== Programming Assignment ==

For this assignment you will write a program that controls a set of rovers and sends them commands to navigate on the Martian surface where they take samples. Each rover performs several missions and each mission follows the same sequence: deploy, perform one or more moves and scans, then return to base and report the results. While on a mission each rover needs to remember the scan results, in the same order as they were taken, as well as remember the way to get back to the base. The scan results should be stored in a queue and the return instructions should be stored in a stack.

The objective of this assignment is to learn how to implement and use both a queue and a stack. Since the objectives include learning how to implement a stack and a queue, you cannot use a premade stack or queue (e.g. the STL stack or queue classes).

== Program Design ==

Your program should use good design methodologies so you should have separate classes for each of the following:

- rover -- This class represents the rover. Each rover has an ID (integer) as well as an x, y coordinate to represent its current location relative to the base. In addition, it needs to have the following public methods:

- void deploy(); -- this deploys a rover on a new mission - void move(int x, int y) -- this moves a rover to the new x,y coordinates - void corescan() -- this performs a core sample scan and stores the resuls - void dock() -- this method returns to the base station and reports the results

Since you are not really on Mars and there aren't really rovers, your rover class is actually just going to simulate the movements and actions by printing messages on the screen.

The "deploy" method will print the message "Rover () deploying..." followed by "Rover () ready.". The string "Rover ()" should include the actual ID of the rover.

For example, the deploy method does this:

void rover::deploy() { printID(); cout << " deploying..." << endl; printID(); cout << " ready." << endl; }

The "move" method changes the rover's x,y coordinates, stores the new location on the stack, and prints a message that indicates the that rover moved. The message is "Rover () moving to location , .".

The "corescan" method prints a message "Rover () scanning." then calls the scandata class with the rover's current x, y location, and stores the result in the results queue.

The "dock" method prints "Rover () returning to base." then uses the entries from the stack to issue a sequence of moves to backtrack back to the base. It needs to print out each move (just like the move method). Once at the base the rover needs to print "Rover () at base. Sending results...". Then it needs to pull each of the results off of the queue and print them. When all results are printed the rover needs to print "Rover () result transmission complete.". Finally, the "dock" method needs to print "Rover () docked.".

Refer to the "expected.txt" file to make sure that your printed messages are correct.

- stack -- This class should implement a stack. It is used to store the locations as the rover moves on a mission.

- queue -- This class should implement a queue. It is used to store the scan results.

== Other Files ==

I have provided a class called "scandata". This class contains all of the simulated scan data that the rover will read. There is a single method "getScandata(int x,int y)" that takes in an x, y coordinate and returns the scan data for that location. You will need to compile the scandata.cpp file into your application. You should NOT edit or alter the scandata.h or scandata.cpp files.

I have also provided two test programs: teststack.cpp and testqueue.cpp. These are for your use. You are not required to use them but they will be helpful for developing and debugging your queue and stack classes.

Finally, for your convenience I have provided a "makefile". If you name all of your files the same as I have then you can use the following make commands:

- make rovercontrol -- this builds the entire rovercontrol program - make testrover -- this builds the rovercontrol program and tests it against expected.txt - make testqueue -- this builds the testqueue program and runs it - make teststack -- this builds the teststack program and runs it

Using the makefile is optional. You are welcome to modify it anyway you want. You do not need to turn in the makefile.

== External Requirements ==

- The main driver (rovercontrol.cpp) will provide a sequence of commands to a set of rovers. Each rover needs to respond to the commands. Any number of rovers can be active at the same time and the commands for different rovers are interlaced. - Rover scan results should be reported, after docking, in the same order that they were collected. You must use a queue to store these. - Each rover must keep track of the path it follows during its mission so it can find its way home when the DOCK command is issued. You must use a stack to store this. - The output from your program must match expected.txt exactly.

== Internal Requirements ==

- The program must use the supplied rovercontrol.cpp file, unmodified, as the main driver. - Each rover must have its own queue and stack. - All of the scan results must be stored in a queue in each rover. - All of the route information must be stored in a stack in each rover. - No memory leaks.

example of commands.txt (not entire commands.txt file)

