private bool GetNextSquareDepth(IntersectionMazeImage maze, IntersectionPoint currentSquare, out IntersectionPoint nextSquare)
{
IntersectionPoint nextLocation = null;
nextSquare = null;
IntersectionPoint intersection;
for (var i = 0; i < currentSquare.ConnectedIntersections.Count; i++)
{
intersection = currentSquare.ConnectedIntersections[i];
if (!intersection.HasVisited)
{
nextLocation = intersection;
break;
}
}
if (nextLocation != null)
{
if (maze.EndPoint.Equals(nextLocation))
{
nextSquare = maze.EndPoint;
return(true);
}
nextSquare = nextLocation;
return(true);
}
return(false);
}
private bool CheckAllVisitedSquares(IntersectionMazeImage maze)
{
if (maze.TotalVisited < maze.Points.Count())
{
return(false);
}
if (!maze.EndPoint.HasVisited)
{
return(false);
}
return(true);
}
//public bool IntersectionSolve(AStarIntersectionMazeImage maze, out Stack<AStarIntersectionPoint> route)
//{
// bool hasFoundRoute = false;
// bool hasSeenAllSquares = false;
// AStarIntersectionPoint currentSquare = maze.StartPoint;
// bool[,] visitedSquares = new bool[maze.MazeHeight, maze.MazeWidth];
// Stack<AStarIntersectionPoint> currentRoute = new Stack<AStarIntersectionPoint>();
// currentRoute.Push(maze.StartPoint);
// int backtrackCount = 0;
// List<long> getNextTimes = new List<long>();
// Stopwatch s = new Stopwatch();
// while (!hasFoundRoute && !hasSeenAllSquares)
// {
// s.Start();
// bool hasNextSquare = GetNextSquareAStar(maze, currentSquare, visitedSquares, out AStarIntersectionPoint nextSquare);
// s.Stop();
// getNextTimes.Add(s.ElapsedMilliseconds);
// s.Reset();
// if (hasNextSquare)
// {
// if (currentRoute.Count > 0 && !currentRoute.First().Equals(currentSquare))
// {
// currentRoute.Push(currentSquare);
// }
// currentRoute.Push(nextSquare);
// visitedSquares[nextSquare.Point.Item1, nextSquare.Point.Item2] = true;
// currentSquare = nextSquare;
// if (nextSquare.Equals(maze.EndPoint))
// {
// hasFoundRoute = true;
// }
// }
// else
// {
// hasSeenAllSquares = CheckAllVisitedSquares(visitedSquares, maze);
// currentSquare = currentRoute.Pop();
// backtrackCount++;
// }
// }
// Console.WriteLine("AStarIntersection Backtracks: " + backtrackCount);
// Console.WriteLine("AStarIntersection Average Get Speed " + getNextTimes.Average() + "ms");
// Console.WriteLine("AStarIntersection Get Count " + getNextTimes.Count);
// if (hasFoundRoute)
// {
// route = currentRoute;
// return true;
// }
// route = null;
// return true;
//}
public bool IntersectionSolve(IntersectionMazeImage maze, out Stack <IntersectionPoint> route)
{
var hasFoundRoute = false;
var hasSeenAllSquares = false;
maze.StartPoint.HasVisited = true;
var currentSquare = maze.StartPoint;
var currentRoute = new Stack <IntersectionPoint>();
currentRoute.Push(maze.StartPoint);
while (!hasFoundRoute && !hasSeenAllSquares)
{
var hasNextSquare = GetNextSquareDepth(maze, currentSquare, out IntersectionPoint nextSquare);
if (hasNextSquare)
{
if (currentRoute.Count > 0 && !currentRoute.First().Equals(currentSquare))
{
currentRoute.Push(currentSquare);
}
currentRoute.Push(nextSquare);
maze.TotalVisited++;
nextSquare.HasVisited = true;
currentSquare = nextSquare;
if (nextSquare.Equals(maze.EndPoint))
{
maze.EndPoint.HasVisited = true;
hasFoundRoute = true;
}
}
else
{
hasSeenAllSquares = CheckAllVisitedSquares(maze);
currentSquare = currentRoute.Pop();
maze.TotalVisited--;
}
}
if (hasFoundRoute)
{
route = currentRoute;
return(true);
}
route = null;
return(false);
}
public IntersectionMazeImage CreateIntersectionMaze(string filePath)
{
var img = new Bitmap(filePath);
PixelFormat pixelFormat = img.PixelFormat;
// Lock the bitmap's bits.
