public void CompareFileTestBlockSizeone()
{
FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"), 5);
image1.printArray("../../testImagecomp_block5.txt");
int filebyte1;
int filebyte2;
// fs1 contains the newly created array file while fs2 contains the standard to check against for this block size 5
FileStream fs1 = new FileStream("../../testImagecomp_block5.txt", FileMode.Open);
FileStream fs2 = new FileStream("../../created.txt", FileMode.Open);
if (fs1.Length != fs2.Length)
{
fs1.Close();
fs2.Close();
Assert.IsTrue(false,"Incorrect file created - File lengths are different!");
return;
}
do
{
filebyte1 = fs1.ReadByte();
filebyte2 = fs2.ReadByte();
} while ((filebyte1 == filebyte2) && (filebyte1 != -1));
Assert.IsTrue((filebyte1 == filebyte2), "Newly created file and Original file does not match");
fs1.Close();
fs2.Close();
}
public Form1(FloorPlan fp, List<FloorTile> path)
{
InitializeComponent();
this.fp = fp;
this.path = path;
this.Draw();
}
public QGPathFinder(FloorPlan floorPlan)
{
this.messages += "- Checking Floor Plan...\n";
graph = new AdjacencyGraph<string, Edge<string>>(true);
edgeCost = new Dictionary<Edge<string>, double>(graph.EdgeCount);
this.fp = floorPlan;
if (this.fp.getStartTile() != null)
{
this.messages += " Start Point is OK...\n";
startPoint = this.fp.getStartTile().Position.X + "_" + this.fp.getStartTile().Position.Y;
}
else
{
this.messages += " Start Point is not valid...\n";
startPoint = "4_4";
}
if (this.fp.getTargetTile() != null)
{
this.messages += " Target Point is OK...\n";
targetPoint = this.fp.getTargetTile().Position.X + "_" + this.fp.getTargetTile().Position.Y;
}
else
{
this.messages += " Target Point is not valid...\n";
targetPoint = "4_6";
}
buildGraph();
}
public static FloorTile getTileByIndex(FloorPlan fp, string index)
{
string[] outPoint1 = Regex.Split(index, "_");
return fp.getTile(
System.Convert.ToInt32(outPoint1[0]),
System.Convert.ToInt32(outPoint1[1]));
}
private void drawFloorPlan(FloorPlan fp)
{
for (int i = 0; i < fp.getXTileNum(); i++)
{
for (int j = 0; j < fp.getYTileNum(); j++)
{
drawTile(fp.getTile(i, j));
}
}
}
public void buildGraphTest()
{
Image myimage = new Bitmap("../../testImage.jpg");
FloorPlan floorPlan = new FloorPlan(myimage, 5); // TODO: Initialize to an appropriate value
QGPathFinder target = new QGPathFinder(floorPlan); // TODO: Initialize to an appropriate value
int expected = 6354; // TODO: Initialize to an appropriate value
int actual;
actual = target.buildGraph().VertexCount;
Assert.AreEqual(expected, actual);
}
public FloorTile(int x, int y, bool walkable, FloorPlan floorPlan)
{
m_location.X = x;
m_location.Y = y;
m_walkable = walkable;
m_endPoint = false;
m_floorPlan = floorPlan;
m_neighbours = new List<FloorTile>();
m_start = false;
m_target = false;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="floorPlan">An image of the floorplan to be constructed</param>
/// <param name="scale">The scale of the image provided in pixels per foot</param>
public Status(FloorPlan fp)
{
m_FloorPlan = fp;
m_Moves = new List <FloorTile>();
m_Images = null;
m_Moves = new List <FloorTile>();
m_Position = new Position(new Point(0, 0), 0);
m_EndPoint = new Point(0, 0);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="floorPlan">An image of the floorplan to be constructed</param>
/// <param name="scale">The scale of the image provided in pixels per foot</param>
public Status(Image floorplan, double scale)
{
m_FloorPlan = new FloorPlan(floorplan, scale);
m_Moves = new List <FloorTile>();
m_Images = null;
m_Moves = new List <FloorTile>();
