private void btnRobotPath_Click(object sender, EventArgs e)
{
if (this.rbBatchTest.Checked == true)
{
//ParameterTester tester = new ParameterTester(this);
//GdParameterTester tester = new GdParameterTester(this);
TeleportTester tester = new TeleportTester(this);
tester.Run();
MessageBox.Show("Finished batch test");
}
else
{
// apply parameters
_human.WingmanToleranceRange = int.Parse(tbWR.Text);
_human.SetObservationRange(int.Parse(tbHR.Text));
TopologyGraphGenerator topologyGenerator = new TopologyGraphGenerator(_map);
TopologyGraph tograph = topologyGenerator.GetTopologyGraph();
//graph.Print();
tograph.Draw();
PlanningGraphGenerator planningGenerator = new PlanningGraphGenerator(tograph);
PathPlanningGraph planGraph = planningGenerator.GetPathPlanningGraph(this.HumanPath, this.human.WingmanToleranceRange);
planGraph.Draw();
HexaPos startPos = _human.path[0];
PlanningGraphPruner pruner = new PlanningGraphPruner();
PathPlanningGraph newPlanGraph = pruner.GetPlanningGraph(planGraph, startPos);
newPlanGraph.Draw("PlanningGraph2");
PathPlanningGraph prunedPlanGraph = pruner.BackwardPrune(newPlanGraph);
prunedPlanGraph = pruner.ForwardPrune(prunedPlanGraph);
prunedPlanGraph.Draw("PrunedPlanningGraph");
/*
* ExhaustiveDFSPathPlanner planner = new ExhaustiveDFSPathPlanner(_map, _robot);
* HexaPath maxPath = planner.FindPath(prunedPlanGraph, startPos);
*
* Console.WriteLine("PATH BY EXHAUSTIVE DFS: " + maxPath.ToString());
*/
_planningForm = new PlanningForm(prunedPlanGraph, _map, _robot, startPos, _mapDrawer, _human.path);
_planningForm.Show();
}
}
private void tbPlan_Click(object sender, EventArgs e)
{
int planLength = 0;
if (this.tbPlanLength.Text != "")
{
planLength = Int32.Parse(this.tbPlanLength.Text);
}
else
{
planLength = 0;
}
Random rnd = new Random();
int start_x = this.mapViewForm.map.mapState.ActiveHex.posX;
int start_y = this.mapViewForm.map.mapState.ActiveHex.posY;
HexaPos pos = new HexaPos(start_x, start_y);
if (this.rbRandom.Checked == true)
{
HexaPath path = new HexaPath();
path.AddPos(pos);
for (int t = 0; t < planLength; t++)
{
int rndIdx = rnd.Next(5);
HexagonalMap.Direction direction = mapViewForm.map.directionList[rndIdx];
HexaPos newPos = mapViewForm.map.GetNext(path[t], direction);
path.AddPos(newPos);
}
LoadActivePath(path);
mapViewForm.Refresh();
}
else if (this.rbInfoMax.Checked == true)
{
InfoMaxPathPlanner planner
= new InfoMaxPathPlanner(mapViewForm.map, (Robot)mapViewForm.robot);
HexaPos startPos = new HexaPos(mapViewForm.startHex.posX, mapViewForm.startHex.posY);
TopologyGraphGenerator topologyGenerator = new TopologyGraphGenerator(mapViewForm.map);
TopologyGraph tograph = topologyGenerator.GetTopologyGraph();
tograph.Draw();
PlanningGraphGenerator planningGenerator = new PlanningGraphGenerator(tograph);
PathPlanningGraph graph = planningGenerator.GetPathPlanningGraph(startPos, Int32.Parse(this.tbPlanLength.Text));
graph.Draw();
planner.iteratingOnce = true;
HexaPath maxPath = planner.FindPath(graph, startPos);
LoadActivePath(maxPath);
mapViewForm.Refresh();
}
else if (this.rbDistMin.Checked == true)
{
DistMinPathPlanner planner = new DistMinPathPlanner(mapViewForm.map, (Robot)mapViewForm.robot);
HexaPos startPos = new HexaPos(mapViewForm.startHex.posX, mapViewForm.startHex.posY);
HexaPos endPos = new HexaPos(mapViewForm.endHex.posX, mapViewForm.endHex.posY);
TopologyGraphGenerator topologyGenerator = new TopologyGraphGenerator(mapViewForm.map);
TopologyGraph tograph = topologyGenerator.GetTopologyGraph();
HexaPath path = planner.FindPath(tograph, startPos, endPos);
LoadActivePath(path);
mapViewForm.Refresh();
}
}