public void AstarTest()
{
XmlReaderWriter reader = new XmlReaderWriter();
reader.ReadMe("..\\..\\tests\\test-ASTAR-anthill.xml");
AHGraphics.Init();
Astar.Init(AntHillConfig.mapColCount, AntHillConfig.mapRowCount);
Simulation test_isw = new Simulation(new Map(AntHillConfig.mapColCount, AntHillConfig.mapRowCount, AntHillConfig.tiles));
Spider test_spider = new Spider(new Position(5, 0));
Ant test_ant1 = new Warrior(new Position(5, 8));
Ant test_ant2 = new Warrior(new Position(0, 3));
List <KeyValuePair <int, int> > trail = Astar.Search(new KeyValuePair <int, int>(test_spider.Position.X, test_spider.Position.Y), new KeyValuePair <int, int>(test_ant1.Position.X, test_ant1.Position.Y), new TestAstarObject(test_isw));
List <KeyValuePair <int, int> > test_trail1 = new List <KeyValuePair <int, int> >();
/* Laduje ponizsza mape, gdzie uzywam oznaczen:
* S - spider; Q-Queen; 1,2 - Ants i standardowych...
* <Map row="sssssSssss" />
* <Map row="sxooooooxs" />
* <Map row="sxooooooxs" />
* <Map row="2xooooooxs" />
* <Map row="sxooooooxs" />
* <Map row="sxooooooxs" />
* <Map row="sxoooQooxs" />
* <Map row="sxooooooxs" />
* <Map row="sxooo1ooxs" />
* <Map row="ssssssssss" />
*/
test_trail1.Add(new KeyValuePair <int, int>(5, 0));
test_trail1.Add(new KeyValuePair <int, int>(5, 1));
test_trail1.Add(new KeyValuePair <int, int>(5, 2));
test_trail1.Add(new KeyValuePair <int, int>(5, 3));
test_trail1.Add(new KeyValuePair <int, int>(5, 4));
test_trail1.Add(new KeyValuePair <int, int>(5, 5));
test_trail1.Add(new KeyValuePair <int, int>(5, 6));
test_trail1.Add(new KeyValuePair <int, int>(5, 7));
test_trail1.Add(new KeyValuePair <int, int>(5, 8));
Assert.IsNotNull(trail, "Trail is null");
Assert.AreEqual(test_trail1.Count, trail.Count, "Trail {0} and trail_test {1} count is not equal", trail.Count, test_trail1.Count);
for (int i = 0; i < test_trail1.Count; i++)
{
Assert.AreEqual(test_trail1[i], trail[i], "Astar_path element EQUAL problem - is {0}, should be {1}", trail[i], test_trail1[i]);
}
trail = Astar.Search(new KeyValuePair <int, int>(test_spider.Position.X, test_spider.Position.Y), new KeyValuePair <int, int>(test_ant2.Position.X, test_ant2.Position.Y), new TestAstarObject(test_isw));
List <KeyValuePair <int, int> > test_trail2 = new List <KeyValuePair <int, int> >();
test_trail2.Add(new KeyValuePair <int, int>(5, 0));
test_trail2.Add(new KeyValuePair <int, int>(4, 0));
test_trail2.Add(new KeyValuePair <int, int>(3, 0));
test_trail2.Add(new KeyValuePair <int, int>(2, 0));
test_trail2.Add(new KeyValuePair <int, int>(1, 0));
test_trail2.Add(new KeyValuePair <int, int>(0, 0));
test_trail2.Add(new KeyValuePair <int, int>(0, 1));
test_trail2.Add(new KeyValuePair <int, int>(0, 2));
test_trail2.Add(new KeyValuePair <int, int>(0, 3));
Assert.IsNotNull(trail, "Trail is null");
Assert.AreEqual(test_trail2.Count, trail.Count, "Trail {0} and trail_test {1} count is not equal", trail.Count, test_trail2.Count);
for (int i = 0; i < test_trail2.Count; i++)
{
Assert.AreEqual(test_trail2[i], trail[i], "Astar_path element EQUAL problem - is {0}, should be {1}", trail[i], test_trail2[i]);
}
}
public override bool Maintain(ISimulationWorld isw)
{
if (!base.IsAlive())
{
return(false);
}
SpreadSignal(isw);
LIList <Food> food;
LIList <Spider> spiders;
spiders = isw.GetVisibleSpiders(this);
if (spiders.Count != 0)
{
Spider s = this.GetNearestSpider(spiders);
if (s != lastSpider)
{
if (!FindEqualSignal(MessageType.SpiderLocalization, s.Position))
{
isw.CreateMessage(this.Position, MessageType.SpiderLocalization, s.Position);
lastSpider = s;
}
}
}
LIList <Message> .Enumerator msg = isw.GetVisibleMessages(this).GetEnumerator();
while (msg.MoveNext())
{
this.AddToSet(msg.Current, msg.Current.GetPointWithIntensity(this.Position).Intensity);
}
if (this.TurnsToBecomeHungry <= 0)
{
if (this.foodQuantity > 0)
{
foodQuantity--;
Eat();
}
}
if (this.foodQuantity == 0) //search for food
{
path = null;
food = isw.GetVisibleFood(this);
if (food.Count != 0)
{// idzie do jedzenia
