public void TestFindEdges()
{
var edgeDetection = new EdgeDetectionAlgorithm();
var points = edgeDetection.GetEdgePoints(_map);
var edges = edgeDetection.GroupToEdges(points);
Assert.IsTrue(edges.Count() == 3);
}
private void CalculateNextTarget()
{
Point startFrom = LastValidPoint ?? _robot.StartPosition;
DebugHelper.StoreAsBitmap(string.Format("C:\\debugMinimap-{0}.png", DateTime.Now.Ticks), _mapExplored.Map);
_waypointQueue.Clear();
List<Point> route = null;
var DijkstraHelper = new DijkstraHelper(_mapExplored);
var goal = GetGoalPoint();
if (goal != null)
{
route = DijkstraHelper.GetPath(startFrom, goal, _pathLog);
}
if (route == null || !route.Any())
{
EdgeDetectionAlgorithm edgeDetection = new EdgeDetectionAlgorithm();
var edges = edgeDetection
.GroupToEdges(edgeDetection.GetEdgePoints(_mapExplored.Map))
.OrderByDescending(edge => edge.Width)
.ToList();
foreach (var edge in edges)
{
var path = DijkstraHelper.GetPath(startFrom, edge.CenterPoint, _pathLog);
if (path != null && path.Any())
{
route = path;
break;
}
}
}
if (route != null && route.Any())
{
route.ForEach(wp => _waypointQueue.Enqueue(wp));
}
else
{
SimulationEngine.EndSimulation("Robot stuck!");
//throw new ApplicationException("No further valid edges or target found!");
}
}