public void LoadAll(String filename)
        {
            JToken tempJObject;
            StreamReader reader = File.OpenText(filename);
            JObject o = (JObject)JToken.ReadFrom(new JsonTextReader(reader));

            if (o.TryGetValue("name", out tempJObject))
                worldName =  o.GetValue("name").ToString();

            if (o.TryGetValue("timeout", out tempJObject))
                iWorldTimeout = (int)o.GetValue("timeout");

            mazeWalls = new ArrayList();
            Hashtable mazeWallsById = new Hashtable();
            mazeRobots = new ArrayList();
            mazeVictims = new ArrayList();

            mazeSpaces = new ArrayList();
            Hashtable mazeSpacesById = new Hashtable();
            mazeGraph = new MazeGraph();

            mazeNodeNodes = new ArrayList();
            mazeSpaceNode = new ArrayList();
            mazeSpaceRobots = new ArrayList();

            foreach (JObject jObject in o.GetValue("walls").Children())
            {
                MazeWall mazeWall = new MazeWall(
                    new Point2D((double)((JObject)jObject.GetValue("from")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("from")).GetValue("y") * 100),
                    new Point2D((double)((JObject)jObject.GetValue("to")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("to")).GetValue("y") * 100),
                    (float)jObject.GetValue("width") * 100,
                    (float)jObject.GetValue("height") * 100,
                    Color.FromArgb(Convert.ToInt32((string)jObject.GetValue("color"), 16)));
                if (mazeWall.Color.A == 0)
                    mazeWall.Color = Color.LightGray;
                mazeWall.ID = (string)jObject.GetValue("id");
                mazeWalls.Add(mazeWall);
                mazeWallsById.Add((string)jObject.GetValue("id"), mazeWall);
            }
            if (o.GetValue("gates") != null)
            {
                foreach (JObject jObject in o.GetValue("gates").Children())
                {
                    MazeWall mazeWall = new MazeWall(
                        new Point2D((double)((JObject)jObject.GetValue("from")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("from")).GetValue("y") * 100),
                        new Point2D((double)((JObject)jObject.GetValue("to")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("to")).GetValue("y") * 100),
                        0, 0, Color.Black);
                    mazeWall.MazeWallType = MazeWallType.gate;
                    string kind = (string)jObject.GetValue("kind");
                    mazeWall.MazeDoorType = (kind == "door" ? MazeGateType.door : (kind == "passage" ? MazeGateType.passage : MazeGateType.doorOneWayFromTo));      //doorOneWayFromTo will be changed later
                    mazeWall.blocked = (double)jObject.GetValue("blocked");
                    mazeWall.ID = (string)jObject.GetValue("id");
                    mazeWalls.Add(mazeWall);
                    mazeWallsById.Add((string)jObject.GetValue("id"), mazeWall);
                }
            }
            if (o.GetValue("robots") != null)
            {
                JToken tmp;
                Point2D? target;

                foreach (JObject jObject in o.GetValue("robots").Children())
                {
                    if (jObject.TryGetValue("target", out tmp))
                        target = new Point2D((double)((JObject)jObject.GetValue("target")).GetValue("x"), (double)((JObject)jObject.GetValue("target")).GetValue("y"));
                    else
                        target = null;

                    MazeRobot mazeRobot = new MazeRobot(
                        (string)jObject.GetValue("type"),
                        (string)jObject.GetValue("id"),
                        new Point2D((double)((JObject)jObject.GetValue("location")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("location")).GetValue("y") * 100),
                        (float)((JObject)jObject.GetValue("location")).GetValue("z") * 100,
                        //new Point2D((double)((JObject)jObject.GetValue("target")).GetValue("x"),(double)((JObject)jObject.GetValue("target")).GetValue("y"))
                       target

                        );
                    mazeRobot.ID = (string)jObject.GetValue("id");
                    mazeRobots.Add(mazeRobot);
                }
            }
            if (o.GetValue("victims") != null)
            {
                foreach (JObject jObject in o.GetValue("victims").Children())
                {
                    MazeVictim mazeVictim = new MazeVictim(
                        new Point2D((double)((JObject)jObject.GetValue("position")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("position")).GetValue("y") * 100));
                    mazeVictim.ID = (string)jObject.GetValue("id");
                    mazeVictims.Add(mazeVictim);
                }
            }