m_Position = new Position(new Point(0, 0), 0);
m_EndPoint = new Point(0, 0);
}
private Position m_Position; // The robot's current location and facing
#endregion Fields
#region Constructors
/// <summary>
/// Constructor
/// </summary>
/// <param name="floorPlan">An image of the floorplan to be constructed</param>
/// <param name="scale">The scale of the image provided in pixels per foot</param>
public Status(Image floorplan, double scale)
{
m_FloorPlan = new FloorPlan(floorplan, scale);
m_Moves = new List<FloorTile>();
m_Images = null;
m_Moves = new List<FloorTile>();
m_Position = new Position(new Point(0, 0), 0);
m_EndPoint = new Point(0, 0);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="floorPlan">An image of the floorplan to be constructed</param>
/// <param name="scale">The scale of the image provided in pixels per foot</param>
public Status(FloorPlan fp)
{
m_FloorPlan = fp;
m_Moves = new List<FloorTile>();
m_Images = null;
m_Moves = new List<FloorTile>();
m_Position = new Position(new Point(0, 0), 0);
m_EndPoint = new Point(0, 0);
}
/// <summary>
///get executing time for a path
///</summary>
public Int64 getPathExecutingTime(FloorPlan floorPlan, int StartX, int StartY, int TargetX, int TargetY)
{
Int64 ExecutingTime = 0;
floorPlan.setStartTile(StartX, StartY);
floorPlan.setTargetTile(TargetX, TargetY);
QGPathFinder target = new QGPathFinder(floorPlan);
List<FloorTile> actual;
DateTime StartTime = DateTime.Now;
actual = target.getPath();
DateTime EndTime = DateTime.Now;
TimeSpan t= EndTime - StartTime;
if (actual != null){
ExecutingTime = (Int64) t.TotalMilliseconds;
}
return ExecutingTime;
}
public void TestGetTile()
{
FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"), 5);
FloorTile tile = image1.getTile(10,12);
System.Diagnostics.Debug.WriteLine(tile.Position.X);
System.Diagnostics.Debug.WriteLine(tile.Position.Y);
System.Diagnostics.Debug.WriteLine(tile.Iswalkable());
Assert.IsTrue((tile.ToString().Equals("1")), "Incorret Tile Returned!");
}
public void TestCreateImageOfBlockOne()
{
FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"), 1);
Bitmap test_image = image1.toImage();
test_image.Save("../../testImage_block1.bmp");
}
public void TestCreateImageOfBlockFive()
{
FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"), 5);
Bitmap b = image1.toImage();
b.Save("../../testImage_block5.bmp");
}
public void TestConnectBlockFive()
{
FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"));
int width = image1.getXTileNum();
int height = image1.getYTileNum();
System.Diagnostics.Debug.WriteLine("Height " + height + " Width " + width);
FloorTile tile = image1.getTile(2, 4);
FloorTile n1,n2,n3,n4;
System.Diagnostics.Debug.WriteLine("");
List<FloorTile> neighbour = tile.getNeighbours();
if (neighbour.Count > 3)
{
n1 = neighbour[0];
n2 = neighbour[1];
n3 = neighbour[2];
n4 = neighbour[3];
System.Diagnostics.Debug.WriteLine("1st \t" + n1.Position.X + "\t" + n1.Position.Y + "\t" + n1.Iswalkable());
System.Diagnostics.Debug.WriteLine("2nd \t" + n2.Position.X + "\t" + n2.Position.Y + "\t" + n2.Iswalkable());
System.Diagnostics.Debug.WriteLine("3rd \t" + n3.Position.X + "\t" + n3.Position.Y + "\t" + n3.Iswalkable());
System.Diagnostics.Debug.WriteLine("4th \t" + n4.Position.X + "\t" + n4.Position.Y + "\t" + n4.Iswalkable());
}
else if (neighbour.Count == 3)
{
n1 = neighbour[0];
n2 = neighbour[1];
n3 = neighbour[2];
System.Diagnostics.Debug.WriteLine("1st \t" + n1.Position.X + "\t" + n1.Position.Y + "\t" + n1.Iswalkable());
System.Diagnostics.Debug.WriteLine("2nd \t" + n2.Position.X + "\t" + n2.Position.Y + "\t" + n2.Iswalkable());
