protected void StartPath(IHex start)
{
var path = new DirectedPath(start);
OpenSet.Add(path.PathStep.Hex.Coords, path);
Queue.Enqueue(0, path);
}
/// <summary>TODO</summary>
/// <param name="board">Board on which this shortest-path search is taking place.</param>
/// <param name="source">Source hex for this shortest-path search.</param>
/// <param name="target">Target hex for this shortest-path search.</param>
/// <param name="closedSet">Injected implementation of <see cref="ISet{HexCoords}"/>.</param>
protected internal Pathfinder(INavigableBoard board, IHex source, IHex target, ISet <HexCoords> closedSet)
{
if (board == null)
{
throw new ArgumentNullException("board");
}
if (board.Landmarks == null)
{
throw new ArgumentNullException("board", "Member Landmarks must not be null");
}
if (closedSet == null)
{
throw new ArgumentNullException("closedSet");
}
if (source == null)
{
throw new ArgumentNullException("source");
}
if (target == null)
{
throw new ArgumentNullException("target");
}
Board = board;
ClosedSet = closedSet;
Source = source;
Target = target;
}
public IHex GetOppositeTile(IHex source, IHex target)
{
if (this.GetN(source).Equals(target))
{
return(this.GetN(target));
}
else if (this.GetNE(source).Equals(target))
{
return(this.GetNE(target));
}
else if (this.GetSE(source).Equals(target))
{
return(this.GetSE(target));
}
else if (this.GetS(source).Equals(target))
{
return(this.GetS(target));
}
else if (this.GetSW(source).Equals(target))
{
return(this.GetSW(target));
}
else if (this.GetNW(source).Equals(target))
{
return(this.GetNW(target));
}
else
{
return(null);
}
}
/// <summary>Returns a least-cost path from the hex <c>start</c> to the hex <c>goal.</c></summary>
public static IDirectedPath GetDirectedPath(this IBoard <IHex> @this, IHex start, IHex goal)
{
if (@this == null)
{
throw new ArgumentNullException("this");
}
if (start == null)
{
throw new ArgumentNullException("start");
}
if (goal == null)
{
throw new ArgumentNullException("goal");
}
if (@this.IsPassable(start.Coords) && @this.IsPassable(goal.Coords))
{
return(goal.Coords.Range(start.Coords) > @this.RangeCutoff
? BidirectionalPathfinder.FindDirectedPathFwd(start, goal, @this)
: UnidirectionalPathfinder.FindDirectedPathFwd(start, goal, @this));
}
else
{
return(default(IDirectedPath));
}
}
/// <inheritdoc/>
public virtual int GetDirectedCostToExit(IHex hex, Hexside hexsideExit)
{
//return hex==null ? -1
// : this[hex.Coords].StepCost(hexsideExit);
return(hex == null ? -1
: hex.StepCost(hexsideExit));
}
public IHex GetPushTile(IHex source, IHex target)
{
if (source != null && target != null)
{
if (source.IsTileN(target, 1))
{
return(target.GetN());
}
else if (source.IsTileNE(target, 1))
{
return(target.GetNE());
}
else if (source.IsTileSE(target, 1))
{
return(target.GetSE());
}
else if (source.IsTileS(target, 1))
{
return(target.GetS());
}
else if (source.IsTileSW(target, 1))
{
return(target.GetSW());
}
else if (source.IsTileNW(target, 1))
{
return(target.GetNW());
}
}
return(null);
}
public List <IHex> GetRaycastTiles(IHex source, IHex target, int dist)
{
var list = new List <IHex>();
if (this.IsTileN(source, target, dist))
{
list = this.GetRayTilesViaDistN(source, dist);
}
else if (this.IsTileNE(source, target, dist))
{
list = this.GetRayTilesViaDistNE(source, dist);
