public Path(PathNodeType[] pNodes, float pathLength, PathStatus pStatus, int pPathSearchTestCount)
{
Nodes = pNodes;
PathLength = pathLength;
Status = pStatus;
PathSearchTestCount = pPathSearchTestCount;
}
private void SetPathList(NavNode start, NavNode end)
{
Running = false;
_pathStatus = PathStatus.success;
var search = end;
path.Clear();
while (search != start)
{
if (_cameFrom.ContainsKey(search))
{
path.Add(search);
search = _cameFrom[search];
}
else
{
_pathStatus = PathStatus.failure;
return;
}
}
path.Add(start);
path.Reverse();
if (_pathStatus == PathStatus.success)
{
OnPathfindingComplete?.Invoke(this);
}
}
public MapGooglePath(List<MapGooglePoint> pathPoint, MapGooglePath.PathColor pathColor)
{
this._pathPoint = new List<MapGooglePoint>();
this._pathPoint = pathPoint;
this._pathColor = pathColor;
this._pathStatus = PathStatus.pc;
}
public MapGooglePath(List <MapGooglePoint> pathPoint, MapGooglePath.PathWidth pathWidth)
{
this._pathPoint = new List <MapGooglePoint>();
this._pathPoint = pathPoint;
this._pathWidth = pathWidth;
this._pathStatus = PathStatus.pw;
}
/// <summary>
/// 检测到文件；
/// </summary>
/// <param name="status"></param>
private void OnUpdateStatus(PathStatus status)
{
Application.Current.Dispatcher.BeginInvoke(new Action(() =>
{
PathStatusItems.SortedAdd(new FileDiffItem(status));
}));
}
public MapGooglePath(List <MapGooglePoint> pathPoint, MapGooglePath.PathColor pathColor)
{
this._pathPoint = new List <MapGooglePoint>();
this._pathPoint = pathPoint;
this._pathColor = pathColor;
this._pathStatus = PathStatus.pc;
}
/// <summary>
/// Expands a node.
/// </summary>
/// <param name='node'>
/// Node to be expanded
/// </param>
private void expandNode(ARAstarNode node)
{
nodesExpanded++;
Open.Remove(node.action.state);
if (node.g > node.rhs)
{
node.g = node.rhs;
Close.Insert(node);
}
else
{
node.g = Mathf.Infinity;
UpdateVertex(node);
}
generateNodeSuccessors(ref node);
if (Visited.nodeForState(stateReached).h > node.h)
{
stateReached = node.action.state;
}
if (!usingHeap)
{
Open.Sort();
}
if (node == null)
{
Status = PathStatus.NoPath;
}
}
public Path(PointTileNode[] pNodes, float pPathLength, PathStatus pStatus, int pPathSearchTestCount)
{
nodes = pNodes;
pathLength = pPathLength;
status = pStatus;
pathSearchTestCount = pPathSearchTestCount;
}
private void SetPathToTarget()
{
IntVector3 destination = GetClosestAvailableTile();
if (destination == _unit.MoveController.MapPosition)
{
CustomLogger.Warn(nameof(AIState_Chase), $"Could not find closest available tile!");
_unit.Navigator.OnArrivedFinalDestination -= OnArrivedFinalDestination;
SetReadyToTransition(_onFailedToPath);
}
PathStatus status = _unit.Navigator.SetDestination(
_unit.MoveController.MapPosition,
destination);
if (status == PathStatus.Invalid)
{
CustomLogger.Warn(nameof(AIState_Chase), $"Could not path to destination: {destination}!");
_unit.Navigator.OnArrivedFinalDestination -= OnArrivedFinalDestination;
SetReadyToTransition(_onFailedToPath);
return;
}
_unit.Navigator.OnArrivedFinalDestination += OnArrivedFinalDestination;
_unit.Navigator.LookTarget = null;
float speed = _fullSpeed ? _unit.UnitData.RunSpeed : _unit.UnitData.WalkSpeed;
_moveController.SetSpeed(speed);
}
public MapGooglePath(List<MapGooglePoint> pathPoint, MapGooglePath.PathWidth pathWidth)
{
this._pathPoint = new List<MapGooglePoint>();
this._pathPoint = pathPoint;
this._pathWidth = pathWidth;
this._pathStatus = PathStatus.pw;
}
public TelegramBotClient Initialize()
{
//Se LoadData torna false, inserisci i dati
if (!LoadData())
{
try
{
Console.WriteLine("Insert your d2bot folder path which contain D2Bot.exe:");
Console.WriteLine("Example \"C:\\Users\\YOUR_USERNAME\\Desktop\\d2bot-with-kolbot\"");
string halfPath = Console.ReadLine();
Path = halfPath + "\\";;
PathData = halfPath + "\\data\\";
