public void RebuildUI()
{
INodes.Clear();
IPath.Clear();
SetView.Nodes[0].Nodes.Clear();
foreach (var s in InImages)
{
SetView.Nodes[0].Nodes.Add(s.Name + "[" + s.Imgs.Count + "]");
foreach (var i in s.Imgs)
{
var nn = SetView.Nodes[0].Nodes[SetView.Nodes[0].Nodes.Count - 1].Nodes.Add("F:" + i.Name);
INodes.Add(nn);
IPath.Add(nn, i);
}
}
SetView.Nodes[1].Nodes.Clear();
foreach (var s in OutImages)
{
SetView.Nodes[1].Nodes.Add(s.Name + "[" + s.Imgs.Count + "]");
foreach (var i in s.Imgs)
{
var nn = SetView.Nodes[1].Nodes[SetView.Nodes[1].Nodes.Count - 1].Nodes.Add("F:" + i.Name);
ONodes.Add(nn);
OPath.Add(nn, i);
}
}
}
/// <summary>
/// Update list of points to reach
/// </summary>
public bool UpdateWaypoints(IPath waypoints)
{
lock (plannerLock)
{
//If the new user path is the same as the old one, ignore it
if (!PathUtils.CheckPathsEqual(waypoints, userDefinedPath))
{
userDefinedPath.Clear();
activeWaypoints.Clear();
userWaypoints.Clear();
//Add the beginning of the path as a new node
userWaypoints.Add(new SimpleTreeNode <Vector2>(waypoints.StartPoint.pt));
foreach (IPathSegment segment in waypoints)
{
userDefinedPath.Add(segment);
//If the segment has the same start and endpoints ignore it, this deals with the case where
//the HRI outputs a single segment with identical start and endpoints.
if (segment.StartPoint.pt != segment.EndPoint.pt)
{
userWaypoints.Add(new SimpleTreeNode <Vector2>(segment.EndPoint.pt));
}
}
//If there is a new user path, then the last planned path is now invalid and should be reset to empty
//until a new planning loop is finished
UpdateLastPath(new List <SimpleTreeNode <Vector2> >());
}
}
return(false);
}