private void SaveLabyrinth_Click(object sender, RoutedEventArgs e)
{
Labyrinth lab = lc.Robot.ActualLabyrinth;
string data = string.Join(";", lab.GetAllRelations().Where(r => r.Relation == RelationType.Close));
File.WriteAllText("Data.txt", lab.Width + ";" + lab.Height + ";" + data);
}
private Point GetMiddle(Labyrinth labyrinth, Block block)
{
double widthFactor = ActualWidth / BlocksWidth;
double heightFactor = ActualHeight / BlocksHeight;
return(new Point(widthFactor * (block.X + 0.5), heightFactor * (block.Y + 0.5)));
}
private void NextLabyrinthStep_Click(object sender, RoutedEventArgs e)
{
try
{
string[] labyrinthData = File.ReadAllText("Data.txt").Split(';');
int width = int.Parse(labyrinthData.First());
int height = int.Parse(labyrinthData.ElementAt(1));
Labyrinth labyrinth = Labyrinth.GetActual(width, height);
foreach (string relationData in labyrinthData.Skip(2))
{
double[] relationPosition = relationData.Split('x').Select(d => double.Parse(d)).ToArray();
labyrinth[relationPosition[0], relationPosition[1]].Close();
}
lc.Robot.ActualPossibleRoute?.Cancel();
lc.Robot.LearnMaybeRoute?.Cancel();
lc.Robot.LearnPossibleRoute?.Cancel();
lc.Robot.LearnRobotRoute?.Cancel();
lc.Robot = new Robot(labyrinth);
}
catch { }
}
public static Labyrinth GetLern(Labyrinth labyrinth)
{
int targetX, targetY;
labyrinth.GetPosition(labyrinth.Target.TopLeft, out targetX, out targetY);
return(new Labyrinth(labyrinth.Width, labyrinth.Height, targetX, targetY));
}
public static Labyrinth GetActual(int width, int height)
{
Labyrinth labyrinth = new Labyrinth(width, height, width / 2, height / 2);
SetRelationValue(labyrinth, 2);
return(labyrinth);
}
private Point GetMiddle(Labyrinth labyrinth, Block block)
{
int x, y;
labyrinth.GetPosition(block, out x, out y);
double widthFactor = ActualWidth / BlocksWidth;
double heightFactor = ActualHeight / BlocksHeight;
return(new Point(widthFactor * (x + 0.5), heightFactor * (y + 0.5)));
}
private static void OnBlocksHeightPropertyChanged(DependencyObject sender, DependencyPropertyChangedEventArgs e)
{
var s = (LabyrinthControl)sender;
var value = (int)e.NewValue;
if (s.Robot.ActualLabyrinth.Height == value)
{
return;
}
s.Robot = new Robot(Labyrinth.GetActual(s.BlocksWidth, s.BlocksHeight));
}
public Robot(Labyrinth actualLabyrinth)
{
ActualLabyrinth = actualLabyrinth;
LearnLabyrinth = Labyrinth.GetLern(actualLabyrinth);
ActualPossibleRoute = new Search(ActualLabyrinth.Width * ActualLabyrinth.Height);
LearnRobotRoute = new Search(LearnLabyrinth.Width * LearnLabyrinth.Height);
LearnMaybeRoute = new Search(LearnLabyrinth.Width * LearnLabyrinth.Height);
LearnPossibleRoute = new Search(LearnLabyrinth.Width * LearnLabyrinth.Height);
toTarget = false;
NextStep();
}
public Search(Labyrinth labyrinth, ITarget target, IRelationInterpreter interpreter)
{
Next = Block.None;
Labyrinth = labyrinth;
Target = target;
Interpreter = interpreter;
Distances = GetDistancesArray(Labyrinth.Width, Labyrinth.Height);
Counts = new int[Labyrinth.Width, Labyrinth.Height];
current = new Block[Labyrinth.Width * Labyrinth.Height];
CurrentLength = 0;
PossibleLength = 0;
}
