private void examToolStripMenuItem_Click(object sender, EventArgs e)
{
if (!this.examToolStripMenuItem.Enabled) return;
__enable_all_menus(false);
this.__kill_threads();
System.Threading.Thread t = new System.Threading.Thread(new System.Threading.ParameterizedThreadStart((thread) =>
{
if (this.optimalPath == null || this.optimalPath.Count == 0)
{
this.examToolStripMenuItem.GetCurrentParent().Invoke(new Action(() =>
{
__enable_all_menus(true);
this.examToolStripMenuItem.Enabled = false;
}));
return;
}
var gh = new GridHelper(this.g);
var rand = new Random();
while (this.g.AgentPoint != this.g.GoalPoint)
{
var l = (List<KeyValuePair<float, GridHelper.Directions>>)this.optimalPath[this.g.AgentPoint];
var s = l[rand.Next(0, l.Count - 1)];
var m = gh.Move(this.g.AgentPoint, s.Value);
MarkStartGoalPoints(m.NewPoint, g.GoalPoint);
this.DrawDirection(m.OldPoint, s.Value);
Application.DoEvents();
System.Threading.Thread.Sleep(500);
}
MessageBox.Show("Has reached the goal...", "Horray!!", MessageBoxButtons.OK, MessageBoxIcon.Asterisk, MessageBoxDefaultButton.Button1);
this.examToolStripMenuItem.GetCurrentParent().Invoke(new Action(() =>
{
__enable_all_menus(true);
}));
lock (this.ThreadsPool)
this.ThreadsPool.Remove(thread as System.Threading.Thread);
}));
t.Start(t);
lock (this.ThreadsPool)
this.ThreadsPool.Add(t);
}
private void DrawDirection(Point point, GridHelper.Directions direction)
{
using (var gfx = this.grid.CreateGraphics())
{
var p = g.abs2grid(point);
var pen = new Pen(Color.Black, 4);
var margin = 10;
switch (direction)
{
case GridHelper.Directions.NORTH:
gfx.DrawLine(pen, new Point(p.X, p.Y - margin), new Point(p.X, p.Y + margin));
gfx.FillPolygon(new SolidBrush(pen.Color), new Point[] { new Point(p.X - margin + 5, p.Y - margin + 5), new Point(p.X + margin - 5, p.Y - margin + 5), new Point(p.X, p.Y - 2 * margin) });
break;
case GridHelper.Directions.EAST:
gfx.DrawLine(pen, new Point(p.X - margin - 5, p.Y), new Point(p.X + margin - 5, p.Y));
gfx.FillPolygon(new SolidBrush(pen.Color), new Point[] { new Point(p.X + margin - 5, p.Y - margin + 5), new Point(p.X + margin - 5, p.Y + margin - 5), new Point(p.X + 2 * (margin), p.Y) });
break;
case GridHelper.Directions.SOUTH:
gfx.DrawLine(pen, new Point(p.X, p.Y - margin - 5), new Point(p.X, p.Y + margin));
gfx.FillPolygon(new SolidBrush(Color.Black), new Point[] { new Point(p.X - margin + 5, p.Y + margin - 5), new Point(p.X + margin - 5, p.Y + margin - 5), new Point(p.X, p.Y + 2 * margin) });
break;
case GridHelper.Directions.WEST:
gfx.DrawLine(pen, new Point(p.X - margin + 5, p.Y), new Point(p.X + margin + 5, p.Y));
gfx.FillPolygon(new SolidBrush(pen.Color), new Point[] { new Point(p.X - margin + 5, p.Y - margin + 5), new Point(p.X - margin + 5, p.Y + margin - 5), new Point(p.X - 2 * margin, p.Y) });
break;
case GridHelper.Directions.HOLD:
gfx.FillEllipse(new SolidBrush(Color.Black), p.X - 5, p.Y - 5, 10, 10);
break;
}
}
}
