public void CompareFileTestBlockSizeone()
        {
            FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"), 5);
            image1.printArray("../../testImagecomp_block5.txt");
            int filebyte1;
            int filebyte2;
            // fs1 contains the newly created array file while fs2 contains the standard to check against for this block size 5

            FileStream fs1 = new FileStream("../../testImagecomp_block5.txt", FileMode.Open);
            FileStream fs2 = new FileStream("../../created.txt", FileMode.Open);
            if (fs1.Length != fs2.Length)
            {
                fs1.Close();
                fs2.Close();
                Assert.IsTrue(false,"Incorrect file created - File lengths are different!");
                return;
            }

            do
            {
                filebyte1 = fs1.ReadByte();
                filebyte2 = fs2.ReadByte();
            } while ((filebyte1 == filebyte2) && (filebyte1 != -1));

            Assert.IsTrue((filebyte1 == filebyte2), "Newly created file and Original file does not match");

            fs1.Close();
            fs2.Close();
        }
Esempio n. 2
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 public Form1(FloorPlan fp, List<FloorTile> path)
 {
     InitializeComponent();
     this.fp = fp;
     this.path = path;
     this.Draw();
 }
Esempio n. 3
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        public QGPathFinder(FloorPlan floorPlan)
        {
            this.messages += "- Checking Floor Plan...\n";
            graph = new AdjacencyGraph<string, Edge<string>>(true);
            edgeCost = new Dictionary<Edge<string>, double>(graph.EdgeCount);
            this.fp = floorPlan;

            if (this.fp.getStartTile() != null)
            {
                this.messages += "    Start Point is OK...\n";
                startPoint = this.fp.getStartTile().Position.X + "_" + this.fp.getStartTile().Position.Y;
            }
            else
            {
                this.messages += "    Start Point is not valid...\n";
                startPoint = "4_4";
            }

            if (this.fp.getTargetTile() != null)
            {
                this.messages += "    Target Point is OK...\n";
                targetPoint = this.fp.getTargetTile().Position.X + "_" + this.fp.getTargetTile().Position.Y;
            }
            else
            {
                this.messages += "    Target Point is not valid...\n";
                targetPoint = "4_6";
            }

            buildGraph();
        }
Esempio n. 4
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        public static FloorTile getTileByIndex(FloorPlan fp, string index)
        {
            string[] outPoint1 = Regex.Split(index, "_");

            return fp.getTile(
                System.Convert.ToInt32(outPoint1[0]),
                System.Convert.ToInt32(outPoint1[1]));
        }
Esempio n. 5
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 private void drawFloorPlan(FloorPlan fp)
 {
     for (int i = 0; i < fp.getXTileNum(); i++)
     {
         for (int j = 0; j < fp.getYTileNum(); j++)
         {
             drawTile(fp.getTile(i, j));
         }
     }
 }
Esempio n. 6
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 public void buildGraphTest()
 {
     Image myimage = new Bitmap("../../testImage.jpg");
     FloorPlan floorPlan = new FloorPlan(myimage, 5); // TODO: Initialize to an appropriate value
     QGPathFinder target = new QGPathFinder(floorPlan); // TODO: Initialize to an appropriate value
     int expected = 6354; // TODO: Initialize to an appropriate value
     int actual;
     actual = target.buildGraph().VertexCount;
     Assert.AreEqual(expected, actual);
 }
Esempio n. 7
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 public FloorTile(int x, int y, bool walkable, FloorPlan floorPlan)
 {
     m_location.X = x;
     m_location.Y = y;
     m_walkable = walkable;
     m_endPoint = false;
     m_floorPlan = floorPlan;
     m_neighbours = new List<FloorTile>();
     m_start = false;
     m_target = false;
 }
Esempio n. 8
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        /// <summary>
        /// Constructor
        /// </summary>
        /// <param name="floorPlan">An image of the floorplan to be constructed</param>
        /// <param name="scale">The scale of the image provided in pixels per foot</param>
        public Status(FloorPlan fp)
        {
            m_FloorPlan = fp;

            m_Moves = new List <FloorTile>();

            m_Images = null;

            m_Moves = new List <FloorTile>();

            m_Position = new Position(new Point(0, 0), 0);

            m_EndPoint = new Point(0, 0);
        }
Esempio n. 9
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        /// <summary>
        /// Constructor
        /// </summary>
        /// <param name="floorPlan">An image of the floorplan to be constructed</param>
        /// <param name="scale">The scale of the image provided in pixels per foot</param>
        public Status(Image floorplan, double scale)
        {
            m_FloorPlan = new FloorPlan(floorplan, scale);

            m_Moves = new List <FloorTile>();

            m_Images = null;

            m_Moves = new List <FloorTile>();

            m_Position = new Position(new Point(0, 0), 0);

            m_EndPoint = new Point(0, 0);
        }
Esempio n. 10
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        private Position m_Position; // The robot's current location and facing