PathToItemLog = halfPath + "\\d2bs\\kolbot\\logs\\ItemLog.txt";
PathImages = halfPath + "\\images\\";
PathToJsonProfile = halfPath + "\\data\\profile.json";
PathToSchedules = halfPath + "\\data\\schedules.json";
DirectoryInfo d = new DirectoryInfo(halfPath + "\\d2bs\\kolbot\\data\\");
//Get all json file that represetn all profile on d2bot
FileInfo[] Files = d.GetFiles("*.json");
foreach (FileInfo file in Files)
{
PathStatus.Add(file.FullName);
}
Console.WriteLine("Creating all folders for images...");
CreateFolders(PathImages, PathStatus);
Console.WriteLine("Insert your Bot Telegram TOKEN:");
Console.WriteLine("Example of TOKEN: 1234567890:ABCDEfghilMnopQrs56qwe0qwO2B1Koosq");
BotToken = Console.ReadLine();
Console.WriteLine("Now say \"Hi\"/\"Hello\" to your bot on Telegram or press START button if it is the first time you open it up");
return(new TelegramBotClient(BotToken));
}
catch (Exception e)
{
logger.Error(e, "EXCEPTION RAISED");
Console.WriteLine(e.StackTrace);
Console.WriteLine(e.Message);
return(null);
}
}
else
{
try
{
return(new TelegramBotClient(BotToken));
}
catch (Exception e)
{
logger.Error(e, "EXCEPTION RAISED");
Console.WriteLine(e.StackTrace);
Console.WriteLine(e.Message);
return(null);
}
}
return(null);
}
public GridNavigationTask(State t_startState, State t_goalState, float t_inflationFactor, ref List <State> t_path,
float t_tunnelDistanceThreshold, float t_tunnelTimeThreshold, ref List <State> t_spaceTimePath, GridTimeDomain t_gridTimeDomain,
TaskPriority t_taskPriority, TaskManager taskManager)
: base(taskManager, t_taskPriority) // defaults to a real-time task -- now what happens when both this and Global are first put in queue ??
{
taskType = TaskType.GridNavigationTask;
startState = t_startState;
goalState = t_goalState;
// EVENT : startState will trigger GridNavigationTask that STATE_CHANGED
startState.registerObserver(Event.STATE_POSITION_CHANGED, this);
// EVENT : goalState will trigger GridNavigationTask that STATE_CHANGED
goalState.registerObserver(Event.STATE_POSITION_CHANGED, this);
// EVENT : goalState will trigger GridNavigationTask that it is GOAL_INVALID or VALID
goalState.registerObserver(Event.GOAL_INVALID, this);
goalState.registerObserver(Event.GOAL_VALID, this);
inflationFactor = t_inflationFactor;
//planner = t_planner;
outputPlan = new Dictionary <DefaultState, ARAstarNode>();
path = t_path;
// TODO : deprecate these lists
List <PlanningDomainBase> domainList = new List <PlanningDomainBase>();
ARAstarDomain araStarDomain = new ARAstarDomain();
araStarDomain.setPlanningTask(this);
domainList.Add(araStarDomain);
gridPlanner = new ARAstarPlanner();
gridPlanner.init(ref domainList, 100);
initialized = true;
obstacleChanged = false;
obstacleChangedData = new List <object> ();
// tunnel planner variables
tunnelDistanceThreshold = t_tunnelDistanceThreshold;
tunnelTimeThreshold = t_tunnelTimeThreshold;
gridTimeDomain = t_gridTimeDomain;
spaceTimePath = t_spaceTimePath;
spaceTimePathStatus = false;
dynamicChange = false;
currentlyExecutingTask = false;
gridPathStatus = PathStatus.NoPath;
}
public Boolean IsValid(PathStatus status)
{
return(status switch
{
Utils.IO.PathStatus.All => PathUtils.IsValidUrl(Path),
Utils.IO.PathStatus.Exist => PathUtils.IsUrlContainData(Path),
Utils.IO.PathStatus.NotExist => !PathUtils.IsUrlContainData(Path),
_ => throw new NotSupportedException($"{nameof(PathStatus)} {status} is not supported")
});
public UrlWatcher(String url, PathStatus status = Utils.IO.PathStatus.All)
{
if (!PathUtils.IsValidUrl(url))
{
throw new ArgumentException("Url is invalid");
}
Path = url;
PathStatus = status;
}
public void SetAllPathStatuses(PathStatus status)
{
this.InitializeComInterfaces();
try
{
this.port.SetAllPathStatuses(status);
}
catch (COMException exception)
{
