ESP32 Forum

Posted: **Fri Aug 30, 2024 10:17 am**

I have the following situation: I have an implementation of Djikstra's alogorithm that doesn't use queues (core panic as well) that doesn't generate the same result when run on ESP(first code, first image) and PC(seconde code, second image). The pc code replaces serial prints with cout and has a main function that calls setup() and loop(). Other than that copy pasted. Something lets the index value of the front of the queue continue increasing on ESP, but not on Windows. I am very confused

Code: Select all

#include <queue>
#include <string>

bool trav[20] = {};
int cost[20] = {};
short int A[20][20] = {
  { 255, 2, 2, 255, 255, 255, 255, 255, 255 },
  { 2, 255, 1, 255, 255, 255, 255, 255, 255 },
  { 2, 1, 255, 1, 255, 255, 255, 255, 255 },
  { 255, 255, 1, 255, 1, 2, 255, 255, 255 },
  { 255, 255, 255, 1, 255, 2, 255, 1, 255 },
  { 255, 255, 255, 2, 2, 255, 255, 255, 255 },
  { 255, 255, 255, 255, 255, 255, 255, 1, 2 },
  { 255, 255, 255, 255, 1, 255, 1, 255, 2 },
  { 255, 255, 255, 255, 255, 255, 2, 2, 255 }
};
int parent[20] = {};
int n = 9;
int path[20] = {};
char decisions[50] = {};
int path_length = 0;
int connectionListLength = 34;

struct node {
  uint8_t rfid[4];
  int id, conn_number = 0;
  char letter;
  struct connections {
    node* from = nullptr;
    node* to = nullptr;
    char dir = NULL;  //l-left, f-forward, r-right
  } conn[20];
} v[20];

// current, from, to, direction
char connectionList[40][4] = {
  { 'A', 'B', 'C', 'F' },
  { 'A', 'C', 'B', 'F' },
  { 'B', 'A', 'C', 'L' },
  { 'B', 'C', 'A', 'R' },
  { 'C', 'A', 'D', 'L' },
  { 'C', 'B', 'D', 'F' },
  { 'C', 'B', 'A', 'L' },
  { 'C', 'D', 'A', 'R' },
  { 'C', 'A', 'B', 'R' },
  { 'C', 'D', 'B', 'F' },
  { 'D', 'C', 'F', 'L' },
  { 'D', 'E', 'F', 'L' },
  { 'D', 'F', 'E', 'L' },
  { 'D', 'C', 'E', 'F' },
  { 'D', 'E', 'C', 'F' },
  { 'D', 'F', 'C', 'R' },
  { 'F', 'E', 'D', 'F' },
  { 'F', 'D', 'E', 'F' },
  { 'E', 'H', 'F', 'R' },
  { 'E', 'D', 'F', 'L' },
  { 'E', 'F', 'D', 'R' },
  { 'E', 'H', 'D', 'F' },
  { 'E', 'F', 'H', 'L' },
  { 'E', 'D', 'H', 'F' },
  { 'H', 'E', 'I', 'L' },
  { 'H', 'G', 'I', 'R' },
  { 'H', 'E', 'G', 'F' },
  { 'H', 'I', 'G', 'L' },
  { 'H', 'I', 'E', 'R' },
  { 'H', 'G', 'E', 'F' },
  { 'G', 'I', 'H', 'R' },
  { 'G', 'H', 'I', 'L' },
  { 'I', 'H', 'G', 'F' },
  { 'I', 'G', 'H', 'F' },
};

short p[200][2];

int djikstra(char start);
void generate_path(char start, char stop);
void connectionArrayToStruct();
void generate_decisions();

void setup() {
  Serial.begin(9600);
  connectionArrayToStruct();
  djikstra('A');
  Serial.println("A si iesit din djikstra?");
  generate_path('A','G');
  generate_decisions();
  Serial.println(decisions);
}

