internal void Enqueue(Action <Camera> queueAction, Camera camera, PriorityValue priority)
{
_queue.Enqueue(new ActionInfo(queueAction, true, _dispatcher, camera), new Priority(priority));
if (_queue.Count > 1)
{
return;
}
ActionInfo result = null;
result = _queue.Peek();
//_queue.TryPeek(out result);
if (result != null)
{
_queue.UpdatePriority(result, new Priority(PriorityValue.Critical));
try
{
result.Exec();
}
catch (Exception e)
{
Debug.WriteLine("message: {0}; stacktrace: {1}", e.Message, e.StackTrace);
}
}
}
/// <summary>
/// implmentation of the Search method.
/// </summary>
/// <param name="searchable"> the searching problem to search in. </param>
/// <returns> Solution object that includes the nodes of the route from the initial node to the goal.</returns>
public override Solution <T> Search(ISearchable <T> searchable)
{
ConcurrentPriorityQueue <State <T>, double> open = new ConcurrentPriorityQueue <State <T>, double>();
closed = new HashSet <State <T> >();
State <T> initialState = searchable.GetInitialState();
open.Enqueue(initialState, 0);
while (open.Count != 0)
{
State <T> node = open.Dequeue();
evaluatedNodes++;
if (node.Equals(searchable.GetGoalState()))
{
return(new Solution <T>(BackTrace(searchable), GetNumberOfNodesEvaluated()));
}
closed.Add(node);
foreach (State <T> adjacent in searchable.GetAllPossibleStates(node))
{
if (!closed.Contains(adjacent) && !open.Contains(adjacent))
{
adjacent.CameFrom = node;
adjacent.TotalCost = node.TotalCost + adjacent.Cost;
open.Enqueue(adjacent, adjacent.TotalCost);
}
else
{
if ((node.TotalCost + adjacent.Cost) < adjacent.TotalCost)
{
adjacent.CameFrom = node;
adjacent.TotalCost = node.TotalCost + adjacent.Cost;
if (open.Contains(adjacent))
{
open.UpdatePriority(adjacent, adjacent.TotalCost);
}
else
{
closed.Remove(adjacent);
open.Enqueue(adjacent, adjacent.TotalCost);
}
}
}
}
}
return(null);
}