}
else if (this.IsTileSE(source, target, dist))
{
list = this.GetRayTilesViaDistSE(source, dist);
}
else if (this.IsTileS(source, target, dist))
{
list = this.GetRayTilesViaDistS(source, dist);
}
else if (this.IsTileSW(source, target, dist))
{
list = this.GetRayTilesViaDistSW(source, dist);
}
else if (this.IsTileNW(source, target, dist))
{
list = this.GetRayTilesViaDistNW(source, dist);
}
return(list);
}
static void ExpandNode(this IBoard <IHex> board, StepCost directedStepCost,
BoardStorage <int> costs, Queue queue, IHex here, int key, Hexside hexside
)
{
var neighbourCoords = here.Coords.GetNeighbour(hexside);
board[neighbourCoords].IfHasValueDo(neighbour => {
var cost = directedStepCost(here, hexside);
if (cost > 0 && costs[neighbourCoords] < 0)
{
Trace($" Enqueue {neighbourCoords}: {cost,4}");
queue.Enqueue(key + cost, neighbour);
}
});
//if (neighbourHex != null) {
// var cost = directedStepCost(here, hexside);
// if (cost > 0 && costs[neighbourCoords] < 0) {
// Trace($" Enqueue {neighbourCoords}: {cost,4}");
// queue.Enqueue(key + cost,neighbourHex);
// }
//}
}
// Common settings for both directions
/// <param name="board">Board on which this path search is taking place.</param>
/// <param name="start">Start hex for this half of the bidirectional path search.</param>
/// <param name="goal">Goal hex for this this half of the bidirectional path search.</param>
/// <param name="pathHalves"></param>
protected DirectionalPathfinder(INavigableBoard <IHex> board, IHex start, IHex goal, IPathHalves pathHalves)
: base(board, start, goal, pathHalves.ClosedSet)
{
PathHalves = pathHalves;
OpenSet = new Dictionary <HexCoords, IDirectedPath>();
Queue = new HotPriorityQueue <IDirectedPath>(0, 256);
}
public override bool ProgramFirmware(string FilePath, Action <double> Progress)
{
try
{
IHex Hex = new IHex();
Hex.load(FilePath);
if (SearchHex(Hex, GetFirmwareSearchTokens()))
{
Uploader UL = new Uploader();
UL.ProgressEvent += (d) => Progress(d);
UL.upload(_Session.Port, Hex);
return(true);
}
else
{
ShowWrongFirmwareMessageBox();
return(false);
}
}
catch
{
return(false);
}
}
static void Main(string[] args)
{
const int IWindowWidth = 85;
const int IWindowsLength = 1024 + 32;
//Format console
Console.Title = "C# Hex editor";
Console.WindowWidth = IWindowWidth;
Console.SetBufferSize(IWindowWidth, IWindowsLength);
Console.BackgroundColor = ConsoleColor.DarkBlue;
Console.Clear();
try
{
string sSw = null; //String of select menu
do
{
IHex ih = null; //Make interface
ShowMenu();
sSw = Console.ReadLine(); //Get what user select
Console.Clear();
switch (sSw)
{
case "1":
ih = new ShowFile();
break;
case "2":
ih = new CompareFiles();
break;
case "0":
break;
default:
Console.WriteLine("You\'re select incorrect variant. For exit use 0");
break;
}
if (sSw == "1" || sSw == "2")
{
ih.SelectFiles();
ih.Show();
}
//End of while block
Console.WriteLine("Press any key to continue...");
Console.ReadKey();
}while (sSw != "0"); //While user select not 0
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
finally
{
}
}
internal static IRgb ToColor(IHex item)
{
return(new Rgb {
R = (double)Convert.ToInt32(item.R, 16),
G = (double)Convert.ToInt32(item.G, 16),
B = (double)Convert.ToInt32(item.B, 16)
});
}
protected void ChangeSpecialCost(IHex aUnit, int valueToChange)
