private void button2_Click(object sender, RoutedEventArgs e)
{
if (agent == null)
{
Environment.Instance.RemovedDirtCount = 0;
lastTimeReading = DateTime.Now;
agent = new Agent();
Environment env = Environment.Instance;
env.AgentAngle = 0;
env.AgentPosition = new Point(50, 50);
env.SimulationDuration = 60 * 60 * 1000;
env.SimulationSpeed = 500;
previousPoint = env.AgentPosition;
dumpEnvironment();
agentThread = new Thread(new ThreadStart(agent.run));
agentThread.Start();
drawingTimer = new System.Timers.Timer(100);
drawingTimer.Elapsed += new ElapsedEventHandler(OnTimedEvent);
drawingTimer.Enabled = true;
}
else
{
drawingTimer.Enabled = false;
agentThread.Abort();
}
}
private void button2_Click(object sender, RoutedEventArgs e)
{
agent = new Agent();
Environment env = Environment.Instance;
env.AgentAngle = 0;
env.AgentPosition = new Point(50, 50);
Thread thread = new Thread(new ThreadStart(agent.run));
thread.Start();
System.Timers.Timer t = new System.Timers.Timer(100);
t.Elapsed += new ElapsedEventHandler(OnTimedEvent);
t.Enabled = true;
System.Timers.Timer t2 = new System.Timers.Timer(100);
t2.Elapsed += new ElapsedEventHandler(OnTimedEvent2);
t2.Enabled = true;
}
public Movement(Agent agent)
{
this.agent = agent;
}
private void OnTimedEvent(object source, ElapsedEventArgs e)
{
DispatcherOperation dispatcherOp = grid1.Dispatcher.BeginInvoke(DispatcherPriority.Normal,
new Action(delegate()
{
elapsedTime += (DateTime.Now - lastTimeReading).TotalMilliseconds * Environment.Instance.SimulationSpeed;
lastTimeReading = DateTime.Now;
foreach (UIElement elem in tempElements)
grid1.Children.Remove(elem);
tempElements = new List<UIElement>();
// Line to represent the path
Line line = new Line();
line.Stroke = Brushes.DarkOrange;
line.X1 = previousPoint.X;
line.Y1 = previousPoint.Y;
line.X2 = Environment.Instance.AgentPosition.X;
line.Y2 = Environment.Instance.AgentPosition.Y;
previousPoint = Environment.Instance.AgentPosition;
grid1.Children.Add(line);
// Circle to represent the agent
Ellipse ellipse = new Ellipse();
ellipse.Width = 20;
ellipse.Height = 20;
ellipse.Stroke = Brushes.Brown;
ellipse.Fill = Brushes.Brown;
ellipse.HorizontalAlignment = HorizontalAlignment.Left;
ellipse.VerticalAlignment = VerticalAlignment.Top;
ellipse.Margin = new Thickness(Environment.Instance.AgentPosition.X - 10, Environment.Instance.AgentPosition.Y - 10, 0, 0);
tempElements.Add(agent.ShortRangeSensor.getUIElement());
tempElements.AddRange(agent.BumperSensor.getUIElement());
tempElements.Add(ellipse);
lock (Environment.Instance.RemovedDirt)
{
foreach (UIElement elem in Environment.Instance.RemovedDirt)
grid1.Children.Remove(elem);
Environment.Instance.RemovedDirt.Clear();
}
foreach (UIElement elem in tempElements)
grid1.Children.Add(elem);
label1.Content = String.Format("Elapsed Time : {0:hh\\:mm\\:ss}", TimeSpan.FromMilliseconds(elapsedTime));
if (elapsedTime >= Environment.Instance.SimulationDuration)
{
agentThread.Abort();
agent = null;
elapsedTime = 0;
drawingTimer.Enabled = false;
// performance
using (TextWriter tw = new StreamWriter("F:\\bench.txt", true))
tw.WriteLine(String.Format("{0} / {1}", Environment.Instance.RemovedDirtCount, Environment.Instance.Dirt.Count));
times++;
if (times < 25)
restart();
}
}
));
}
