public Simulator(Robot r, Map m)
{
this.Robot = r;
this.Map = m;
this.Robot.Env = this.Map;
}
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();
}
public Simulator(Robot r)
{
this.Robot = r;
}
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();
}
public Simulator(Robot r)
{
this.Robot = r;
this.Map = new Map();
}
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 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();
}
private void OnReceive(IAsyncResult ar)
{
var socket = (Socket)ar.AsyncState;
int received = testSocket.EndReceive(ar);
var receivedData = new byte[received];
Array.Copy(byteData, receivedData, received);
string desc = Encoding.ASCII.GetString(receivedData, 0, received);
if (desc[desc.Length - 1] == 'F')
{
Robot robot = new Robot();
string path = robot.realTimeShortestPath(desc);
this.shortestPath = "A";
if (path != null)
{
this.shortestPath += path;
}
else
{
//no solution
this.shortestPath = "B";
}
sendShortestPath(this.shortestPath);
}
if (desc.Length != 0)
{
OnReceivingData(desc);
}
testSocket.BeginReceive(byteData, 0, byteData.Length, SocketFlags.None, OnReceive, testSocket);
}