            Hashtable wallsBySpaceId = new Hashtable();
            if (o.GetValue("space-walls") != null)
            {
                foreach (JObject jObject in o.GetValue("space-walls").Children())
                {
                    string spaceId = (string)jObject.GetValue("spaceId");
                    string wallId = (string)jObject.GetValue("wallId");
                    if (wallsBySpaceId.ContainsKey(spaceId))
                    {
                        ((ArrayList)wallsBySpaceId[spaceId]).Add(mazeWallsById[wallId]);
                    }
                    else
                    {
                        ArrayList newArrayList = new ArrayList();
                        newArrayList.Add(mazeWallsById[wallId]);
                        wallsBySpaceId[spaceId] = newArrayList;
                    }
                }
            }
            if (o.GetValue("space-gates") != null)
            {
                foreach (JObject jObject in o.GetValue("space-gates").Children())
                {
                    string spaceId = (string)jObject.GetValue("spaceId");
                    string wallId = (string)jObject.GetValue("gateId");
                    if (wallsBySpaceId.ContainsKey(spaceId))
                    {
                        ((ArrayList)wallsBySpaceId[spaceId]).Add(mazeWallsById[wallId]);
                    }
                    else
                    {
                        ArrayList newArrayList = new ArrayList();
                        newArrayList.Add(mazeWallsById[wallId]);
                        wallsBySpaceId[spaceId] = newArrayList;
                    }
                }
            }

            if (o.GetValue("spaces") != null)
            {
                foreach (JObject jObject in o.GetValue("spaces").Children())
                {
                    MazeSpace newRoom = new MazeSpace((ArrayList)wallsBySpaceId[(string)jObject.GetValue("id")]);
                    newRoom.ID = (string)jObject.GetValue("id");
                    newRoom.MazeRoomType = (MazeSpaceType)System.Enum.Parse(typeof(MazeSpaceType), (string)jObject.GetValue("kind"));
                    newRoom.Function = (string)jObject.GetValue("function");
                    newRoom.Name = (string)jObject.GetValue("name");
                    newRoom.ExpectedPersonCount = (int)jObject.GetValue("expectedPersonCount");

                    if (jObject.TryGetValue("searched", out tempJObject))
                        newRoom.Searched = (int)jObject.GetValue("searched");

                    mazeSpaces.Add(newRoom);
                    mazeSpacesById[newRoom.ID] = newRoom;

                    foreach (MazeWall roomWall in newRoom.Walls)
                    {
                        if (roomWall.RoomFrom == null)
                            roomWall.RoomFrom = newRoom;
                        else
                            roomWall.RoomTo = newRoom;
                    }
                }
            }

            ///////////////////////////  graph

            Hashtable spacesByNodeId = new Hashtable();
            if (o.GetValue("space-nodes") != null)
            {
                foreach (JObject jObject in o.GetValue("space-nodes").Children())
                {
                    spacesByNodeId[(string)jObject.GetValue("nodeId")] = mazeSpacesById[(string)jObject.GetValue("spaceId")];
                }
            }
            Hashtable gatesByNodeId = new Hashtable();
            if (o.GetValue("gate-nodes") != null)
            {
                foreach (JObject jObject in o.GetValue("gate-nodes").Children())
                {
                    gatesByNodeId[(string)jObject.GetValue("nodeId")] = mazeWallsById[(string)jObject.GetValue("gateId")];
                }
            }

            Hashtable nodesById = new Hashtable();
            if (o.GetValue("nodes") != null)
            {
                foreach (JObject jObject in o.GetValue("nodes").Children())
                {
                    MazeNode node = new MazeNode(new Point2D((double)((JObject)jObject.GetValue("position")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("position")).GetValue("y") * 100),
                        (MazeSpace)spacesByNodeId[(string)jObject.GetValue("id")],
                        gatesByNodeId[(string)jObject.GetValue("id")] as MazeWall);
                    node.ID = (string)jObject.GetValue("id");
                    nodesById[node.ID] = node;
                    mazeGraph.AddNode(node);
                }
            }

            if (o.GetValue("node-nodes") != null)
            {
                foreach (JObject jObject in o.GetValue("node-nodes").Children())
                {
                    MazeNode fromNode = (MazeNode)nodesById[(string)jObject.GetValue("nodeFromId")];
                    MazeNode toNode = (MazeNode)nodesById[(string)jObject.GetValue("nodeToId")];

                    if (fromNode.Door != null && (fromNode.Door.MazeDoorType == MazeGateType.doorOneWayFromTo || fromNode.Door.MazeDoorType == MazeGateType.doorOneWayToFrom))
                    {
                        if (fromNode.Room == fromNode.Door.RoomFrom)
                            fromNode.Door.MazeDoorType = MazeGateType.doorOneWayFromTo;
                        else
                            fromNode.Door.MazeDoorType = MazeGateType.doorOneWayToFrom;
                    }
                    mazeGraph.AddArc(fromNode, toNode);

