private void InitializeMap()
{
byte[] bmap = null;
int startX = 0;
int startY = 0;
int endX = 0;
int endY = 0;
//
m_nWidth = m_nCnstWidth;
m_nHeight = m_nCnstHeight;
//
this.SetStyle(ControlStyles.OptimizedDoubleBuffer | ControlStyles.UserPaint | ControlStyles.AllPaintingInWmPaint, true);
this.UpdateStyles();
//
m_bmpDrawingSpace = new Bitmap(m_nWidth * m_nBlockPixel, m_nHeight * m_nBlockPixel);
//
if (DllAPI.RobotCreateEmptyMap(m_nWidth, m_nHeight, ref startX, ref startY, ref endX, ref endY) != 0)
{
return;
}
m_pntRobot.X = startX;
m_pntRobot.Y = startY;
m_pntEndPoint.X = endX;
m_pntEndPoint.Y = endY;
if (DllAPI.getMap(ref bmap) != 0)
{
return;
}
RePaint(bmap);
ReSizeForm();
}
private void 随机生成地图ToolStripMenuItem_Click(object sender, EventArgs e)
{
byte[] bmap = null;
int startX = 0;
int startY = 0;
int endX = 0;
int endY = 0;
ChangeState(State.Edit);
//
m_nWidth = m_nCnstWidth;
m_nHeight = m_nCnstHeight;
//
if (DllAPI.RobotCreateRandomMap(m_nWidth, m_nHeight, ref startX, ref startY, ref endX, ref endY, 0.2f) != 0)
{
return;
}
m_pntRobot.X = startX;
m_pntRobot.Y = startY;
m_pntEndPoint.X = endX;
m_pntEndPoint.Y = endY;
if (DllAPI.getMap(ref bmap) != 0)
{
return;
}
RePaint(bmap);
ReSizeForm();
this.Invalidate();
this.Update();
}
private void ReFindPath()
{
//m_aPath = null;
//m_nPathLen = 0;
//m_nPos = 0;
//清除前面的路径标记
for (int i = 0; i < m_nPathLen - 2; i += 2)
{
byte _data = 0;
DllAPI.ReadMapByte(m_aPath[i], m_aPath[i + 1], ref _data);
if (_data == (byte)BlockType.Blank)
{
RePaint(m_aPath[i], m_aPath[i + 1], (byte)BlockType.Blank);
}
}
//
DllAPI.setRobotPoint(m_pntRobot.X, m_pntRobot.Y);
DllAPI.setEndPoint(m_pntEndPoint.X, m_pntEndPoint.Y);
if (DllAPI.RobotPathPlan(ref m_aPath, ref m_nPathLen) != 0)
{
return;
}
//显示路径标记
for (int i = 0; i < m_nPathLen - 2; i += 2)
{
RePaint(m_aPath[i], m_aPath[i + 1], (byte)BlockType.Path);
}
this.Invalidate();
this.Update();
}
private void UpdateBlock(int x, int y, BlockType data)
{
byte _data = 0;
if (x < 0 || x >= m_nWidth || y < 0 || y >= m_nHeight)
{
return;
}
DllAPI.ReadMapByte(x, y, ref _data);
if (data == BlockType.Robot)
{
if (x == m_pntEndPoint.X && y == m_pntEndPoint.Y || _data != (byte)BlockType.Blank)
{
return;
}
RePaint(m_pntRobot.X, m_pntRobot.Y, (byte)BlockType.Blank);
m_pntRobot.X = x;
m_pntRobot.Y = y;
RePaint(x, y, (byte)BlockType.Robot);
DllAPI.setRobotPoint(x, y);
}
else if (data == BlockType.Goal)
{
if (x == m_pntRobot.X && y == m_pntRobot.Y || _data != (byte)BlockType.Blank)
{
return;
}
RePaint(m_pntEndPoint.X, m_pntEndPoint.Y, (byte)BlockType.Blank);
m_pntEndPoint.X = x;
m_pntEndPoint.Y = y;
RePaint(x, y, (byte)BlockType.Goal);
DllAPI.setEndPoint(x, y);
}
else if (data == BlockType.Blank)
{
