public Queue <string> search(int[,] initstate, int[,] desiredstate)
{
Modelisation.Node rootn = new Modelisation.Node(
initstate,
new[] { 0, 0 },
0,
0,
false,
"root"
);
Modelisation.Node goaln = new Modelisation.Node(
desiredstate,
new[] { 0, 0 },
0,
0,
false,
"goal"
);
tree_fs.Clear();
tree_fg.Clear();
tree_fs.Add(rootn);
tree_fg.Add(goaln);
int borderindex = 0;
while (true)
{
Dictionary <string, Modelisation.Node> s_successors = problem.succession(tree_fs[borderindex]);
Dictionary <string, Modelisation.Node> g_successors = problem.retrosuccession(tree_fg[borderindex]);
foreach (KeyValuePair <string, Modelisation.Node> entry in s_successors)
{
Modelisation.Node[] x = problem.isPresent(entry.Value, tree_fg.GetRange(0, borderindex));
if (x != null)
{
return(generateTasklist(x[0], x[1]));
}
tree_fs.Add(entry.Value);
}
foreach (KeyValuePair <string, Modelisation.Node> entry in g_successors)
{
Modelisation.Node[] x = problem.isPresent(entry.Value, tree_fs.GetRange(0, borderindex));
if (x != null)
{
return(generateTasklist(x[1], x[0]));
}
tree_fg.Add(entry.Value);
}
borderindex++;
}
}
public Modelisation.Node[] isPresent(Modelisation.Node node, List <Modelisation.Node> visited)
{
foreach (Modelisation.Node n in visited)
{
if (node.getSignature() == n.getSignature())
{
return(new[] { node, n });
}
}
return(null);
}
public Dictionary <string, Modelisation.Node> retrosuccession(Modelisation.Node currentNode)
{
Dictionary <string, Modelisation.Node> newStates = new Dictionary <string, Modelisation.Node>();
Floor testingFloor = new Floor(currentNode.getState(), currentNode.getPathcost());
if (currentNode.getLastAction() == "nothing")
{
Modelisation.Node newnode = new Modelisation.Node(
testingFloor.getState(),
testingFloor.getAspXY(),
currentNode.getDepth() + 1,
//currentNode.getPathcost() + entry.Value.getCost(),
testingFloor.account(),
false,
"nothing",
currentNode
);
newStates.Add("nothing", newnode);
return(newStates);
}
foreach (KeyValuePair <string, Action> entry in actions)
{
entry.Value.reverse(testingFloor, testingFloor.getAspXY());
if (isArrayEqual(testingFloor.getState(), currentNode.getState()) && entry.Key != "nothing")
{
testingFloor.reset();
continue;
}
Modelisation.Node newnode = new Modelisation.Node(
testingFloor.getState(),
testingFloor.getAspXY(),
currentNode.getDepth() + 1,
//currentNode.getPathcost() + entry.Value.getCost(),
testingFloor.account(),
false,
entry.Key,
currentNode
);
newStates.Add(entry.Key, newnode);
testingFloor.reset();
}
return(newStates);
}
// Generate tasklist from a node list
public Queue <string> generatetasklist(List <Modelisation.Node> l)
{
Queue <string> tasklist = new Queue <string>();
if (l.Count != 0)
{
Modelisation.Node node = l[l.Count - 1];
// While the node is not the root node, we add its lastaction to the tasklist
while (node.getLastAction() != "nothing")
{
tasklist.Enqueue(node.getLastAction());
node = node.getParent();
}
//tasklist.Enqueue(node.getLastAction());
}
return(tasklist);
}
private Queue <string> generateTasklist(Modelisation.Node ns, Modelisation.Node ng)
{
List <string> actions = new List <string>();
while (ns.getLastAction() != "root")
{
actions.Insert(0, ns.getLastAction());
ns = ns.getParent();
}
while (ng.getLastAction() != "goal")
{
actions.Add(ng.getLastAction());
ng = ng.getParent();
}
Queue <string> queue = new Queue <string>(actions);
return(queue);
}
// Method search
public Queue <string> searchInforme(int[,] initstate, List <int[, ]> desireStates, int[] vacXY)
{
// First check if initstate is one of our desireStates
//*
foreach (int[,] d in desireStates)
{
// If one of them is equal, then no need to search a tasklist
if (isArrayEqual(initstate, d))
{
// Stop method
Queue <string> q = new Queue <string>();
return(q);
}
}
//*/
// Clear tree
tree.Clear();
tasklist.Clear();
// Create a root node with initial state
Modelisation.Node root = new Modelisation.Node(
initstate, // initial state
vacXY, // vacXY
0, // depth
100, // heuristic
false, // visited
"nothing" // lastaction
);
tree.Add(root);
// Represent index of exploration : here it's Breadth first search
//int borderindex = 0;
List <Modelisation.Node> succ = new List <Modelisation.Node>();
bool b = true;
while (b)
{
// We check if the last node state of tree is on dirt or jewel
//Floor f = new Floor(tree[borderindex].getState());
int d = isJewelDirt(tree[tree.Count - 1].getState(), tree[tree.Count - 1].getVacXY());
// If the vaccum is on jewel or dirt
if (d != 0)
{
switch (d)
{
case 3:
tasklist.Enqueue("pickup");
return(tasklist);
case 5:
tasklist.Enqueue("clean");
return(tasklist);
case 7:
tasklist.Enqueue("pickup");
tasklist.Enqueue("clean");
return(tasklist);
default:
b = false;
break;
}
}
// If not
else
{
tree = problem.successionInforme(tree[tree.Count - 1], tree); // Get successor
}
tasklist = generatetasklist(tree);
}
return(tasklist);
}