Food nearestFood = this.GetNearestFood(food);
int dist = DistanceMeasurer.Taxi(this.Position, nearestFood.Position);
if (dist == 0)
{
this.FoodQuantity = nearestFood.GetQuantity;
isw.DeleteFood(nearestFood);
}
else
{
if (nearestFood != lastFood)
{
if (!FindEqualSignal(MessageType.FoodLocalization, nearestFood.Position))
{
isw.CreateMessage(this.Position, MessageType.FoodLocalization, nearestFood.Position);
lastFood = nearestFood;
}
}
// znajdujemy t¹ krótk¹ œcie¿kê - wyliczane co 'maintain'
List <KeyValuePair <int, int> > trail = Astar.Search(new KeyValuePair <int, int>(this.Position.X, this.Position.Y), new KeyValuePair <int, int>(nearestFood.Position.X, nearestFood.Position.Y), new AstarOtherObject());
if (trail.Count >= 2)
{
MoveOrRotateOrDig(isw, trail[1]);
randomDestination.X = -1;
return(true);
}
}
}
else
{// nie widzi
Message m = _messages[(int)MessageType.FoodLocalization];
if (m != null)
{
// ma sygnal o najwiekszej intensywnosci
List <KeyValuePair <int, int> > trail = Astar.Search(new KeyValuePair <int, int>(this.Position.X, this.Position.Y), new KeyValuePair <int, int>(m.Position.X, m.Position.Y), new AstarWorkerObject());
if (trail.Count >= 2)
{
MoveOrRotateOrDig(isw, trail[1]);
randomDestination.X = -1;
return(true);
}
}
}
}
else
{
int dist = DistanceMeasurer.Taxi(this.Position, Simulation.simulation.queen.Position);
if (dist == 0)
{
isw.FeedQueen(this);
path = null;
}
else
{
if (path == null || path.Count < 2)
{
path = Astar.Search(new KeyValuePair <int, int>(this.Position.X, this.Position.Y), new KeyValuePair <int, int>(Simulation.simulation.queen.Position.X, Simulation.simulation.queen.Position.Y), new AstarWorkerObject());
}
if (path.Count >= 2)
{
if (MoveOrRotateOrDig(isw, path[1]))
{
path.RemoveAt(0);
}
randomDestination.X = -1;
return(true);
}
}
}
MoveRandomly(isw);
return(true);
}
public bool DeleteSpider(Spider spider)
{
this.food.AddLast(new Food(spider.Position, AntHillConfig.spiderFoodQuantityAfterDeath));
spiders.Remove(spider);
return(true);
}
public override bool Maintain(ISimulationWorld isw)
{//TODO malo:)
if (!base.IsAlive())
{
return(false);
}
SpreadSignal(isw);
LIList <Message> .Enumerator msg = isw.GetVisibleMessages(this).GetEnumerator();
while (msg.MoveNext())
{
this.AddToSet(msg.Current, msg.Current.GetPointWithIntensity(this.Position).Intensity);
}
LIList <Spider> spiders;
if ((spiders = isw.GetVisibleSpiders(this)).Count != 0)
{
Spider spider = GetNearestSpider(spiders);
if (spider != lastSpider)
{
if (!FindEqualSignal(MessageType.SpiderLocalization, spider.Position))
{
isw.CreateMessage(this.Position, MessageType.SpiderLocalization, spider.Position);
lastSpider = spider;
}
}
MoveRotateOrAttack(this, spider, isw);
randomDestination.X = -1;
return(true);
}
if (MaintainSignals(MessageType.QueenInDanger))
{
randomDestination.X = -1;
return(true);
}
if (MaintainSignals(MessageType.SpiderLocalization))
{
randomDestination.X = -1;
return(true);
}
// teraz wcinamy
LIList <Food> foods = isw.GetVisibleFood(this);
if (foods.Count != 0)
{
Food food = GetNearestFood(foods);
int distance = DistanceMeasurer.Taxi(this.Position, food.Position);
if (food != lastFood)
{
if (!FindEqualSignal(MessageType.FoodLocalization, food.Position))
{
isw.CreateMessage(this.Position, MessageType.FoodLocalization, food.Position);
lastFood = food;
}
}
if (this.TurnsToBecomeHungry <= 0)
{
if (distance == 0)
{
food.Maintain(isw);
this.Eat();
randomDestination.X = -1;
return(true);
}
List <KeyValuePair <int, int> > trail = Astar.Search(new KeyValuePair <int, int>(this.Position.X, this.Position.Y), new KeyValuePair <int, int>(food.Position.X, food.Position.Y), new AstarOtherObject());
if (trail == null)
{
randomDestination.X = -1;
return(true);
}
if (trail.Count <= 1)
{
randomDestination.X = -1;
return(true);
}
MoveOrRotate(trail[1]);
randomDestination.X = -1;
return(true);
}
}
else
{
if (MaintainSignals(MessageType.FoodLocalization))
{
randomDestination.X = -1;
return(true);
}
}
MoveRandomly(isw);
return(true);
}
