private void drawPixel(int x, int y, MapElementStatus status)
{
if (_trackingMap[x, y] != status)
{
_trackingMap[x, y] = status;
switch (status)
{
case MapElementStatus.Waypoint:
_bm.SetPixel(x, y, System.Drawing.Color.DarkRed);
break;
case MapElementStatus.Visited:
_bm.SetPixel(x, y, System.Drawing.Color.DeepPink);
break;
case MapElementStatus.Blocked:
_bm.SetPixel(x, y, System.Drawing.Color.Black);
break;
case MapElementStatus.Collided:
_bm.SetPixel(x, y, System.Drawing.Color.Red);
break;
case MapElementStatus.WaypointVisited:
_bm.SetPixel(x, y, System.Drawing.Color.Blue);
break;
case MapElementStatus.Discovered:
_bm.SetPixel(x, y, System.Drawing.Color.SkyBlue);
break;
}
}
}
public void UpdateSensordata(MapElementStatus[,] arrMap, Point posRobot)
{
int widthSensorMap = arrMap.GetLength(0);
int heightSensorMap = arrMap.GetLength(1);
int offsetLeft = (widthSensorMap - 800) / 2;
int offsetTop = (heightSensorMap - 600) / 2;
for (int i = offsetLeft; i < 800 + offsetLeft; i++)
{
for (int j = offsetTop; j < 600 + offsetTop; j++)
{
// nur überschreiben wenn Undiscovered
if (_map[i - offsetLeft, j - offsetTop] == MapElementStatus.Undiscovered)
{
MapElementStatus status = offsetLeft < 0 || offsetTop < 0 ? MapElementStatus.Undiscovered : arrMap[i, j];
if (status == MapElementStatus.TargetShadowed)
{
}
if (_conversationDictionary.Keys.Any(k => k == status))
{
_map[i - offsetLeft, j - offsetTop] = _conversationDictionary[status];
}
}
}
}
}
protected Point GetRandomPoint(MapElementStatus status)
{
_point.X = _random.Next(0, 800);
_point.Y = _random.Next(0, 600);
_point.Status = status;
return _point;
}
private bool IsEdgeField(int x, int y, MapElementStatus[,] map)
{
const MapElementStatus status = MapElementStatus.Undiscovered;
return IsFieldBorderSafe(x - 1, y, map, status)
|| IsFieldBorderSafe(x, y - 1, map, status)
|| IsFieldBorderSafe(x + 1, y, map, status)
|| IsFieldBorderSafe(x, y + 1, map, status);
}
private bool IsFieldBorderSafe(int x, int y, MapElementStatus[,] map, MapElementStatus status)
{
if (x < 0 || y < 0 || x > map.GetUpperBound(Constants.XDimension) || y > map.GetUpperBound(Constants.YDimension))
{
return false;
}
return map[x, y] == status;
}
public static void StoreAsBitmap(string path, MapElementStatus[,] data)
{
var bitmap = new Bitmap(data.GetUpperBound(0), data.GetUpperBound(1));
for (int x = 0; x < data.GetUpperBound(0); x++)
{
for (int y = 0; y < data.GetUpperBound(1); y++)
{
bitmap.SetPixel(x, y, ColorCode[data[x, y]]);
}
}
// bitmap.Save(path);
}
/// <summary>
/// Will detect all edges with in the area, but ignore the outer most pixels.
/// </summary>
/// <param name="map">2D Array of MapElementStatus.</param>
/// <returns>List of Edge Points.</returns>
public List<Point> GetEdgePoints(MapElementStatus[,] map)
{
List<Point> edgePoints = new List<Point>();
for (var x = 1; x <= map.GetUpperBound(Constants.XDimension) - 2; x++)
{
for (var y = 1; y <= map.GetUpperBound(Constants.YDimension) - 2; y++)
{
if (map[x, y] == MapElementStatus.Discovered && IsEdgeField(x, y, map))
{
edgePoints.Add(new Point(x, y));
}
}
}
return edgePoints;
}
public void SetStatus(double x, double y, MapElementStatus status)
{
SetStatus((int)x, (int)y, status);
}
public void SetStatus(int x, int y, MapElementStatus status)
{
if(_map[x, y] != status) _map[x, y] = status;
}
private MapElementStatus[,] GetBaseFieldMap(Bitmap bitmap)
{
MapElementStatus[,] map = new MapElementStatus[bitmap.Width, bitmap.Height];
for (int x = 0; x < bitmap.Width; x++)
{
for (int y = 0; y < bitmap.Height; y++)
{
if (bitmap.GetPixel(x, y).R < 125)
{
map[x, y] = MapElementStatus.Blocked;
}
else if (bitmap.GetPixel(x, y).R <= 255 && bitmap.GetPixel(x, y).B <= 100)
{
map[x, y] = MapElementStatus.Target;
}
}
}
return map;
}
private void SpawnShadow(CartesianArray<MapElementStatus> viewport, Point point, Area area, MapElementStatus elementType, double ratio, Modifiers modifier, bool increaseX)
{
int xdistance = 0;
int ydistance = 0;
bool first = true;
var curentPoint = new Point(point.X + xdistance, point.Y + ydistance);
Point lastPoint = null;
do
{
viewport[curentPoint] =
first ? elementType :
(viewport[curentPoint] == MapElementStatus.Undiscovered ? MapElementStatus.Shadowed: viewport[curentPoint] );
first = false;
if (increaseX)
{
xdistance += modifier.X;
ydistance = Convert.ToInt32(Math.Floor(ratio * xdistance * modifier.X * modifier.Y));
}
else
{
ydistance += modifier.Y;
xdistance = Convert.ToInt32(Math.Floor(ratio * ydistance * modifier.X * modifier.Y));
}
lastPoint = curentPoint;
curentPoint = new Point(point.X + xdistance, point.Y + ydistance);
if (Math.Abs(lastPoint.X - curentPoint.X) > 1 || Math.Abs(lastPoint.Y -curentPoint.Y) > 1)
{
}
} while (IsInbound(curentPoint, area));
}
private void SpawnShadow(CartesianArray<MapElementStatus> viewport, Point point, Area area, MapElementStatus elementType)
{
bool increaseX = Math.Abs(point.X) > Math.Abs(point.Y);
double ratio = 0.0;
var modifier = new Modifiers(point.X > 0 ? 1 : -1, point.Y > 0 ? 1 : -1);
if (point.X != 0 && point.Y != 0)
{
double x = Math.Abs(point.X);
double y = Math.Abs(point.Y);
ratio = Math.Abs(increaseX ? y / x : x / y);
}
SpawnShadow(viewport, point, area, elementType, ratio, modifier, increaseX);
}
private MapElementStatus GetStatusToSpawnFor(MapElementStatus status)
{
return status == MapElementStatus.Blocked
? MapElementStatus.BlockedShadowed
: MapElementStatus.TargetShadowed;
}
public TrackingMapEntry()
{
status = MapElementStatus.Undiscovered;
}