                    mazeNodeNodes.Add(new MazeNodeNodes(jObject.GetValue("nodeFromId").ToString(), jObject.GetValue("nodeToId").ToString(), double.Parse(jObject.GetValue("cost").ToString()), double.Parse(jObject.GetValue("blocked").ToString())));
                }
            }

            if (o.GetValue("space-nodes") != null)
            {
                foreach (JObject jObject in o.GetValue("space-nodes").Children())
                {
                    mazeSpaceNode.Add(new MazeSpaceNodes(jObject.GetValue("type").ToString(),
                                                         jObject.GetValue("spaceId").ToString(),
                                                         jObject.GetValue("nodeId").ToString()));
                }
            }

            if (o.GetValue("space-robots") != null)
            {
                foreach (JObject jObject in o.GetValue("space-robots").Children())
                {
                    mazeSpaceRobots.Add(new MazeSpaceRobots(jObject.GetValue("type").ToString(),
                                                         jObject.GetValue("spaceId").ToString(),
                                                         jObject.GetValue("robotId").ToString()));
                }
            }

            reader.Close();
        }
        private void DeleteRobot(int x, int y)
        {
            tempPoints[0].X = x;
            tempPoints[0].Y = y;
            invertedMazeMatrix.TransformPoints(tempPoints);
            float minDist = float.MaxValue;
            float dist = 0.0f;
            selectedRobot = null;
            foreach (MazeRobot robot in mazeRobots)
            {
                dist = GetLength(robot.position, tempPoints[0]);
                if (dist < minDist)
                {
                    selectedRobot = robot;
                    minDist = dist;
                }
            }
            if (selectedRobot != null)
            {
                mazeRobots.Remove(selectedRobot);
            }

            mazePanel_Paint(this, null);
        }
 private void MoveRobot(int x, int y)
 {
     if (moveInProgress)
     {
         moveInProgress = false;
     }
     else
     {
         tempPoints[0].X = x;
         tempPoints[0].Y = y;
         invertedMazeMatrix.TransformPoints(tempPoints);
         float minDist = float.MaxValue;
         float dist = 0.0f;
         selectedRobot = null;
         foreach (MazeRobot robot in mazeRobots)
         {
             dist = GetLength(robot.position, tempPoints[0]);
             if (dist < minDist)
             {
                 selectedRobot = robot;
                 minDist = dist;
             }
         }
         if (selectedRobot != null)
         {
             moveInProgress = true;
             tempPoints[0] = selectedRobot.position;
             firstPoint = tempPoints[0];
             mazeBitmapGraphics.Transform.TransformPoints(tempPoints);
         }
     }
 }
        private void RobotRefresh()
        {
            mazeRobots.Clear();

            List<MazeRobot> tempRobot = new List<MazeRobot>();
            var temp = robotsTaskList.GroupBy(pp => pp.ID).Select(f => f.First()).ToList();

            foreach (var tmp in temp)
            {
                MazeRobot tt = new MazeRobot("Robot", tmp.ID, new Point2D(tmp.X, tmp.Y), (float)(1.0 * 100),new PointF(0,0));
                tt.UpdateArrowPosiotion(tmp.Angle);

                tempRobot.Add(tt);
                mazeRobots.Add(tt);
            }

            RobotsPF = tempRobot.ToArray();
        }
        private void initUDPandStart(string sIP, int port, int iRobotNumber)
        {
            mazeRobots.Clear();
            MazeIdentifiable.ClearBusyIdsCache();

            RobotsPF = new MazeRobot[iRobotNumber];
            maxRobots = iRobotNumber;
            string robotName;

            dataGridView1.Rows.Clear();

            for (int i = 0; i < maxRobots; i++)
            {
                robotName = string.Format("robot{0}", i.ToString());

                RobotsPF[i] = new MazeRobot("Robot", robotName, new Point2D(i * 100, i * 100), (float)(1.0 * 100),new PointF(0,0));
                RobotsPF[i].ID = robotName;

                mazeRobots.Add(RobotsPF[i]);

                dataGridView1.Rows.Add();
                dataGridView1.Rows[i].Cells["ID"].Value = i;
            }

            udp = new UdpClient(port);
            endPoint = new IPEndPoint(IPAddress.Parse(sIP), port);

            endTransmision = false;

            reciveThread = new Thread(new ThreadStart(getParticlePossition));
            reciveThread.Start();
        }