public static void Main(string[] args)
{
Node n = BuildExpr();
if (args.Length != 1)
{
Console.WriteLine("Specify 'server' or 'client' as first argument");
return;
}
if (args[0] == "client")
{
Ice.IceClientChannel ic = new Ice.IceClientChannel();
ChannelServices.RegisterChannel(ic);
NodeEvaluator ne = (NodeEvaluator)Activator.GetObject(typeof(NodeEvaluator),
"ice://localhost:10000/ne");
int res = ne.EvalNode(n);
Console.WriteLine("Result: {0}", res);
}
else if (args[0] == "server")
{
Ice.IceChannel ic = new Ice.IceChannel(10000);
ChannelServices.RegisterChannel(ic);
RemotingConfiguration.RegisterWellKnownServiceType(typeof(NodeEvaluatorI),
"ne",
WellKnownObjectMode.Singleton);
Console.ReadLine();
}
}
public PathFinder(RouteService routeService)
{
this.routeService = routeService;
time = new TimeEvaluator(this);
cost = new CostEvaluator(this);
airOnly = new AirOnlyExcluder(this);
allRoutes = new NullExcluder(this);
}
/// <summary>
///
/// </summary>
void Start()
{
m_instance = this; // initialise singleton
Blackboard[] blackboards = Resources.FindObjectsOfTypeAll <Blackboard>();
m_blackboards = new List <Blackboard>();
for (int i = 0; i < blackboards.Length; i++)
{
Blackboard blackboard = ScriptableObject.CreateInstance <Blackboard>();
blackboard.Copy(blackboards[i]);
m_blackboards.Add(blackboard);
}
// retrieve manager from each component
if (m_audioComponent != null)
{
m_audioManager = m_audioComponent.GetAudioManager();
}
if (m_backgroundComponent != null)
{
m_backgroundManager = m_backgroundComponent.GetBackgroundManager();
}
if (m_branchComponent != null)
{
m_branchManager = m_branchComponent.GetBranchManager();
}
if (m_characterComponent != null)
{
m_characterManager = m_characterComponent.GetCharacterManager();
}
if (m_dialogueComponent != null)
{
m_dialogueManager = m_dialogueComponent.GetDialogueManager();
}
if (m_logComponent != null)
{
m_logManager = m_logComponent.GetLogManager();
}
if (m_saveComponent != null)
{
m_saveManager = new SaveManager(this, m_saveComponent);
}
m_utilityManager = new UtilityManager();
m_variableManager = new VariableManager();
m_nodeEvaluator = new NodeEvaluator(this);
// delete this later
NewScene(m_startScene);
}
public DeclaredObjectContainer Parse(string programFile)
{
string program = System.IO.File.ReadAllText(programFile);
var grammar = new BDVHDLGrammar();
var parser = new Irony.Parsing.Parser(grammar);
var ast = parser.Parse(program);
if (ast.Status != ParseTreeStatus.Parsed)
{
throw new ParserException(programFile, ast.Status, ast.ParserMessages);
}
(new TreeConverter()).Convert(ast, grammar);
var evaluator = new NodeEvaluator();
evaluator.EvaluateGeneral(ast.Root);
return(evaluator.declaredObjects);
}
//, Excluder excluder)
private List<RouteInstance> findPath(DateTime requestTime, RouteNode origin, RouteNode goal, int weight, int volume, NodeEvaluator evaluator, RouteExcluder excluder)
{
Delivery delivery = new Delivery();
delivery.Origin = origin;
delivery.Destination = goal;
delivery.WeightInGrams = weight;
delivery.VolumeInCm3 = volume;
delivery.TimeOfRequest = requestTime;
originPath = new Dictionary<RouteNode, RouteInstance>();
nodeCost = new Dictionary<RouteNode, double>();
closed = new HashSet<RouteNode>();
var rc = new RouteComparer();
fringe = new SortedList<RouteNode, double>(rc);
fringe.Add(origin, 0);
originPath.Add(origin, new OriginRouteInstance(requestTime));
//if the queue is empty return null (no path)
while (fringe.Count > 0)
{
//take new node off the top of the stack
//this is guaranteed to be the best way to the node
RouteNode curNode = fringe.Keys[0];
if (closed.Contains(curNode))
continue;
nodeCost.Add(curNode, fringe.Values[0]);
closed.Add(curNode);
fringe.RemoveAt(0);
//if it's the goal node exit and return path
if (curNode.Equals(goal))
return completeDelivery(curNode);
//grab a list of all of the routes where the given node is the origin
IEnumerable<Route> routes = routeService.GetAll(curNode);
//take each route that hasn't been ommited and evaluate
foreach (Route path in excluder.Omit(routes))
{
RouteInstance nextInstance = evaluator.GetNextInstance(path);
RouteNode nextNode = path.Destination;
double totalCost = evaluator.GetValue(nextInstance, delivery);
//if the node is not in the fringe
//or the current value is lower than
//the new cost then set the new parent
if (!fringe.ContainsKey(nextNode))
{
originPath.Add(nextNode, nextInstance);
fringe.Add(nextNode, totalCost);
}
else if (fringe[nextNode] > totalCost)
{
originPath.Remove(nextNode);
fringe.Remove(nextNode);
originPath.Add(nextNode, nextInstance);
fringe.Add(nextNode, totalCost);
}
}
}
return null;
}
/*
* Implements A* search.
