public void exploreWithDFS()
{
this.stack = new Stack();
DFSNode currentNode = StartDFSNode;
this.DFSNodes.Add(currentNode);
try
{
while (!this._shouldStop)
{
while (stack.Count > 0 || currentNode != null)
{
if (CurrentCoverage >= UserSetting.CoverageLimit && UserSetting.CoverageLimit != 100)
{
Console.WriteLine("Coverage limit reached!");
OnSendingMessage("Coverage limit reached!!!");
this._shouldStop = true;
break;
}
if (currentNode != null)
{
Console.WriteLine("Visiting node X = {0}, Y = {1}", currentNode.X, currentNode.Y);
currentNode.isVisited = true;
this.X = currentNode.X;
this.Y = currentNode.Y;
computeCoverage();
if (currentNode.Equals(this.GoalDFSNode))
{
Console.WriteLine("Reach goal!");
OnSendingMessage("Reached goal zone!!!");
//OnSendingMessage("X = " + GoalDFSNode.X);
//OnSendingMessage("Y = " + GoalDFSNode.Y);
}
getDFSChildren(currentNode);
if (currentNode.BottomChild != null)
{
stack.Push(currentNode.BottomChild);
this.DFSNodes.Add(currentNode.BottomChild);
}
if (currentNode.LeftChild != null)
{
stack.Push(currentNode.LeftChild);
this.DFSNodes.Add(currentNode.LeftChild);
}
if (currentNode.TopChild != null)
{
stack.Push(currentNode.TopChild);
this.DFSNodes.Add(currentNode.TopChild);
}
if (currentNode.RightChild != null)
{
stack.Push(currentNode.RightChild);
this.DFSNodes.Add(currentNode.RightChild);
}
while (currentNode.allChildrenVisited())
{
Console.WriteLine("No more children, backtracking!!!");
//no more children, backtracking
currentNode = currentNode.ParentNode;
Thread.Sleep(1000 / UserSetting.Speed);
this.X = currentNode.X;
this.Y = currentNode.Y;
if (currentNode == StartDFSNode)
{
break;
}
}
//printStack();
if (stack.Count > 0)
{
currentNode = (DFSNode)stack.Pop();
}
else
{
break;
}
}
else
{
if (stack.Count > 0)
{
currentNode = (DFSNode)stack.Pop();
}
else
{
break;
}
}
Thread.Sleep(1000 / UserSetting.Speed);
}
this.isExplored = true;
Console.WriteLine("Exploration finished!!!");
OnSendingMessage("Exploration finished!!!");
}
}
catch (Exception e)
{
Console.WriteLine(e);
}
}
