public void PlanRouteAndStep()
{
if (stopped || busy)
{
return;
}
if (agent.state == Agents.AgentState.Finished)
{
GoalReachedEvent();
return;
}
busy = true;
SearchState state = new SearchState();
state.id = agent.id;
state.color = color;
state.goal = agent.goal;
stopWatch_runTime.Start();
// Procesor time measurement
stopWatch_procTime.Start();
state.path = agent.PlanRouteAndStep();
stopWatch_procTime.Stop();
// Measurement ends
stopWatch_runTime.Stop();
state.procTime = stopWatch_procTime.Elapsed;
state.runTime = (speedLimitEnabled ? TimeSpan.FromMilliseconds(Math.Max(stopWatch_runTime.ElapsedMilliseconds, waitTime)) : stopWatch_procTime.Elapsed) + runTime_previous;
runTime_previous = state.runTime;
stopWatch_runTime.Reset();
state.stepNumber = agent.stepNumber;
state.traversedNodes = agent.GetTraversedNodes();
state.discoveredNodes = agent.GetDiscoveredNodes();
state.distance = agent.GetDistanceTraveled();
ReportStateEvent(state);
busy = false;
if (!speedLimitEnabled)
{
PlanRouteAndStep();
}
}
public void ProgressChanged(SearchState s)
{
for (int i = 0; i < searchStates.Count; i++)
{
if (searchStates[i].id == s.id)
{
lock (searchStateSyncroot)
{
searchStates[i] = s;
}
Invalidate();
return;
}
}
lock (searchStateSyncroot)
{
isSearchStateVisible[s.id] = true;
searchStates.Add(s);
}
Invalidate();
}
public void ProgressChanged(SearchState state)
{
this.state = state;
Invalidate();
}