throw new VdsException("The call to IVdsHbaPort::SetAllPathStatuses failed.", exception);
}
}
private void SetNextDestination()
{
Transform nextPoint = _patrolLoop.PatrolPoints[_currentPatrolLoopIndex];
IntVector3 nextPointMapPosition = LevelDataManager.Instance.WorldToArraySpace(nextPoint.position);
PathStatus pathStatus = _unit.Navigator.SetDestination(_unit.MoveController.MapPosition, nextPointMapPosition);
if (pathStatus == PathStatus.Invalid)
{
SetReadyToTransition(_onFailedToPath);
return;
}
}
private void PathFound(Waypoint[] path, PathStatus pathStatus)
{
if (pathStatus != PathStatus.Fail)
{
if (_pathCoroutine != null)
{
StopCoroutine(_pathCoroutine);
}
_path = path;
_pathCoroutine = FollowPath();
StartCoroutine(_pathCoroutine);
}
}
public BurstAStarPathFinder GetPath(GridNode from, GridNode to)
{
Id = _random.Next(1, int.MaxValue);
var jobResult = PathFindingJob.Complete(this,
ref Grid.InnerGrid, Areas, Id,
from.GridPoint, to.GridPoint,
AllowFlags, Grid.Transform.ToWorldMatrix);
Status = jobResult.PathStatus;
NodePath = jobResult.NodePath;
Path = jobResult.VectorPath;
return(this);
}
private void SetDestination()
{
// find a location away from the current hostile target
IntVector3 targetDestination = GetFleeLocation();
// listen to the move controller for pathing events
_unit.Navigator.OnArrivedFinalDestination += OnArrivedDestination;
// path to that safer location
PathStatus pathStatus = _unit.Navigator.SetDestination(_unit.MoveController.MapPosition, targetDestination);
if (pathStatus == PathStatus.Invalid)
{
OnArrivedDestination();
}
}
/// <summary>
/// Determines whether a complete path exists or not.
/// </summary>
/// <returns>
/// The path status.
/// </returns>
bool completePathExists()
{
Dictionary <DefaultState, ARAstarNode> tempDic = new Dictionary <DefaultState, ARAstarNode>();
foreach (KeyValuePair <DefaultState, ARAstarNode> keyval in Visited.dictionary)
{
tempDic[keyval.Key] = keyval.Value;
}
DefaultState s = goalPair.Key;
if (!stateReached.Equals(s))
{
Status = PathStatus.Incomplete;
}
while (!s.Equals(currentStart))
{
if (Visited.ContainsState(s) && Visited.nodeForState(s).g == Mathf.Infinity)
{
return(false);
}
if (!tempDic.ContainsKey(s))
{
Status = PathStatus.NoPath;
return(false);
}
else
{
DefaultState tempState = s;
s = tempDic[s].previousState;
tempDic.Remove(tempState);
}
}
if (selectedPlanningDomain.equals(stateReached, goalState, false))
{
if (inflationFactor == 1.0f)
{
Status = PathStatus.Optimal;
}
else
{
Status = PathStatus.SubOptimal;
}
}
return(true);
}
private void FinishedRoutine()
{
if (pathStatus == PathStatus.Intersected)
{
OneStepBack();
for (; nodeStack.Peek().Designation != CellRole.EndNode;)
{
OneStepBack();
}
OneStepBack();
pathStatus = PathStatus.Nonintersected;
}
GetSessionStatus = SessionStatus.Idle;
EventServices.GenericInstance.InvokeOnFlowUpdate(pathStack.Count);
WinCondition();
}
public ArbiterFLS()
{
Shoot = new PathStatus(1);
Pass = new PathStatus(2);
BallX = new BallXLocation(3);
BallY = new BallYLocation(4);
Priority = new Priority(5);
listInput = new List <FuzzySet <IInputFuzzyMember> >()
{
Shoot, Pass, BallX, BallY
};
var rules = CreateRules();
var ruleBase = new EvaluationTreeRuleBase(listInput, Priority, rules);
fls = new FuzzyLogicSystem(new Fuzzifier(), new CenterOfSumsDefuzzifier(), ruleBase);
}
public void Search(NavNode start, NavNode end)
{
//Reset our status if need be (ie:this object is cached).
if (_cachedStart != start)
{
_pathStatus = PathStatus.searching;
}
if (_pathStatus == PathStatus.searching || _pathStatus == PathStatus.failure)
{
//if path is unfound or failed to find
_tilemapNavigation.StartCoroutine(FindAllPaths(start, end, 100));
//high iteration number basically means "we need it now!"
//sadly it restarts. Could we have it find a currently running coroutine and change the iteration value?
