public void Form1_Load(object sender, EventArgs e)
{
drones = new Drones[3];
drones[0] = new Drones("Vulcan Black Widow", 500, 100, 5);
drones[1] = new Drones("Vulcan Payload Development", 5000, 150, 5);
drones[2] = new Drones("Vulcan Airlift", 1000, 150, 10);
string[] drone = new string[3];
for (int i = 0; i < 3; i++)
{
drone[i] = drones[i].name;
}
LoadData loader = new LoadData();
string filepath = @"e:\data source\addressbook.map"; //addressbook file path
string addressBook = null, routes = null;
int numLines = loader.fileDecrypt(filepath, ref addressBook);
nodes = new Graph[(numLines - 1) * 4];
object[] addresses = new string[numLines - 1];
loader.loadNodes(addressBook, numLines, ref nodes);
filepath = @"e:\data source\routes.map"; //routes file path
loader.fileDecrypt(filepath, ref routes);
loader.loadRoutes(routes, ref nodes); //загрузка соседей в каждый нод
for (int i = 0; i < numLines - 1; i++)
{
addresses[i] = nodes[i].street + " " + nodes[i].house;
}
comboBox2.Items.AddRange(addresses);
comboBox1.Items.AddRange(drone);
mapBrowser.Navigate("https://www.google.ru/maps/@55.0457912,82.9236788,16.91z");
routing route = new routing();
map = new Graph[41, 41, 4];
grid = new SquareGrid(41, 41, 4);
route.MapMaker(ref map, nodes, 41, 41, 4, 55.041513, 82.916838);
}
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 {