System.Diagnostics.Debug.WriteLine("3rd \t" + n3.Position.X + "\t" + n3.Position.Y + "\t" + n3.Iswalkable());
}
else if (neighbour.Count == 2)
{
n1 = neighbour[0];
n2 = neighbour[1];
System.Diagnostics.Debug.WriteLine("1st \t" + n1.Position.X + "\t" + n1.Position.Y + "\t" + n1.Iswalkable());
System.Diagnostics.Debug.WriteLine("2nd \t" + n2.Position.X + "\t" + n2.Position.Y + "\t" + n2.Iswalkable());
}
else if (neighbour.Count == 1)
{
n1 = neighbour[0];
System.Diagnostics.Debug.WriteLine("1st \t" + n1.Position.X + "\t" + n1.Position.Y + "\t" + n1.Iswalkable());
}
else
System.Diagnostics.Debug.WriteLine("No Walkable Neighbours");
}
public void getPathTimeTest()
{
Image myimage = new Bitmap("../../testImage.jpg");
FloorPlan floorPlan = new FloorPlan(myimage, 5);
TextWriter tw = new StreamWriter("../../ExecutingTime.txt");
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
for (int m = 0; m<3; m++)
{
for (int n = 0; n < 3; n++)
{
int StartX = i;
int StartY = j;
int TargetX = m;
int TargetY = n;
if (floorPlan.getWalkableValue(i, j) == 1 & floorPlan.getWalkableValue(m, n) == 1)
{
Int64 t = 0;// getPathExecutingTime(floorPlan, StartX, StartY, TargetX, TargetY);
tw.WriteLine(StartX + "," + StartY + "," + TargetX + "," + TargetY + "," + t);
}
}
}
}
}
tw.Close();
}
public void TestBlockSizefive()
{
FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"), 5);
image1.printArray("../../testImage_block5.txt");
}
/// <summary>
///get executing time for a path
///</summary>
public void visualizeFloorPlan(FloorPlan floorPlan, int StartX, int StartY, int TargetX, int TargetY)
{
floorPlan.setStartTile(StartX, StartY);
floorPlan.setTargetTile(TargetX, TargetY);
QGPathFinder target = new QGPathFinder(floorPlan);
List<FloorTile> actual;
actual = target.getPath();
Form f = new WindowsFormsApplication1.Form1(floorPlan, actual);
Application.Run(f);
//f.Invoke();
//f.Draw(floorPlan, actual);
}
public void QGPathFinderConstructorTest()
{
Image myimage = new Bitmap("../../testImage.jpg");
FloorPlan floorPlan = new FloorPlan(myimage, 5); // TODO: Initialize to an appropriate value
QGPathFinder target = new QGPathFinder(floorPlan);
Type actual = target.GetType();
Type expected = typeof(QGPathFinder);
Assert.AreEqual(expected, actual);
}
public void getTileByIndexTest()
{
Image myimage = new Bitmap("../../testImage.jpg");
FloorPlan floorPlan = new FloorPlan(myimage, 5); // TODO: Initialize to an appropriate value
String index = "1_1"; // TODO: Initialize to an appropriate value
FloorTile expected = floorPlan.getTile(1, 1); // TODO: Initialize to an appropriate value
FloorTile actual;
actual = QGPathFinder.getTileByIndex(floorPlan, index);
Assert.AreEqual(expected, actual);
}
public void getPathVisualizationTest()
{
Image myimage = new Bitmap("../../testImage.jpg");
FloorPlan floorPlan = new FloorPlan(myimage, 5);
int StartX = 8;
int StartY = 8;
int TargetX = 40;
int TargetY = 20;
TextWriter tw = new StreamWriter("../../ExecutingTimeVis.txt");
Int64 t = getPathExecutingTime(floorPlan, StartX, StartY, TargetX, TargetY);
tw.WriteLine(StartX + "," + StartY + "," + TargetX + "," + TargetY + "," + t);
tw.Close();
//visualizeFloorPlan(floorPlan, StartX, StartY, TargetX, TargetY);
}
public void TestTargetTileWalkable()
{
FloorPlan image1 = new FloorPlan(new Bitmap("../../testImage.jpg"), 5);
bool result = image1.setTargetTile(4, 4);
FloorTile tile = image1.getTile(4, 4);
bool t_res = tile.IsStart();
bool t_res2 = tile.IsTarget();
Assert.AreEqual(true, result);
