public Brain(MapExplored mapExplored, Robot robot)
{
_mapExplored = mapExplored;
_robot = robot;
// set first waypoint
// CreateNextWaypoint();
}
public Sensor(Robot robot, Canvas canvas, Sight sight)
{
Robot = robot;
Sight = sight;
Canvas = canvas;
BaseArea = new Lazy<CartesianArray<MapElementStatus>>(
() => CartesianArray<MapElementStatus>.FromArray(GetBaseFieldMap(GetStructureBitmap(Canvas))));
}
private void buildMap()
{
// get reference of robot
if (_map != null)
{
_robot = _map.Elements.OfType<Robot>().First();
_robot.Initialize(_mapArea, new Sensor(_robot, _mapArea, new Sight { Angle = 180, Reach = int.MaxValue }));
_minimap = new Minimap(_minimapArea, _minimapAreaVisited, _robot.MapExplored);
}
}
public CartesianArray<MapElementStatus> GetRobotCenteredMapCopy(Robot robot, CartesianArray<MapElementStatus> src)
{
var copy = src.Clone();
copy.XOffset = - robot.StartPosition.X;
copy.YOffset = - (src.Height - robot.StartPosition.Y);
return copy;
}