public GridWorld(Grid grid, Cell[,] cells, int cellHeight, int cellWidth)
{
ROWS = cells.GetLength(0);
COLUMNS = cells.GetLength(1);
this.cells = cells;
// Build the cells
for (int i = 0; i < ROWS; i++)
{
for (int j = 0; j < COLUMNS; j++)
{
// Check if this is an agent/reward
if (this.cells[i, j].IsAgentStartingCell())
{
this.agentStartingPosition = new int[2];
this.agentStartingPosition[0] = i;
this.agentStartingPosition[1] = j;
}
if (this.cells[i, j].IsRewardCell())
{
this.rewardPosition = new int[2];
this.rewardPosition[0] = i;
this.rewardPosition[1] = j;
}
// Make a rectangle for the grid
Rectangle rectangle = new Rectangle();
rectangle.Name = "cell" + i + j;
rectangle.Height = cellHeight;
rectangle.Width = cellWidth;
rectangle.VerticalAlignment = VerticalAlignment.Top;
rectangle.HorizontalAlignment = HorizontalAlignment.Left;
rectangle.Margin = new Thickness(j * cellWidth, i * cellHeight, 0, 0);
rectangle.Stroke = CELL_STROKE_COLOR;
if (this.cells[i, j].IsObstacle())
{
rectangle.Fill = OBSTACLE_CELL_BACKGROUND_COLOR;
}
else
{
rectangle.Fill = UNOCCUPIED_CELL_BACKGROUND_COLOR;
}
this.cells[i, j].SetRectangle(rectangle);
grid.Children.Add(this.cells[i, j].GetRectangle());
}
}
}
public static void Save(Cell[,] cells)
{
// Verify the directory exists
if (!Directory.Exists(EXPORT_DIRECTORY))
{
Directory.CreateDirectory(EXPORT_DIRECTORY);
}
// Save a CSV file for f, g, and h
using (StreamWriter file = new StreamWriter(EXPORT_DIRECTORY + @"\f.csv"))
{
for (int rowIndex = 0; rowIndex < cells.GetLength(0); rowIndex++)
{
for (int columnIndex = 0; columnIndex < cells.GetLength(1); columnIndex++)
{
file.Write(cells[rowIndex, columnIndex].GetFScore());
if (columnIndex == cells.GetLength(1) - 1)
{
file.WriteLine();
}
else
{
file.Write(",");
}
}
}
}
using (StreamWriter file = new StreamWriter(EXPORT_DIRECTORY + @"\g.csv"))
{
for (int rowIndex = 0; rowIndex < cells.GetLength(0); rowIndex++)
{
for (int columnIndex = 0; columnIndex < cells.GetLength(1); columnIndex++)
{
file.Write(cells[rowIndex, columnIndex].GetGScore());
if (columnIndex == cells.GetLength(1) - 1)
{
file.WriteLine();
}
else
{
file.Write(",");
}
}
}
}
using (StreamWriter file = new StreamWriter(EXPORT_DIRECTORY + @"\h.csv"))
{
for (int rowIndex = 0; rowIndex < cells.GetLength(0); rowIndex++)
{
for (int columnIndex = 0; columnIndex < cells.GetLength(1); columnIndex++)
{
file.Write(cells[rowIndex, columnIndex].GetHScore());
if (columnIndex == cells.GetLength(1) - 1)
{
file.WriteLine();
}
else
{
file.Write(",");
}
}
}
}
}
public void SetParent(Cell parent)
{
this.parent = parent;
}
public void SetParent(Cell parent)
{
this.parent = parent;
}
/// <summary>
/// Gets the cell in the specified direction from the provided starting cell
/// </summary>
/// <param name="startingCell">The starting cell</param>
/// <param name="direction">The direction to get the cell</param>
/// <returns></returns>
public Cell GetCell(Cell startingCell, Direction direction)
{
if (direction == Direction.UP)
{
return GetCells()[startingCell.GetRowIndex() - 1, startingCell.GetColumnIndex()];
}
else if (direction == Direction.DOWN)
{
return GetCells()[startingCell.GetRowIndex() + 1, startingCell.GetColumnIndex()];
}
else if (direction == Direction.LEFT)
{
return GetCells()[startingCell.GetRowIndex(), startingCell.GetColumnIndex() - 1];
}
else if (direction == Direction.RIGHT)
{
return GetCells()[startingCell.GetRowIndex(), startingCell.GetColumnIndex() + 1];
}
else
{
throw new Exception("Unknown direction encountered.");