{
aUnit.HexCost.SpecialPoints += valueToChange;
if (aUnit.HexCost.SpecialPoints < 0)
{
aUnit.HexCost.SpecialPoints = 0;
}
}
protected void ChangeTalentCost(IHex aUnit, int valueToChange)
{
aUnit.HexCost.TalentPoints += valueToChange;
if (aUnit.HexCost.TalentPoints < 0)
{
aUnit.HexCost.TalentPoints = 0;
}
}
int Estimate(IHex here, IHex there, int totalCost)
{
var estimate = _heuristic(there.Coords) + totalCost;
var preference = Preference(_start.Coords.Canon - there.Coords.Canon,
_start.Coords.Canon - _goal.Coords.Canon);
return((estimate << 16) + preference);
}
protected void ChangeFaithCost(IHex aUnit, int valueToChange)
{
aUnit.HexCost.FaithPoints += valueToChange;
if (aUnit.HexCost.FaithPoints < 0)
{
aUnit.HexCost.FaithPoints = 0;
}
}
protected void ChangeCommandCost(IHex aUnit, int valueToChange)
{
aUnit.HexCost.CommandPoints += valueToChange;
if (aUnit.HexCost.CommandPoints < 0)
{
aUnit.HexCost.CommandPoints = 0;
}
}
/// <summary>Returns a least-cost path from this hex to the hex <c>goal.</c></summary>
public static IDirectedPath GetDirectedPath(this IHex @this, IHex goal)
{
if (@this == null)
{
throw new ArgumentNullException("this");
}
return(@this.Board.GetDirectedPath(@this, goal));
}
protected static void ExpectedValuesForKnownColor(IColorSpace knownColor, IHex expectedColor)
{
var target = knownColor.To <Hex>();
Assert.IsTrue(CloseEnough(expectedColor.R, target.R), "(R)" + expectedColor.R + " != " + target.R);
Assert.IsTrue(CloseEnough(expectedColor.G, target.G), "(G)" + expectedColor.G + " != " + target.G);
Assert.IsTrue(CloseEnough(expectedColor.B, target.B), "(B)" + expectedColor.B + " != " + target.B);
}
public HexLibrary(HexType hexType, OffsetCoordinatesType offsetCoordinatesType, float hexSize)
{
_hex = hexType switch
{
HexType.FlatTopped => new HexFlatTopped(offsetCoordinatesType, hexSize),
HexType.PointyTopped => new HexPointyTopped(offsetCoordinatesType, hexSize),
_ => throw new ArgumentOutOfRangeException(nameof(hexType), hexType, $"HexType {hexType} is not supported.")
};
}
/// <summary>Returns an <c>IDirectedPath</c> for the optimal path from coordinates <c>start</c> to <c>goal</c>.</summary>
/// <param name="start">Coordinates for the <c>last</c> step on the desired path.</param>
/// <param name="goal">Coordinates for the <c>first</c> step on the desired path.</param>
/// <param name="board">An object satisfying the interface <c>INavigableBoardFwd</c>.</param>
/// <returns></returns>
/// ///<remarks>Note that <c>heuristic</c> <b>must</b> be monotonic in order for the algorithm to perform properly.</remarks>
#pragma warning disable 1658, 1584
/// <seealso cref="http://www.cs.trincoll.edu/~ram/cpsc352/notes/astar.html"/>
#pragma warning restore 1633, 1658, 1584
public static IDirectedPath FindDirectedPathFwd(
IHex start,
IHex goal,
IDirectedNavigableBoard board
)
{
if (board == null) throw new ArgumentNullException("board");
return FindDirectedPathFwd(start, goal, board.DirectedStepCost, board.Heuristic);
}
/// <summary>As <c>FindDirectedPathFwd</c>, except with the steps stacked in reverse.</summary>
/// <remarks>
/// The path steps are ordered in reverse as the forward half-path has been stacked
/// onto the reverse half-path during post-processing, instead of the reverse.
