public void Sequential_Solve()
{
sw.Reset();
sw.Start();
if (startPoint == new Point(-1, -1) || endPoint == new Point(-1, -1))
{
MessageBox.Show("Start Point or End Point isn't set", "Error", MessageBoxButtons.OK, MessageBoxIcon.Stop);
}
else
{
queue = new Queue <CarNode>();
node = new CarNode(startPoint, 0, 0);
visitedNodes = new List <Tuple <Point, int> >();
PathReference = new Dictionary <Tuple <Point, int>, CarNode>();
queue.Enqueue(node);
bool status = false;
while (queue.Count > 0)
{
node = queue.Dequeue();
if (node.Point == endPoint)
{
status = true;
List <CarNode> PATH = new List <CarNode>();
PATH.Add(node);
while (node.path != 0)
{
Tuple <Point, int> tuple = new Tuple <Point, int>(node.Point, node.direction);
node = PathReference[tuple];
PATH.Add(node);
}
ts = sw.Elapsed;
String Time = string.Format("Timer:{0,2}.{1:00}", ts.Seconds, ts.Milliseconds);
sw.Stop();
ResultForm resultForm = new ResultForm(MazeBoard_x, MazeBoard_y, startPoint, endPoint, BlockedPoints, PATH, Time);
resultForm.ShowDialog();
break;
}
for (int i = 0; i < 2; ++i)
{
int new_direction = (node.direction + i) % 4;
Point new_point = new Point(node.Point.X + direction_x[new_direction], node.Point.Y + direction_y[new_direction]);
Tuple <Point, int> new_reference = new Tuple <Point, int>(new_point, new_direction);
if (is_valid(new_point) && !visitedNodes.Contains(new_reference))
{
queue.Enqueue(new CarNode(new_point, new_direction, node.path + 1));
PathReference[new_reference] = new CarNode(node.Point, node.direction, node.path);
visitedNodes.Add(new_reference);
}
}
}
if (status == false)
{
MessageBox.Show("No Path", "Error", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
}
private void NodesThread(List <CarNode> nodes, CancellationToken cantoks)
{
List <CarNode> nodes_lst = new List <CarNode>();
CarNode node = nodes.Last();
mutex_lock.WaitOne();
if (cantoks.IsCancellationRequested)
{
mutex_lock.ReleaseMutex();
return;
}
if (node.Point == endPoint)
{
this.cantoks.Cancel();
Resultnodes = nodes;
this.finish = true;
mutex_lock.ReleaseMutex();
return;
}
mutex_lock.ReleaseMutex();
for (int i = 0; i < 2; ++i)
{
int new_direction = (node.direction + i) % 4;
Point new_point = new Point(node.Point.X + direction_x[new_direction], node.Point.Y + direction_y[new_direction]);
if (is_valid(new_point) && !nodes.Exists(n => n.Point == new_point && n.direction == new_direction))
{
nodes_lst.Add(new CarNode(new_point, new_direction, node.path + 1));
}
}
if (nodes_lst.Count == 2)
{
List <CarNode> right_node = new List <CarNode>(nodes);
List <CarNode> left_node = new List <CarNode>(nodes);
right_node.Add(nodes_lst.Last());
left_node.Add(nodes_lst.First());
Task task = Task.Run(() => NodesThread(right_node, cantoks));
Tasks.Add(task);
NodesThread(left_node, cantoks);
}
else if (nodes_lst.Count == 1)
{
nodes.Add(nodes_lst.Last());
NodesThread(nodes, cantoks);
}
return;
}