Initial Floodfill Code

.github/workflows/maze-build.yml

@@ -19,9 +19,6 @@ jobs:
       - name: Build project (debug)
         run: make
 
-      - name: Run maze solver
-        run: ./build/mazealgo
-
       - name: Build project (release / -O2)
         run: |
           make clean

.gitignore

@@ -1 +1,2 @@
-build/
+build/
+testmazes/

Makefile

@@ -1,25 +1,80 @@
-SRCS = astar.c floodfill.c main.c
-OBJS = $(patsubst %.c,build/%.o,$(SRCS))
-DEPS = $(OBJS:.o=.d)
-TARGET = build/mazealgo
-CC ?= gcc
+CC      ?= gcc
 
-CFLAGS = -Wall -Wextra -Werror -std=c11 -Og -g -pedantic
+# Build configuration
+BUILD_TYPE ?= debug   # options: debug, release
+SANITIZE   ?= 1       # 1 to enable sanitizers, 0 to disable
+SIM        ?= 1       # 1 to define SIM, 0 to omit
+
+# Base compiler flags (common to all builds)
+CFLAGS  = -Wall -Wextra -Werror -std=c11 -pedantic
 CFLAGS += -Wconversion -Wshadow -Wformat=2 -fstack-protector-strong
 
+# Configuration-specific flags
+ifeq ($(BUILD_TYPE),debug)
+# make BUILD_TYPE=debug
+CFLAGS += -Og -g
+else ifeq ($(BUILD_TYPE),release)
+CFLAGS += -O2
+endif
+
+ifeq ($(SANITIZE), 1)
+CFLAGS += -fsanitize=address,undefined
+endif
+
+ifeq ($(DEBUG), 1)
+CFLAGS += -DDEBUG
+endif
+
+ifeq ($(SIM), 1)
+CFLAGS += -DSIM
+endif
+LDFLAGS =
+
+BUILD   = build
+TARGET_ALGO   = $(BUILD)/mazealgo
+TARGET_READER = $(BUILD)/socket_reader
+
+ALGO_SRCS   = api.c floodfill.c main.c queue.c
+READER_SRCS = socket_reader.c
+
+ALGO_OBJS   = $(patsubst %.c, $(BUILD)/%.o, $(ALGO_SRCS))
+READER_OBJS = $(patsubst %.c, $(BUILD)/%.o, $(READER_SRCS))
+ALL_OBJS    = $(ALGO_OBJS) $(READER_OBJS)
+DEPS        = $(ALL_OBJS:.o=.d)
+
+# ── Targets ────────────────────────────────────────────────────────────────────
+
+.PHONY: all clean run help
+
+all: $(TARGET_ALGO) $(TARGET_READER)
+
+$(TARGET_ALGO): $(ALGO_OBJS) | $(BUILD)
+	$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
+
+$(TARGET_READER): $(READER_OBJS) | $(BUILD)
+	$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
+
+$(BUILD)/%.o: %.c | $(BUILD)
+	$(CC) $(CFLAGS) -MMD -MP -c $< -o $@
+
+$(BUILD):
+	mkdir -p $(BUILD)
+
+# ── Dependency includes ────────────────────────────────────────────────────────
+
 -include $(DEPS)
 
-build/mazealgo: $(OBJS)
-	$(CC) -o $@ $^ $(CFLAGS)
-build/%.o: %.c
-	mkdir -p build
-	$(CC) -MMD -MP -c $< -o $@ $(CFLAGS)
-.PHONY: clean help
+# ── Utility ───────────────────────────────────────────────────────────────────
+
+run: all
+	$(TARGET_READER) & $(TARGET_ALGO)
+
 clean:
-	rm -rf build
+	$(RM) -r $(BUILD)
 
 help:
-	@echo "This project is built using 'make' (see Makefile)."
-	@echo "If the README still refers to CMake-based builds, those instructions are legacy."
-	@echo "To build the binary used by CI, run:  make"
-	@echo "To clean build artifacts, run:       make clean"
+	@echo "Targets:"
+	@echo "  all    - Build mazealgo and socket_reader (default)"
+	@echo "  run    - Build then run both binaries"
+	@echo "  clean  - Remove build artifacts"
+	@echo "  help   - Show this message"

README.md

@@ -1,35 +1,74 @@
-# Maze Algorithm Repository
+# Micromouse Maze Algorithm Repository
 
-This repository will contain the maze algorithm. Right now, it uses a left wall following algorithm.
+This repository provides the template and core interface for developing Micromouse maze-solving algorithms. It includes an adapter  for the Micromouse Simulator (MMS) and a skeleton for implementing search algorithms.
 
-## how to build
+## File Structure
 
-This uses a build tool known as cmake. This will make compilation much easier. There's a `CMakeLists.txt` file which describes what the final executable should look like.
+| File | Description |
+| :--- | :--- |
+| `floodfill.c` | **Primary Logic:** Implement your floodfill or search algorithm here. |
+| `api.c` | The low-level interface used to communicate with the simulator. |
+| `socket_reader.c` | An adapter that connects the MMS to your algorithm, enabling step-by-step debugging. |
+| `queue.c` | A standard queue data structure implementation for use in BFS/Floodfill. |
 
-```sh
-mkdir build # if you didn't create a folder named build yet
-cd build # go into build folder
-cmake .. # generate make file and other components
-make # compile your code. You can add j<num-threads> to speed up compilation
+## Build Instructions
+
+Use the `make` command with the following optional flags to compile the project:
+
+```bash
+make SIM=1 DEBUG=1 SANITIZE=1
 ```
 
+### Build Flags
+
+  * **`SIM=1`**: Compiles the code specifically for use with the Micromouse Simulator.
+  * **`DEBUG=1`**: Enables symbols and configurations for step-by-step debugging.
+  * **`SANITIZE=1`**: Enables AddressSanitizer to detect memory leaks and buffer overflows.
+
+To remove compiled binaries and object files, run:
 
-- This is expected to be used in conjunction with the micromouse maze simulator
+```bash
+make clean
+```
+
+-----
 
+## Execution & Simulation
 
-## Documentation
+### 1\. Configure the Simulator
 
-- https://github.com/mackorone/mms-cpp: the micromouse cpp api
-- https://github.com/mackorone/mms: The micromouse maze simulation program
+Before running your code, open the **Micromouse Simulator (MMS)** and point the configuration to your build directory.
 
-## branching conventions
+![](./images/image.png)
 
-You'll create a new branch for each problem you're trying to fix. We'll be doing the following convention
+### 2\. Run the Algorithm
 
-```sh
-user/<username>/problem
+Once the simulator is configured and the "Run" button is pressed, execute the binary from your terminal:
 
-user/afe123x/left-corner-crash #An example branch name, clearly describing what we're working on.
+```bash
+./build/mazealgo
 ```
 
-When you're done with your work, and ensure it compiles, you can make a pull request.
+-----
+
+## Development Workflow
+
+### Branching Convention
+
+To maintain a clean repository, please use the following naming convention for all new features or bug fixes:
+
+`user/<username>/<brief-description>`
+
+**Example:**
+`user/afe123x/left-corner-crash`
+
+### Pull Requests
+
+1.  Ensure your code compiles without errors or warnings.
+2.  Verify that `SANITIZE=1` does not report memory issues.
+3.  Push your branch and open a Pull Request for review.
+
+## Resources
+
+  * [MMS Simulation Program](https://github.com/mackorone/mms): The core simulator application.
+  * [MMS C++ API](https://github.com/mackorone/mms-cpp): Documentation for the simulator's API and protocol.