/// <summary>
/// Locates the starting position for the walker.
/// </summary>
/// <param name="walker">The walker.</param>
/// <returns>
/// The walker with proper coordinates and direction.
/// </returns>
private MazeWalker findstart(MazeWalker walker)
{
int s_y = 0;
int s_x = 0; //x and y coordinates of the start
bool firstpixel_found = false;
//first, find the location of the first red pixel (S)
for (int y = 0; y < m_maze_to_solve.Count; y++)
{
List <string> pixel_row = m_maze_to_solve[y];
for (int x = 0; x < pixel_row.Count; x++)
{
if (pixel_row[x] == "S")
{
s_x = x;
s_y = y;
firstpixel_found = true;
break;
}
}
if (firstpixel_found)
{
break;
}
}//end for
walker.X = s_x;
walker.Y = s_y;
//at this point, we will have found the start's top left pixel
//we now need to determine the best orientation that the walker should proceed
return(setorientation(walker));
}
/// <summary>
/// Determines if the end is in the eastern vision of the walker and if so, sends the walker directly in that direction.
/// </summary>
/// <param name="walker">The walker.</param>
/// <returns>
/// A boolean value if the end is in the vicinity and also the walker with updated values.
/// </returns>
private bool is_eastfinish(MazeWalker walker)
{
bool is_finish = false;
int y = walker.Y;
int x = walker.X;
if (y < 0 || x < 0 || y >= m_maze_to_solve.Count)
{
return(false);
}
List <string> pixel_row = m_maze_to_solve[y];
if (x >= pixel_row.Count)
{
return(false);
}
while (pixel_row[x] != "1")
{
if (x >= pixel_row.Count)
{
break;
}
if (pixel_row[x] == "E")
{
is_finish = true;
break;
}
else
{
x++;
}
}
if (is_finish)
{
//finish the job
x = walker.X;
walker.Dir = Direction.East;
while (pixel_row[x] != "1" && pixel_row[x] != "E")
{
if (x >= pixel_row.Count)
{
break;
}
pixel_row[x] = "G";
x++;
walker.X = walker.X + 1;
MazeParser.color(m_maze_to_solve, walker);
}
}
return(is_finish);
}
/// <summary>
/// Determines if the end is in the southern vision of the walker and if so, sends the walker directly in that direction.
/// </summary>
/// <param name="walker">The walker.</param>
/// <returns>
/// A boolean value if the end is in the vicinity and also the walker with updated values.
/// </returns>
private bool is_southfinish(MazeWalker walker)
{
bool is_finish = false;
int y = walker.Y;
int x = walker.X;
if (y < 0 || x < 0 || y >= m_maze_to_solve.Count)
{
return(false);
}
for (; y < m_maze_to_solve.Count; y++)
{
List <string> pixel_row = m_maze_to_solve[y];
if (pixel_row[x] == "1")
{
break;
}
if (pixel_row[x] == "E")
{
is_finish = true;
break;
}
}
if (is_finish)
{
//finish the job
walker.Dir = Direction.South;
for (y = walker.Y; y < m_maze_to_solve.Count; y++)
{
List <string> pixel_row = m_maze_to_solve[y];
if (pixel_row[x] == "1")
{
break;
}
else if (pixel_row[x] == "E")
{
break;
}
else
{
pixel_row[x] = "X";
}
walker.Y = walker.Y + 1;
MazeParser.color(m_maze_to_solve, walker);
}
}
return(is_finish);
}
/// <summary>
/// Moves the walker north. The orientation is adjusted.
/// </summary>
/// <param name="walker">The walker.</param>
/// <returns>
/// The walker with the coordinates and orientation adjusted.
/// </returns>
private MazeWalker movewalker_north(MazeWalker walker)
{
walker = movewalker(walker, walker.X, walker.Y - 1);
if (walker == null)
{
return(null);
}
else
{
walker.Dir = Direction.North;
}
return(walker);
}
private MazeWalker movewalker_east(MazeWalker walker)
{
walker = movewalker(walker, walker.X + 1, walker.Y);
if (walker == null)
{
return(null);
}
else
{
walker.Dir = Direction.East;
}
return(walker);
}
/// <summary>
/// Use function to set walker to the proper orientation and coordinates. The walker can be used to solve the maze.
