From bcc8f2dc2d69c25d983ef05c01f7be95f5764ef2 Mon Sep 17 00:00:00 2001
From: ehiker <ehiker@ehikers-lubuntu.(none)>
Date: Mon, 10 Oct 2011 14:45:09 +0200
Subject: [PATCH] pathplan, robomon: add dark gray color for cells, which was
 under robot bitmask.

---
 src/pathplan/aalgorithm.c       | 7 +++++++
 src/robomon/RobomonAtlantis.cpp | 4 +++-
 2 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/src/pathplan/aalgorithm.c b/src/pathplan/aalgorithm.c
index 468debaa..1daf3428 100644
--- a/src/pathplan/aalgorithm.c
+++ b/src/pathplan/aalgorithm.c
@@ -252,6 +252,13 @@ int aAlgorithm_shape(double xstart_real,double ystart_real, double xgoal_real, d
 	
 	init_bitmap(bitmap_straight, BITMAP_AB, BITMAP_AF, BITMAP_W2);
 	init_bitmap(bitmap_across, BITMAP_AB_ACROSS, BITMAP_AF_ACROSS, BITMAP_W2_ACROSS);
+	
+	// Clear previous masks
+        for (y=0;y<MAP_HEIGHT;y++){
+		for(x=0;x<MAP_WIDTH;x++){
+			map->cells[y][x].flags &= ~(MAP_FLAG_PLAN_MASK);
+		}
+	}
 		
         if (!map) return -1;
 	// Transform real data in cell data
diff --git a/src/robomon/RobomonAtlantis.cpp b/src/robomon/RobomonAtlantis.cpp
index b216bda6..ed51b3d3 100644
--- a/src/robomon/RobomonAtlantis.cpp
+++ b/src/robomon/RobomonAtlantis.cpp
@@ -463,7 +463,9 @@ void RobomonAtlantis::paintMap()
 
                         struct map_cell *cell = &map->cells[j][i];
                         color = lightGray;
-
+			
+			if (cell->flags & MAP_FLAG_PLAN_MASK)
+                                color = darkGray;
                         if ((cell->flags & MAP_FLAG_WALL) &&
 			    (cell->flags & MAP_FLAG_INVALIDATE_WALL) == 0)
                                 color = darkYellow;
-- 
2.39.2