public static string[] DrawGrid(SquareGrid grid, AStarSearch astar, Location start, Location goal)
{
string[] output = new string[4];
// Печать массива cameFrom
for (int z = 0; z < 4; z++)
{
for (var y = 0; y < 41; y++)
{
for (var x = 0; x < 41; x++)
{
Location id = new Location(x, y, z);
Location ptr = id;
if (!astar.cameFrom.TryGetValue(id, out ptr))
{
ptr = id;
}
if (start.x == x && start.y == y && start.z == z) /*Console.Write("\u2191 ");*/ x {
++; output[z] += "S";
}
if (goal.x == x && goal.y == y && goal.z == z) /*Console.Write("\u2191 ");*/ x {
++; output[z] += "F";
}
if (grid.walls.Contains(id)) /*Console.Write("##");*/ output {
private void AstarButton_Click(object sender, EventArgs e)
{
//routing path = new routing();
Graph search = new Graph();
Location[] route = new Location[pointsCount];
Graph[] links = new Graph[pointsCount];
if (comboBox1.Text == "")
{
MessageBox.Show("Please select drone");
return;
}
if (comboBox1.Text == drones[2].name)
{
MessageBox.Show("Sorry.\nCalculated route is out of range of selected Drone\nPlease selsect different Drone and try again");
return;
}
switch (pointsCount)
{
case 0:
MessageBox.Show("Not enough checkpoints. Please add more points to the route");
return;
case 1:
route[0] = search.findNode(linkLabel1.Text, map, 41, 41, 4);
break;
case 2:
route[0] = search.findNode(linkLabel1.Text, map, 41, 41, 4);
route[1] = search.findNode(linkLabel2.Text, map, 41, 41, 4);
break;
case 3:
route[0] = search.findNode(linkLabel1.Text, map, 41, 41, 4);
route[1] = search.findNode(linkLabel2.Text, map, 41, 41, 4);
route[2] = search.findNode(linkLabel3.Text, map, 41, 41, 4);
break;
}
int selected;
string unserviced = "Sorry, chosen addresses:\n";
bool unsrvcd = false;
for (int i = 0; i < pointsCount; i++)
{
if (route[i].x < 0)
{
unserviced += points[i] + "\n";
unsrvcd = true;
}
}
if (unsrvcd)
{
unserviced += "are yet to be added to our coverage";
MessageBox.Show(unserviced);
return;
}
for (selected = 0; selected < 3; selected++)
{
if (comboBox1.Text == drones[selected].name)
{
break;
}
}
NewGrid(41, 41, 4, route);
AStarSearch astar = new AStarSearch(grid, route[0], route[1]);
ThePath = astar.ReconstructPath(route[0], route[1], astar.cameFrom);
KML makefile = new KML();
makefile.NewKML(ThePath, map);
}
