random_walk function

random_walk_function

void random_walk() {
	int random_choice = 0;
	io.readOdometryData(odom);
	if ((scan.ranges[166] <= radius_value && scan.ranges[833] <= radius_value)) {
		flag_corridor = 1; // still in the corridor
	}
	else {
		flag_crossroad = 1; // in the crossroad
	}
	if (!transition) { // if the robot is not in a junction, take decision
		transition = 1;
		if (dead_detect()) decision_variable = 4; // dead end
		else if (open_space_detect()) {
			if (scan.ranges[166] >= scan.ranges[833]) {
				decision_variable = 5; // left is closer
									   //                 next_decision = 1; // next decision must be left
			}
			else {
				decision_variable = 6; // right is closer
									   //                 next_decision = 2; // next decision must be right
			}
		}
		else if (straight) {
			//if (straight) {
			if (left_turn) {
				if (right_turn) {
					// straight, left and right
					random_choice = random(1, 1, 1);
					if (random_choice == 1) decision_variable = 1; // pick left
					else if (random_choice == 2) decision_variable = 2; // pick right
					else decision_variable = 3; // pick straight
				}
				else {
					// straight and left
					random_choice = random(1, 1, 0);
					if (random_choice == 1) decision_variable = 1; // pick left
					else decision_variable = 3; // pick straight
				}
			}
			else {
				if (right_turn) {
					// straight and right
					random_choice = random(1, 1, 0);
					if (random_choice == 1) decision_variable = 2; // pick right
					else decision_variable = 3; // pick straight
				}
				else {
					// straight
					decision_variable = 3; // pick straight automatically
				}
			}
		}
		else if (left_turn) {
			if (right_turn) {
				// left and right
				random_choice = random(1, 1, 0);
				if (random_choice == 1) decision_variable = 1; // pick left
				else decision_variable = 2; // pick right
			}
			else {
				// left
				decision_variable = 1; // pick left automatically
			}
		}
		else if (right_turn) {
			// right
			decision_variable = 2; // pick right automatically
		}
		if (decision_variable == 1) {
			cout << "Going left!" << endl;
			turning_left = 1;
			turn = 1;
			left_stuck = 1;
			right_stuck = 0;
			straight_stuck = 0;
			// Alternative way of sticking to the decision !!!!!!
			io.readOdometryData(odom);
			a = odom.a; // current angle
		}
		else if (decision_variable == 2) {
			cout << "Going right!" << endl;
			turning_right = 1;
			turn = 1;
			right_stuck = 1;
			left_stuck = 0;
			straight_stuck = 0;
			// Alternative way of sticking to the decision !!!!!!
			io.readOdometryData(odom);
			a = odom.a; // current angle
		}
		else if (decision_variable == 3) {
			cout << "Going straight!" << endl;
			going_straight = 1;
			turn = 0;
			straight_stuck = 1;
			right_stuck = 0;
			left_stuck = 0;
		}
		else if (decision_variable == 4) {
			cout << "Dead end or door?" << endl;
			dead_end = 1;
			straight_stuck = 0;
			right_stuck = 0;
			left_stuck = 0;
		}
		else if (decision_variable == 5) {
			cout << "Open space!" << endl;
			open_space = 1;
			straight_stuck = 0;
			right_stuck = 0;
			left_stuck = 0;
		}
		else if (decision_variable == 6) {
			cout << "Open space!" << endl;
			open_space = 1;
			straight_stuck = 0;
			right_stuck = 0;
			left_stuck = 0;
		}
		else { // if it picks an unavailable choice!
			cout << "No pick!" << endl;
		}
		//    cout << decision_variable << endl;
		/*if (decision_variable == 1 || decision_variable == 2) history = decision_variable;
		else history = 2;
		*/
	}
	// Conditions to exit the transition (junction) phase!!!!!
	else if (turning_left && (!((a < pi / 2 && ((odom.a - a) < pi / 2)) || (a >= pi / 2 && (((odom.a - a) < -3 * pi / 2) || (abs(odom.a - a) < pi / 2))))) ||
		(turning_right && !((a > -pi / 2 && ((odom.a - a) > -pi / 2)) || (a <= -pi / 2 && (((odom.a - a) > 3 * pi / 2) || (abs(odom.a - a) < pi / 2))))) ||
		(flag_corridor && flag_crossroad && (scan.ranges[166] <= radius_value && scan.ranges[833] <= radius_value) && going_straight) ||
		((scan.ranges[166] <= radius_value && scan.ranges[833] <= radius_value) && going_straight) ||
		(dead_detect() && !inspect) ||
		(open_space_detect()) ||
		(!open_space_detect() && open_space) ||
		((clock() / CLOCKS_PER_SEC - t_change) > 5)) {

		transition = 0; // the robot is in the corridor again so it can make a new decision
						// reset the flags
		straight = 0; left_turn = 0; right_turn = 0;
		dead_end = 0; open_space = 0;
		turning_left = 0; turning_right = 0; going_straight = 0;
		flag_corridor = 0;
		flag_crossroad = 0;
		left_door = 0; right_door = 0;

		if ((clock() / CLOCKS_PER_SEC - t_change) > 5) cout << "Long time no decision!" << endl;

		t_change = clock() / CLOCKS_PER_SEC; // update timer

		cout << "Time to take another decision!" << endl;
	}

}