From b7cd1d4dd88f12cb259c5604d2541d2e976d0697 Mon Sep 17 00:00:00 2001
From: Matthias Portzel <MatthiasPortzel@gmail.com>
Date: Fri, 19 Apr 2024 23:37:38 -0400
Subject: [PATCH] Some high-level cleanup

---
 src/algorithm.zig     | 18 +++++++++---------
 src/main.zig          | 17 +++--------------
 src/rp2040-bot.zig    | 22 ++++++++++++++++++++++
 src/simulated-bot.zig |  8 ++++++--
 4 files changed, 40 insertions(+), 25 deletions(-)

diff --git a/src/algorithm.zig b/src/algorithm.zig
index e7d181e..17b2e91 100644
--- a/src/algorithm.zig
+++ b/src/algorithm.zig
@@ -6,18 +6,20 @@ const Point = map.Point;
 const Cardinal = map.Cardinal;
 const Mouse = @import("mouse.zig").Mouse;
 
-pub const is_robot = @import("builtin").os.tag == .freestanding;
-
 // Doesn't have any state
 // It's a hardware abstraction layer
-pub const robot = if (is_robot) @import("rp2040-bot.zig") else @import("simulated-bot.zig");
+pub const is_irl = @import("builtin").os.tag == .freestanding;
+pub const robot = if (is_irl) @import("rp2040-bot.zig") else @import("simulated-bot.zig");
 
 // It's a little weird to do this as a global, but it just returns
 //  an instance of Mouse with initial values
 var mouse = @import("mouse.zig").initialize();
 
 pub fn setup () void {
+    // Just pass through to robot.setup to do any robot-specific setup (hardware, allocations, and starting alt-core)
     robot.setup();
+
+    // Any maze-related setup that can't be done at comptime can be done here
 }
 
 //// Node
@@ -76,9 +78,7 @@ const Node = struct {
             }
         }
 
-        if (!is_robot) {
-            robot.writeCellScore(self.p, self.score);
-        }
+        robot.writeCellScore(self.p, self.score);
     }
 };
 
@@ -151,9 +151,9 @@ pub fn setWall(p: Point, direction: Cardinal, value: bool) void {
         assert(value);
     }
 
-    // If we're running in sim, display that we saw a wall
-    if (!is_robot and value) {
-        robot.showWall(p, direction);
+    // Display that we saw a wall (e.g. on the simulator display)
+    if (value) {
+        robot.recordWall(p, direction);
     }
 
     // We don't keep track of the edges, we just assume they're there
diff --git a/src/main.zig b/src/main.zig
index dc0656a..cda8a2f 100644
--- a/src/main.zig
+++ b/src/main.zig
@@ -19,10 +19,6 @@ pub fn alt_core () noreturn {
 }
 
 const is_robot = algo.is_robot;
-// // TODO: Refactor again. algo.is_robot???
-// if (algo.is_robot) {
-//     alt_core
-// }
 
 const time = @import("microzig").hal.time;
 
@@ -35,21 +31,14 @@ fn core1 () noreturn {
 pub fn main() !noreturn {
     // Power On test
 
-    // TODO: rename is_robot to is_physical or something
-    if (!is_robot) {
-        // TODO: spawn a thread to run alt-core operations
-    }else {
-        // multicore.launch_core1(core1);
-    }
-
     algo.setup();
 
     // // Flood fill to the goal
-    // algo.floodFill(map.goals[0..]);
+    algo.floodFill(map.goals[0..]);
 
     // // Flood fill back to the start
-    // const starts = [_]map.Point{ map.start };
-    // algo.floodFill(starts[0..]);
+    const starts = [_]map.Point{ map.start };
+    algo.floodFill(starts[0..]);
 
     robot.stall();
 }
diff --git a/src/rp2040-bot.zig b/src/rp2040-bot.zig
index 8e30d42..dd23d5d 100644
--- a/src/rp2040-bot.zig
+++ b/src/rp2040-bot.zig
@@ -3,6 +3,8 @@
 // The code in this file will be dirty, it will deal with setting up encoders and all sorts of BS
 
 const map = @import("map.zig");
+const Point = map.Point;
+const Cardinal = map.Cardinal;
 
 // Hardware-specific declarations
 const microzig = @import("microzig");
@@ -259,6 +261,8 @@ pub fn setup () void {
     // pins.onboard_led.toggle();
     // pins.onboard_led.toggle();
     // TODO
+
+    // start_alt_core()
 }
 
 pub fn moveForward() void {
@@ -291,6 +295,13 @@ pub fn readBack() bool {
     return true;
 }
 
+// Multicore isn't functional upstream
+// const multicore = rp2040.multicore;
+// fn alt_core_main_function noreturn {}
+pub fn start_alt_core() !void {
+    // multicore.launch_core1(alt_core_main_function);
+}
+
 pub fn stall() noreturn {
 
     pins.motor_right_1.put(1);
@@ -335,3 +346,14 @@ pub fn stall() noreturn {
         // pins.led_6.put(0);
     }
 }
+
+// --- Functions not implemented for the IRL bot  ---
+pub fn writeCellScore(p: Point, score: usize) void {
+    _ = p;
+    _ = score;
+    // stdout.print("setText {d} {d} {d}\n", .{p.x, p.y, score}) catch unreachable;
+}
+pub fn recordWall(p: Point, direction: Cardinal) void {
+    _ = p;
+    _ = direction;
+}
diff --git a/src/simulated-bot.zig b/src/simulated-bot.zig
index b77712e..92e3c58 100644
--- a/src/simulated-bot.zig
+++ b/src/simulated-bot.zig
@@ -13,7 +13,11 @@ const stdout = std.io.getStdOut().writer();
 
 // Since this only runs on my computer, we can do whatever we want here
 
-pub fn setup () void {}
+pub fn setup () void {
+    // TODO: Create alt thread and start multi-core
+    // // Blocked on upstream multi-core support
+    // robot.start_alt_core();
+}
 
 // TODO: create a utility function that takes an allocator and reads from std in and returns a &[]u8
 
@@ -84,7 +88,7 @@ pub fn readBack() bool {
     std.debug.panic();
 }
 
-pub fn showWall(p: Point, direction: Cardinal) void {
+pub fn recordWall(p: Point, direction: Cardinal) void {
     const dir :u8 = switch (direction) {
         .north => 'n',
         .south => 's',