/// </remarks>
/// <see cref="FindDirectedPathFwd"/>
public static IDirectedPath FindDirectedPathRev(
IHex start, IHex goal, IDirectedNavigableBoard board
)
{
if (board == null)
{
throw new ArgumentNullException("board");
}
return(FindDirectedPath(start, goal, board.DirectedStepCost, board.Landmarks).PathRev);
}
/// <summary>Returns the requested neighbours for this hex.</summary>
/// <param name="this">TODO</param>
/// <param name="here">TODO</param>
/// <returns></returns>
public static IEnumerable <NeighbourHex> GetNeighbourHexes(
this INavigableBoard <IHex> @this, IHex here
)
{
if (@this == null)
{
throw new ArgumentNullException("this");
}
return(@this.GetAllNeighbours(here).Where(n => n.Hex != null));
}
public bool IsTileNW(IHex s, IHex t)
{
if (this.GetNW(s).Equals(t))
{
return(true);
}
else
{
return(false);
}
}
/// <summary>All neighbours of this hex, as an <see cref="IEnumerable {NeighbourHex}"/></summary>
public static IEnumerable <NeighbourHex> GetAllNeighbours(
this INavigableBoard <IHex> @this, IHex here
)
{
if (@this == null)
{
throw new ArgumentNullException("this");
}
return(HexsideExtensions.HexsideList.Select(hexside =>
new NeighbourHex(@this[here.Coords.GetNeighbour(hexside)], hexside.Reversed())));
}
public IHex GetRandomNearbyTile(int probes, IHex tile)
{
var currNeighbors = tile.GetAdjacent();
for (int i = 0; i < probes; i++)
{
var random = ListUtil <IHex> .GetRandomElement(currNeighbors);
currNeighbors = random.GetAdjacent();
}
return(ListUtil <IHex> .GetRandomElement(currNeighbors));
}
public void AddTile(IHex t, IPathable navigator)
{
if (this._tiles.Count == 0)
{
this._score += navigator.GetTileTraversalCost(navigator.GetCurrentTile(), t);
}
else
{
this._score += navigator.GetTileTraversalCost(this._tiles[this._tiles.Count - 1], t);
}
this._tiles.Add(t);
}
/// <summary>Returns an <c>IDirectedPath</c> for the optimal path from coordinates <c>start</c> to <c>goal</c>.</summary>
/// <param name="start">Coordinates for the <c>last</c> step on the desired path.</param>
/// <param name="goal">Coordinates for the <c>first</c> step on the desired path.</param>
/// <param name="board">An object satisfying the interface <c>INavigableBoardFwd</c>.</param>
/// <returns></returns>
/// ///<remarks>Note that <c>heuristic</c> <b>must</b> be monotonic in order for the algorithm to perform properly.</remarks>
#pragma warning disable 1658, 1584
/// <seealso cref="http://www.cs.trincoll.edu/~ram/cpsc352/notes/astar.html"/>
#pragma warning restore 1633, 1658, 1584
public static IDirectedPath FindDirectedPathFwd(
IHex start,
IHex goal,
IDirectedNavigableBoard board
)
{
if (board == null)
{
throw new ArgumentNullException("board");
}
return(FindDirectedPathFwd(start, goal, board.DirectedStepCost, board.Heuristic));
}
public IHex GetNextTile(IHex t)
{
if (this._tiles.Contains(t))
{
int index = this._tiles.IndexOf(t) + 1;
if (this._tiles.Count > index)
{
return(this._tiles[index]);
}
}
return(null);
}
/// <summary>Asynchronously returns a least-cost path from the hex <c>source</c> to the hex <c>target.</c></summary>
public static Task <IDirectedPathCollection> GetDirectedPathAsync(
this IHexBoard <IHex> @this, IHex source, IHex target, bool forceUnidirectional
)
{
if (@this == null)
{
throw new ArgumentNullException("this");
}
return(Task.Run <IDirectedPathCollection>(
() => @this.GetDirectedPath(source, target, forceUnidirectional)
));
}
public int GetTileTraversalCost(IHex source, IHex goal)
{
double baseCost = this.GetTileTraversalCostHelper(source, goal);
if (goal.GetHeight() > source.GetHeight())
{
return((int)(baseCost * (goal.GetHeight() - source.GetHeight())));
}
else
{
return((int)baseCost);
}
}
/// <summary>
/// Upload the specified image_data.
/// </summary>
/// <param name='image_data'>
/// Image_data to be uploaded.
/// </param>
public void upload (SerialPort on_port, IHex image_data)
{
progress (0);
port = on_port;
try {
connect_and_sync ();
upload_and_verify (image_data);
cmdReboot ();
} catch (Exception e) {
if (port.IsOpen)
port.Close ();
throw e;
}
}
/// <summary>
/// Upload the specified image_data.
/// </summary>
/// <param name='image_data'>
/// Image_data to be uploaded.
