private async void Wavefront(object sender, RoutedEventArgs e)
{
if (!CheckMapAndStopDrawing())
return;
DisableMenu();
var mapTask = (IsFourNeighborhood) ? Task.Factory.StartNew(() => Potential.Wavefront4(_Map)) : Task.Factory.StartNew(() => Potential.Wavefront8(_Map));
_Map = await mapTask;
_Path = SteepestDescent.SteepestDescentPlanner.Plan(_Map);
ShowMap();
EnableMenu();
}
void LoadMap(Stream fileStream)
{
var img = new BitmapImage();
img.SetSource(fileStream);
var writeable = new WriteableBitmap(img);
var width = img.PixelWidth;
var map = new Cell[img.PixelWidth, img.PixelHeight];
for (int row = 0; row < img.PixelHeight; ++row)
for (int col = 0; col < img.PixelWidth; ++col)
{
var cell = Cell.Free;
var pixel = writeable.GetPixeli(col, row);
switch (pixel)
{
case WHITE:
cell = Cell.Free;
break;
case BLACK:
cell = Cell.Obstacle;
break;
case RED:
cell = Cell.Goal;
break;
case GREEN:
cell = Cell.Start;
break;
default:
System.Diagnostics.Debugger.Break();
StatusText.Text = "Invalid Color encountered";
break;
}
map[col, row] = cell;
}
_Map = new RobotMap(map);
_Path = null;
ShowMap();
}
private async void Brushfire(object sender, RoutedEventArgs e)
{
if (!CheckMapAndStopDrawing())
return;
DisableMenu();
Task<RobotMap> mapTask = (IsFourNeighborhood) ? Task.Factory.StartNew(() => Potential.Brushfire4(ObstacleValue, BrushfireDecrement, _Map)) : Task.Factory.StartNew(() => Potential.Brushfire8(ObstacleValue, BrushfireDecrement, _Map));
mapTask = mapTask.ContinueWith(t =>
{
if (IsStraightLine)
return Potential.AddLinearAttraction(t.Result);
if (IsManhattan)
return Potential.AddManhattanAttraction(t.Result);
if (IsWaveFront)
return Potential.AddWavefrontAttraction(t.Result);
throw new InvalidOperationException();
});
_Map = await mapTask;
_Path = SteepestDescent.SteepestDescentPlanner.Plan(_Map);
ShowMap();
EnableMenu();
}
private WriteableBitmap MapToBitmap(RobotMap map)
{
var img = new WriteableBitmap(map.Cells.GetLength(0), map.Cells.GetLength(1));
var cells = map.Cells;
var min = map.MinMaxPotential.Item1;
var max = map.MinMaxPotential.Item2;
MapCanvas.Children.Clear();
MapCanvas.Children.Add(MapImage);
using (var ctx = img.GetBitmapContext(ReadWriteMode.ReadWrite))
{
var width = img.PixelWidth;
for (int x = 0; x < img.PixelWidth; x++)
{
for (int y = 0; y < img.PixelHeight; y++)
{
var cell = cells[x, y];
int color = BLACK;
if (cell.IsPotential)
{
var pot = ((Cell.Potential)cell).Item;
color = GiveRainbowColor(min, max, pot);
//var text = new TextBlock() { Text = pot.ToString() };
//MapCanvas.Children.Add(text);
//Canvas.SetLeft(text, x * SCALE_FACTOR);
//Canvas.SetTop(text, y * SCALE_FACTOR);
}
else if (cell.IsFree)
color = GREY;
else if (cell.IsGoal)
color = RED;
else if (cell.IsStart)
color = GREEN;
else if (cell.IsObstacle)
color = BLACK;
ctx.Pixels[x + y * width] = color;
}
}
}
return img;
}
