d4

d4

function []=shangxing(si,sj,sa)
global mh;
global ms;
global a;
global qj;
global qi;
global oj;
global oi;
global sz;

global sxz;
global szz;
global syz;

global cz;
si,sj,sa
a

%a(si,sj)=sa;
%上行扫描shangxing(i-1,j,a(i-1,j));
oi=si;
oj=sj;
index=find(a0);
if (index)~=0
j=sj
for i=si👎2
% if iqi&&j==qj+1
% disp(‘边界扫描完成’);
% neiluoxuan(i,j,a(i.j));
% end
i
if a(i,j+1)_=0&&a(i-1,j)=0&&a(i,j-1)~=0
a(i,j)=1;
if a(i,j-1)~=-1
j=j-1;
a(i,j)=1;
cz=cz+1;
sz=sz+1;
oi=i;
oj=j;
disp(‘左转’);
youxing(i,j,a(i,j));%左转
break
elseif a(i,j+1)~=-1
j=j+1;
a(i,j)=1;
cz=cz+1;
sz=sz+1;
oi=i;
oj=j;
disp(‘右转’);
zuoxing(i,j,a(i,j));%右转
break
elseif a(i-1,j)~=-1
i=i-1;
a(i,j)=1;
cz=cz+1;
sz=sz+1;
oi=i;
oj=j;
disp(‘掉头’);
xiaxing(i,j,a(i,j));%掉头
break

        elseif a(i+1,j)~=-1i=i+1;a(i,j)=1;cz=cz+1;sz=sz+1;oi=i;oj=j;disp('后退');shangxing(i,j,a(i,j));%后退break     endelseif a(i,j+1)==0a(i,j+1)=a(i,j+1)+1;%右拐 左行szz=szz+1;oi=i;oj=j;zuoxing(i,j+1,a(i,j+1));break

% elseif a(i,j+1)==-1
elseif a(i,j+1)~=0
if a(i-1,j)0
a(i-1,j)=a(i-1,j)+1;%直走 上行
sz=sz+1
% xs=a(i-1,j)
oi=i;
oj=j;
continue
% elseif a(i-1,j)-1
elseif a(i-1,j)~=0
if a(i,j-1)0
a(i,j-1)=a(i,j-1)+1;%左拐 右行
syz=syz+1
oi=i;
oj=j;
youxing(i,j-1,a(i,j-1));
break
else%if a(i,j-1)-1
a(i+1,j)=a(i+1,j)+1;
sxz=sxz+1;
oi=i;
oj=j;
xiaxing(i+1,j,a(i+1,j));%后退 下行
break
end
end
%else a(i,j+1)==1

        end

% oi=i;
% oj=j ;
end
% else
% i,j,a
end