if (x == m_pntRobot.X && y == m_pntRobot.Y || x == m_pntEndPoint.X && y == m_pntEndPoint.Y)
{
return;
}
RePaint(x, y, (byte)BlockType.Blank);
DllAPI.UpdateMap(x, y, (byte)data);
}
else if (data == BlockType.Wall)
{
if (x == m_pntRobot.X && y == m_pntRobot.Y || x == m_pntEndPoint.X && y == m_pntEndPoint.Y)
{
return;
}
RePaint(x, y, (byte)BlockType.Wall);
DllAPI.UpdateMap(x, y, (byte)BlockType.Wall);
}
this.Invalidate();
this.Update();
}
/// <summary>
/// 只需要对Blank和Wall更新,Robot和EndPoint用SetRobotPoint/SetEndPoint就行了
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="data"></param>
/// <returns></returns>
public static int UpdateMap(int x, int y, byte data)
{
IntPtr pMap = IntPtr.Zero;
int _width = DllAPI.getWidth();
int _height = DllAPI.getHeight();
if (x < 0 || x >= _width)
{
return(-1);
}
if (y < 0 || y >= _height)
{
return(-1);
}
DllAPI.getMap(ref pMap);
Marshal.WriteByte(pMap, x + y * _width, data);
return(0);
}
public static int getMap(ref byte[] bmap)
{
int nRet;
IntPtr pMap = IntPtr.Zero;
int nLen = DllAPI.getWidth() * DllAPI.getHeight();
if (nLen <= 0)
{
return(1);
}
bmap = new byte[nLen];
if ((nRet = DllAPI.getMap(ref pMap)) != 0)
{
return(nRet);
}
Marshal.Copy(pMap, bmap, 0, nLen);
return(0);
}
public static int ReadMapByte(int x, int y, ref byte data)
{
IntPtr pMap = IntPtr.Zero;
int _width = DllAPI.getWidth();
int _height = DllAPI.getHeight();
if (x < 0 || x >= _width)
{
return(-1);
}
if (y < 0 || y >= _height)
{
return(-1);
}
DllAPI.getMap(ref pMap);
data = Marshal.ReadByte(pMap, x + y * _width);
return(0);
}
private void 保存ToolStripMenuItem_Click(object sender, EventArgs e)
{
SaveFileDialog dialog = new SaveFileDialog();
string filePath;
ChangeState(State.Edit);
dialog.Filter = "地图文件|*.mp";
dialog.CheckPathExists = true;
dialog.RestoreDirectory = true;
if (dialog.ShowDialog() == DialogResult.OK)
{
filePath = dialog.FileName;
if (DllAPI.RobotSaveMap(filePath) != 0)
{
return;
}
}
}
private void 打开ToolStripMenuItem_Click(object sender, EventArgs e)
{
OpenFileDialog dialog = new OpenFileDialog();
string filePath;
byte[] bMap = null;
int startX = 0, startY = 0, endX = 0, endY = 0;
//
ChangeState(State.Edit);
//
dialog.Filter = "地图文件|*.mp|所有文件|*.*";
dialog.CheckFileExists = true;
dialog.RestoreDirectory = true;
if (dialog.ShowDialog() == DialogResult.OK)
{
filePath = dialog.FileName;
DllAPI.RobotLoadMap(filePath, ref startX, ref startY, ref endX, ref endY);
m_pntRobot.X = startX;
m_pntRobot.Y = startY;
m_pntEndPoint.X = endX;
m_pntEndPoint.Y = endY;
m_nWidth = DllAPI.getWidth();
m_nHeight = DllAPI.getHeight();
if (DllAPI.getMap(ref bMap) != 0)
{
return;
}
//
m_bmpDrawingSpace = new Bitmap(m_nWidth * m_nBlockPixel, m_nHeight * m_nBlockPixel);
//
RePaint(bMap);
ReSizeForm();
this.Invalidate();
this.Update();
}
}
