private void scanRoom()
{
ProximitySensor.scanRoom();
for (int i = 0; i < roomMaxX; i++)
for (int j = 0; j < roomMaxY; j++)
{
if (getFieldType(i, j) == FieldType.UNKNOWN)
setFieldType(i, j, ProximitySensor.getFieldType(i, j));
}
}
private void InitializeSimulation()
{
room = new Room("Room.txt");
ProximitySensor prSens = new ProximitySensor(room);
DrivingUnit drivingUnit = new DrivingUnit(room);
robot = new Robot(prSens, drivingUnit, room);
Thread t = new Thread(new ThreadStart(runSimulation));
t.IsBackground = true;
t.Start();
}
public Robot(ProximitySensor proximitySensor, DrivingUnit drivingUnit, Room room_)
{
ProximitySensor = proximitySensor;
DrivingUnit = drivingUnit;
room = new FieldType[room_.MaxX, room_.MaxY];
for (int i = 0; i < room_.MaxX; ++i) for (int j = 0; j < room_.MaxY; ++j) {room[i,j] = FieldType.UNKNOWN;}
roomMaxX = room_.MaxX;
roomMaxY = room_.MaxY;
radius = 1;
positionX = room_.RobotX;
positionY = room_.RobotY;
algorithm1 = new RandomPathChooserAlgorithm(this);
algorithm2 = new DepthFirstSearchPathChooserAlgorithm(this);
}