DEPLOY 1 DEPLOY 2 DEPLOY 3 DEPLOY 4 DEPLOY 5 DEPLOY 6 DEPLOY 7 MOVE 4 4989 5060 MOVE 6 5900 5193 MOVE 5 5838 5002 MOVE 3 5014 5986 MOVE 3 5223 6371 MOVE 4 5637 5769 MOVE 5 6819 5848 MOVE

rovercontrol.cpp

#include #include #include #include "rover.h"

using namespace std;

int main(int argc, char** argv) {

// Set up the program constants const int NUMBER_OF_ROVERS = 7; const int MAX_COMMAND_LENGTH = 16; const int MAX_RESULTS = 128; const char* CMD_END = "END"; const char* CMD_DEPLOY = "DEPLOY"; const char* CMD_MOVE = "MOVE"; const char* CMD_CORESCAN = "CORESCAN"; const char* CMD_DOCK = "DOCK";

rover** rovers;

if (argc != 2) { cout << "Usage: " << argv[0] << " " << endl; return(0); }

// Create the rovers rovers = new rover*[NUMBER_OF_ROVERS]; for (int i=0;i

// Read the data char* datafile = argv[1]; ifstream infile(datafile); char command[MAX_COMMAND_LENGTH]; int roverID; int commandArg1; int commandArg2;

infile >> command; while (strcmp(command,CMD_END) != 0) { infile >> roverID;

if (strcmp(command,CMD_DEPLOY) == 0) { rovers[roverID-1]->deploy(); } if (strcmp(command,CMD_MOVE) == 0) { infile >> commandArg1; infile >> commandArg2; rovers[roverID-1]->move(commandArg1, commandArg2); } if (strcmp(command,CMD_CORESCAN) == 0) { rovers[roverID-1]->corescan(); } if (strcmp(command,CMD_DOCK) == 0) { rovers[roverID-1]->dock(); }

infile >> command; }

// Free up memory for the allocated rovers for (int i=0;i

scandata.h

#ifndef SCANDATA_H #define SCANDATA_H

#define NUM_SCANDATA_VALUES 1000

class scandata { private: static const int m_data[];

public: static int getScandata(int x,int y); };

#endif

scandata.cpp

#include #include "scandata.h"

int const scandata::m_data[] = { 80, -56, 83, -6, 46, 78, 50, 46, -3, -5, 11, 85, -7, 45, -19, -49, 83, -50, 21, 24, 1, 47, 20, 68, 21, -56, -31, 83, 95, -10, 43, -15, -42, -75, -47, 18, 12, -95, 97, 39, 63, -62, -30, 84, 64, -22, 82, 21, -22, 92, -91, 40, 57, 38, 23, -29, -29, 100, 7, -68, 14, 100, -91, 99, -57, 55, 15, -21, -95, -1, 12, -57, -63, -78, 99, -67, -9, -83, -11, 67, 60, 70, -56, -91, 25, -81, -88, -86, 65, -32, -85, 88, -86, 12, 100, -35, -1, 45, -55, -7, -95, 75, 61, 5, -4, 91, -84, -65, -71, -18, 28, -28, 15, 5, 26, -4, -97, -89, 98, -54, 13, 100, -43, -24, -16, 72, 85, 23, 11, 94, 35, 39, -10, -90, 51, 90, -59, -64, -25, -100, -72, 11, 14, 76, 0, -64, -79, 38, 41, -6, -54, 41, 99, 60, -63, 31, 31, -92, -43, 93, -64, -33, 45, -100, 80, 92, -7, -72, -78, -32, -93, 62, 18, -52, 60, 98, 21, -16, 40, 74, -59, -93, 65, -26, -2, 70, -71, -95, 88, 33, 72, 55, 32, 12, 55, -37, -71, -92, 59, -31, -45, -12, 96, 30, -19, 65, -85, -81, 94, -27, 78, -58, -93, -41, -2, 29, 83, 57, 47, -65, -38, -80, -6, 44, 65, -65, -94, -37, -28, -3, -61, -70, 77, 49, -82, -98, -71, 47, -43, -97, 76, 34, -47, -31, -40, 49, -84, -87, -1, -34, 57, -20, -5, 53, -62, -74, 22, -46, 12, -24, -15, 32, 89, 5, 73, 30, -79, 52, 80, 36, -35, -49, -13, 93, 59, 69, -34, -90, -88, -51, -32, 8, 29, -81, -12, 90, -36, 17, -89, -3, 82, 91, -89, 25, -87, 1, 81, -32, 19, -63, -85, -78, 34, 42, 23, 9, 5, 14, 71, 56, 32, 62, -91, 84, -68, -55, -74, 99, 88, -9, -40, -74, 38, 10, -80, 70, -13, 13, 44, -53, -64, 65, -72, -60, -22, -12, 7, -73, -20, 72, -22, 72, -15, 56, -54, 4, -66, 50, 89, -71, 89, -50, -85, 69, -93, 99, 71, 84, -71, 94, -92, 8, -96, -75, -36, 65, 24, -45, -70, 67, -34, -75, 25, 0, 19, -2, -32, 66, 96, 75, -12, 71, -43, -46, 69, -93, 37, -72, -28, 28, -96, -39, -78, -19, 65, -25, -46, -38, 78, 12, -94, -28, -96, 32, -59, 37, 62, -57, 100, -32, 73, -91, 9, 2, -51, 71, 60, -42, -48, 98, 13, -37, 56, 15, -66, 90, -62, 31, 65, -27, -18, 94, -50, 52, -56, -33, 87, -47, -21, -6, -75, 18, 91, -46, -66, -51, -70, -20, 41, -89, 48, -8, -13, 40, -8, -25, -65, -14, -38, -36, -11, 67, -56, 27, -17, -2, -43, -37, 100, 42, 10, 35, 49, -7, 45, 12, -51, 41, 73, 40, -82, 73, 25, -23, -46, 98, -4, 31, -82, 0, -9, 73, -9, 67, -91, -29, 86, -49, -86, 100, 19, -19, 73, -46, -85, -42, 33, 27, -61, 71, -8, -26, -97, 73, 91, -47, 49, -61, -2, -39, 74, 89, -73, 79, 75, -64, 8, 56, 51, -86, -29, -66, -95, -88, -18, -51, -17, -15, 29, 9, 75, -53, 97, -49, -2, -56, -65, 80, 95, -20, -14, 25, -35, -26, -49, 30, 0, -27, -62, -42, -66, -15, -94, -83, -6, 20, -20, -16, 46, -43, 50, 17, 74, -92, -50, 85, -28, -31, 57, -68, 64, -77, -79, -83, -85, 2, -20, -36, 59, -19,