* A custom array based binary heap is used to track the best Open node,
* and nodes are looked up by direct addresing using their coordinates in the
* compact nodes array, so we don't need a separate associative container to
* represent the Closed set.
*/
public bool Search(Coord start, Coord goal, List<Coord> resultPath, NodeEvaluator costFunc)
{
resultPath.Clear();
if (start.X < 0 || start.Y < 0 || start.X >= width || start.Y >= height)
return false;
if (goal.X < 0 || goal.Y < 0 || goal.X >= width || goal.Y >= height)
return false;
if (start == goal)
return true;
heap.Clear();
ClearNodes();
int n = start.Y * width + start.X;
nodes[n].H = CalcHeuristicDistance(start, goal);
nodes[n].State = NodeState.Open;
PushHeap(n);
while (heap.Count > 0) {
// examine the best node in the Open set and mark it as Closed
n = PopHeap();
nodes[n].State = NodeState.Closed;
var pos = new Coord(n % width, n / width);
// are we there yet?
if (pos == goal) {
// walk backward to the start while remembering the coords we pass by
do {
resultPath.Add(pos);
pos += nodes[n].ParentDir.DeltaCoord();
n = pos.Y * width + pos.X;
} while (pos != start);
// reverse it, so the path is in the expected sequence from start to goal
resultPath.Reverse();
return true;
}
// expand all surrounding squares
for (int d = 0; d < 8; ++d) {
var dir = (Direction)d;
var fromDir = dir.Opposite();
var p = pos + dir.DeltaCoord();
if (p.X < 0 || p.Y < 0 || p.X >= width || p.Y >= height)
continue;
// calc index of node to expand
int t = p.Y * width + p.X;
// if it is on the ClosedList then we have already examined it
if (nodes[t].State == NodeState.Closed)
continue;
// get the cost of moving into cell t from our direction
float cost = dir.StepDistance() * costFunc(p, fromDir) * GScale;
if (cost > MaxCost)
continue;
// add to it the cost of reaching cell n
cost += nodes[n].G;
if (nodes[t].State == NodeState.Open) {
// this node has previously been expanded, but not examined
// check to see if this path was a better way to reach it
if (cost < nodes[t].G) {
// if the new path to this node is better, update cost and
// parent then correct the heap according to cost change
nodes[t].G = cost;
nodes[t].ParentDir = fromDir;
UpHeap(nodes[t].Index);
}
} else {
// we've never seen this node before
nodes[t].H = CalcHeuristicDistance(p, goal);
nodes[t].G = cost;
nodes[t].ParentDir = fromDir;
nodes[t].State = NodeState.Open;
PushHeap(t);
}
}
}
return false;
}
/*
* Implements A* search.
* A custom array based binary heap is used to track the best Open node,
* and nodes are looked up by direct addresing using their coordinates in the
* compact nodes array, so we don't need a separate associative container to
* represent the Closed set.
*/
public bool Search(Coord start, Coord goal, List <Coord> resultPath, NodeEvaluator costFunc)
{
resultPath.Clear();
if (start.X < 0 || start.Y < 0 || start.X >= width || start.Y >= height)
{
return(false);
}
if (goal.X < 0 || goal.Y < 0 || goal.X >= width || goal.Y >= height)
{
return(false);
}
if (start == goal)
{
return(true);
}
heap.Clear();
ClearNodes();
int n = start.Y * width + start.X;
nodes[n].H = CalcHeuristicDistance(start, goal);
nodes[n].State = NodeState.Open;
PushHeap(n);
while (heap.Count > 0)
{
// examine the best node in the Open set and mark it as Closed
n = PopHeap();
nodes[n].State = NodeState.Closed;
var pos = new Coord(n % width, n / width);
// are we there yet?
if (pos == goal)
{
// walk backward to the start while remembering the coords we pass by
do
{
resultPath.Add(pos);
pos += nodes[n].ParentDir.DeltaCoord();
n = pos.Y * width + pos.X;
} while (pos != start);
// reverse it, so the path is in the expected sequence from start to goal
resultPath.Reverse();
return(true);
}
// expand all surrounding squares
for (int d = 0; d < 8; ++d)
{
var dir = (Direction)d;
var fromDir = dir.Opposite();
var p = pos + dir.DeltaCoord();
if (p.X < 0 || p.Y < 0 || p.X >= width || p.Y >= height)
{
continue;
}
// calc index of node to expand
int t = p.Y * width + p.X;
// if it is on the ClosedList then we have already examined it
if (nodes[t].State == NodeState.Closed)
{
continue;
}
// get the cost of moving into cell t from our direction
float cost = dir.StepDistance() * costFunc(p, fromDir) * GScale;
if (cost > MaxCost)
{
continue;
}
// add to it the cost of reaching cell n
cost += nodes[n].G;
if (nodes[t].State == NodeState.Open)
{
// this node has previously been expanded, but not examined
// check to see if this path was a better way to reach it
if (cost < nodes[t].G)
{
// if the new path to this node is better, update cost and
// parent then correct the heap according to cost change
nodes[t].G = cost;
nodes[t].ParentDir = fromDir;
UpHeap(nodes[t].Index);
}
}
else
{
// we've never seen this node before
nodes[t].H = CalcHeuristicDistance(p, goal);
nodes[t].G = cost;
nodes[t].ParentDir = fromDir;
nodes[t].State = NodeState.Open;
PushHeap(t);
}
}
}
return(false);
}