}
}
private void LoadGridButton_Click(object sender, RoutedEventArgs e)
{
// Create OpenFileDialog
OpenFileDialog fileDialog = new OpenFileDialog();
// Set the filter to CSV
fileDialog.DefaultExt = ".csv";
fileDialog.Filter = "CSV Files (*.csv)|*.*";
Nullable<bool> result = fileDialog.ShowDialog();
// Get the selected filename
if (result == true)
{
// Setup the grid world
gridWorld = new GridWorld(grid, GridMapParser.Parse(fileDialog.FileName), CELL_HEIGHT, CELL_WIDTH);
// Add click events for the rectangles
foreach (Cell cell in gridWorld.GetCells())
{
cell.GetRectangle().MouseLeftButtonDown += new MouseButtonEventHandler(MoveAgent);
}
// Setup the agent
if (gridWorld.GetAgentStartingPosition() != null && gridWorld.GetAgentStartingPosition().Length == 2)
{
int agentRowIndex = gridWorld.GetAgentStartingPosition()[0], agentColumnIndex = gridWorld.GetAgentStartingPosition()[1];
gridWorld.SetAgent(new Agent(grid, CELL_HEIGHT, CELL_WIDTH, agentRowIndex, agentColumnIndex));
// Get the starting cell
startingCell = gridWorld.GetCells()[agentRowIndex, agentColumnIndex];
}
else
{
MessageBox.Show("Error: The agent starting position must be specified in the grid map file with the number 1. Please correct and try again.");
return;
}
// Setup the reward
if (gridWorld.GetRewardPosition() != null && gridWorld.GetRewardPosition().Length == 2)
{
int rewardRowIndex = gridWorld.GetRewardPosition()[0], rewardColumnIndex = gridWorld.GetRewardPosition()[1];
gridWorld.SetReward(new Reward(grid, CELL_HEIGHT, CELL_WIDTH, rewardRowIndex, rewardColumnIndex));
// Get the reward cell
rewardCell = gridWorld.GetCells()[rewardRowIndex, rewardColumnIndex];
}
else
{
MessageBox.Show("Error: The reward starting position must be specified in the grid map file with the number 2. Please correct and try again.");
return;
}
}
// Make the start button active
StartButton.IsEnabled = true;
ResetButton.IsEnabled = true;
}
/// <summary>
/// Parses a grid map CSV file
/// </summary>
/// <param name="fileName">The full or relative path of the well-formed CSV file</param>
/// <returns>The cell 2D array</returns>
public static Cell[,] Parse(string fileName)
{
Cell[,] cells = null;
try
{
int rowCounter = 0;
int previousLineCellCount = 0;
// Change the extension to CSV and read the lines
string[] lines = File.ReadAllLines(System.IO.Path.ChangeExtension(fileName, ".csv"));
cells = new Cell[lines.GetLength(0), lines.GetLength(0)];
foreach (string line in lines)
{
string[] splitLine = line.Split(',');
for (int i = 0; i < splitLine.Length; i++)
{
bool isObstacle = false;
bool isAgentStartingCell = false;
bool isRewardCell = false;
if (splitLine[i].Contains(((int)GridMapCodes.OBSTACLE).ToString()))
{
isObstacle = true;
}
else if (splitLine[i].Contains(((int)GridMapCodes.AGENT).ToString()))
{
isAgentStartingCell = true;
}
else if (splitLine[i].Contains(((int)GridMapCodes.REWARD).ToString()))
{
isRewardCell = true;
}
cells[rowCounter, i] = new Cell(rowCounter, i, isObstacle, isAgentStartingCell, isRewardCell);
}
if (rowCounter > 0 && splitLine.Length != previousLineCellCount && rowCounter <= previousLineCellCount)
{
throw new FormatException("Error: Uneven row/column size(s) were found in the CSV file. Please correct and try again.");
}
else
{
rowCounter++;
previousLineCellCount = splitLine.Length;
}
}
}
catch (FormatException e)
{
MessageBox.Show(e.Message);
}
catch (Exception e)
{
MessageBox.Show("Unable to parse the grid map. Please verify the file is correct and accessible.");
}
return cells;
}
