;path taken by the Robot is indicated by numbers (1 2 3...)
; where 1 -> first step; 2 -> second step; 3 -> third step and so on
; Door is indicated by '=' 
; Wall (Black field) is indicated by 'X' 
; path without obstacles (white field) is indicated by '-'


(require "add_wall.lsp")
(require "print.lsp")
(require "findpath.lsp")
(require "smallest.lsp")
(require "finddoor.lsp")


(defun laby()

;set the size of the labyrinth
(setq labyrinth (make-array '(10 10)))

;initialize array
(dotimes (x 10)
    (dotimes (y 10) (setf (aref labyrinth x y) '-)))


;add wall to the Labyrinth
(add_wall)

(format t "~%")

(print 'Initial_state)

(print '--------------)
(format t "~%")

(print_lab labyrinth) 

(format t "~%")

;get the row and col number of the robot (>) position
(dotimes (x 10)
    (dotimes (y 10) (cond ((EQ (aref labyrinth x y) '>) (progn (setq col y) (setq row x))))))

;initialize cnt to 0
(setq cnt 0)

;find the path to the door 

(find_path row col cnt)

(format t "~%")
(format t "~%")
;print the final path taken by the Robot to the door (indicated by !)

(print 'Final_state)

(print '--------------)
(format t "~%")
(print_lab labyrinth)
(format t "~%")
)