public Checkpoint(string name, double coordinateX, double coordinateY, Cell c, List <Checkpoint> allCheckpoints,
Airstrip strip, List <Checkpoint> exitCheckpoints)
{
this.Name = name;
this.CoordinateX = coordinateX;
this.CoordinateY = coordinateY;
ShortestPath = new LinkedList <AbstractCheckpoint>();
DistanceFromSource = Int32.MaxValue;
ReachableNodes = new Dictionary <AbstractCheckpoint, double>();
ParentCellType = c.Type;
switch (c.Type)
{
case CellType.BORDER:
MinSpeed = 500;
MaxSpeed = 800;
MaxAltitude = 7500;
MinAltitude = 6500;
break;
case CellType.UNASSIGNED:
MinSpeed = 330;
MaxSpeed = Int32.MaxValue;
MaxAltitude = 8000;
MinAltitude = 6100;
break;
case CellType.UPPER:
MinSpeed = 310;
MaxSpeed = 330;
MinAltitude = 5800;
MaxAltitude = 6100;
break;
case CellType.MIDDLE:
MinSpeed = 170;
MaxSpeed = 190;
MinAltitude = 2800;
MaxAltitude = 3100;
break;
case CellType.LOWER:
MinSpeed = 150;
MaxSpeed = 170;
MinAltitude = 1200;
MaxAltitude = 1500;
break;
case CellType.FINAL:
MinSpeed = 120;
MaxSpeed = 150;
MinAltitude = 500;
MaxAltitude = 300;
break;
default:
break;
}
AddReachables(allCheckpoints, strip, exitCheckpoints);
}
/// <summary>
/// Calculates the shortest path between the airplane and its final destination - the airstrip.
/// </summary>
/// <param name="points">All the checkpoints in the airspace. No airstrips, no airplanes.</param>
/// <param name="landingStrip">The landing strip the airplane is going for.</param>
public void CalculateShortestPathToAirstrip(List <Checkpoint> points, Airstrip landingStrip)
{
this.ReachableNodes.Clear();
this.ShortestPath.Clear();
foreach (Checkpoint point in points)
{
if (target == null && (point.ParentCellType == CellType.UPPER ||
point.ParentCellType == CellType.UNASSIGNED))
{
this.AddSingleDestination(point, CalculateTimeBetweenPoints(point));
}
else if (target != null && target.Value.GetType() == typeof(Airstrip))
{
ShortestPath.Clear();
ShortestPath.AddFirst(target);
return;
}
else if (target != null && point.ParentCellType == ((Checkpoint)target.Value).ParentCellType)
{
this.AddSingleDestination(point, CalculateTimeBetweenPoints(point));
}
point.ShortestPath.Clear();
point.DistanceFromSource = int.MaxValue;
}
landingStrip.DistanceFromSource = int.MaxValue;
landingStrip.ShortestPath.Clear();
HashSet <AbstractCheckpoint> settledCheckpoints = new HashSet <AbstractCheckpoint>();
HashSet <AbstractCheckpoint> unsettledCheckpoints = new HashSet <AbstractCheckpoint> {
this
};
while (unsettledCheckpoints.Count != 0)
{
AbstractCheckpoint currentCheckpnt = this.GetLowestDistanceNode(unsettledCheckpoints);
unsettledCheckpoints.Remove(currentCheckpnt);
foreach (var pair in currentCheckpnt.ReachableNodes)
{
AbstractCheckpoint reachableCheckpoint = pair.Key;
double edgeWeight = pair.Value;
if (!settledCheckpoints.Contains(reachableCheckpoint))
{
var shortestPath = CalculateMinDistance(reachableCheckpoint, edgeWeight, currentCheckpnt);
if (shortestPath != null && reachableCheckpoint.GetType() == typeof(Airstrip))
{
shortestPath.AddLast(reachableCheckpoint);
this.ShortestPath = new LinkedList <AbstractCheckpoint>();
var pathNode = shortestPath.First;
while (pathNode != null)
{
this.ShortestPath.AddLast(pathNode.Value);
pathNode = pathNode.Next;
}
}
unsettledCheckpoints.Add(reachableCheckpoint);
}
}
settledCheckpoints.Add(currentCheckpnt);
}
if (this.ShortestPath.Count != 0)
{
movingDirectionHasChanged = true;
target = ShortestPath.First;
target = target.Next;
}
}
/// <summary>
/// Adds all the checkpoints existing in the <see cref="Grid"/> to the current checkpoint's reachables.
