public bool keyPointSearch(StartForm startForm)
{
while (true)
{
Thread.Sleep(sleepTime);
// 경로 == List<Tile> 형식 --> path[i].X : 행 , path[i].Y : 열 <-- 이렇게 접근 가능
rotation(startForm);
if (!avoidingHazard(startForm)) // 위험지역 나오면 다시 로테이션부터 시작
{
if (MapManager.CreatePath() == 1)
{
return(false);
}
continue;
}
detectingColorBlob();
// 오작동 했다면
bool moveCorrect = simInterface.moveForward();
set_cur();
startForm.display();
MapManager.getPath().RemoveAt(0); // 제대로 움직였으니 첫번째 패스 삭제
if (!moveCorrect)
{
if (!compensateMotion()) // 경로 재설정
{
return(false);
}
}
// 스팟에 도착했는지 검사
if (MapManager.getCurrent().First == MapManager.getSpot()[0].First && MapManager.getCurrent().Second == MapManager.getSpot()[0].Second)
{
// 스팟 지나가면 깃발 바꾸기
MapManager.getMap()[MapManager.getSpot()[0].First, MapManager.getSpot()[0].Second] = 5;
MapManager.getSpot().RemoveAt(0);
// 끝났으면
if (VerifyEnd())
{
Console.WriteLine("Successed!!!");
break;
}
else
{
MapManager.CreatePath();
}
}
}
return(true);
}
public void rotation(StartForm startForm)
{
if (MapManager.getPath().Count == 0)
{
Console.WriteLine("path 0 err");
Application.ExitThread();
Environment.Exit(0);
}
int x = MapManager.getCurrent().First - MapManager.getPath()[0].X;
int y = MapManager.getPath()[0].Y - MapManager.getCurrent().Second;
int forward = 0; // 진행할 방향
if (x == 1 && y == 0)
{
forward = 0;
}
else if (x == 0 && y == 1)
{
forward = 1;
}
else if (x == -1 && y == 0)
{
forward = 2;
}
else if (x == 0 && y == -1)
{
forward = 3;
}
// 진행할 방향으로 헤드 돌리기
while (head != forward)
{
head = (head + 1) % 4;
simInterface.rotation();
set_head();
// StartForm에 회전 디스플레이 띄우기
startForm.display();
Thread.Sleep(sleepTime);
}
}
private void MapPictureBox_Paint(object sender, PaintEventArgs e)
{
System.Drawing.Bitmap spot = new Bitmap(@"..\..\image\flag.png");
System.Drawing.Bitmap hazard = new Bitmap(@"..\..\image\hazard.png");
System.Drawing.Bitmap colorblob1 = new Bitmap(@"..\..\image\closed_box.png");
System.Drawing.Bitmap colorblob2 = new Bitmap(@"..\..\image\coin.png");
System.Drawing.Bitmap robot0 = new Bitmap(@"..\..\image\sion0.png");
System.Drawing.Bitmap robot1 = new Bitmap(@"..\..\image\sion1.png");
System.Drawing.Bitmap robot2 = new Bitmap(@"..\..\image\sion2.png");
System.Drawing.Bitmap robot3 = new Bitmap(@"..\..\image\sion3.png");
System.Drawing.Bitmap flag2 = new Bitmap(@"..\..\image\flag2.png");
int width = (mapPictureBox.Size.Width - 10) / MapManager.getMap().GetLength(1);
int height = (mapPictureBox.Size.Height - 10) / MapManager.getMap().GetLength(0);
// 맵 그리기
Rectangle Region;
for (int i = 0; i < MapManager.getMap().GetLength(0); i++)
{
for (int j = 0; j < MapManager.getMap().GetLength(1); j++)
{
// 아무것도 없으면 : 0 위험지역 : 1 탐색 지점 : 2 입력 받은 컬러블럽 : 3 지나간 컬러블럽 : 4 지나간 탐색지점 : 5
switch (MapManager.getMap()[i, j])
{
case 0:
Region = new Rectangle(new Point(j * width, i * height), new Size(width, height));
e.Graphics.FillRectangle(new SolidBrush(Color.White), Region);
e.Graphics.DrawRectangle(new Pen(Color.DarkGray), Region);
break;
case 1:
Region = new Rectangle(new Point(j * width, i * height), new Size(width, height));
e.Graphics.DrawImage(hazard, Region);
break;
case 2:
Region = new Rectangle(new Point(j * width, i * height), new Size(width, height));
e.Graphics.DrawImage(spot, Region);
break;
case 3:
Region = new Rectangle(new Point(j * width, i * height), new Size(width, height));
e.Graphics.DrawImage(colorblob1, Region);
break;
case 4:
Region = new Rectangle(new Point(j * width, i * height), new Size(width, height));
e.Graphics.DrawImage(colorblob2, Region);
break;
case 5:
Region = new Rectangle(new Point(j * width, i * height), new Size(width, height));
e.Graphics.DrawImage(flag2, Region);
break;
}
}
}
// 로봇 현재 위치
Region = new Rectangle(new Point(MapManager.getCurrent().Second *width, MapManager.getCurrent().First *height), new Size(width, height));
e.Graphics.DrawImage(robot0, Region);
// 화살표 표시
switch (MapManager.getHead())
{
case 0:
e.Graphics.DrawImage(robot0, Region);
break;
case 3:
e.Graphics.DrawImage(robot3, Region);
break;
case 2:
e.Graphics.DrawImage(robot2, Region);
break;
case 1:
e.Graphics.DrawImage(robot1, Region);
break;
}
}