/// </summary>
/// <param name="walker">The walker.</param>
/// <returns>
/// A walker where its direction and coordinates are properly set. The walker can be immediately used to solve the maze.
/// </returns>
private MazeWalker setorientation(MazeWalker walker)
{
//for now, don't do anything fancy. Just see if a direction is valid and arbitrarily choose one
//for a direction to be valid, no walls should be in the vicinity of 10 pixels (10 is arbitrarily chosen)
//and the direction with the most steps will be chosen
int t_x = walker.X;
int t_y = walker.Y;
List <string> pixel_row_westeast = m_maze_to_solve[walker.Y];
List <int> step_results = new List <int>();
step_results.Add(find_weststeps(pixel_row_westeast, t_x, t_y));
step_results.Add(find_eaststeps(pixel_row_westeast, t_x, t_y));
step_results.Add(find_northsteps(m_maze_to_solve, t_x, t_y));
step_results.Add(find_southsteps(m_maze_to_solve, t_x, t_y));
int maxsteps = 0;
Direction dir = Direction.North; //by default if there is no direction that provides the max steps
for (int j = 0; j < step_results.Count; j++)
{
if (step_results[j] > maxsteps)
{
maxsteps = step_results[j];
if (j == 0)
{
dir = Direction.West;
}
else if (j == 1)
{
dir = Direction.East;
}
else if (j == 2)
{
dir = Direction.North;
}
else
{
dir = Direction.South;
}
}
}//end for
//at this point, we know the proper orientation of the walker
return(adjustwalker_toorientation(walker, dir, m_maze_to_solve));
}
/// <summary>
/// Move the walker to the proposed x_loc and y_loc. The move will also be noted on the maze.
/// NOTE: the orientation of the walker is not adjusted.
/// </summary>
/// <param name="walker">The walker.</param>
/// <param name="x_loc">The proposed x coordinate location.</param>
/// <param name="y_loc">The proposed y coordinate location.</param>
/// <returns>
/// The walker with coordinates moved to the x and y locations. NOTE: the orientation of the walker is not changed.
/// Returns NULL if the walker cannot move to that location.
/// </returns>
private MazeWalker movewalker(MazeWalker walker, int x_loc, int y_loc)
{
if (!is_locationvalid(x_loc, y_loc))
{
return(null);
}
//adjust the value in the maze
List <string> pixel_row = m_maze_to_solve[y_loc];
pixel_row[x_loc] = "X";
walker.X = x_loc;
walker.Y = y_loc;
return(walker);
}
/// <summary>
/// Moves the walker when it needs to turn a corner.
/// Generally used to avoid the case when the walker needs to turn a corner but instead continues forward.
/// </summary>
/// <param name="walker">The walker.</param>
/// <returns>
/// The walker with proper orientation if it needs to turn a corner.
/// </returns>
private MazeWalker turncorner(MazeWalker walker, Direction curr_dir)
{
//since the walker is a little dumb, it needs to know if it should be turning a corner
//the only corners will only be on the right-hand side of the direction the walker is facing towards (since we're applying right-hand follower)
if (curr_dir == Direction.North)
{
//check if the east has an empty spot
if (is_eastvalid(walker.X, walker.Y))
{
walker.Dir = Direction.East;
}
}
else if (curr_dir == Direction.South)
{
if (is_westvalid(walker.X, walker.Y))
{
walker.Dir = Direction.West;
}
}
else if (curr_dir == Direction.East)
{
if (is_southvalid(walker.X, walker.Y))
{
walker.Dir = Direction.South;
}
}
else if (curr_dir == Direction.West)
{
if (is_northvalid(walker.X, walker.Y))
{
walker.Dir = Direction.North;
}
}
return(walker);
}
/// <summary>
/// Determines if the walker has found the end of the maze.