private static void OnLabyrinthPropertyChanged(DependencyObject sender, DependencyPropertyChangedEventArgs e)
{
LabyrinthControl s = sender as LabyrinthControl;
Labyrinth value = (Labyrinth)e.NewValue;
if (value != null)
{
foreach (SearchView search in s.Searches)
{
search.Labyrinth = value;
}
}
s.HasChanges = true;
}
private void FullSpeedDrive()
{
Labyrinth actulLab = lc.Robot.ActualLabyrinth;
lc.Robot.ActualPossibleRoute.SearchPossibleAsync(actulLab[0, 0], null, actulLab.Target);
while (drive && !lc.Robot.ActualPossibleRoute.Finished)
{
lc.Robot.ActualPossibleRoute.Task?.Wait(100);
}
while (drive)
{
lc.Robot.NextStep();
Task.Delay(wait).Wait(wait + 10);
}
}
private void SaveLabyrinth_Click(object sender, RoutedEventArgs e)
{
IRelationInterpreter interpreter = new ActualInterpreter();
Labyrinth lab = lc.Labyrinth;
string text = lab.Width + "x" + lab.Height + "|";
text += lab.Target.TopLeft.X + "x" + lab.Target.TopLeft.Y + "|";
text += string.Join(";", GetClosedRealtions(lab.H)) + "|";
text += string.Join(";", GetClosedRealtions(lab.V));
try
{
File.WriteAllText("Data.txt", text);
}
catch { }
}
public Robot(Labyrinth labyrinth)
{
Labyrinth = labyrinth;
toTarget = true;
startTarget = new SingleTarget(Block.Origin);
actual = new ActualInterpreter();
best = new BestCaseInterpreter();
worst = new WorstCaseInterpreter();
Brush = Brushes.Blue;
DriveSearch = new SearchView()
{
Labyrinth = Labyrinth,
Target = Labyrinth.Target,
IsLabyrinthTarget = false,
Start = Block.Origin,
InterpreterType = RelationInterpreterType.BestCase,
SearchType = SearchType.Direct
};
BestSearch = new SearchView()
{
Labyrinth = Labyrinth,
Target = Labyrinth.Target,
IsLabyrinthTarget = true,
Start = Block.Origin,
InterpreterType = RelationInterpreterType.BestCase,
SearchType = SearchType.Direct,
PossibleRouteColor = Colors.Gold
};
WorstSearch = new SearchView()
{
Labyrinth = Labyrinth,
Target = Labyrinth.Target,
IsLabyrinthTarget = true,
Start = Block.Origin,
InterpreterType = RelationInterpreterType.WorstCase,
SearchType = SearchType.Direct,
PossibleRouteColor = Colors.Aqua
};
}
private static void SetRelationValue(Labyrinth labyrinth, int value)
{
for (int i = 0; i < labyrinth.H.Width; i++)
{
for (int j = 0; j < labyrinth.H.Height; j++)
{
labyrinth.H[i, j] = value;
}
}
for (int i = 0; i < labyrinth.V.Width; i++)
{
for (int j = 0; j < labyrinth.V.Height; j++)
{
labyrinth.V[i, j] = value;
}
}
}
public static void Main(string[] args)
{
//var testGrid = new char[,]
//{
// { CellState.EMPTY, CellState.WALL, CellState.WALL,CellState.WALL },
// { CellState.EMPTY, CellState.EMPTY, CellState.GOAL,CellState.WALL },
// { CellState.EMPTY, CellState.WALL, CellState.WALL,CellState.EMPTY },
// { CellState.EMPTY, CellState.EMPTY, CellState.WALL,CellState.EMPTY },
// { CellState.WALL, CellState.START, CellState.EMPTY,CellState.EMPTY },
//};
//var grid = new Grid { Name = "TestGrid", Tiles = testGrid };
var grid = new Grid(@"./../../Grids/Test.txt");
Console.WriteLine("Running on grid: ");
grid.WriteToConsole();
var labyrinth = new Labyrinth {
Grid = grid
};
public static Labyrinth GetActual(int width, int height)
{