12, 33, -92, -99, 37, 85, -68, 19, -14, 61, 69, 13, 81, -69, 9, 33,

100, -13, 27, 71, -3, 98, -20, -67, -41, -39, -70, -82, 21, -18, -8, 90, 51, 25, 14, -7, 99, -19, -99, 20, 8, -64, -43, 33, 31, 87, 57, 91, -90, 69, 29, 38, 28, -29, -87, 39, 4, 11, 56, -2, -34, -4, -49, -74, 22, 43, -35, 17, -65, 64, -45, 13, 81, -74, -41, -91, 63, -25, 44, 90, -96, 95, 32, 16, 56, 22, -13, -59, -6, -26, -77, -84, -100, 52, 89, -93, 8, 16, -47, -54, 99, -13, -25, 40, -1, 95, -22, -19, -80, -43, -17, 99, -3, 39, -52, 88, -73, -30, 89, 31, -56, -73, 75, 37, -33, 17, 12, 76, -27, 94, -61, -52, 80, 72, -21, 42, 2, 12, 38, -96, -27, 86, -18, -35, -80, 4, 15, -51, -3, 1, 85, 21, 73, 33, 9, 84, 0, -67, -32, -84, -74, -43, 80, 81, 99, 93, -18, -29, -70, 89, -39, 36, 95, 99, -91, -89, 97, -100, 39, 8, 59, -31, 5, 35, -10, -77, -97, 44, 21, 34, 2, -25, -65, 75, -100, 81, 13, 38, -76, 34, 57, 9, -69, 45, 73, -60, 34, 73, -74, -59, -80, 54, -40, -19, 9, 5, 6, 83, 88, -27, -48, 21, 23, -21, -97, -10, -41, 9, 72, -67, 2, -65, -70, 70, 81, 85, -98, 57, -79, -2, -34, 75, -5, 45, 55, -84, 96, 94, 49, -3, 67, 8, 57, -45, -12, 88, -75, 91, -65, 57, -69, 36, 62, 72, 34, 78, 54, -66, -60, 69, -71, 20, -45, 16, 29, 47, 54, 9, 89, -88, 77, -62, -2, -20, 83, -30, 8, 84, -75, 73, -25, 37, -62, -18, -58, 7, -42, 41, 52, -31, -50, -2, 55, -54, -80, -88, -34, 28, 48, 0, -66, -33, 75, -21, 64, -95, 59, 43, 76, 57, 70, 93, -78, 57, 61, -15, -37, 20, 93, 17, -66, 74, -74, -52, 25, 34, -44, 87, -59, -96, 94, -48, 1, 70, -17, -18, 65, 29, -60, 54, 91, 31, -28, -24, 33, -26, 60, 17, -12, 0, 52, -75, 77, 58, -12, -25, 69, -90, 72, -85, 41, -45, -43, 62, -92, 89, 59, -59, 25, -90, -57, -85, 22, -57, -73, -66, -10, 22, 45, 96, -79, -50, -21, -16, -17, -40, -12, 86, -61, 100, 21, -3, 33, -95, -50, -5, -88, -11, 56, 30};

int scandata::getScandata(int x,int y) { int ret = 0;

int index = (x * y); index *= (index < 0) ? -1 : 1; // Make it positive index = index % NUM_SCANDATA_VALUES; ret = m_data[index];

return ret; }

testqueue.cpp

#include #include "queue.h"

using namespace std;

void dumpQueue(queue &q) { cout << "Dumping the queue" << endl; while (!q.isEmpty()) { int result = q.dequeue(); cout << "Value: " << result << endl; } }

int main() { queue q(5);

q.enqueue(1); dumpQueue(q);

q.enqueue(1); q.enqueue(2); // q.printInternals(); dumpQueue(q);

q.enqueue(1); q.enqueue(2); q.enqueue(3); q.enqueue(4); q.enqueue(5); q.enqueue(6); // q.printInternals(); dumpQueue(q);

