h"
#include "debug.h" #include "debug.h"
#include "bits.h" #include "bits.h"
// #include "list.h" #include "list.h"
/* /*
typedef struct beacon { typedef struct beacon {
@@ -31,17 +31,23 @@
} scanner_t; } scanner_t;
*/ */
// #define SQUARE(x) ((x) * (x))
#define MAX_SCANNERS 32 /* I know, I know... */ #define MAX_SCANNERS 32 /* I know, I know... */
#define MAX_BEACONS 32 #define MAX_BEACONS 32
#define MAX_DISTANCES ((MAX_BEACONS - 1) * MAX_BEACONS) #define MAX_DISTANCES ((MAX_BEACONS - 1) * MAX_BEACONS)
typedef struct vector {
int x, y, z; /* beacon coordinates */
} vector_t;
typedef struct beacon { typedef struct beacon {
int x, y, z; /* beacon coordinates */ int x, y, z; /* beacon coordinates */
//int count; int count;
} beacon_t; } beacon_t;
typedef struct rotmatrix { typedef struct rotmatrix {
beacon_t a, b, c; vector_t a, b, c;
} rotmatrix_t; } rotmatrix_t;
typedef struct dist { typedef struct dist {
@@ -235,8 +241,8 @@ static int adjust_scanner(scanner_t *ref, scanner_t *s)
goto next_rot; goto next_rot;
} }
} }
log(2, "Got it: beacon 2 is (%d,%d,%d) from reference\n", log(2, "Got it: scanner %lu is (%d,%d,%d) from reference\n",
diff[0].x, diff[0].y, diff[0].z); s - scanners, diff[0].x, diff[0].y, diff[0].z);
/* adjust all beacons */ /* adjust all beacons */
for (int b = 0; b < s->nbeacons; ++ b) { for (int b = 0; b < s->nbeacons; ++ b) {
beacon_rotate(s->beacons + b, rot, rotations + i); beacon_rotate(s->beacons + b, rot, rotations + i);
@@ -270,63 +276,136 @@ static int count_common_distances(scanner_t *s1, scanner_t *s2)
s2->beacons_count[i] = 0; s2->beacons_count[i] = 0;
} }
log_f(1, "(%ld, %ld): ", s1 - scanners, s2 - scanners); log_f(1, "(%ld, %ld): \n", s1 - scanners, s2 - scanners);
/* We need to find common references A, B, C such as: /* We need to find common references A, B, C such as:
* *
* d1 * d1
* A------------------B * A------------------B
* \ / * \ /
* d2\ +----------/ * d2\ +----------/
* \ / d3 * \ / (d3)
* C * C
* * To do so, we find common d1 and d2 such as both have
* * a common A point.
*/ */
while (cur1 < s1->ndists && cur2 < s2->ndists) { while (cur1 < s1->ndists && cur2 < s2->ndists) {
if (d1[cur1].dist == d2[cur2].dist) { if (d1[cur1].dist == d2[cur2].dist) {
log(1, " (%d,%d)=%u", cur1, cur2, d1[cur1].dist); log(1, " %u: (%d,%d)= %d-%d %d-%d triangle=%d\n",
d1[cur1].dist, cur1, cur2,
d1[cur1].beacon1, d1[cur1].beacon2,
d2[cur2].beacon1, d2[cur2].beacon2,
ref_triangle);
if (ref_triangle == 0) { if (ref_triangle == 0) {
/* both s1 s2 refs may be reversed */
s1->reference[0] = d1[cur1].beacon1; s1->reference[0] = d1[cur1].beacon1;
s1->reference[1] = d1[cur1].beacon2; s1->reference[1] = d1[cur1].beacon2;
s2->reference[0] = d2[cur2].beacon1; /* s2 refs may be reversed */ s2->reference[0] = d2[cur2].beacon1;
s2->reference[1] = d2[cur2].beacon2; s2->reference[1] = d2[cur2].beacon2;
ref_triangle += 2; ref_triangle = 2;
log(2, "\ts1_ref=%d,%d,%d s2_ref=%d,%d,%d\n",
s1->reference[0], s1->reference[1], s1->reference[2],
s2->reference[0], s2->reference[1], s2->reference[2]);
} else if (ref_triangle == 2) { } else if (ref_triangle == 2) {
/* wrong: FIX possible reverse ref[0] */ int beacon1 , beacon2;
/* we need to adjust references for the two pairs of
* 2 beacons having same distance, for scanner 1.