Labyrinth labyrinth = new Labyrinth(width, height, width / 2, height / 2);
for (int i = 0; i < width; i++)
{
for (int j = 0; j < height; j++)
{
if (i + 1 < width)
{
labyrinth[i, j].Right.Open();
}
if (j + 1 < height)
{
labyrinth[i, j].Bottom.Open();
}
}
}
return(labyrinth);
}
private void LoadLabyrinth()
{
try
{
string[] generalParts = File.ReadAllText("Data.txt").Split('|');
string[] sizeParts = generalParts[0].Split('x');
int width = int.Parse(sizeParts[0]);
int height = int.Parse(sizeParts[1]);
string[] targetParts = generalParts[1].Split('x');
int targetX = int.Parse(targetParts[0]);
int targetY = int.Parse(targetParts[1]);
Labyrinth lab = new Labyrinth(width, height, targetX, targetY);
foreach (string hClosedText in generalParts[2].Split(';'))
{
string[] hClosedParts = hClosedText.Split('x');
int x = int.Parse(hClosedParts[0]);
int y = int.Parse(hClosedParts[1]);
lab.H[x, y] = 3;
}
foreach (string vClosedText in generalParts[3].Split(';'))
{
string[] vClosedParts = vClosedText.Split('x');
int x = int.Parse(vClosedParts[0]);
int y = int.Parse(vClosedParts[1]);
lab.V[x, y] = 3;
}
lc.Labyrinth = lab;
}
catch { }
}
public BruteForceSearch(Labyrinth labyrinth, ITarget target, IRelationInterpreter interpreter)
: base(labyrinth, target, interpreter)
{
}
//private static Random ran = new Random();
//public static Labyrinth GetActual(int width, int height, int minRouteLength)
//{
// System.Diagnostics.Debug.WriteLine("GetActual");
// Labyrinth labyrinth = new Labyrinth(width, height, width / 2, height / 2);
// do
// {
// for (int i = 0; i < width; i++)
// {
// for (int j = 0; j < height; j++)
// {
// if (i + 1 < width) labyrinth[i, j].Right.Open();
// if (j + 1 < height) labyrinth[i, j].Bottom.Open();
// }
// }
// labyrinth.CloseTarget();
// } while (!labyrinth.AddWalls(minRouteLength));
// System.Diagnostics.Debug.WriteLine("RemoveJustCorners");
// labyrinth.RemoveJustCorners();
// labyrinth.OpenWalls(minRouteLength, 50);
// return labyrinth;
//}
//public void CloseTarget()
//{
// IEnumerable<BlockRelation> targetRelations = GetAllRelations().
// Where(r => Target.Is(r.Block1) ^ Target.Is(r.Block2));
// foreach (BlockRelation relation in targetRelations) relation.Close();
// targetRelations.ElementAt(ran.Next(targetRelations.Count())).Open();
//}
//public bool AddWalls(int minRouteLength)
//{
// List<BlockRelation> relations = GetAddableRelation().ToList();
// Route currentRoute = null;
// while (relations.Count > 0)
// {
// int index = ran.Next(relations.Count);
// BlockRelation previousChangedRelation = relations[index];
// previousChangedRelation.Close();
// relations.RemoveAt(index);
// currentRoute = new Route(Width * Height);
// if (!Start.TryGetPossibleRoute(ref currentRoute, Target))
// {
// previousChangedRelation.Open();
// }
// else if (currentRoute.CurrentLength > minRouteLength) return true;
// }
// System.Diagnostics.Debug.WriteLine("AddedWalls: " + currentRoute.CurrentLength);
// return false;
//}
//public void RemoveJustCorners()
//{
// Route currentRoute = new Route(Width * Height);
// Start.TryGetPossibleRoute(ref currentRoute, Target);
// BlockRelation[] relations = GetAddableRelation().
