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();
}