private void doTruck(List <Order> truckOrders)
{
List <List <Location> > truckPaths = new List <List <Location> >();
List <Location> path;
AStarSearch astar = new AStarSearch(groundGrid, Depot, new Location(truckOrders.First().x, truckOrders.First().y, 0));
path = astar.ReconstructPath(Depot, new Location(truckOrders.First().x, truckOrders.First().y, 0), astar.cameFrom);
truckPaths.Add(path);
for (int i = 0; i < truckOrders.Count - 1; i++)
{
astar = new AStarSearch(groundGrid,
new Location(truckOrders[i].x, truckOrders[i].y, 0),
new Location(truckOrders[i + 1].x, truckOrders[i + 1].y, 0));
path = astar.ReconstructPath(new Location(truckOrders[i].x, truckOrders[i].y, 0),
new Location(truckOrders[i + 1].x, truckOrders[i + 1].y, 0),
astar.cameFrom);
truckPaths.Add(path);
}
astar = new AStarSearch(groundGrid, new Location(truckOrders.Last().x, truckOrders.Last().y, 0), Depot);
path = astar.ReconstructPath(new Location(truckOrders.Last().x, truckOrders.Last().y, 0), Depot, astar.cameFrom);
truckPaths.Add(path);
truckStatusUpdate(truckPaths);
}
public static List <Location> simpleRoute(SquareGrid grid, Location start, Location finish)
{
List <Location> path = new List <Location>();
AStarSearch astar = new AStarSearch(grid, start, finish);
path = astar.ReconstructPath(start, finish, astar.cameFrom);
return(path);
}
private void doDrone(List <Order> droneOrders)
{
List <List <Location> > dronePaths = new List <List <Location> >();
foreach (var order in droneOrders)
{
List <Location> path = new List <Location>();
AStarSearch astar = new AStarSearch(grid, Depot, new Location(order.x, order.y, 0));
path = astar.ReconstructPath(Depot, new Location(order.x, order.y, 0), astar.cameFrom);
var returnPath = path;
returnPath.Reverse();
path.AddRange(returnPath);
dronePaths.Add(path);
}
droneStatusUpdate(dronePaths);
}
public static string[] DrawGrid(SquareGrid grid, AStarSearch astar, Location start, Location goal)
{
string[] output = new string[4];
// Печать массива cameFrom
for (int z = 0; z < 4; z++)
{
for (var y = 0; y < 41; y++)
{
for (var x = 0; x < 41; x++)
{
Location id = new Location(x, y, z);
Location ptr = id;
if (!astar.cameFrom.TryGetValue(id, out ptr))
{
ptr = id;
}
if (start.x == x && start.y == y && start.z == z) /*Console.Write("\u2191 ");*/ x {
++; output[z] += "S";
}
if (goal.x == x && goal.y == y && goal.z == z) /*Console.Write("\u2191 ");*/ x {
++; output[z] += "F";
}
if (grid.walls.Contains(id)) /*Console.Write("##");*/ output {