//that would be neat
}
}
public void tryARAStarPlanner(List <State> spaceTimePath)
{
gridTimeDomain.UseTunnelSearch(tunnel);
DefaultState defStartState = startState as DefaultState;
DefaultState defLastState = lastState as DefaultState;
Dictionary <DefaultState, ARAstarNode> araStarPlan = new Dictionary <DefaultState, ARAstarNode>();
float inflationFactor = 2.5f;
PathStatus status = araStarPlanner.computePlan(ref defStartState, ref defLastState, ref araStarPlan, ref inflationFactor, maxTime);
DefaultState stateReached = araStarPlanner.FillPlan();
Debug.Log("TUNNEL ARA SEARCH TEST " + araStarPlan.Count + " status " + status.ToString());
generateSpaceTimePlanStack(defStartState, stateReached, araStarPlan, spaceTimePath);
gridTimeDomain.DisableTunnelSearch();
}
public KTreeNode(KfsStatusPath obj, ImageListManager mgr, IAppHelper _helper)
: base()
{
Debug.Assert(obj.IsDir());
m_helper = _helper;
m_childs = new SortedDictionary<string, KListViewItem>();
m_onServer = obj.OnServer();
m_lvImageListMgr = mgr;
this.Text = obj.IsRoot() ? "Share" : obj.Name;
this.ImageKey = "FolderClosed";
this.SelectedImageKey = "FolderOpened";
m_status = obj.Status;
m_name = obj.Name;
CreateChilds(obj);
}
// Use this for initialization
void Start()
{
planner = new ARAstarPlanner();
BestFirstPlanner = new BestFirstSearchPlanner();
GetComponent <NeighbourObstacles>().Init();
GridTimeDomain domain = new GridTimeDomain(GetComponent <NeighbourObstacles>(), GetComponent <NeighbourAgents>());
List <PlanningDomainBase> dl = new List <PlanningDomainBase>();
dl.Add(domain);
DefaultState startState = new GridTimeState(transform.position) as DefaultState;
DefaultState goalState = new GridTimeState(new Vector3(5, 0.5f, 0), 5.0f) as DefaultState;
plan = new Dictionary <DefaultState, ARAstarNode>();
outputPlan = new Stack <DefaultState>();
if (BestFirstSearchPlanner)
{
BestFirstPlanner.init(ref dl, 200);
bool completed = BestFirstPlanner.computePlan(ref startState, ref goalState, ref outputPlan, 10.0f);
Debug.Log("BestFirst Plan " + outputPlan.Count);
Debug.Log("Plan found: " + completed);
}
else
{
planner.init(ref dl, 200);
float inflationFactor = 2.5f;
PathStatus status = planner.computePlan(ref startState, ref goalState, ref plan, ref inflationFactor, 10.0f);
planner.FillPlan();
Debug.Log("ARA Plan " + plan.Count);
Debug.Log("Nodes Expanded: " + planner.Close.Elements().Count);
Debug.Log("Status: " + status);
}
}
// set the destination
public PathStatus SetDestination(IntVector3 start, IntVector3 destination)
{
ClearDestination();
PathStatus pathStatus = MapService.GetPathToDestination(
start,
destination,
_currentPath,
_unit,
_unit.UnitData.TraversableThreshold
);
if (pathStatus == PathStatus.Invalid)
{
ArrivedFinalDestination();
return(PathStatus.Invalid);
}
_isPathing = true;
_moveController.OnMapPositionUpdated += OnMapPositionUpdated;
UpdateCurrentDestination();
_targetPosition = destination;
OnTargetPositionSet?.Invoke(destination);
return(PathStatus.Complete);
}
private void search()
{
status = PathStatus.inProcess;
//Nodes to search
List <Node> openSet = new List <Node>();
List <Node> closedSet = new List <Node>();
//Debug.Log("Starting search");
openSet.Add(start);
while (openSet.Count > 0)
{
Node current = openSet[0];
openSet.RemoveAt(0);
closedSet.Add(current);
if (current.occCode != -1 && UnitManager.manager.getUnitFromUnitCodes(current.occCode).teamCode != teamCode)
{
result = UnitManager.manager.getUnitFromUnitCodes(current.occCode);
status = PathStatus.succeeded;
return;
}
foreach (Node n in Map.getNeighbors(current))
{
if (n != null && !closedSet.Contains(n) && Vector3.Distance(start.position, n.position) <= range)
{
if (!openSet.Contains(n))
{
openSet.Add(n);
}
}
}
}
status = PathStatus.failed;
}