/// </param>
public void upload (ICommsSerial on_port, IHex image_data, bool use_mavlink = false)
{
progress (0);
port = on_port;
try {
connect_and_sync();
upload_and_verify (image_data);
cmdReboot ();
} catch {
if (port.IsOpen)
port.Close ();
throw;
}
}
BidirectionalPathfinder(IHex start, IHex goal,
LandmarkCollection landmarks, HashSet<HexCoords> closed, Func<double> getBestSoFar
)
{
_start = start;
_goal = goal;
_getBestSoFar = getBestSoFar;
_vectorGoal = goal.Coords.Canon - start.Coords.Canon;
_open = new Dictionary<HexCoords, DirectedPath>();
_closed = closed;
_queue = new HotPriorityQueue<DirectedPath>(16);
_landmark = landmarks
.OrderByDescending(l => l.HexDistance(goal.Coords) - l.HexDistance(start.Coords))
.FirstOrDefault();
_heuristic = c => _landmark.HexDistance(c) - _landmark.HexDistance(start.Coords);
var path = new DirectedPath(goal);
_open.Add(goal.Coords, path);
_queue.Enqueue(0, path);
}
public AppLogic ()
{
// Get the current configuration file.
config = ConfigurationManager.OpenExeConfiguration (ConfigurationUserLevel.None);
// Look for our settings and add/create them if missing
if (config.Sections [config_name] == null) {
config_section = new ConfigSection ();
config.Sections.Add (config_name, config_section);
config_section.SectionInformation.ForceSave = true;
config.Save (ConfigurationSaveMode.Full);
}
config_section = config.GetSection (config_name) as ConfigSection;
// Hook up main window events
win = new MainWindow ();
win.MonitorEvent += show_monitor;
win.UploadEvent += do_upload;
win.LogEvent += log;
win.QuitEvent += at_exit;
// restore the last path that we uploaded
win.FileName = config_section.lastPath;
// restore the last port that we opened
win.PortName = config_section.lastPort;
// Create the intelhex loader
ihex = new IHex ();
ihex.LogEvent += log;
// And the uploader
upl = new Uploader ();
upl.LogEvent += log;
upl.ProgressEvent += win.set_progress;
// Emit some basic help
log ("Select a serial port and a .hex file to be uploaded, then hit Upload.\n");
win.Show ();
}
public override void DefineCircum()
{
Circum = new IHex[6];
Neighbors = new List<Hex>();
int i = 0;
foreach (var index in CircumIndices)
{
var hex = map.Get(index);
if (hex)
{
Neighbors.Add(hex);
Circum[i] = hex;
}
else
{
Circum[i] = nihility.GetDefinedNull(index);
}
i++;
}
}
public HexVM(IHex HexModel, SettlerBoard board)
{
hexModel = HexModel;
CalulateHexagonValues();
// Calculate how much it needs to shift
if (board.GameBoard.GetRange(0, 3).Contains(HexModel))
{
offsetX = b + s;
int indexValue = board.GameBoard.IndexOf(HexModel);
offsetX += indexValue * (h + s);
offsetY = indexValue * r;
}
else if (board.GameBoard.GetRange(3,4).Contains(HexModel))
{
offsetX = s + h;
int indexValue = board.GameBoard.IndexOf(HexModel) - 3;
offsetX += indexValue * (h + s);
offsetY = (indexValue + 1) * r;
}
else if (board.GameBoard.GetRange(7, 5).Contains(HexModel))
{
int indexValue = board.GameBoard.IndexOf(HexModel) - 7;
offsetX += indexValue * (h + s);
offsetY = (indexValue + 2) * r;
}
else if (board.GameBoard.GetRange(12, 4).Contains(HexModel))
{
int indexValue = board.GameBoard.IndexOf(HexModel) - 12;
offsetX += indexValue * (h + s);
offsetY = (indexValue + 4) * r;
}
else if (board.GameBoard.GetRange(16, 3).Contains(HexModel))
{
int indexValue = board.GameBoard.IndexOf(HexModel) - 16;
offsetX += indexValue * (h + s);
offsetY = (indexValue + 6) * r;
}
}
public void DefineCircum()
{
var nihility = GameServices.Get<Nihility>();
var map = GameServices.Get<GameMap>();
Circum = new IHex[6];
for (int i = 0; i < CircumIndices.Length; i++)
{
var index = CircumIndices[i];
IHex hexAround = nihility.Get(index);
if (hexAround == null)
{
hexAround = map.Get(index);
if (hexAround == null)
{
Circum[i] = nihility.GetUndefinedNull(index);
continue;
}
}
Circum[i] = hexAround;
}
}
/// <summary>As <c>FindDirectedPathFwd</c>, except with the steps stacked in reverse.</summary>
/// <remarks>
/// The path steps are ordered in reverse as the forward half-path has been stacked
/// onto the reverse half-path during post-processing, instead of the reverse.
