private static void expandNode(WayPoint nextWayPoint, PathStruct currentPoint, WayPoint destination)
{
if (nextWayPoint != null)
{
//check if thie new waypoint has already been visited
if (!visited.Contains(nextWayPoint.transform.position))
{
visited.Add(nextWayPoint.transform.position);
//calculate the total costs
int totalCosts = currentPoint.cost + pathCost +
manhattenDistance(destination.transform.position, nextWayPoint.transform.position);
//create PathStruct
PathStruct newPathStruct = new PathStruct(currentPoint.cost + pathCost, nextWayPoint, currentPoint);
//add the struct to the openlist
if (openList.ContainsKey(totalCosts))
{
openList[totalCosts].Add(newPathStruct);
}
else
{
openList.Add(totalCosts, new List <PathStruct>()
{
newPathStruct
});
}
}
else
{
}
}
else
{
} // else there is no waypoint upwards.
}
private void Listener(PathStruct[] prefixes)
{
if (!HttpListener.IsSupported)
{
Console.WriteLine("Windows XP SP2 or Server 2003 is required to use the HttpListener class.");
return;
}
if (prefixes == null || prefixes.Length == 0)
throw new ArgumentException("prefixes");
foreach (PathStruct s in prefixes)
{
listener.Prefixes.Add(s.Uri);
}
listener.Start();
Console.WriteLine("Listening...");
while (isListen)
{
HttpListenerContext context = listener.GetContext();
HttpListenerRequest request = context.Request;
Console.WriteLine(string.Concat("Запрос к ", request.Url.ToString()));
HttpListenerResponse response = context.Response;
var match = "";
if (Regex.Match(context.Request.Url.ToString(), @"[\/]$").Success)
match = Regex.Match(context.Request.Url.ToString(), @"(?<=[\/]).+(?=[\/]$)").Value + "/index.cs";
else
match = Regex.Match(context.Request.Url.ToString(), @"(?<=http:\/).+[^\/]$").Value;
var portMatch = Regex.Match(context.Request.Url.ToString(), @":\d+(?=\/)");
if (portMatch.Success)
{
match = match.Replace(portMatch.Value, "");
}
string content = "";
byte[] buffer = new byte[0];
try
{
string typeMatch = Regex.Match(match, @"(?<=[.])\w+$").Value;
switch (typeMatch)
{
case "cs":
{
var matches = Regex.Matches(match, @"(?<=\/)[^\/]+");
string path = "";
for (int i = 0; i < matches.Count; i++)
if (!(matches.Count > 1 && (i == matches.Count - 1)))
path += string.Concat(".", matches[i].Value);
else
path += string.Concat(".", matches[i].Value.Remove(matches[i].Value.Length - 3, 3));
var indexClass = Type.GetType(string.Concat("http_server.www", path));//TODO
content = ((http_server.Page)System.Activator.CreateInstance(indexClass)).PageString();
buffer = System.Text.Encoding.UTF8.GetBytes(content);
break;
}
case "html":
{
content = System.IO.File.ReadAllText(string.Concat(Environment.CurrentDirectory, "/www", match));
buffer = System.Text.Encoding.UTF8.GetBytes(content);
break;
}
default:
{
buffer = System.IO.File.ReadAllBytes(string.Concat(Environment.CurrentDirectory, "/www", match));
break;
}
}
response.ContentLength64 = buffer.Length;
}
catch (FileNotFoundException ex)
{
response.StatusCode = 404;
Console.WriteLine("Не найден файл " + ex.FileName);
}
catch (DirectoryNotFoundException ex)
{
response.StatusCode = 404;
Console.WriteLine(ex.StackTrace);
}
catch (ArgumentNullException ex)
{
response.StatusCode = 404;
Console.WriteLine(ex.StackTrace);
}
System.IO.Stream output = response.OutputStream;
try
{
output.Write(buffer, 0, buffer.Length);
}
catch(HttpListenerException ex)
{
response.StatusCode = 404;
Console.WriteLine(ex.StackTrace);
}
finally
{
output.Close();
}
}
listener.Stop();
}
//destination: der ZielPunkt (Pacmans Position)
//start: aktuelle Positionn des Geistes
//die zurückgegebene Liste soll als ersten Wegpunkt den Startpunkt und als letzten Wegpunkt den
//Zielpunkt enthalten.
public static List <WayPoint> getPath(WayPoint destination, WayPoint start)
{
List <WayPoint> path = new List <WayPoint>();
//initialize
int cost = 0;
int heuristicValue = manhattenDistance(destination.transform.position, start.transform.position);
//List of visited positions. Needed to ensure we don't revisit places.
visited = new List <Vector3>();
//using the key as the cost + heuristic value. Value is a struct with the waypoint and the path to this one.
openList = new SortedDictionary <int, List <PathStruct> >();
//insert the starting point
PathStruct startPath = new PathStruct(cost, start, null);
List <PathStruct> startList = new List <PathStruct>();
startList.Add(startPath);
openList.Add((cost + heuristicValue), startList);
bool finished = false;
PathStruct currentPoint = startPath;
//the loop
while (!finished && openList.Count > 0)
{
//get all waypoints with lowest total cost
List <PathStruct> lowestCostList = new List <PathStruct>(openList.First().Value);
openList.Remove(openList.First().Key);
//loop over these points
for (int i = 0; i < lowestCostList.Count; i++)
{
//get the first one
currentPoint = lowestCostList[i];
//did we reach the goal?
if (currentPoint.wayPoint.transform.position.Equals(destination.transform.position))
{
finished = true;
break;
}
else
{
//try to expand it in all four directions:
//up:
WayPoint nextWayPoint = currentPoint.wayPoint.upWaypoint;
expandNode(nextWayPoint, currentPoint, destination);
//down
nextWayPoint = currentPoint.wayPoint.downWaypoint;
expandNode(nextWayPoint, currentPoint, destination);
//left:
nextWayPoint = currentPoint.wayPoint.leftWaypoint;
expandNode(nextWayPoint, currentPoint, destination);
//right:
nextWayPoint = currentPoint.wayPoint.rightWaypoint;
expandNode(nextWayPoint, currentPoint, destination);
}
}
}
if (finished)
{
while (currentPoint.predecessor != null)
{
path.Insert(0, currentPoint.wayPoint);
currentPoint = currentPoint.predecessor;
}
path.Insert(0, currentPoint.wayPoint);
}
return(path);
}
public PathStruct(int cost, WayPoint wayPoint, PathStruct predecessor)
{
this.cost = cost;
this.wayPoint = wayPoint;
this.predecessor = predecessor;
}