// Update is called once per frame
void Update()
{
if (Input.GetKeyDown(KeyCode.A))
{
Debug.Log("Planning");
DStartState = new ARAstarState(startObject.transform.position) as DefaultState;
DGoalState = new ARAstarState(goalObject.transform.position) as DefaultState;
DPrevGoalState = prevGoalState as DefaultState;
actions.Clear();
planner.OneStep = false;
//planner.computePlan(ref DStartState, ref DGoalState, DPrevGoalState, ref outputPlan, ref inflationFactor, 1.0f);
PlanStatus = planner.computePlan(ref DStartState, ref DGoalState, ref outputPlan, ref inflationFactor, 10.0f);
Debug.Log("Status: " + PlanStatus);
if (PlanStatus == PathStatus.NoPath)
{
Debug.LogWarning("NO PLAN. PLANNING AGAIN");
//inflationFactor = 2.5f;
PlanStatus = planner.computePlan(ref DStartState, ref DGoalState, ref outputPlan, ref inflationFactor, 10.0f);
}
new WaitForEndOfFrame();
}
if (Input.GetKeyDown(KeyCode.Z))
{
showOpen = !showOpen;
}
if (Input.GetKeyDown(KeyCode.C))
{
showClose = !showClose;
}
if (Input.GetKeyDown(KeyCode.X))
{
showVisited = !showVisited;
}
if (Input.GetKeyDown(KeyCode.V))
{
showIncons = !showIncons;
}
if (Input.GetKeyDown(KeyCode.Q))
{
DStartState = new ARAstarState(startObject.transform.position) as DefaultState;
PlanStatus = PathStatus.NoPath;
planner.restartPlanner();
}
if (Input.GetKeyDown(KeyCode.S))
{
Debug.Log("Planning");
DStartState = new ARAstarState(startObject.transform.position) as DefaultState;
DGoalState = new ARAstarState(goalObject.transform.position) as DefaultState;
DPrevGoalState = prevGoalState as DefaultState;
actions.Clear();
//planner.computePlan(ref DStartState, ref DGoalState, DPrevGoalState, ref outputPlan, ref inflationFactor, 1.0f);
planner.OneStep = true;
PlanStatus = planner.computePlan(ref DStartState, ref DGoalState, ref outputPlan, ref inflationFactor, 10.0f);
Debug.Log("Status: " + PlanStatus);
new WaitForEndOfFrame();
}
if (Input.GetKeyDown(KeyCode.Return))
{
if (actions.Count > 0)
{
ARAstarAction action = actions.Pop();
Debug.Log("Direction: " + action.direction);
Vector3 prevPost = startObject.transform.position;
startObject.transform.position = new Vector3(prevPost.x + action.direction.x, prevPost.y + action.direction.y, prevPost.z + action.direction.z);
}
ARAstarPlanner.moved = true;
}
if (selectedGameObject != null)
{
if (Input.GetKeyDown(KeyCode.RightArrow))
{
moveSelectedObjectWithDirection(1.0f, 0.0f, 0.0f);
}
else if (Input.GetKeyDown(KeyCode.LeftArrow))
{
moveSelectedObjectWithDirection(-1.0f, 0.0f, 0.0f);
}
else if (Input.GetKeyDown(KeyCode.UpArrow))
{
moveSelectedObjectWithDirection(0.0f, 0.0f, 1.0f);
}
else if (Input.GetKeyDown(KeyCode.DownArrow))
{
moveSelectedObjectWithDirection(0.0f, 0.0f, -1.0f);
}
}
if (Input.GetMouseButtonDown(0))
{
RaycastHit hit;
Debug.Log("Mouse Down");
Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
if (Physics.Raycast(ray, out hit, 100.0f))
{
Debug.Log("Selected");
selectedGameObject = hit.transform.gameObject;
Debug.Log("Position: " + selectedGameObject.transform.position);
}
else
{
Debug.Log("Nothing selected");
}
}
if (Input.GetKeyDown(KeyCode.Space))
{
Debug.Log("Obstacle Moved Update");
Debug.Log("Prev: " + (previousState as ARAstarState).state);
Debug.Log("Curret: " + (currentState as ARAstarState).state);
planner.UpdateAfterObstacleMoved(previousState, currentState);
}
if (Input.GetKeyDown(KeyCode.P))
{
DefaultState stateReached = planner.FillPlan();
fillActionStack(stateReached);
}
}
public override TaskStatus execute(float maxTime)
{
// TODO : make sure start and goal are set to integers -- else this planner will crash, never return
// TODO : make sure the 'y' value is consistent throughout -- causes big problems
// as soon as u see the planner expanding max nodes -- u know its prob y value .
