private async Task <bool> ViewPass(List <Point> pointList, ASpeedModifier modifier)
{
if (pointList == null)
{
return(false);
}
var searchBlock = BlockList.Where((x) =>
{
return(ComparePoints(pointList, x.Position));
});
foreach (var item in searchBlock)
{
modifier.TimePassedForView += modifier.ViewDelayInMilliseconds;
await Task.Delay(modifier.ViewDelayInMilliseconds);
item.NType = NodeType.Path;
}
return(await Task.FromResult(true));
}
private async void FindPathButton_Click(object sender, RoutedEventArgs e)
{
Point startPosition = new Point(-1, -1);
Point targetPosition = new Point(-1, -1);
var field = new int[MATRIX_SIZE, MATRIX_SIZE * 2];
List <Point> wallList = new List <Point>();
targetPosition = BlockList.Where(x => x.NType == NodeType.Target).Select(x => x.Position).FirstOrDefault();
if (targetPosition == null)
{
return;
}
var searchWall = BlockList.Where(x => x.NType == NodeType.Wall).Select(x => x.Position);
foreach (var item in searchWall)
{
wallList.Add(item);
}
int countPaths = CurrentBlockList.Count;
List <Point>[] PathsList = new List <Point> [countPaths];
ASpeedModifier speedModifier = new ASpeedModifier()
{
SearchDelayInMilliseconds = 10,
ViewDelayInMilliseconds = 20
};
List <List <Point> > pathListArray = new List <List <Point> >();
long timeElapseWithDisplay = 0;
long timeElapseWithoutDisplay = 0;
var tasks = CurrentBlockList.Select(async(x) =>
{
var watchWithDisplay = Stopwatch.StartNew();
var watchWithoutDisplay = Stopwatch.StartNew();
await aSCore.FindPathWithoutDisplayAsync(field, startPosition, targetPosition, wallList)
.ContinueWith(t => watchWithoutDisplay.Stop());
pathListArray.Add(await aSCore.FindPathAsync(field, x.Position, targetPosition, wallList, BlockList, speedModifier));
watchWithDisplay.Stop();
timeElapseWithDisplay += watchWithDisplay.ElapsedMilliseconds;
timeElapseWithoutDisplay += watchWithoutDisplay.ElapsedMilliseconds;
});
await Task.WhenAll(tasks);
//Тест
BlockList.ForEach((x) =>
{
if (x.NType == NodeType.SearchPath)
{
x.NType = NodeType.Passable;
}
});
pathListArray.ForEach(async x => await ViewPass(x, speedModifier));
elapsedTimeLabel.Content = " Скорость: " + Math.Round((double)timeElapseWithoutDisplay / timeElapseWithDisplay, 4)
+ " Всего: " + timeElapseWithDisplay
+ " мс. | Всего за поиск: " + timeElapseWithoutDisplay
+ " мс.";
}
public async Task <List <Point> > FindPathAsync(int[,] field, Point start, Point goal, List <Point> wall, List <BlockModel> blockModels, ASpeedModifier modifier)
{
var closedSet = new Collection <PathNode>();
var openSet = new Collection <PathNode>();
PathNode startNode = new PathNode()
{
Position = start,
CameFrom = null,
PathLengthFromStart = 0,
HeuristicEstimatePathLength = await GetHeuristicPathLength(start, goal),
StartOrDefault = true
};
openSet.Add(startNode);
while (openSet.Count > 0)
{
var currentNode = openSet.OrderBy(node =>
node.EstimateFullPathLength).First();
if (currentNode.Position == goal)
{
currentNode.StartOrDefault = true;
return(await Task.FromResult(await GetPathForNode(currentNode)));
}
openSet.Remove(currentNode);
closedSet.Add(currentNode);
foreach (var neighbourNode in await GetNeighbours(currentNode, goal, field))
{
modifier.TimePassedForSearch += modifier.SearchDelayInMilliseconds;
if (closedSet.Count(node => node.Position == neighbourNode.Position) > 0)
{
continue;
}
var openNode = openSet.FirstOrDefault(node => node.Position == neighbourNode.Position);
if (wall.Exists(x => x == neighbourNode.Position))
{
continue;
}
await Task.Delay(modifier.SearchDelayInMilliseconds);
//Тест
blockModels.ForEach((x) =>
{
if (x.Position == neighbourNode.Position && (x.NType != NodeType.Target && x.NType != NodeType.Current))
{
x.NType = NodeType.SearchPath;
}
});
if (openNode == null)
{
openSet.Add(neighbourNode);
}
else if (openNode.PathLengthFromStart > neighbourNode.PathLengthFromStart)
{
openNode.CameFrom = currentNode;
openNode.PathLengthFromStart = neighbourNode.PathLengthFromStart;
}
}
}
return(null);
}