*/
beacon1 = d1[cur1].beacon1;
beacon2 = d1[cur1].beacon2;
log(2, "\ts1 bea1=%d bea2=%d\n\t ref0=%d ref1=%d\n",
beacon1, beacon2, s1->reference[0], s1->reference[1]);
if (beacon1 == s1->reference[0]) {
/* ref0----------ref1
* ref0----------ref2
*/
s1->reference[2] = beacon2;
ref_triangle++;
} else if (beacon1 == s1->reference[1]) {
/* ref1----------ref0
* ref0----------ref2
* first & second reference beacons must be reversed,
* second is ok
*/
int tmp = s1->reference[0];
s1->reference[0] = s1->reference[1];
s1->reference[1] = tmp;
s1->reference[2] = beacon2;
ref_triangle++;
} else if (beacon2 == s1->reference[0]) {
/* ref0----------ref1
* ref2----------ref0
*/
s1->reference[2] = beacon1;
ref_triangle++;
} else if (beacon2 == s1->reference[1]) {
/* ref1----------ref0
* ref2----------ref0
*/
int tmp = s1->reference[0];
s1->reference[0] = s1->reference[1];
s1->reference[1] = tmp;
s1->reference[2] = beacon1;
ref_triangle++;
}
/* we do the same for second scanner */
beacon1 = d2[cur2].beacon1;
beacon2 = d2[cur2].beacon2;
if (beacon1 == s2->reference[0]) {
/* ref0----------ref1
* ref0----------ref2
*/
s2->reference[2] = beacon2;
ref_triangle++;
} else if (beacon1 == s2->reference[1]) {
/* ref1----------ref0
* ref0----------ref2
* first & second reference beacons must be reversed,
* second is ok
*/
int tmp = s2->reference[0];
s2->reference[0] = s2->reference[1];
s2->reference[1] = tmp;
s2->reference[2] = beacon2;
ref_triangle++;
} else if (beacon2 == s2->reference[0]) {
/* ref0----------ref1
* ref2----------ref0
*/
s2->reference[2] = beacon1;
ref_triangle++;
} else if (beacon2 == s2->reference[1]) {
/* ref1----------ref0
* ref2----------ref0
*/
int tmp = s2->reference[0];
s2->reference[0] = s2->reference[1];
s2->reference[1] = tmp;
s2->reference[2] = beacon1;
ref_triangle++;
}
log(2, "\ttriangle=%d s1_ref=%d,%d,%d s2_ref=%d,%d,%d\n",
ref_triangle,
s1->reference[0], s1->reference[1], s1->reference[2],
s2->reference[0], s2->reference[1], s2->reference[2]);
}
/*
if (ref_triangle == 3) {
if (d1[cur1].beacon1 == s1->reference[0] || if (d1[cur1].beacon1 == s1->reference[0] ||
d1[cur1].beacon1 == s1->reference[1]) { d1[cur1].beacon1 == s1->reference[1]) {
s1->reference[2] = d2[cur1].beacon2; s1->reference[2] = d2[cur1].beacon2;
if (d2[cur2].beacon1 == s1->reference[0] ||
d2[cur2].beacon1 == s1->reference[1]) {
s2->reference[2] = d2[cur2].beacon2;
} else {
s2->reference[2] = d2[cur2].beacon1;
}
ref_triangle++; ref_triangle++;
} else if (d1[cur1].beacon2 == s1->reference[0] || } else if (d1[cur1].beacon2 == s1->reference[0] ||
d1[cur1].beacon2 == s1->reference[1]) { d1[cur1].beacon2 == s1->reference[1]) {
s1->reference[2] = d1[cur1].beacon1; s1->reference[2] = d1[cur1].beacon1;
if (d2[cur2].beacon1 == s1->reference[0] ||
d2[cur2].beacon1 == s1->reference[1]) {
s2->reference[2] = d2[cur2].beacon2;
} else {
s2->reference[2] = d2[cur2].beacon1;
}
ref_triangle++; ref_triangle++;
} }
if (ref_triangle == 3) {
if (d1[cur1].beacon1 == s1->reference[0] ||
d1[cur1].beacon1 == s1->reference[1]) {
s1->reference[2] = d2[cur1].beacon2;
ref_triangle++;
} else if (d1[cur1].beacon2 == s1->reference[0] ||
d1[cur1].beacon2 == s1->reference[1]) {
s1->reference[2] = d1[cur1].beacon1;
ref_triangle++;
}
}
} }
*/
++s1->beacons_count[d1[cur1].beacon1]; ++s1->beacons_count[d1[cur1].beacon1];
++s1->beacons_count[d1[cur1].beacon2]; ++s1->beacons_count[d1[cur1].beacon2];
@@ -399,8 +478,8 @@ static void match_scanners()
continue; continue;
int count = count_common_distances(scanners + i, scanners + j); int count = count_common_distances(scanners + i, scanners + j);
log(1, "common(%d, %d) = %d\n", i, j, count);
if (count >= 66) { if (count >= 66) {
log(1, "common(%d, %d) = %d\n", i, j, count);
/* /*
beacon_t *beacon; beacon_t *beacon;
for (int k = 0; k < scanners[i].nbeacons; ++k) { for (int k = 0; k < scanners[i].nbeacons; ++k) {