void loop() {
  Serial.println(decisions);
  delay(3000);
}
void connectionArrayToStruct() {
  for (int i = 0; i < connectionListLength; i++) {
    int nd = int(connectionList[i][0] - 'A');
    int from = int(connectionList[i][1] - 'A');
    int to = int(connectionList[i][2] - 'A');
    int dir = connectionList[i][3];
    v[nd].id = nd;
    v[nd].conn[v[nd].conn_number].from = &v[from];
    v[nd].conn[v[nd].conn_number].to = &v[to];
    v[nd].conn[v[nd].conn_number].dir = dir;
    v[nd].conn_number++;
    v[nd].letter = connectionList[i][0];
  }
}
int djikstra(char start) {
  int id_start = int(start - 'A');
  for (int i = 0; i < n; i++) {
    cost[i] = 255;
    trav[i] = false;
  }
  cost[id_start] = 0;
  trav[id_start] = 1;
  parent[id_start] = -1;
  int p_start_index=0;
  int p_end_index=1;
  
  p[0][0] = id_start; 
  p[0][1] = 0;
  while (p_start_index<=p_end_index) {
    delay(1);
    for (int i = 0; i < n; i++) {
      if (A[(p[p_start_index][0])][i] != 255) {  //este vecin
        int cost_inst = p[p_start_index][1] + A[(p[p_start_index][0])][i];
        if (cost[i] > cost_inst) {  //daca traseul actual are un costa asociat mai mic decat cel cunoscut, il analizeaza
          cost[i] = cost_inst;
          if (trav[i] == 0){
            parent[i] = p[p_start_index][0];
            p[p_end_index][0] = i;
            p[p_end_index][1] = cost_inst;
            p_end_index++;
          }
        }
      }
    }
    trav[p[p_start_index][0]] = 1;
    p_start_index++;
    Serial.printf("Start %d, stop: %d \n",p_start_index,p_end_index);
  }
}
void generate_path(char start, char stop) {
  int id_start = start - 'A';
  int id_stop = stop - 'A';
  int curr = id_stop;
  path[path_length++] = id_stop;
  while (parent[curr] != -1) {
    curr = parent[curr];
    path[path_length++] = curr;
  }
  path[path_length] = id_start;
}
void generate_decisions() {
  for (int i = 1; i < path_length - 1; i++) {  //luam fiecare nod din path
    //path e int array
    node* current = &v[int(path[i])];
    for (int j = 0; j < current->conn_number; j++) {
      int fr_id = (current->conn[j]).from->id;
      int to_id = (current->conn[j]).to->id;
      if (fr_id == path[i - 1] and to_id == path[i + 1]) {
        char buf[2];
        buf[0] = (current->conn[j]).dir;
        buf[1] = '\0';
        strcat(decisions, buf);
      }
    }
  }
}

Code: Select all

#include <queue>
#include <string>
#include <iostream>
#include <cstring>

bool trav[20] = {};
int cost[20] = {};
short int A[20][20] = {
  { 255, 2, 2, 255, 255, 255, 255, 255, 255 },
  { 2, 255, 1, 255, 255, 255, 255, 255, 255 },
  { 2, 1, 255, 1, 255, 255, 255, 255, 255 },
  { 255, 255, 1, 255, 1, 2, 255, 255, 255 },
  { 255, 255, 255, 1, 255, 2, 255, 1, 255 },
  { 255, 255, 255, 2, 2, 255, 255, 255, 255 },
  { 255, 255, 255, 255, 255, 255, 255, 1, 2 },
  { 255, 255, 255, 255, 1, 255, 1, 255, 2 },
  { 255, 255, 255, 255, 255, 255, 2, 2, 255 }
};
int parent[20] = {};
int n = 9;
int path[20] = {};
char decisions[50] = {};
int path_length = 0;
int connectionListLength = 34;

struct node {
  uint8_t rfid[4];
  int id, conn_number = 0;
  char letter;
  struct connections {
    node* from = nullptr;
    node* to = nullptr;
    char dir = NULL;  //l-left, f-forward, r-right
  } conn[20];
} v[20];