/// </remarks>
/// <see cref="FindDirectedPathFwd"/>
public static IDirectedPath FindDirectedPathRev(
IHex start, IHex goal, IDirectedNavigableBoard board
)
{
if (board == null) throw new ArgumentNullException("board");
return FindDirectedPath(start, goal, board.DirectedStepCost, board.Landmarks).PathRev;
}
private void upload_and_verify(IHex image_data)
{
// erase the program area first
log ("erasing program flash\n");
cmdErase ();
// progress fractions
bytes_to_process = 0;
foreach (byte[] bytes in image_data.Values) {
bytes_to_process += bytes.Length;
}
bytes_to_process *= 2; // once to program, once to verify
bytes_processed = 0;
// program the flash blocks
log ("programming\n");
foreach (KeyValuePair<UInt32, byte[]> kvp in image_data) {
// move the program pointer to the base of this block
cmdSetAddress (kvp.Key);
log (string.Format ("prog 0x{0:X}/{1}\n", kvp.Key, kvp.Value.Length), 1);
upload_block_multi (kvp.Value);
}
// and read them back to verify that they were programmed
log ("verifying\n");
foreach (KeyValuePair<UInt32, byte[]> kvp in image_data) {
// move the program pointer to the base of this block
cmdSetAddress (kvp.Key);
log (string.Format ("verf 0x{0:X}/{1}\n", kvp.Key, kvp.Value.Length), 1);
verify_block_multi (kvp.Value);
bytes_processed += kvp.Value.GetLength (0);
progress ((double)bytes_processed / bytes_to_process);
}
log ("Success\n");
}
private void upload_and_verify (IHex image_data)
{
if (image_data.bankingDetected && ((byte)id & 0x80) != 0x80)
{
log("This Firmware requires banking support");
throw new Exception("This Firmware requires banking support");
}
if ((((byte)id & 0x80) == 0x80))
{
this.banking = true;
log("Using 24bit addresses");
}
// erase the program area first
log ("erasing program flash\n");
cmdErase ();
// progress fractions
bytes_to_process = 0;
foreach (byte[] bytes in image_data.Values) {
bytes_to_process += bytes.Length;
}
bytes_to_process *= 2; // once to program, once to verify
bytes_processed = 0;
// program the flash blocks
log ("programming\n");
foreach (KeyValuePair<UInt32, byte[]> kvp in image_data) {
// move the program pointer to the base of this block
cmdSetAddress (kvp.Key);
log (string.Format ("prog 0x{0:X}/{1}\n", kvp.Key, kvp.Value.Length), 1);
upload_block_multi (kvp.Value);
}
// and read them back to verify that they were programmed
log ("verifying\n");
foreach (KeyValuePair<UInt32, byte[]> kvp in image_data) {
// move the program pointer to the base of this block
cmdSetAddress (kvp.Key);
log (string.Format ("verf 0x{0:X}/{1}\n", kvp.Key, kvp.Value.Length), 1);
verify_block_multi (kvp.Value);
bytes_processed += kvp.Value.GetLength (0);
progress ((double)bytes_processed / bytes_to_process);
}
log ("Success\n");
}
private void UploadFW(bool custom = false)
{
ICommsSerial comPort = new SerialPort();
var uploader = new Uploader();
if (MainV2.comPort.BaseStream.IsOpen)
{
try
{
getTelemPortWithRadio(ref comPort);
uploader.PROG_MULTI_MAX = 64;
}
catch (Exception ex)
{
CustomMessageBox.Show("Error " + ex);
}
}
try
{
comPort.PortName = MainV2.comPort.BaseStream.PortName;
comPort.BaudRate = 115200;
comPort.Open();
}
catch
{
CustomMessageBox.Show("Invalid ComPort or in use");
return;
}
// prep what we are going to upload
var iHex = new IHex();
iHex.LogEvent += iHex_LogEvent;
iHex.ProgressEvent += iHex_ProgressEvent;
var bootloadermode = false;
// attempt bootloader mode