/// </summary>
/// <param name="walker">The walker.</param>
/// <returns>
/// A boolean value indicating if the walker is at the end.
/// </returns>
private bool is_finish(MazeWalker walker)
{
//first, see if the walker is on a finish line
List <string> pixel_row = m_maze_to_solve[walker.Y];
if (pixel_row[walker.X] == "E")
{
return(true);
}
bool reached_end = false;
//scan the region to see if the finish is in the walker's peripheral vision
if (walker.Dir == Direction.North || walker.Dir == Direction.South)
{
//scan the west and east directions
if (is_westfinish(walker) || is_eastfinish(walker))
{
reached_end = true;
}
}
else if (walker.Dir == Direction.East || walker.Dir == Direction.West)
{
//scan the north and south directions
if (is_northfinish(walker) || is_southfinish(walker))
{
reached_end = true;
}
}
else
{
//should never get here but this is here just in case
return(false);
}
return(reached_end);
}
/// <summary>
/// Adjusts the walker so that it will be right along the wall. This function should only be used for the Wall Follower method.
/// </summary>
/// <param name="walker">The walker.</param>
/// <param name="dir">The direction the walker should be facing.</param>
/// <param name="maze">The maze.</param>
/// <returns>The walker with the proper coordinates and direction.</returns>
private MazeWalker adjustwalker_toorientation(MazeWalker walker, Direction dir, List <List <string> > maze)
{
int x = walker.X;
int y = walker.Y;
//Because the starting point is not just one pixel, we need to locate the closest wall where the walker can place a right hand on.
//For example, if the direction is east, then the walker would need to travel to the first wall on the bottom of the drawn block.
if (dir == Direction.East)
{
while (true)
{
if (y + 1 >= maze.Count)
{
break;
}
List <string> pixel_row = maze[y + 1];
if (pixel_row[x] == "1")
{
break;
}
else
{
y++;
}
}
}
else if (dir == Direction.West)
{
while (true)
{
if (y - 1 < 0)
{
break;
}
List <string> pixel_row = maze[y - 1];
if (pixel_row[x] == "1")
{
break;
}
else
{
y--;
}
}
}
else if (dir == Direction.North)
{
List <string> pixel_row = maze[y];
while (true)
{
if (x >= pixel_row.Count)
{
break;
}
if (pixel_row[x + 1] == "1")
{
break;
}
else
{
x++;
}
}
}
else if (dir == Direction.South)
{
List <string> pixel_row = maze[y];
while (true)
{
if (x - 1 < 0)
{
break;
}
if (pixel_row[x - 1] == "1")
{
break;
}
else
{
x--;
}
}
}
walker.X = x;
walker.Y = y;
walker.Dir = dir;
return(walker);
}
/// <summary>
/// Solves the given maze using the right-hand wall following method.
/// NOTE: this algorithm will not work for mazes that are not simply connected.
/// </summary>
/// <returns>
/// The parsed solution to the maze.
