private void connectButton_Click(object sender, RoutedEventArgs e)
{
this.realTimeRobot = new Robot();
this.realTimeRobot.ChangePosition += new Robot.RobotMovingHandler(updateRobotPosition);
this.realTimeRobot.SendingMessage += new Robot.RobotSendingMessage(displayRobotMessage);
this.simulator = new Simulator();
this.simulator.Robot = this.realTimeRobot;
this.mappingThread = new Thread(this.Connector.run);
this.mappingThread.Start();
}
private void setUpSimulator()
{
Robot robot = new Robot();
robot.X = init_Y;
robot.Y = init_X;
robot.Dir = 'D';
this.map = new Map(mapDescriptor);
this.simulator = new Simulator(robot, map);
this.simulator.Robot.ChangePosition += new Robot.RobotMovingHandler(updateRobotPosition);
this.simulator.Robot.SendingMessage += new Robot.RobotSendingMessage(displayRobotMessage);
this.timeLimit = UserSetting.TimeLimit;
this.TimerProgressbar.Value = 100;
this.coverageLimit = UserSetting.CoverageLimit;
}
private void dfsExplore_Click(object sender, RoutedEventArgs e)
{
this.displayConsoleMessage("Exploring using DFS...");
Robot robot = new Robot();
this.map = new Map(mapDescriptor);
this.simulator = new Simulator(robot, map);
this.simulator.Robot.ChangePosition += new Robot.RobotMovingHandler(updateRobotPosition);
this.simulator.Robot.SendingMessage += new Robot.RobotSendingMessage(displayRobotMessage);
this.timeLimit = UserSetting.TimeLimit;
this.coverageLimit = UserSetting.CoverageLimit;
timer.Start();
if (exploreThread!=null)
exploreThread.Abort();
exploreThread = new Thread(this.simulator.dfsExplore);
exploreThread.Start();
}
private void exploreButton_Click(object sender, RoutedEventArgs e)
{
if (radioButtons[1])
{
dfsExplore();
return;
}
else if (!radioButtons[0])
{
this.displayConsoleMessage("Please Select Exploration Algorithm!");
return;
}
this.displayConsoleMessage("Exploring using wall follower!!!");
Robot robot = new Robot();
this.map = new Map(mapDescriptor);
this.simulator = new Simulator(robot, map);
this.simulator.Robot.ChangePosition += new Robot.RobotMovingHandler(updateRobotPosition);
this.simulator.Robot.SendingMessage += new Robot.RobotSendingMessage(displayRobotMessage);
this.timeLimit = UserSetting.TimeLimit;
this.coverageLimit = UserSetting.CoverageLimit;
timer.Start();
exploreThread = new Thread(this.simulator.wallfollowerExplore);
exploreThread.Start();
}