}

teststack.cpp

#include #include "stack.h"

using namespace std;

void dumpStack(stack &s) { cout << "Dumping the stack" << endl; while (!s.isEmpty()) { const stack_entry* result = s.pop(); cout << "Value: " << result->x << ", " << result->y << endl; } }

void pushHelper(stack &s,int x, int y) { stack_entry entry;

entry.x = x; entry.y = y; s.push(entry); }

int main() { stack s(5); stack_entry entry;

pushHelper(s,1,1); dumpStack(s);

pushHelper(s,1,1); pushHelper(s,2,2); dumpStack(s);

}

example of expected.txt (not entire expected.txt file)

Rover (ID 1) deploying... Rover (ID 1) ready. Rover (ID 2) deploying... Rover (ID 2) ready. Rover (ID 3) deploying... Rover (ID 3) ready. Rover (ID 4) deploying... Rover (ID 4) ready. Rover (ID 5) deploying... Rover (ID 5) ready. Rover (ID 6) deploying... Rover (ID 6) ready. Rover (ID 7) deploying... Rover (ID 7) ready. Rover (ID 4) moving to location 4989, 5060. Rover (ID 6) moving to location 5900, 5193. Rover (ID 5) moving to location 5838, 5002. Rover (ID 3) moving to location 5014, 5986. Rover (ID 3) moving to location 5223, 6371. Rover (ID 4) moving to location 5637, 5769. Rover (ID 5) moving to location 6819, 5848. Rover (ID 3) moving to location 5993, 6543. Rover (ID 2) moving to location 5499, 4379. Rover (ID 3) moving to location 6246, 6605. Rover (ID 6) moving to location 6304, 5619. Rover (ID 4) moving to location 5936, 6095. Rover (ID 6) moving to location 6509, 6136. Rover (ID 3) moving to location 6915, 7136. Rover (ID 4) moving to location 5204, 6187. Rover (ID 7) moving to location 5474, 5092. Rover (ID 5) moving to location 7633, 5921. Rover (ID 2) moving to location 4852, 5223. Rover (ID 1) moving to location 5505, 5695. Rover (ID 5) moving to location 8437, 6221. Rover (ID 5) moving to location 9119, 6925. Rover (ID 7) moving to location 6446, 5096. Rover (ID 1) moving to location 5960, 5904. Rover (ID 2) moving to location 5497, 4992. Rover (ID 4) moving to location 6025, 5224. Rover (ID 3) moving to location 7649, 7925. Rover (ID 5) moving to location 9475, 7528. Rover (ID 7) moving to location 7270, 5698.

:

:

:

Rover (ID 3) moving to location 8627, 8879. Rover (ID 3) moving to location 8603, 8868. Rover (ID 3) moving to location 8596, 8853. Rover (ID 3) moving to location 8582, 8840. Rover (ID 3) moving to location 8576, 8848. Rover (ID 3) moving to location 8571, 8831. Rover (ID 3) moving to location 8566, 8812. Rover (ID 3) moving to location 8579, 8822. Rover (ID 3) moving to location 7649, 7925. Rover (ID 3) moving to location 6915, 7136. Rover (ID 3) moving to location 6246, 6605. Rover (ID 3) moving to location 5993, 6543. Rover (ID 3) moving to location 5223, 6371. Rover (ID 3) moving to location 5014, 5986. Rover (ID 3) moving to location 0, 0. Rover (ID 3) at base. Sending results... Rover (ID 3) result: -92 Rover (ID 3) result: -19 Rover (ID 3) result: 41 Rover (ID 3) result: -28 Rover (ID 3) result: -14 Rover (ID 3) result transmission complete. Rover (ID 3) docked. Rover (ID 6) moving to location 9994, 9697. Rover (ID 2) moving to location 6610, 6580. Rover (ID 1) moving to location 5013, 5438. Rover (ID 2) moving to location 6632, 6584. Rover (ID 6) scanning. Rover (ID 5) scanning. Rover (ID 1) moving to location 5011, 5438. Rover (ID 2) scanning. Rover (ID 4) moving to location 5680, 4905. Rover (ID 7) scanning. Rover (ID 5) moving to location 1196, 9863. Rover (ID 6) moving to location 9988, 9705. Rover (ID 4) moving to location 5663, 4924. Rover (ID 1) scanning. Rover (ID 6) moving to location 9994, 9689. Rover (ID 7) moving to location 7928, 6383. Rover (ID 4) moving to location 5664, 4925.

CODE SHOULD BE IN C++