/// Also adds the current checkpoint to those others' reachables. The addition goes through only if their
/// <see cref="ParentCellType"/>s allow it. Does the same with the landing strip.
/// </summary>
/// <param name="allCheckpoints">The list of all other checkpoints already on the <see cref="Grid"/>.</param>
/// <param name="strip">The <see cref="Airstrip"/> on which the <see cref="Airplane"/> will be landing.</param>
/// <param name="exitCheckpoints">The list of checkpoints, for which an <see cref="Airplane"/> can be aiming in order
/// to exit the airspace.</param>
public void AddReachables(List <Checkpoint> allCheckpoints, Airstrip strip, List <Checkpoint> exitCheckpoints)
{
switch (ParentCellType)
{
case CellType.BORDER:
case CellType.UNASSIGNED:
foreach (Checkpoint point in allCheckpoints)
{
if (point.ParentCellType == CellType.BORDER ||
point.ParentCellType == CellType.UNASSIGNED ||
point.ParentCellType == CellType.UPPER)
{
this.AddSingleDestination(point, CalculateDistanceBetweenPoints(point));
point.AddSingleDestination(this, CalculateDistanceBetweenPoints(this));
}
}
break;
case CellType.UPPER:
foreach (Checkpoint point in allCheckpoints.Concat(exitCheckpoints))
{
if (point.ParentCellType == CellType.BORDER ||
point.ParentCellType == CellType.UNASSIGNED ||
point.ParentCellType == CellType.UPPER ||
point.ParentCellType == CellType.MIDDLE)
{
this.AddSingleDestination(point, CalculateDistanceBetweenPoints(point));
point.AddSingleDestination(this, CalculateDistanceBetweenPoints(this));
}
}
break;
case CellType.MIDDLE:
foreach (Checkpoint point in allCheckpoints)
{
if (point.ParentCellType == CellType.UPPER ||
point.ParentCellType == CellType.MIDDLE ||
point.ParentCellType == CellType.LOWER)
{
this.AddSingleDestination(point, CalculateDistanceBetweenPoints(point));
point.AddSingleDestination(this, CalculateDistanceBetweenPoints(this));
}
}
break;
case CellType.LOWER:
foreach (Checkpoint point in allCheckpoints)
{
if (point.ParentCellType == CellType.MIDDLE ||
point.ParentCellType == CellType.LOWER ||
point.ParentCellType == CellType.FINAL)
{
this.AddSingleDestination(point, CalculateDistanceBetweenPoints(point));
point.AddSingleDestination(this, CalculateDistanceBetweenPoints(this));
}
}
break;
case CellType.FINAL:
foreach (Checkpoint point in allCheckpoints)
{
if (point.ParentCellType == CellType.LOWER ||
point.ParentCellType == CellType.FINAL)
{
this.AddSingleDestination(point, CalculateDistanceBetweenPoints(point));
point.AddSingleDestination(this, CalculateDistanceBetweenPoints(this));
}
}
try
{
this.AddSingleDestination(strip, CalculateDistanceBetweenPoints(strip));
strip.AddSingleDestination(this, CalculateDistanceBetweenPoints(this));
}
catch (System.NullReferenceException e)
{
MessageBox.Show(
$"A strip needs to be added before{Environment.NewLine}adding a checkpoint in the final zone.",
"No strip found.", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
}
break;
default:
break;
}
}
