private void ReFindPath()
{
//m_aPath = null;
//m_nPathLen = 0;
//m_nPos = 0;
//清除前面的路径标记
for (int i = 0; i < m_nPathLen - 2; i += 2)
{
byte _data = 0;
DllAPI.ReadMapByte(m_aPath[i], m_aPath[i + 1], ref _data);
if (_data == (byte)BlockType.Blank)
{
RePaint(m_aPath[i], m_aPath[i + 1], (byte)BlockType.Blank);
}
}
//
DllAPI.setRobotPoint(m_pntRobot.X, m_pntRobot.Y);
DllAPI.setEndPoint(m_pntEndPoint.X, m_pntEndPoint.Y);
if (DllAPI.RobotPathPlan(ref m_aPath, ref m_nPathLen) != 0)
{
return;
}
//显示路径标记
for (int i = 0; i < m_nPathLen - 2; i += 2)
{
RePaint(m_aPath[i], m_aPath[i + 1], (byte)BlockType.Path);
}
this.Invalidate();
this.Update();
}
private void UpdateBlock(int x, int y, BlockType data)
{
byte _data = 0;
if (x < 0 || x >= m_nWidth || y < 0 || y >= m_nHeight)
{
return;
}
DllAPI.ReadMapByte(x, y, ref _data);
if (data == BlockType.Robot)
{
if (x == m_pntEndPoint.X && y == m_pntEndPoint.Y || _data != (byte)BlockType.Blank)
{
return;
}
RePaint(m_pntRobot.X, m_pntRobot.Y, (byte)BlockType.Blank);
m_pntRobot.X = x;
m_pntRobot.Y = y;
RePaint(x, y, (byte)BlockType.Robot);
DllAPI.setRobotPoint(x, y);
}
else if (data == BlockType.Goal)
{
if (x == m_pntRobot.X && y == m_pntRobot.Y || _data != (byte)BlockType.Blank)
{
return;
}
RePaint(m_pntEndPoint.X, m_pntEndPoint.Y, (byte)BlockType.Blank);
m_pntEndPoint.X = x;
m_pntEndPoint.Y = y;
RePaint(x, y, (byte)BlockType.Goal);
DllAPI.setEndPoint(x, y);
}
else if (data == BlockType.Blank)
{
if (x == m_pntRobot.X && y == m_pntRobot.Y || x == m_pntEndPoint.X && y == m_pntEndPoint.Y)
{
return;
}
RePaint(x, y, (byte)BlockType.Blank);
DllAPI.UpdateMap(x, y, (byte)data);
}
else if (data == BlockType.Wall)
{
if (x == m_pntRobot.X && y == m_pntRobot.Y || x == m_pntEndPoint.X && y == m_pntEndPoint.Y)
{
return;
}
RePaint(x, y, (byte)BlockType.Wall);
DllAPI.UpdateMap(x, y, (byte)BlockType.Wall);
}
this.Invalidate();
this.Update();
}