public RouteFindingNode(AbstractNode parent, AbstractAction action, RouteFindingState state, RouteFindingState target)
: base(state, target, parent, action)
{
if (this.Parent != null && this.Action != null)
this.PathCost = this.Parent.PathCost + action.Cost;
this.EstimatedTotalPathCost = this.PathCost + Math.Sqrt(Math.Pow(state.X - target.X, 2) + Math.Pow(state.Y - target.Y, 2));
}
protected RouteFindingState GetOrCreateState(int px, int py)
{
var tmpState = new RouteFindingState(px, py);
var state = this.States.SingleOrDefault(s => s.Equals(tmpState));
if (state == null)
{
state = new RouteFindingState(px, py);
this.States.Add(state);
}
return (RouteFindingState)state;
}
public void Run()
{
Console.WriteLine();
Console.WriteLine("--- " + this.Name + " ---");
var succeeded = 0;
foreach (var test in this.Tests)
{
Console.Write("Test: " + test.Name);
SearchResult result;
if (this.IsInference)
{
var kb = InferenceKnowledgeBase.ParseFile(test.File);
var parsedTarget = InferenceKnowledgeBase.ParseString(test.Target).Rules.First();
var targetState = new InferenceState(parsedTarget.Clause);
result = AStar.Search(new InferenceNode(targetState, new InferenceState()), kb);
}
else
{
Console.Write(" ... Parsing");
var kb = RouteFindingKnowledgeBase.Parse(File.ReadAllText(test.File));
var coords = test.Target.Split(',');
var startCoord = coords[0].Split(' ');
var endCoord = coords[1].Split(' ');
var startState = new RouteFindingState(int.Parse(startCoord[0]), int.Parse(startCoord[1]));
var endState = new RouteFindingState(int.Parse(endCoord[0]), int.Parse(endCoord[1]));
Console.Write(" ... Solving");
result = AStar.Search(new RouteFindingNode(startState, endState), kb);
}
if (result.Succeeded == test.Exepected)
succeeded++;
Console.Write(result.Succeeded == test.Exepected ? ": SUCCESS" : ": FAILURE");
Console.WriteLine((result.Succeeded ? " (solved " : " (not solved ") + "in " + result.Iterations + (result.Iterations == 1 ? " iteration)" : " iterations)"));
}
var succesRatio = (100 * succeeded) / (double)this.Tests.Count;
Console.WriteLine("Passed " + succeeded + " of " + this.Tests.Count + " (" + succesRatio.ToString("000") + "%)");
}
public static void DrawKnowledgeBase(Graphics gfx, RouteFindingNode traceNode, RouteFindingKnowledgeBase kb, RouteFindingState startState, RouteFindingState endState)
{
var offset = 10;
var scale = Math.Max(kb.MaxX, kb.MaxY);
scale = 400 / scale;
// Draw map of routes
var pen = new Pen(Color.FromArgb(100, 1, 1, 0)) { Width = 5 };
pen.EndCap = LineCap.ArrowAnchor;
pen.StartCap = LineCap.RoundAnchor;
foreach (var action in kb.Actions.Select(a => (RouteFindingAction)a))
gfx.DrawLine(pen, action.StartState.X * scale + offset, action.StartState.Y * scale + offset,
action.EndState.X * scale + offset, action.EndState.Y * scale + offset);
// Draw calculated route
pen = new Pen(Color.FromArgb(255, 0, 255, 0)) { Width = 2.4f };
var last = endState;
while (traceNode != null)
{
gfx.DrawLine(pen, last.X * scale + offset, last.Y * scale + offset, traceNode.State.X * scale + offset, traceNode.State.Y * scale + offset);
last = traceNode.State;
traceNode = traceNode.Parent;
}
// Draw end marker
pen = new Pen(Color.FromArgb(255, 255, 0, 0)) { Width = 3 };
var esize = 12;
gfx.DrawEllipse(pen,
(int)(endState.X * scale - esize * .5) + offset,
(int)(endState.Y * scale - esize * .5) + offset,
esize, esize);
// Draw start marker
pen = new Pen(Color.FromArgb(255, 0, 0, 255)) { Width = 3 };
esize = 12;
gfx.DrawEllipse(pen,
(int)(startState.X * scale - esize * .5) + offset,
(int)(startState.Y * scale - esize * .5) + offset,
esize, esize);
}
public RouteFindingNode(RouteFindingState state, RouteFindingState target)
: this(null, null, state, target)
{
}