try
{
if (upload_xmodem(comPort))
{
comPort.Close();
return;
}
comPort.BaudRate = 115200;
uploader_ProgressEvent(0);
uploader_LogEvent("Trying Bootloader Mode");
uploader.port = comPort;
uploader.connect_and_sync();
uploader.ProgressEvent += uploader_ProgressEvent;
uploader.LogEvent += uploader_LogEvent;
uploader_LogEvent("In Bootloader Mode");
bootloadermode = true;
}
catch (Exception ex1)
{
log.Error(ex1);
// cleanup bootloader mode fail, and try firmware mode
comPort.Close();
if (MainV2.comPort.BaseStream.IsOpen)
{
// default baud... guess
comPort.BaudRate = 57600;
}
else
{
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
}
try
{
comPort.Open();
}
catch
{
CustomMessageBox.Show("Error opening port", "Error");
return;
}
uploader.ProgressEvent += uploader_ProgressEvent;
uploader.LogEvent += uploader_LogEvent;
uploader_LogEvent("Trying Firmware Mode");
bootloadermode = false;
}
// check for either already bootloadermode, or if we can do a ATI to ID the firmware
if (bootloadermode || doConnect(comPort))
{
// put into bootloader mode/update mode
if (!bootloadermode)
{
try
{
comPort.Write("AT&UPDATE\r\n");
var left = comPort.ReadExisting();
log.Info(left);
Sleep(700);
comPort.BaudRate = 115200;
}
catch
{
}
if (upload_xmodem(comPort))
{
comPort.Close();
return;
}
comPort.BaudRate = 115200;
}
try
{
// force sync after changing baudrate
uploader.connect_and_sync();
}
catch
{
CustomMessageBox.Show("Failed to sync with Radio");
goto exit;
}
var device = Uploader.Board.FAILED;
var freq = Uploader.Frequency.FAILED;
// get the device type and frequency in the bootloader
uploader.getDevice(ref device, ref freq);
// get firmware for this device
if (getFirmware(device, custom))
{
// load the hex
try
{
iHex.load(firmwarefile);
}
catch
{
CustomMessageBox.Show("Bad Firmware File");
goto exit;
}
// upload the hex and verify
try
{
uploader.upload(comPort, iHex);
}
catch (Exception ex)
{
CustomMessageBox.Show("Upload Failed " + ex.Message);
}
}
else
{
CustomMessageBox.Show("Failed to download new firmware");
}
}
else
{
CustomMessageBox.Show("Failed to identify Radio");
}
exit:
if (comPort.IsOpen)
comPort.Close();
}
/// <summary>Returns an <c>IPath</c> for the optimal path from coordinates <c>start</c> to <c>goal</c>.</summary>
/// <param name="start">Coordinates for the <c>last</c> step on the desired path.</param>
/// <param name="goal">Coordinates for the <c>first</c> step on the desired path.</param>
/// <param name="stepCost">Cost to extend path by hex at <c>coords</c> from hex at direction <c>hexside</c>.</param>
/// <param name="landmarks"><c>LandmarkCollection</c> of landmarks available for heuristic calculation.</param>
static PathHalves FindDirectedPath(
IHex start, IHex goal,
Func<IHex, Hexside, double> stepCost,
LandmarkCollection landmarks
)
{
if (start == null) throw new ArgumentNullException("start");
if (goal == null) throw new ArgumentNullException("goal");
if (stepCost == null) throw new ArgumentNullException("stepCost");
if (landmarks == null) throw new ArgumentNullException("landmarks");
var closed = new HashSet<HexCoords>();
var pathHalves = new PathHalves();
var pathfinderFwd = new PathfinderFwd(start, goal, stepCost, landmarks,
closed, pathHalves.SetBestSoFar, () => pathHalves.BestSoFar);
var pathfinderRev = new PathfinderRev(start, goal, stepCost, landmarks,
closed, pathHalves.SetBestSoFar, () => pathHalves.BestSoFar);
