}// End of IntializeMap
/// <summary>
/// Set the starting room
/// </summary>
/// <param name="room">Room number</param>
public void SetStartingPosition(int room)
{
startVertex = FindRoom(room);
}
/// <summary>
/// Parse XML file
/// </summary>
private void ParseFile(XmlDocument doc)
{
vertices.Clear();
edges.Clear();
//Go through each node in XML file
foreach (XmlNode node in doc.DocumentElement.ChildNodes)
{
var vertex = new Vertex();
//One node (room)
if (node.Name.Equals("Node"))
{
//Go through properties of one node (room)
foreach (XmlNode n in node.ChildNodes)
{
if (n.Name.Equals("Identifier"))
{
vertex.Id = Int32.Parse(n.InnerText);
if (vertex.Id > maxId)
{
maxId = vertex.Id;
}
}
else if (n.Name.Equals("X"))
{
vertex.X = int.Parse(n.InnerText);
}
else if (n.Name.Equals("Y"))
{
vertex.Y = int.Parse(n.InnerText);
}
else if (n.Name.Equals("Rooms"))
{
foreach (XmlNode nc in n.ChildNodes)
{
if (nc.Name.Equals("Rm"))
{
vertex.Rooms.Add(int.Parse(nc.InnerText));
}
}
}
else if (n.Name.Equals("StartLocation") && bool.Parse(n.InnerText))
{
// Set starting location.
startVertex = vertex;
}
}
vertices.Add(vertex);
}
else if (node.Name.Equals("Connection"))
{
int a = -1, b = -1;
double weight = -1;
foreach (XmlNode n in node.ChildNodes)
{
if (n.Name.Equals("A"))
{
a = Int32.Parse(n.InnerText);
}
else if (n.Name.Equals("B"))
{
b = Int32.Parse(n.InnerText);
}
else if (n.Name.Equals("Weight"))
{
weight = double.Parse(n.InnerText);
}
}
if (a != -1 && b != -1 && weight != -1)
{
var edge1 = new DirectedEdge(a, b, weight);
var edge2 = new DirectedEdge(b, a, weight);
edges.Add(edge1);
edges.Add(edge2);
}
}
else
{
Debug.WriteLine("File is not formatted correctly.");
}
}
graph = new EdgeWeightedDigraph(maxId + 1);
foreach (var edge in edges)
{
graph.AddEdge(edge);
}
}
/// <summary>
/// Get instructions for Roomba to get to room
/// </summary>
/// <param name="room"></param>
/// <returns></returns>
public List <Instruction> GetDirections(int room)
{
_directions = new List <Instruction>();
_distance = 0;
int tempX = 0, tempY = 0; //for comparing X and Y of previous node
var instructions = new List <Instruction>();
endVertex = FindRoom(room);
if (endVertex != null)
{
var edgePath = DijkstraShortestPath.FindPath(graph, startVertex.Id, endVertex.Id);
foreach (var edge in edgePath)
{
var from = GetVertex(edge.From);
var to = GetVertex(edge.To);
//Turning from start
if (edge.From == startVertex.Id)
{
//ASSUME STARTING POSITION IS FACING NORTH (north as defined by map)
int xDiff = to.X - startVertex.X;
if (xDiff > 0)
{
//go east
//TURN RIGHT
instructions.Add(new Instruction(InstructionType.Angle, 90));
currentDirection += 90;
}
else if (xDiff < 0)
{
//go west
//TURN LEFT
instructions.Add(new Instruction(InstructionType.Angle, -90));
currentDirection -= 90;
}
else
{
int yDiff = to.Y - startVertex.Y;
if (yDiff < 0)
{
//go south
//TURN AROUND
instructions.Add(new Instruction(InstructionType.Angle, 180));
currentDirection += 180;
}
else if (yDiff > 0)
{
//go up (roomba starting should face north so no turn)
}
}
}
//Turning from a previous place
else
{
//Only turn if both X AND Y value is different
FindTurn(tempX, tempY, from.X, from.Y, to.X, to.Y);
}
//Add onto move distance (continuing in same direction)
_distance += edge.Weight;
//Check if we've reached the end and are done getting directions!
if (to.Id == endVertex.Id)
{
_directions.Add(new Instruction(InstructionType.Distance, _distance));
break;
}
//Set for next iteration of loop
tempX = from.X;
tempY = from.Y;
}
PrepareNextNavigation();
}
return(_directions);
}