        #endregion Fields

        #region Constructors

        /// <summary>
        /// Constructor
        /// </summary>
        /// <param name="floorPlan">An image of the floorplan to be constructed</param>
        /// <param name="scale">The scale of the image provided in pixels per foot</param>
        public Status(Image floorplan, double scale)
        {
            m_FloorPlan = new FloorPlan(floorplan, scale);

            m_Moves = new List<FloorTile>();

            m_Images = null;

            m_Moves = new List<FloorTile>();

            m_Position = new Position(new Point(0, 0), 0);

            m_EndPoint = new Point(0, 0);
        }
Esempio n. 11
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        /// <summary>
        /// Constructor
        /// </summary>
        /// <param name="floorPlan">An image of the floorplan to be constructed</param>
        /// <param name="scale">The scale of the image provided in pixels per foot</param>
        public Status(FloorPlan fp)
        {
            m_FloorPlan = fp;

            m_Moves = new List<FloorTile>();

            m_Images = null;

            m_Moves = new List<FloorTile>();

            m_Position = new Position(new Point(0, 0), 0);

            m_EndPoint = new Point(0, 0);
        }
Esempio n. 12
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        /// <summary>
        ///get executing time for a path
        ///</summary>
        public Int64 getPathExecutingTime(FloorPlan floorPlan, int StartX, int StartY, int TargetX, int TargetY)
        {
            Int64 ExecutingTime = 0;

            floorPlan.setStartTile(StartX, StartY);
            floorPlan.setTargetTile(TargetX, TargetY);
            QGPathFinder target = new QGPathFinder(floorPlan);
            List<FloorTile> actual;

            DateTime StartTime = DateTime.Now;
            actual = target.getPath();
            DateTime EndTime = DateTime.Now;
            TimeSpan t= EndTime - StartTime;

            if (actual != null){
                ExecutingTime = (Int64) t.TotalMilliseconds;
            }

            return ExecutingTime;
        }
Esempio n. 13
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 public void TestGetTile()
 {
     FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"), 5);
     FloorTile tile = image1.getTile(10,12);
     System.Diagnostics.Debug.WriteLine(tile.Position.X);
     System.Diagnostics.Debug.WriteLine(tile.Position.Y);
     System.Diagnostics.Debug.WriteLine(tile.Iswalkable());
     Assert.IsTrue((tile.ToString().Equals("1")), "Incorret Tile Returned!");
 }
Esempio n. 14
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 public void TestCreateImageOfBlockOne()
 {
     FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"), 1);
     Bitmap test_image = image1.toImage();
     test_image.Save("../../testImage_block1.bmp");
 }
Esempio n. 15
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 public void TestCreateImageOfBlockFive()
 {
     FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"), 5);
     Bitmap b = image1.toImage();
     b.Save("../../testImage_block5.bmp");
 }
Esempio n. 16
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        public void TestConnectBlockFive()
        {
            FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"));

            int width = image1.getXTileNum();
            int height = image1.getYTileNum();
            System.Diagnostics.Debug.WriteLine("Height " + height + " Width " + width);
            FloorTile tile = image1.getTile(2, 4);
            FloorTile n1,n2,n3,n4;
            System.Diagnostics.Debug.WriteLine("");
            List<FloorTile> neighbour = tile.getNeighbours();
            if (neighbour.Count > 3)
            {
                n1 = neighbour[0];
                n2 = neighbour[1];
                n3 = neighbour[2];
                n4 = neighbour[3];
                System.Diagnostics.Debug.WriteLine("1st \t" + n1.Position.X + "\t" + n1.Position.Y + "\t" + n1.Iswalkable());
                System.Diagnostics.Debug.WriteLine("2nd \t" + n2.Position.X + "\t" + n2.Position.Y + "\t" + n2.Iswalkable());
                System.Diagnostics.Debug.WriteLine("3rd \t" + n3.Position.X + "\t" + n3.Position.Y + "\t" + n3.Iswalkable());
                System.Diagnostics.Debug.WriteLine("4th \t" + n4.Position.X + "\t" + n4.Position.Y + "\t" + n4.Iswalkable());

            }
            else if (neighbour.Count == 3)
            {
                n1 = neighbour[0];
                n2 = neighbour[1];
                n3 = neighbour[2];
                System.Diagnostics.Debug.WriteLine("1st \t" + n1.Position.X + "\t" + n1.Position.Y + "\t" + n1.Iswalkable());
                System.Diagnostics.Debug.WriteLine("2nd \t" + n2.Position.X + "\t" + n2.Position.Y + "\t" + n2.Iswalkable());
                System.Diagnostics.Debug.WriteLine("3rd \t" + n3.Position.X + "\t" + n3.Position.Y + "\t" + n3.Iswalkable());