bool doWeNeedToGridPlan = false;
if (firstPlan == false) doWeNeedToGridPlan = true;
if (startChanged == true && firstPlan == true )
{
Debug.LogError("HANDLING START CHANGE " );
DefaultState newStartState = new ARAstarState( startState.getPosition() ) as DefaultState;
gridPlanner.UpdateAfterStartMoved(newStartState);
startChanged = false;
doWeNeedToGridPlan = true;
}
// handle obstacle changes here
if (obstacleChanged == true && firstPlan == true)
{
Debug.LogError("HANDLING OBSTACLE CHANGE");
foreach (object data in obstacleChangedData)
{
Vector3[] pc = (Vector3[]) data; // {oldPos, newPos}
DefaultState ps = new ARAstarState( pc[0] ) as DefaultState;
DefaultState ns = new ARAstarState( pc[1] ) as DefaultState;
gridPlanner.UpdateAfterObstacleMoved(ps, ns);
}
obstacleChanged = false;
obstacleChangedData.Clear ();
doWeNeedToGridPlan = true;
}
if (goalChanged == true && firstPlan == true) // update goal is called only if we have already planned once
{
Debug.LogError("HANDLING GOAL CHANGE");
DefaultState newGoalState = new ARAstarState( goalState.getPosition() ) as DefaultState;
gridPlanner.UpdateAfterGoalMoved(newGoalState);
doWeNeedToGridPlan = true;
}
// SINISTER BUG THAT GOALCHANGED WAS NOT BEING SET TO FALSE IF firstPlan was false -- always set it when we come here
goalChanged = false;
// grid planning only if start, goal, or obstracle changed OR first time
if (doWeNeedToGridPlan)
{
Debug.Log("grid Planning from " + startState.getPosition() + "to " + goalState.getPosition() + " " + doWeNeedToGridPlan + " " + firstPlan);
DefaultState DStartState = new ARAstarState(startState.getPosition()) as DefaultState;
DefaultState DGoalState = new ARAstarState(goalState.getPosition()) as DefaultState;
gridPathStatus = gridPlanner.computePlan(ref DStartState, ref DGoalState, ref outputPlan, ref inflationFactor, 1.0f);
Debug.Log("grid Plan result : " + gridPathStatus);
// filling plan -- made separate operations now
DefaultState stateReached = gridPlanner.FillPlan();
generatePlanList (stateReached);
if ( firstPlan == false ) firstPlan = true;
}
// space time planning only if grid plan chagned or DYNAMIC CHANGE
if ( doWeNeedToGridPlan || dynamicChange || firstPlan)
{
Debug.LogError("SPACE TIME PLANNING");
spaceTimePathStatus = false;
if (gridPathStatus == PathStatus.NoPath || gridPathStatus == PathStatus.Incomplete )
{
Debug.LogError("GRID PLAN IS INCOMPLETE OR NO PATH EXISTS -- CANNOT DO TUNNEL PLANNING");
}
else
spaceTimePathStatus = doTunnelTask ();
dynamicChange = false; // just assuming it was handled here for now
}
// TODO : accomodate tunnel status in this
//if ( finished != PathStatus.Optimal)
if ( gridPathStatus == PathStatus.Incomplete || spaceTimePathStatus == false)
setTaskPriority(TaskPriority.RealTime);
else
setTaskPriority(TaskPriority.Inactive);
return TaskStatus.Success;
}
// defaults to a real-time task -- now what happens when both this and Global are first put in queue ??
public GridNavigationTask(State t_startState, State t_goalState, float t_inflationFactor, ref List<State> t_path,
float t_tunnelDistanceThreshold, float t_tunnelTimeThreshold, ref List<State> t_spaceTimePath, GridTimeDomain t_gridTimeDomain,
TaskPriority t_taskPriority, TaskManager taskManager)
: base(taskManager, t_taskPriority)
{
taskType = TaskType.GridNavigationTask;
startState = t_startState;
goalState = t_goalState;
// EVENT : startState will trigger GridNavigationTask that STATE_CHANGED
startState.registerObserver(Event.STATE_POSITION_CHANGED, this);
// EVENT : goalState will trigger GridNavigationTask that STATE_CHANGED
goalState.registerObserver(Event.STATE_POSITION_CHANGED, this);
// EVENT : goalState will trigger GridNavigationTask that it is GOAL_INVALID or VALID
goalState.registerObserver(Event.GOAL_INVALID, this);
goalState.registerObserver(Event.GOAL_VALID, this);
inflationFactor = t_inflationFactor;
//planner = t_planner;
outputPlan = new Dictionary<DefaultState, ARAstarNode>();
path = t_path;
// TODO : deprecate these lists
List<PlanningDomainBase> domainList = new List<PlanningDomainBase>();
ARAstarDomain araStarDomain = new ARAstarDomain ();
araStarDomain.setPlanningTask(this);
domainList.Add(araStarDomain);
gridPlanner = new ARAstarPlanner();
gridPlanner.init(ref domainList, 100);
initialized = true;
obstacleChanged = false;
obstacleChangedData = new List<object> ();
// tunnel planner variables
tunnelDistanceThreshold = t_tunnelDistanceThreshold;
tunnelTimeThreshold = t_tunnelTimeThreshold;