var rect = new Rectangle(0, 0, img.Width, img.Height);
BitmapData bmpData = img.LockBits(rect, ImageLockMode.ReadWrite, pixelFormat);
var newMaze = new IntersectionMazeImage();
var hasSeenWallInJ = false;
var hasSeenWallInI = new bool[img.Width];
var previousIIntersection = new IntersectionPoint[img.Width];
var previousJIntersection = new IntersectionPoint();
var newMazePoints = new List <IntersectionPoint>();
var hasSetStartConnector = false;
var lastSeenEndConnector = new IntersectionPoint();
IntersectionPoint currentPoint;
// Get the address of the first line.
IntPtr ptr = bmpData.Scan0;
// Declare an array to hold the bytes of the bitmap.
int bytes = Math.Abs(bmpData.Stride) * img.Height;
var rgbValues = new byte[bytes];
// Copy the RGB values into the array.
System.Runtime.InteropServices.Marshal.Copy(ptr, rgbValues, 0, bytes);
for (var index = 0; index < img.Width; index++)
{
if (BitmapReader.IsPixel(index, 0, ref rgbValues, pixelFormat, bmpData.Stride))
{
newMaze.StartPoint = new IntersectionPoint()
{
ICoord = index,
JCoord = 0
};
}
if (BitmapReader.IsPixel(index, img.Height - 1, ref rgbValues, pixelFormat, bmpData.Stride))
{
newMaze.EndPoint = new IntersectionPoint()
{
ICoord = index,
JCoord = img.Height - 1
};
}
if (newMaze.StartPoint != null && newMaze.EndPoint != null)
{
break;
}
}
if (newMaze.StartPoint == null || newMaze.EndPoint == null)
{
throw new Exception("Could not find start and endpoint");
}
var i = 1;
var j = 0;
var height = img.Height;
var width = img.Width - 1;
var hasSquares = true;
while (hasSquares)
{
if (BitmapReader.IsPixel(i, j, ref rgbValues, pixelFormat, bmpData.Stride))
{
if (IsIntersection(i, j, ref rgbValues, pixelFormat, bmpData.Stride, img.Width, img.Height))
{
currentPoint = new IntersectionPoint()
{
HasVisited = false,
ICoord = i,
JCoord = j
};
if (!hasSetStartConnector && i == newMaze.StartPoint.ICoord)
{
hasSetStartConnector = true;
newMaze.StartPoint.ConnectedIntersections.Add(currentPoint);
currentPoint.ConnectedIntersections.Add(newMaze.StartPoint);
}
if (i == newMaze.EndPoint.ICoord)
{
lastSeenEndConnector = currentPoint;
}
if (!hasSeenWallInJ)
{
currentPoint.ConnectedIntersections.Add(previousJIntersection);
previousJIntersection.ConnectedIntersections.Add(currentPoint);
}
if (!hasSeenWallInI[j] && previousIIntersection[j] != null)
{
currentPoint.ConnectedIntersections.Add(previousIIntersection[j]);
previousIIntersection[j].ConnectedIntersections.Add(currentPoint);
}
newMazePoints.Add(currentPoint);
hasSeenWallInJ = false;
hasSeenWallInI[j] = false;
previousJIntersection = currentPoint;
previousIIntersection[j] = currentPoint;
}
}
else
{
hasSeenWallInJ = true;
hasSeenWallInI[j] = true;
}
j++;
if (j >= height)
{
i++;
j = 0;
}
if (i >= width)
{
hasSquares = false;
}
}
lastSeenEndConnector.ConnectedIntersections.Add(newMaze.EndPoint);
newMaze.EndPoint.ConnectedIntersections.Add(lastSeenEndConnector);
newMaze.Points = newMazePoints.ToArray();
return(newMaze);
}