pathfinderFwd.Partner = pathfinderRev;
var pathfinder = pathfinderRev.Partner
= pathfinderFwd;
while (!pathfinder.IsFinished()) pathfinder = pathfinder.Partner;
return pathHalves;
}
int Estimate(IHex here, IHex there, double totalCost)
{
var estimate = _heuristic(there.Coords) + (int)totalCost;
var preference = Preference(_start.Coords.Canon - there.Coords.Canon,
_start.Coords.Canon - _goal.Coords.Canon);
return (estimate << 16) + preference;
}
/// <summary>Create a new instance of <see cref="PathfinderRev"/>.</summary>
/// <param name="start"></param>
/// <param name="goal"></param>
/// <param name="stepCost"></param>
/// <param name="landmarks"></param>
/// <param name="closed"></param>
/// <param name="setBestSoFar"></param>
/// <param name="getBestSoFar"></param>
public PathfinderRev(IHex start, IHex goal, Func<IHex, Hexside, double> stepCost,
LandmarkCollection landmarks, HashSet<HexCoords> closed,
Action<DirectedPath, DirectedPath> setBestSoFar, Func<double> getBestSoFar
)
: base(goal, start, landmarks, closed, getBestSoFar)
{
_addStep = (path, there, hexside, cost) => path.AddStep(there, hexside.Reversed(), cost);
_setBestSoFar = (self, partner) => setBestSoFar(partner, self);
_stepCost = (here, hexside, there) => stepCost(here, hexside);
//_search = "Rev";
}
/// <summary>Returns an <c>IPath</c> for the optimal path from coordinates <c>start</c> to <c>goal</c>.</summary>
/// <param name="start">Coordinates for the <c>last</c> step on the desired path.</param>
/// <param name="goal">Coordinates for the <c>first</c> step on the desired path.</param>
/// <param name="stepCost">Cost to extend path by hex at <c>coords</c> from hex at direction <c>hexside</c>.</param>
/// <param name="heuristic">Returns a monotonic (ie locally admissible) cost estimate from a range value.</param>
/// <returns></returns>
/// ///<remarks>Note that <c>heuristic</c> <b>must</b> be monotonic in order for the algorithm to perform properly.</remarks>
#pragma warning disable 1658, 1584
/// <seealso cref="http://www.cs.trincoll.edu/~ram/cpsc352/notes/astar.html"/>
#pragma warning restore 1658, 1584
public static IDirectedPath FindDirectedPathFwd(
IHex start,
IHex goal,
Func<IHex, Hexside, double> stepCost,
Func<int, int> heuristic
)
{
if (start == null) throw new ArgumentNullException("start");
if (goal == null) throw new ArgumentNullException("goal");
if (stepCost == null) throw new ArgumentNullException("stepCost");
var vectorGoal = goal.Coords.Canon - start.Coords.Canon;
var closed = new HashSet<HexCoords>();
var open = new HashSet<HexCoords>();
var queue = new DictionaryPriorityQueue<double, DirectedPath>();
queue.Enqueue(0, new DirectedPath(goal));
HexKeyValuePair<double, DirectedPath> item;
while (queue.TryDequeue(out item))
{
var path = item.Value;
open.Add(path.PathStep.Hex.Coords);
if (closed.Contains(path.PathStep.Hex.Coords)) continue;
if (path.PathStep.Hex.Equals(start))
{
return path;
}
closed.Add(path.PathStep.Hex.Coords);
foreach (var neighbour in path.PathStep.Hex.GetNeighbourHexes()
)
{
if (!open.Contains(neighbour.Hex.Coords))
{
var cost = stepCost(neighbour.Hex, neighbour.HexsideExit);
if (cost > 0)
{
var newPath = path.AddStep(neighbour, cost);
var key = Estimate(heuristic, vectorGoal, start.Coords, neighbour.Hex.Coords,
newPath.TotalCost);
queue.Enqueue(key, newPath);
}
}
}
}
return null;
}