gridTimeDomain = t_gridTimeDomain;
spaceTimePath = t_spaceTimePath;
spaceTimePathStatus = false;
dynamicChange = false;
currentlyExecutingTask = false;
gridPathStatus = PathStatus.NoPath;
}
public Path <IntPointNode> FindPath(IPathNode start, IPathNode goal, bool reset)
{
if (start == null || goal == null)
{
return(new Path <IntPointNode>(new IntPointNode[] { }, 0f, PathStatus.DESTINATION_UNREACHABLE, 0));
}
if (start == goal)
{
return(new Path <IntPointNode>(new IntPointNode[] { }, 0f, PathStatus.ALREADY_THERE, 0));
}
int testCount = 0;
if (reset)
{
Reset();
}
start.IsStartNode = true;
goal.IsGoalNode = true;
List <IntPointNode> resultNodeList = new List <IntPointNode>();
IPathNode currentNode = start;
IPathNode goalNode = goal;
currentNode.Visited = true;
currentNode.LinkLeadingHere = null;
AStarStack nodesToVisit = new AStarStack();
PathStatus pathResult = PathStatus.NOT_CALCULATED_YET;
testCount = 1;
while (pathResult == PathStatus.NOT_CALCULATED_YET)
{
foreach (PathLink l in currentNode.Links)
{
IPathNode otherNode = l.GetOtherNode(currentNode);
if (!otherNode.Visited)
{
TryQueueNewNode(otherNode, l, nodesToVisit, goalNode);
}
}
if (nodesToVisit.Count == 0)
{
pathResult = PathStatus.DESTINATION_UNREACHABLE;
}
else
{
currentNode = nodesToVisit.Pop();
testCount++;
currentNode.Visited = true;
if (currentNode == goalNode)
{
pathResult = PathStatus.FOUND_GOAL;
}
}
}
// Path finished, collect
float tLength = 0;
if (pathResult == PathStatus.FOUND_GOAL)
{
tLength = currentNode.PathCostHere;
while (currentNode != start)
{
resultNodeList.Add((IntPointNode)currentNode);
currentNode = currentNode.LinkLeadingHere.GetOtherNode(currentNode);
}
resultNodeList.Add((IntPointNode)currentNode);
resultNodeList.Reverse();
}
return(new Path <IntPointNode>(resultNodeList.ToArray(), tLength, pathResult, testCount));
}
public PathResult(PathStatus status = PathStatus.NotFound)
{
_status = status;
_path = new List <PathEdge>();
}
public void UpdateInfos(KfsStatusPath obj)
{
m_fileName = obj.Name;
if ((obj.IsDir() && obj.HasServerDir()) ||
(obj.IsFile() && obj.HasServerFile() && !((KfsServerFile)obj.ServerObject).HasCurrentVersion()))
{
// Get the creator if obj is a directory on the server or if its a new file
// that has no current version yet.
m_modifiedBy = m_helper.GetUserDisplayName((UInt32)obj.ServerObject.CreationUserID);
}
else if(obj.IsFile() && obj.HasServerFile() &&
((KfsServerFile)obj.ServerObject).HasCurrentVersion() &&
(obj.Status != PathStatus.ModifiedCurrent && obj.Status != PathStatus.ModifiedStale))
{
// We have a file and its current version, and it is NOT modified locally.
m_modifiedBy = m_helper.GetUserDisplayName(((KfsServerFile)obj.ServerObject).CurrentVersion.UserID);
}
else
{
m_modifiedBy = m_helper.GetUserDisplayName(m_helper.GetKwmUserID());
}
m_modifiedDate = obj.LastModifiedDate;
m_path = obj.Path;
m_status = obj.Status;
m_onServer = obj.OnServer();
m_size = obj.Size;
m_isFile = obj.IsFile();
m_isDirectory = obj.IsDir();
this.Text = m_fileName;
this.Name = m_fileName;
// FIXME : need a way to distinguish between an upload and a download.
// Always set the icon, play with ShowIcon to display it or not.
// This crashes the kwm with a Corrupted memory exception. See if the ressource is ok.
/*((CustomListViewSubItem)SubItems[TransferStatusKey]).icon = KwmAppControls.Properties.Resources.download;
if (obj.Share.IsTransferringFile(m_path))
((CustomListViewSubItem)SubItems[TransferStatusKey]).showIcon = true;
else
((CustomListViewSubItem)SubItems[TransferStatusKey]).showIcon = true;
* */
SubItems[ModifiedDateKey].Text = m_modifiedDate.ToString();
SubItems[ModifiedByKey].Text = m_modifiedBy;
if (m_size != UInt64.MaxValue)
SubItems[SizeKey].Text = Base.GetHumanFileSize(m_size);
else if (m_status == PathStatus.Directory)
SubItems[SizeKey].Text = "";
else
SubItems[SizeKey].Text = "In progress...";
if (m_status == PathStatus.Directory)
{
if (obj.OnServer())
SubItems[StatusKey].Text = "";
else
SubItems[StatusKey].Text = "Not Added";
}
else
{
SubItems[StatusKey].Text = Base.GetEnumDescription(m_status);
m_hasCurrentVersion = (obj.HasServerFile() && ((KfsServerFile)obj.ServerObject).HasCurrentVersion());
}
Font strikeout = new Font(this.Font, FontStyle.Strikeout);
Font standard = new Font(this.Font, FontStyle.Regular);
Font italic = new Font(this.Font, FontStyle.Italic);
// Set default color and style
this.Font = standard;
this.ForeColor = Color.Black;
// Modify color / style for specific statuses.
