add a return value to triangulate()

Related to #1801.

diff --git a/lib/pathplan/shortest.c b/lib/pathplan/shortest.c
index b166eb6f69508709f7b5ae3042515ea94f95e58b..06bc7a50a6f5435bc132acdc57165c5ea75228b1 100644 (file)
--- a/lib/pathplan/shortest.c
+++ b/lib/pathplan/shortest.c
@@ -76,7 +76,7 @@ static deque_t dq;
 static Ppoint_t *ops;
 static int opn;
 
-static void triangulate(pointnlink_t **, int);
+static int triangulate(pointnlink_t **, int);
 static int isdiagonal(int, int, pointnlink_t **, int);
 static void loadtriangle(pointnlink_t *, pointnlink_t *, pointnlink_t *);
 static void connecttris(int, int);
@@ -165,7 +165,8 @@ int Pshortestpath(Ppoly_t * polyp, Ppoint_t * eps, Ppolyline_t * output)
 #endif
 
     /* generate list of triangles */
-    triangulate(pnlps, pnll);
+    if (triangulate(pnlps, pnll))
+       return -2;
 
 #if defined(DEBUG) && DEBUG >= 2
     fprintf(stderr, "triangles\n%d\n", tril);
@@ -298,7 +299,7 @@ int Pshortestpath(Ppoly_t * polyp, Ppoint_t * eps, Ppolyline_t * output)
 }
 
 /* triangulate polygon */
-static void triangulate(pointnlink_t ** pnlps, int pnln)
+static int triangulate(pointnlink_t ** pnlps, int pnln)
 {
     int pnli, pnlip1, pnlip2;
 
@@ -313,14 +314,15 @@ static void triangulate(pointnlink_t ** pnlps, int pnln)
                                loadtriangle(pnlps[pnli], pnlps[pnlip1], pnlps[pnlip2]);
                                for (pnli = pnlip1; pnli < pnln - 1; pnli++)
                                        pnlps[pnli] = pnlps[pnli + 1];
-                               triangulate(pnlps, pnln - 1);
-                               return;
+                               return triangulate(pnlps, pnln - 1);
                        }
                }
                prerror("triangulation failed");
     } 
        else
                loadtriangle(pnlps[0], pnlps[1], pnlps[2]);
+
+    return 0;
 }
 
 /* check if (i, i + 2) is a diagonal */