System.Diagnostics.Debug.WriteLine("Start:" + t_res);
System.Diagnostics.Debug.WriteLine("Target:" + t_res2);
}
public void MySerializer()
{
Image myimage = new Bitmap("../../testImage.jpg"); // TODO: Initialize to an appropriate value
FloorPlan target = new FloorPlan(myimage); // TODO: Initialize to an appropriate value
// XmlSerializer s = new XmlSerializer(typeof (FloorPlan));
String testFileName = "../../testImage.xml";
using (Stream s = File.Open(testFileName, FileMode.Create))
{
SoapFormatter formatter = new SoapFormatter();
formatter.Serialize(s, target);
}
target = null;
using (Stream s = File.Open(testFileName, FileMode.Open))
{
SoapFormatter formatter = new SoapFormatter();
target = (FloorPlan)formatter.Deserialize(s);
}
}
public void getPathTest()
{
TextWriter tw = new StreamWriter("../../getPathResult.txt");
Image myimage = new Bitmap("../../floorplan.bmp");
FloorPlan floorPlan = new FloorPlan(myimage, 3); // TODO: Initialize to an appropriate value
int StartX = 106;
int StartY = 74;
int TargetX = 107;
int TargetY = 43;
floorPlan.setStartTile(StartX, StartY);
floorPlan.setTargetTile(TargetX, TargetY);
String TargetString = TargetX + "_" + TargetY;
QGPathFinder qgpf = new QGPathFinder(floorPlan);
//show neighbors
List<FloorTile> TargetNeighbors = floorPlan.getTargetTile().getNeighbours();
String neighborString = "";
for (int i = 0; i < TargetNeighbors.Count; i++)
{
neighborString = TargetNeighbors[i].Position.X + "_" + TargetNeighbors[i].Position.Y;
//tw.WriteLine("Target Neighbors: " + neighborString + ": " + isContainEdge);
}
List<FloorTile> actual;
actual = qgpf.getPath();
tw.WriteLine(qgpf.GetMessages());
tw.Close();
visualizeFloorPlan(floorPlan, StartX, StartY, TargetX, TargetY);
List<FloorTile> expected = new List<FloorTile>();
FloorTile t1 = new FloorTile(0, 0, true, floorPlan);
FloorTile t2 = new FloorTile(0, 1, true, floorPlan);
FloorTile t3 = new FloorTile(0, 2, true, floorPlan);
expected.Add(t1);
expected.Add(t2);
expected.Add(t3);
//String actualString = actual[1].Position.X + "," + actual[1].Position.Y;
//String expectedString = expected[1].Position.X + "," + expected[1].Position.Y;
//Assert.AreEqual(expectedString, actualString);
}
/// <summary>
/// Creates a new FloorPlan object in m_Status, then uses that to create a new PathFinder object
/// </summary>
/// <param name="FloorPlanImage">an image of the floorplan</param>
/// <param name="ppf">the scale of the image, in pixels per foot</param>
public void CreateStatus(FloorPlan fp)
{
m_status = new Status(fp);
m_pathfinder = new QGPathFinder(m_status.FloorPlan);
}
public void getXTileNumTest()
{
Image myimage = new Bitmap("../../testImage.jpg"); // TODO: Initialize to an appropriate value
FloorPlan target = new FloorPlan(myimage); // TODO: Initialize to an appropriate value
int expected = 95; // TODO: Initialize to an appropriate value
int actual;
actual = target.getXTileNum();
Assert.AreEqual(expected, actual);
}
public void ConnectTest()
{
Image myimage = new Bitmap("../../testImage.jpg"); // TODO: Initialize to an appropriate value
FloorPlan target = new FloorPlan(myimage); // TODO: Initialize to an appropriate value
target.Connect();
Assert.AreEqual(0, 0);
}
/// <summary>
/// Creates a new FloorPlan object in m_Status, then uses that to create a new PathFinder object
/// </summary>
/// <param name="FloorPlanImage">an image of the floorplan</param>
/// <param name="ppf">the scale of the image, in pixels per foot</param>
public void CreateStatus(FloorPlan fp)
{
m_status = new Status(fp);
m_pathfinder = new QGPathFinder(m_status.FloorPlan);
}