switch (m_status)
{
case PathStatus.NotAdded:
this.Font = italic;
break;
case PathStatus.Directory:
if (!m_onServer)
this.Font = italic;
break;
case PathStatus.DirFileConflict:
case PathStatus.FileDirConflict:
case PathStatus.ModifiedStale:
this.ForeColor = Color.Red;
break;
case PathStatus.NotDownloaded:
this.ForeColor = Color.DarkGray;
break;
}
}
public MapGooglePath()
{
_pathPoint = new List<MapGooglePoint>();
this._pathStatus = PathStatus.none;
}
public MapGooglePath(List<MapGooglePoint> pathPoint)
{
this._pathPoint = new List<MapGooglePoint>();
this._pathPoint = pathPoint;
this._pathStatus = PathStatus.p;
}
/// <summary>
/// Return true if the Listview selected items all have the
/// same PathStatus
/// </summary>
/// <param name="_desiredStatus"></param>
/// <returns></returns>
private bool EntireLvSelectionHasStatus(PathStatus _desiredStatus)
{
foreach (KListViewItem itm in lvFileList.SelectedItems)
{
if (itm.Status != _desiredStatus)
return false;
}
return true;
}
private void OnUpdateStatus(PathStatus status)
{
this.Dispatcher.BeginInvoke(DispatcherPriority.Background, new Action(() => _status_paths.Add(status)));
}
public void FinishedProcessingPath(Waypoint[] path, PathStatus pathStatus)
{
_currentPathRequest.Callback(path, pathStatus);
_isProcessingPath = false;
TryProcessNext();
}
/// <summary>
/// Update the status of path.
/// </summary>
public void UpdateStatus()
{
Debug.Assert(LocalObject != null || ServerObject != null);
if (LocalObject == null)
{
// This is a server ghost.
if (ServerObject.IsGhost()) Status = PathStatus.ServerGhost;
// This is a remote directory.
else if (ServerObject is KfsServerDirectory) Status = PathStatus.Directory;
// This is a not-downloaded file.
else Status = PathStatus.NotDownloaded;
}
else if (LocalObject is KfsLocalDirectory)
{
// There is no directory conflict.
if (ServerObject == null || ServerObject is KfsServerDirectory || ServerObject.IsGhost())
Status = PathStatus.Directory;
// There is a directory/file conflict.
else Status = PathStatus.DirFileConflict;
}
else
{
Debug.Assert(LocalObject is KfsLocalFile);
// The file has no version on the server.
if (ServerObject == null ||
(ServerObject is KfsServerFile && !ServerObject.HasCurrentVersion()))
{
Status = PathStatus.NotAdded;
}
// There is a file/directory conflict.
else if (ServerObject is KfsServerDirectory)
{
Status = PathStatus.FileDirConflict;
}
else
{
Debug.Assert(ServerObject is KfsServerFile);
KfsLocalFile localFile = LocalObject as KfsLocalFile;
KfsServerFile serverFile = ServerObject as KfsServerFile;
// The current local status is unknown or the server view does not
// see the local file. In either case, the status is undetermined
// and we must ask for an update.
if (serverFile.CurrentLocalStatus == LocalStatus.Error ||
serverFile.CurrentLocalStatus == LocalStatus.Absent ||
serverFile.CurrentLocalStatus == LocalStatus.None)
{
Status = PathStatus.Undetermined;
Logging.Log(2, "Requesting update of file " + serverFile.RelativePath +
" in status view because current local status is " +
serverFile.CurrentLocalStatus + ".");
serverFile.RequestUpdate();
}
// The file is unmodified.
else if (serverFile.CurrentLocalStatus == LocalStatus.Unmodified)
{
// The current server version is the downloaded version, so the
// file is current.
if (serverFile.CurrentVersion == serverFile.DownloadVersion)
Status = PathStatus.UnmodifiedCurrent;
// The current server version is not downloaded version, so the
// file is stale.
else Status = PathStatus.UnmodifiedStale;
}
// The file is modified.
else
{
Debug.Assert(serverFile.CurrentLocalStatus == LocalStatus.Modified);
// The current server version is the downloaded version, so
// there is no conflict, as would say Darth Vador.
if (serverFile.CurrentVersion == serverFile.DownloadVersion)
Status = PathStatus.ModifiedCurrent;
// The downloaded version exists but it is not the current
// version, so there is a conflict, or the user created his own
// file at the location of a non-downloaded server file. Since
// the user is possibly unaware of this fact, we must also
// report it as modified stale (conflict).
else Status = PathStatus.ModifiedStale;
}
}
}
}
public override void OnTick() => PathStatus.Draw();
private void OnUpdateStatus(PathStatus status)
{
this.Dispatcher.BeginInvoke(DispatcherPriority.Background, new Action(() => _status_paths.Add(status)));
}