// Where(ar => !currentRoute.GetRelations().Any(rr => ar == rr)).ToArray();
// IEnumerable<BlockRelation> corners = relations.Where(IsAroundJustCorner);
// while (true)
// {
// int count = corners.Count();
// if (count == 0) break;
// corners.ElementAt(ran.Next(count)).Close();
// }
//}
//public bool IsAroundJustCorner(BlockRelation relation)
//{
// if (relation.Relation != RelationType.Open) return false;
// if (relation.Block2 == null) return false;
// if (relation.Block1.GetTopBlock() == relation.Block2)
// {
// if (relation.Block1.GetLeftBlock()?.Top.Relation == RelationType.Open) return true;
// if (relation.Block1.GetRightBlock()?.Top.Relation == RelationType.Open) return true;
// }
// else if (relation.Block1.GetBottomBlock() == relation.Block2)
// {
// if (relation.Block1.GetLeftBlock()?.Bottom.Relation == RelationType.Open) return true;
// if (relation.Block1.GetRightBlock()?.Bottom.Relation == RelationType.Open) return true;
// }
// else if (relation.Block1.GetRightBlock() == relation.Block2)
// {
// if (relation.Block1.GetTopBlock()?.Right.Relation == RelationType.Open) return true;
// if (relation.Block1.GetBottomBlock()?.Right.Relation == RelationType.Open) return true;
// }
// else if (relation.Block1.GetLeftBlock() == relation.Block2)
// {
// if (relation.Block1.GetTopBlock()?.Right.Relation == RelationType.Open) return true;
// if (relation.Block1.GetBottomBlock()?.Right.Relation == RelationType.Open) return true;
// }
// return false;
//}
//public void OpenWalls(int minRouteLength, int maxClosedWalls)
//{
// Random ran = new Random();
// List<BlockRelation> relations = GetAllRelations().
// Where(r => r.Block2 != null && r.Relation == RelationType.Close).ToList();
// while (relations.Count > maxClosedWalls)
// {
// int index = ran.Next(relations.Count);
// BlockRelation previousChangedRelation = relations[index];
// previousChangedRelation.Open();
// relations.RemoveAt(index);
// Route currentRoute = new Route(Width * Height);
// Start.TryGetPossibleRoute(ref currentRoute, Target);
// if (currentRoute.CurrentLength < minRouteLength) previousChangedRelation.Close();
// }
//}
//private IEnumerable<BlockRelation> GetAddableRelation()
//{
// return GetAllRelations().
// Where(r => r.Relation == RelationType.Open && (!Target.Is(r.Block1) && !Target.Is(r.Block2)));
//}
#endregion
public static Labyrinth GetLern(Labyrinth labyrinth)
{
int targetX = labyrinth.Target.TopLeft.X, targetY = labyrinth.Target.TopLeft.Y;
return(new Labyrinth(labyrinth.Width, labyrinth.Height, targetX, targetY));
}
private void RenderRoute(DrawingContext drawingContext, IEnumerable <Block> route, Labyrinth labyrinth, Pen pen)
{
var array = route.ToArray();
if (array.Length <= 1)
{
return;
}
double widthFactor = ActualWidth / BlocksWidth;
double heightFactor = ActualHeight / BlocksHeight;
Point previousPoint = GetMiddle(labyrinth, array.First());
foreach (Block block in array.Skip(1))
{
Point currentPoint = GetMiddle(labyrinth, block);
drawingContext.DrawLine(pen, previousPoint, currentPoint);
previousPoint = currentPoint;
}
}
public DirectSearch(Labyrinth labyrinth, ITarget target, IRelationInterpreter interpreter)
: base(labyrinth, target, interpreter)
{
}