public IADijkstra(NXTVehicule vehicule, bool p_simulation = false)
: base(vehicule, p_simulation)
{
nodes = new List <NXTNode>();
accessibleCases = new List <Point>();
sptSet = new Dictionary <Point, bool>();
}
// --------------------------------------------------------------------------
// CONSTRUCTOR
// --------------------------------------------------------------------------
public Simulation(NXTVehicule iaVehicule, NXTVehicule remoteVehicule, SimulationWindow window)
: base()
{
this.iaVehicule = iaVehicule;
this.remoteVehicule = remoteVehicule;
this.window = window;
oldKeyState = new KeyboardState();
}
// --------------------------------------------------------------------------
// CONSTRUCTOR
// --------------------------------------------------------------------------
public RemoteWindow(NXTVehicule vehicule)
{
InitializeComponent();
this.vehicule = vehicule;
pStraight = new NXTAction(NXTMovement.STRAIGHT);
pLeft = new NXTAction(NXTMovement.INTER_LEFT);
pRight = new NXTAction(NXTMovement.INTER_RIGHT);
pUturn = new NXTAction(NXTMovement.UTURN);
}
public IA(NXTVehicule p_vehicule, bool p_simulation = false)
{
this.vehicule = p_vehicule;
this.circuit = vehicule.Circuit;
this.buffer = p_vehicule.Buffer;
pStraight = new NXTAction(NXTMovement.STRAIGHT);
pLeft = new NXTAction(NXTMovement.INTER_LEFT);
pRight = new NXTAction(NXTMovement.INTER_RIGHT);
pUturn = new NXTAction(NXTMovement.UTURN);
}
public PositionDialog(NXTVehicule auto, NXTVehicule tel)
{
InitializeComponent();
numericUpDown1.Value = tel.Position.X;
numericUpDown2.Value = tel.Position.Y;
numericUpDown3.Value = auto.Position.X;
numericUpDown4.Value = auto.Position.Y;
comboBox1.SelectedIndex = (int)tel.ToOrientation;
comboBox2.SelectedIndex = (int)auto.ToOrientation;
}
public SimulationWindow(NXTVehicule iaVehicule, NXTVehicule remoteVehicule)
{
InitializeComponent();
this.iaVehicule = iaVehicule;
this.remoteVehicule = remoteVehicule;
this.simulation1 = new Simulation(iaVehicule, remoteVehicule, this);
this.simulation1.Location = new System.Drawing.Point(12, 27);
this.simulation1.Name = "drawEditor1";
this.simulation1.Size = new System.Drawing.Size(731, 411);
this.simulation1.TabIndex = 0;
this.simulation1.Text = "drawEditor1";
this.Controls.Add(this.simulation1);
iaCoop = new IACoop(remoteVehicule, iaVehicule);
}
// --------------------------------------------------------------------------
// CONSTRUCTORS
// --------------------------------------------------------------------------
public IACoop(NXTVehicule p_robotTelec, NXTVehicule robotAuto) :
base(robotAuto)
{
this.robotTelec = p_robotTelec;
this.simulRobotTelec = new IADijkstra(p_robotTelec, true);
//this.patients = new List<Point>();
//this.patients.AddRange(robotTelec.Circuit.Patients);
this.patients = circuit.Patients;
this.patientsDropped = 0;
this.targetTelec = NXTVehicule.ERROR;
this.pathRobotIA = new List <Point>();
Point ttargetTl = DetermineExcptdTelecTarget();
Point positionTelec = robotTelec.Position;
//Console.WriteLine("Cible telec : " + ttargetTl);
this.pathRobotTelecommande = this.simulRobotTelec.ComputeDijkstra(positionTelec, ttargetTl);;
}
// --------------------------------------------------------------------------
// METHODS
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// EVENTS / ASYNC CALLS
// --------------------------------------------------------------------------
// Chargement de la fenêtre
private void MainWindow_Load(object sender, EventArgs e)
{
this.remoteVehicule = new NXTVehicule(new Point(1, 2), NXTVehicule.RIGHT);
this.autoVehicule = new NXTVehicule(new Point(0, 3), NXTVehicule.BOTTOM);
}