// current, from, to, direction
char connectionList[40][4] = {
  { 'A', 'B', 'C', 'F' },
  { 'A', 'C', 'B', 'F' },
  { 'B', 'A', 'C', 'L' },
  { 'B', 'C', 'A', 'R' },
  { 'C', 'A', 'D', 'L' },
  { 'C', 'B', 'D', 'F' },
  { 'C', 'B', 'A', 'L' },
  { 'C', 'D', 'A', 'R' },
  { 'C', 'A', 'B', 'R' },
  { 'C', 'D', 'B', 'F' },
  { 'D', 'C', 'F', 'L' },
  { 'D', 'E', 'F', 'L' },
  { 'D', 'F', 'E', 'L' },
  { 'D', 'C', 'E', 'F' },
  { 'D', 'E', 'C', 'F' },
  { 'D', 'F', 'C', 'R' },
  { 'F', 'E', 'D', 'F' },
  { 'F', 'D', 'E', 'F' },
  { 'E', 'H', 'F', 'R' },
  { 'E', 'D', 'F', 'L' },
  { 'E', 'F', 'D', 'R' },
  { 'E', 'H', 'D', 'F' },
  { 'E', 'F', 'H', 'L' },
  { 'E', 'D', 'H', 'F' },
  { 'H', 'E', 'I', 'L' },
  { 'H', 'G', 'I', 'R' },
  { 'H', 'E', 'G', 'F' },
  { 'H', 'I', 'G', 'L' },
  { 'H', 'I', 'E', 'R' },
  { 'H', 'G', 'E', 'F' },
  { 'G', 'I', 'H', 'R' },
  { 'G', 'H', 'I', 'L' },
  { 'I', 'H', 'G', 'F' },
  { 'I', 'G', 'H', 'F' },
};

short p[200][2];

int djikstra(char start);
void generate_path(char start, char stop);
void connectionArrayToStruct();
void generate_decisions();

void setup() {
  connectionArrayToStruct();
  djikstra('A');
  std::cout<<"A si iesit din djikstra? \n";
  generate_path('A','G');
  generate_decisions();
  std::cout<<decisions<<std::endl;
}

void loop() {
  std::cout<<decisions;
}
void connectionArrayToStruct() {
  for (int i = 0; i < connectionListLength; i++) {
    int nd = int(connectionList[i][0] - 'A');
    int from = int(connectionList[i][1] - 'A');
    int to = int(connectionList[i][2] - 'A');
    int dir = connectionList[i][3];
    v[nd].id = nd;
    v[nd].conn[v[nd].conn_number].from = &v[from];
    v[nd].conn[v[nd].conn_number].to = &v[to];
    v[nd].conn[v[nd].conn_number].dir = dir;
    v[nd].conn_number++;
    v[nd].letter = connectionList[i][0];
  }
}
int djikstra(char start) {
  int id_start = int(start - 'A');
  for (int i = 0; i < n; i++) {
    cost[i] = 255;
    trav[i] = false;
  }
  cost[id_start] = 0;
  trav[id_start] = 1;
  parent[id_start] = -1;
  int p_start_index=0;
  int p_end_index=1;

  p[0][0] = id_start;
  p[0][1] = 0;
  while (p_start_index<=p_end_index) {
    for (int i = 0; i < n; i++) {
      if (A[(p[p_start_index][0])][i] != 255) {  //este vecin
        int cost_inst = p[p_start_index][1] + A[(p[p_start_index][0])][i];
        if (cost[i] > cost_inst) {  //daca traseul actual are un costa asociat mai mic decat cel cunoscut, il analizeaza
          cost[i] = cost_inst;
          if (trav[i] == 0){
            parent[i] = p[p_start_index][0];
            p[p_end_index][0] = i;
            p[p_end_index][1] = cost_inst;
            p_end_index++;
          }
        }
      }
    }
    trav[p[p_start_index][0]] = 1;
    p_start_index++;
    printf("Start %d, stop: %d \n",p_start_index,p_end_index);
  }
}
void generate_path(char start, char stop) {
  int id_start = start - 'A';
  int id_stop = stop - 'A';
  int curr = id_stop;
  path[path_length++] = id_stop;
  while (parent[curr] != -1) {
    curr = parent[curr];
    path[path_length++] = curr;
  }
  path[path_length] = id_start;
}
void generate_decisions() {
  for (int i = 1; i < path_length - 1; i++) {  //luam fiecare nod din path
    //path e int array
    node* current = &v[int(path[i])];
    for (int j = 0; j < current->conn_number; j++) {
      int fr_id = (current->conn[j]).from->id;
      int to_id = (current->conn[j]).to->id;
      if (fr_id == path[i - 1] and to_id == path[i + 1]) {
        char buf[2];
        buf[0] = (current->conn[j]).dir;
        buf[1] = '\0';
        strcat(decisions, buf);
      }
    }
  }
}
int main(){
    setup();
    loop();
    return 0;
}

ESP32 Forum

Strange behaviour, mostrly the same code has different results under windows and esp32

Strange behaviour, mostrly the same code has different results under windows and esp32