            }
            else if (neighbour.Count == 2)
            {
                n1 = neighbour[0];
                n2 = neighbour[1];
                System.Diagnostics.Debug.WriteLine("1st \t" + n1.Position.X + "\t" + n1.Position.Y + "\t" + n1.Iswalkable());
                System.Diagnostics.Debug.WriteLine("2nd \t" + n2.Position.X + "\t" + n2.Position.Y + "\t" + n2.Iswalkable());

            }
            else if (neighbour.Count == 1)
            {
                n1 = neighbour[0];
                System.Diagnostics.Debug.WriteLine("1st \t" + n1.Position.X + "\t" + n1.Position.Y + "\t" + n1.Iswalkable());

            }
            else
                System.Diagnostics.Debug.WriteLine("No Walkable Neighbours");
        }
Esempio n. 17
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        public void getPathTimeTest()
        {
            Image myimage = new Bitmap("../../testImage.jpg");
            FloorPlan floorPlan = new FloorPlan(myimage, 5);

            TextWriter tw = new StreamWriter("../../ExecutingTime.txt");

            for (int i = 0; i < 3; i++)
            {
                for (int j = 0; j < 3; j++)
                {
                    for (int m = 0; m<3; m++)
                    {
                        for (int n = 0; n < 3; n++)
                        {
                            int StartX = i;
                            int StartY = j;
                            int TargetX = m;
                            int TargetY = n;
                            if (floorPlan.getWalkableValue(i, j) == 1 & floorPlan.getWalkableValue(m, n) == 1)
                            {
                                Int64 t = 0;// getPathExecutingTime(floorPlan, StartX, StartY, TargetX, TargetY);
                                tw.WriteLine(StartX + "," + StartY + "," + TargetX + "," + TargetY + "," + t);
                            }
                        }
                    }
                }
            }

            tw.Close();
        }
Esempio n. 18
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 public void TestBlockSizefive()
 {
     FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"), 5);
     image1.printArray("../../testImage_block5.txt");
 }
Esempio n. 19
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        /// <summary>
        ///get executing time for a path
        ///</summary>
        public void visualizeFloorPlan(FloorPlan floorPlan, int StartX, int StartY, int TargetX, int TargetY)
        {
            floorPlan.setStartTile(StartX, StartY);
            floorPlan.setTargetTile(TargetX, TargetY);
            QGPathFinder target = new QGPathFinder(floorPlan);
            List<FloorTile> actual;

            actual = target.getPath();

            Form f = new WindowsFormsApplication1.Form1(floorPlan, actual);
            Application.Run(f);

            //f.Invoke();
            //f.Draw(floorPlan, actual);
        }
Esempio n. 20
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 public void QGPathFinderConstructorTest()
 {
     Image myimage = new Bitmap("../../testImage.jpg");
     FloorPlan floorPlan = new FloorPlan(myimage, 5); // TODO: Initialize to an appropriate value
     QGPathFinder target = new QGPathFinder(floorPlan);
     Type actual = target.GetType();
     Type expected = typeof(QGPathFinder);
     Assert.AreEqual(expected, actual);
 }
Esempio n. 21
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 public void getTileByIndexTest()
 {
     Image myimage = new Bitmap("../../testImage.jpg");
     FloorPlan floorPlan = new FloorPlan(myimage, 5); // TODO: Initialize to an appropriate value
     String index = "1_1"; // TODO: Initialize to an appropriate value
     FloorTile expected = floorPlan.getTile(1, 1); // TODO: Initialize to an appropriate value
     FloorTile actual;
     actual = QGPathFinder.getTileByIndex(floorPlan, index);
     Assert.AreEqual(expected, actual);
 }
Esempio n. 22
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        public void getPathVisualizationTest()
        {
            Image myimage = new Bitmap("../../testImage.jpg");
            FloorPlan floorPlan = new FloorPlan(myimage, 5);
            int StartX = 8;
            int StartY = 8;
            int TargetX = 40;
            int TargetY = 20;

            TextWriter tw = new StreamWriter("../../ExecutingTimeVis.txt");
            Int64 t = getPathExecutingTime(floorPlan, StartX, StartY, TargetX, TargetY);
            tw.WriteLine(StartX + "," + StartY + "," + TargetX + "," + TargetY + "," + t);
            tw.Close();

