public Robot(int x, int y, int r, char d)
{
this.X = x;
this.Y = y;
this.Range = r;
this.Dir = d;
//empty memory for robot
this.Memory = new Map();
this.XGoal = 13;
this.YGoal = 18;
this.XStart = 1;
this.YStart = 1;
this.StartNode = new Node(this.XStart, this.YStart);
this.GoalNode = new Node(this.XGoal, this.YGoal);
this.ShortestPath = new List<Node>();
this.VirtualMap = new Map();
}
public Simulator(Robot r, Map m)
{
this.Robot = r;
this.Map = m;
this.Robot.Env = this.Map;
}
public Simulator()
{
this.Robot = new Robot(1, 1, 1,'U');
this.Map = new Map();
}
private void updateRealTimeMap(string s)
{
int x, y;
bool result = Int32.TryParse(s.Substring(1,2), out x);
if (!result)
Console.WriteLine("String could not be parsed.");
result = Int32.TryParse(s.Substring(3, 2), out y);
if (!result)
Console.WriteLine("String could not be parsed.");
Console.WriteLine("X = {0}, Y = {1}", x, y);
Console.WriteLine("String size: " + s.Length);
int[,] data = new int[20, 15];
int pointer = 5;
try
{
for (int i = 0; i < 20; i++)
{
for (int j = 0; j < 15; j++)
{
data[i, j] = (int)Char.GetNumericValue(s[pointer++]);
}
}
}
catch (Exception e)
{
Console.WriteLine("The map size may not be 300 chars");
}
Map memory = new Map(data);
memory.print();
this.realTimeRobot.Memory = memory;
this.realTimeRobot.X = x;
this.realTimeRobot.Y = y;
if (!this.fastestRuning)
{
bool saved = this.realTimeRobot.Memory.saveToHardDriveRealTime("E:/Git/MDP-Jan-2015/PCSimulator/MDPSimulator/");
if (saved)
{
displayConsoleMessage("Map descriptor exported successfully!");
}
else
displayConsoleMessage("Failed to export map descriptor!");
}
if (s[s.Length - 1] == 'F')
{
this.fastestRuning = true;
}
}
private void dfsExplore_Click(object sender, RoutedEventArgs e)
{
this.displayConsoleMessage("Exploring using DFS...");
Robot robot = new Robot();
this.map = new Map(mapDescriptor);
this.simulator = new Simulator(robot, map);
this.simulator.Robot.ChangePosition += new Robot.RobotMovingHandler(updateRobotPosition);
this.simulator.Robot.SendingMessage += new Robot.RobotSendingMessage(displayRobotMessage);
this.timeLimit = UserSetting.TimeLimit;
this.coverageLimit = UserSetting.CoverageLimit;
timer.Start();
if (exploreThread!=null)
exploreThread.Abort();
exploreThread = new Thread(this.simulator.dfsExplore);
exploreThread.Start();
}
private void setUpSimulator()
{
Robot robot = new Robot();
robot.X = init_Y;
robot.Y = init_X;
robot.Dir = 'D';
this.map = new Map(mapDescriptor);
this.simulator = new Simulator(robot, map);
this.simulator.Robot.ChangePosition += new Robot.RobotMovingHandler(updateRobotPosition);
this.simulator.Robot.SendingMessage += new Robot.RobotSendingMessage(displayRobotMessage);
this.timeLimit = UserSetting.TimeLimit;
this.TimerProgressbar.Value = 100;
this.coverageLimit = UserSetting.CoverageLimit;
}
private void exploreButton_Click(object sender, RoutedEventArgs e)
{
if (radioButtons[1])
{
dfsExplore();
return;
}
else if (!radioButtons[0])
{
this.displayConsoleMessage("Please Select Exploration Algorithm!");
return;
}
this.displayConsoleMessage("Exploring using wall follower!!!");
Robot robot = new Robot();
this.map = new Map(mapDescriptor);
this.simulator = new Simulator(robot, map);
this.simulator.Robot.ChangePosition += new Robot.RobotMovingHandler(updateRobotPosition);
this.simulator.Robot.SendingMessage += new Robot.RobotSendingMessage(displayRobotMessage);
this.timeLimit = UserSetting.TimeLimit;
this.coverageLimit = UserSetting.CoverageLimit;
timer.Start();
exploreThread = new Thread(this.simulator.wallfollowerExplore);
exploreThread.Start();
}
public string realTimeShortestPath(string s)
{
int[,] data = new int[20, 15];
int pointer = 5;
string path;
try
{
for (int i = 0; i < 20; i++)
{
for (int j = 0; j < 15; j++)
{
data[i, j] = (int)Char.GetNumericValue(s[pointer++]);
}
}
}
catch (Exception e)
{
Console.WriteLine("The map size may not be 300 chars");
}
this.Memory = new Map(data);
Console.WriteLine("Data");
this.Memory.print();
fastestRun();
if (this.shortestPathComputed)
{
path = constructPathForRealTime();
OnSendingMessage("The mapping has no solution for shortest path");
return path;
}
else
{
return null;
}
}
public Robot()
{
this.X = 1;
this.Y = 1;
this.Range = 1;
this.Dir = 'U';
this.Memory = new Map();
this.XGoal = 13;
this.YGoal = 18;
this.XStart = 1;
this.YStart = 1;
this.StartNode = new Node(this.XStart, this.YStart);
this.GoalNode = new Node(this.XGoal, this.YGoal);
this.StartDFSNode = new DFSNode(this.XStart, this.YStart);
this.GoalDFSNode = new DFSNode(this.XGoal, this.YGoal);
this.ShortestPath = new List<Node>();
this.VirtualMap = new Map();
this.DFSNodes = new List<DFSNode>();
this.priorityNodes = new List<Node>();
this.CurrentCoverage = 0;
}