/// </returns>
private List <List <string> > solve_maze_RH()
{
bool pathFound = false;
MazeWalker walker = new MazeWalker();
walker = findstart(walker);
while (!pathFound)
{
//for each direction, test to see which directions are valid
//we always prioritize the current direction
//then the directions are prioritized according to the right-hand following method
if (walker.Dir == Direction.North)
{
bool move_success = false;
if (is_northvalid(walker.X, walker.Y))
{
move_success = walker.move_north(m_maze_to_solve);
}
else if (is_eastvalid(walker.X, walker.Y))
{
move_success = walker.move_east(m_maze_to_solve);
}
else if (is_westvalid(walker.X, walker.Y))
{
move_success = walker.move_west(m_maze_to_solve);
}
else
{
//turning back
move_success = walker.move_south(m_maze_to_solve);
}
if (!move_success)
{
return(null); //something went wrong somewhere
}
else
{
walker = turncorner(walker, walker.Dir);
}
}
else if (walker.Dir == Direction.South)
{
bool move_success = false;
if (is_southvalid(walker.X, walker.Y))
{
move_success = walker.move_south(m_maze_to_solve);
}
else if (is_westvalid(walker.X, walker.Y))
{
move_success = walker.move_west(m_maze_to_solve);
}
else if (is_eastvalid(walker.X, walker.Y))
{
move_success = walker.move_east(m_maze_to_solve);
}
else
{
//turn around
move_success = walker.move_north(m_maze_to_solve);
}
if (!move_success)
{
return(null);
}
else
{
walker = turncorner(walker, walker.Dir);
}
}
else if (walker.Dir == Direction.East)
{
bool move_success = false;
if (is_eastvalid(walker.X, walker.Y))
{
move_success = walker.move_east(m_maze_to_solve);
}
else if (is_southvalid(walker.X, walker.Y))
{
move_success = walker.move_south(m_maze_to_solve);
}
else if (is_northvalid(walker.X, walker.Y))
{
move_success = walker.move_north(m_maze_to_solve);
}
else
{
//turn around
move_success = walker.move_west(m_maze_to_solve);
}
if (!move_success)
{
return(null);
}
else
{
walker = turncorner(walker, walker.Dir);
}
}
else if (walker.Dir == Direction.West)
{
bool move_success = false;
if (is_westvalid(walker.X, walker.Y))
{
move_success = walker.move_west(m_maze_to_solve);
}
else if (is_northvalid(walker.X, walker.Y))
{
move_success = walker.move_north(m_maze_to_solve);
}
else if (is_southvalid(walker.X, walker.Y))
{
move_success = walker.move_south(m_maze_to_solve);
}
else
{
//turn around
move_success = walker.move_east(m_maze_to_solve);
}
if (!move_success)
{
return(null);
}
else
{
walker = turncorner(walker, walker.Dir);
}
}
else
{
//this should never be executed, but in case something goes wrong here, we will arbitrarily place the walker into a direction
walker.Dir = Direction.North;
}
MazeParser.color(m_maze_to_solve, walker);
pathFound = is_finish(walker);
MazeParser.color(m_maze_to_solve, walker);
}//end while
//MazeParser.output_parse(m_maze_to_solve); //for debugging
return(m_maze_to_solve);
}
/// <summary>
/// Colors the walker's surrounding with green.
/// </summary>
/// <param name="maze">The maze.</param>
/// <param name="walker">The walker.</param>
public static void color(List <List <string> > maze, MazeWalker walker)
{
int y = walker.Y;
int x = walker.X;
if (y < 0 || y >= maze.Count || x < 0)
{
return;
}
if (walker.Dir == Direction.North || walker.Dir == Direction.South)
{
//color west direction
List <string> pixel_row = maze[y];
for (int i = 0; i < Constants.COLOR_WIDTH; i++)
{
if (x < 0 || x >= pixel_row.Count)
{
break;
}
if (pixel_row[x] == "1")
{
break;
}
else
{
pixel_row[x] = "X";
x--;
}
}
//color in east direction
x = walker.X;
for (int i = 0; i < Constants.COLOR_WIDTH; i++)
{
if (x < 0 || x >= pixel_row.Count)
{
break;
}
if (pixel_row[x] == "1")
{
break;
}
else
{
pixel_row[x] = "X";
x++;
}
}
}
else if (walker.Dir == Direction.East || walker.Dir == Direction.West)
{
//color south direction
for (int i = 0; i < Constants.COLOR_WIDTH; i++)
{
if (y < 0 || y >= maze.Count)
{
break;
}
List <string> pixel_row = maze[y];
if (pixel_row[x] == "1")
{
break;
}
else
{
pixel_row[x] = "X";
y++;
}
}
//color in north direction
y = walker.Y;
for (int i = 0; i < Constants.COLOR_WIDTH; i++)
{
if (y < 0 || y >= maze.Count)
{
break;
}
List <string> pixel_row = maze[y];
if (pixel_row[x] == "1")
{
break;
}
else
{
pixel_row[x] = "X";
y--;
}
}
}
else
{
//should never get here
return;
}
}