#ifndef __ASTAR_H
#define __ASTAR_H

#define MAZE_WIDTH        16            /* 迷宮寬度 */
#define MAZE_HEIGHT       8             /* 迷宮高度 */

#define PATH_BLOCK         0            /* 障礙物   */
#define    PATH_WALKON     1            /* 可行走   */
#define PATH_FOOTPRINT     2            /* 腳印     */

typedef unsigned int    byte_t;
typedef unsigned int    uint_t;


/* 路徑節點 */
typedef struct footprint {

    /* 存放在數組中的位置 */
    uint_t    pos;

    /* 存放方向信號量 */
    byte_t    direct;

    struct footprint *next;
    struct footprint *prev;

} path_t;

uint_t distance( uint_t pos1X, uint_t pos1Y, uint_t pos2X, uint_t pos2Y );
uint_t create_pos( uint_t pX, uint_t pY ) ;
path_t * evaluate( path_t *p, uint_t quit_x, uint_t quit_y, byte_t maze[MAZE_HEIGHT][MAZE_WIDTH] );
path_t * AStar(uint_t eX, uint_t eY, uint_t qX, uint_t qY, byte_t maze[MAZE_HEIGHT][MAZE_WIDTH]);
void	GPS_Navigation(void);
void Navigation_End_ConstrolWord(void);
//void show_menu_DaoHang(unsigned char start_x,unsigned char start_y,unsigned char end_x,unsigned char end_y);
void show_menu_DaoHang();

#endif