public void NextStep()
{
if (LearnRobotRoute.Length <= 1)
{
LearnRobotRoute.Reset();
toTarget = !toTarget;
}
Position = LearnRobotRoute.ElementAtOrDefault(1) ?? (toTarget ? GetStart() : Position);
UpdateLearnLabyrinth(Position);
SetRoutes();
}
private void SetRoutes()
{
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
//if (LearnRobotRoute?.GetRelations().All(r => r.Relation != RelationType.Close) ?? true)
//{
sw.Start();
ITarget target = toTarget ? (ITarget)LearnLabyrinth.Target : new SingleTarget(GetStart());
Block start = LearnRobotRoute?.ElementAtOrDefault(1) ?? (toTarget ? GetStart() : Position);
LearnRobotRoute.SearchMaybe(start, LearnRobotRoute?.FirstOrDefault(), target);
System.Diagnostics.Debug.WriteLine("Robot: " + sw.ElapsedMilliseconds);
//}
//if (LearnPossibleRoute?.GetRelations().Any(r => r.Relation == RelationType.Close) ?? true)
//{
sw.Reset();
sw.Start();
LearnPossibleRoute.SearchPossible(GetStart(), null, LearnLabyrinth.Target);
System.Diagnostics.Debug.WriteLine("Possible: " + sw.ElapsedMilliseconds);
//}
//if (LearnMaybeRoute?.GetRelations().Any(r => r.Relation == RelationType.Close) ?? true)
//{
sw.Reset();
sw.Start();
LearnMaybeRoute.SearchMaybe(GetStart(), null, LearnLabyrinth.Target);
System.Diagnostics.Debug.WriteLine("Maybe: " + sw.ElapsedMilliseconds);
//}
}