void LoadMap(Stream fileStream)
{
var img = new BitmapImage();
img.SetSource(fileStream);
var writeable = new WriteableBitmap(img);
var width = img.PixelWidth;
var map = new Cell[img.PixelWidth, img.PixelHeight];
for (int row = 0; row < img.PixelHeight; ++row)
for (int col = 0; col < img.PixelWidth; ++col)
{
var cell = Cell.Free;
var pixel = writeable.GetPixeli(col, row);
switch (pixel)
{
case WHITE:
cell = Cell.Free;
break;
case BLACK:
cell = Cell.Obstacle;
break;
case RED:
cell = Cell.Goal;
break;
case GREEN:
cell = Cell.Start;
break;
default:
System.Diagnostics.Debugger.Break();
StatusText.Text = "Invalid Color encountered";
break;
}
map[col, row] = cell;
}
_Map = new RobotMap(map);
_Path = null;
ShowMap();
}