            //visualizeFloorPlan(floorPlan, StartX, StartY, TargetX, TargetY);
        }
Esempio n. 23
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 public void TestTargetTileWalkable()
 {
     FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"), 5);
     bool result = image1.setTargetTile(4, 4);
     FloorTile tile = image1.getTile(4, 4);
     bool t_res = tile.IsStart();
     bool t_res2 = tile.IsTarget();
     Assert.AreEqual(true, result);
     System.Diagnostics.Debug.WriteLine("Start:" + t_res);
     System.Diagnostics.Debug.WriteLine("Target:" + t_res2);
 }
Esempio n. 24
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        public void MySerializer()
        {
            Image myimage = new Bitmap("../../testImage.jpg"); // TODO: Initialize to an appropriate value
            FloorPlan target = new FloorPlan(myimage); // TODO: Initialize to an appropriate value
            //  XmlSerializer s = new XmlSerializer(typeof (FloorPlan));
            String testFileName = "../../testImage.xml";
            using (Stream s = File.Open(testFileName, FileMode.Create))
            {
                SoapFormatter formatter = new SoapFormatter();
                formatter.Serialize(s, target);
            }

            target = null;
            using (Stream s = File.Open(testFileName, FileMode.Open))
            {
                SoapFormatter formatter = new SoapFormatter();
                target = (FloorPlan)formatter.Deserialize(s);
            }
        }
Esempio n. 25
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        public void getPathTest()
        {
            TextWriter tw = new StreamWriter("../../getPathResult.txt");

            Image myimage = new Bitmap("../../floorplan.bmp");
            FloorPlan floorPlan = new FloorPlan(myimage, 3); // TODO: Initialize to an appropriate value
            int StartX = 106;
            int StartY = 74;
            int TargetX = 107;
            int TargetY = 43;
            floorPlan.setStartTile(StartX, StartY);
            floorPlan.setTargetTile(TargetX, TargetY);

            String TargetString = TargetX + "_" + TargetY;

            QGPathFinder qgpf = new QGPathFinder(floorPlan);

            //show neighbors
            List<FloorTile> TargetNeighbors = floorPlan.getTargetTile().getNeighbours();
            String neighborString = "";
            for (int i = 0; i < TargetNeighbors.Count; i++)
            {
                neighborString = TargetNeighbors[i].Position.X + "_" + TargetNeighbors[i].Position.Y;

                //tw.WriteLine("Target Neighbors: " + neighborString + ": " + isContainEdge);
            }

            List<FloorTile> actual;
            actual = qgpf.getPath();

            tw.WriteLine(qgpf.GetMessages());
            tw.Close();

            visualizeFloorPlan(floorPlan, StartX, StartY, TargetX, TargetY);

            List<FloorTile> expected = new List<FloorTile>();
            FloorTile t1 = new FloorTile(0, 0, true, floorPlan);
            FloorTile t2 = new FloorTile(0, 1, true, floorPlan);
            FloorTile t3 = new FloorTile(0, 2, true, floorPlan);
            expected.Add(t1);
            expected.Add(t2);
            expected.Add(t3);
            //String actualString = actual[1].Position.X + "," + actual[1].Position.Y;
            //String expectedString = expected[1].Position.X + "," + expected[1].Position.Y;

            //Assert.AreEqual(expectedString, actualString);
        }
Esempio n. 26
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        /// <summary>
        /// Creates a new FloorPlan object in m_Status, then uses that to create a new PathFinder object
        /// </summary>
        /// <param name="FloorPlanImage">an image of the floorplan</param>
        /// <param name="ppf">the scale of the image, in pixels per foot</param>
        public void CreateStatus(FloorPlan fp)
        {
            m_status = new Status(fp);

            m_pathfinder = new QGPathFinder(m_status.FloorPlan);
        }
Esempio n. 27
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 public void getXTileNumTest()
 {
     Image myimage = new Bitmap("../../testImage.jpg"); // TODO: Initialize to an appropriate value
     FloorPlan target = new FloorPlan(myimage); // TODO: Initialize to an appropriate value
     int expected = 95; // TODO: Initialize to an appropriate value
     int actual;
     actual = target.getXTileNum();
     Assert.AreEqual(expected, actual);
 }
Esempio n. 28
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        public void ConnectTest()
        {
            Image myimage = new Bitmap("../../testImage.jpg"); // TODO: Initialize to an appropriate value
            FloorPlan target = new FloorPlan(myimage); // TODO: Initialize to an appropriate value

            target.Connect();
            Assert.AreEqual(0, 0);
        }
Esempio n. 29
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        /// <summary>
        /// Creates a new FloorPlan object in m_Status, then uses that to create a new PathFinder object
        /// </summary>
        /// <param name="FloorPlanImage">an image of the floorplan</param>
        /// <param name="ppf">the scale of the image, in pixels per foot</param>
        public void CreateStatus(FloorPlan fp)
        {
            m_status = new Status(fp);

            m_pathfinder = new QGPathFinder(m_status.FloorPlan);
        }