public PixelNode(PixelPath pixel, PixelNode prevPixel)
{
myPixel = pixel;
myCoord = pixel.path[4].getCoord();
myF = new FCost(myCoord);
prev = prevPixel;
}
public void Expand()
{
//foreach (PixelNode temp in choices)
//{
// choices.RemoveAt(0);
//}
//System.Windows.Forms.MessageBox.Show(myCoord[0] + " " + myCoord[1]);
Form1.maze.SetPixel(myCoord[0], myCoord[1], Color.Green);
for (int i = 0; i < 9; i++)
{
if (i == 4)
{
continue;//don't need to expand same pixel;
}
PixelPath temp = new PixelPath(myPixel.path[i].getCoord()[0], myPixel.path[i].getCoord()[1], Form1.dimensions);
PixelNode choice = new PixelNode(temp, this);
if (choice.myPixel.checker[i] == true)
{
choice.depth = this.depth + 1;//add partial path cost increment in here
choice.myF.incPCost();;
choices.Add(choice);
}
else
{
//not a valid expansion choice, continue
continue;
}
}
}
public Boolean Contains(PixelNode pn)
{//checks center of PixelNode to see if that is in unexplored
int x = pn.myCoord[0];
int y = pn.myCoord[1];
return(Contains(x, y));
}
//HashSet<int[]> track = new HashSet<int[]>();
public PixelNode GSearch(int x, int y)
{
MessageBox.Show(x + " " + y);
int[] temp = { x, y };
// track.Add(temp);
PixelPath myPath = new PixelPath(x, y, dimensions);
pixel choice = new pixel(myPath.path[4].getCoord(), Color.Black);
if (myPath.path[4].getCoord()[0] == endX && myPath.path[4].getCoord()[1] == endY)
{
return(new PixelNode(myPath));
}
else if (x < 0 || y < 0)
{
return(null);
}
Heuristic fCost = new Heuristic();
for (int i = 0; i < 9; i++)
{
// if(track.Contains(myPath.path[i].getCoord()))
//{
// continue;
// }
Heuristic tempCost = new Heuristic(myPath.path[i].getCoord());
if (i == 4)
{
continue; //center pixel is the first pixel we account for and we don't want to stay there.
}
if (fCost.getHCost() > tempCost.getHCost())
{
if (myPath.checker[i] == true)
{
choice = myPath.path[i];
}
else
{
//invald pixel location, Skip!
}
}
}
int[] currentCoord = { choice.getCoord()[0], choice.getCoord()[1] };
if (currentCoord[0] == endX && currentCoord[1] == endY)
{
PixelPath end = new PixelPath(currentCoord[0], currentCoord[1], dimensions);
PixelNode myNode = new PixelNode(end);
return(myNode);
}
else if (choice.Equals(myPath.path[4]))
{
MessageBox.Show("We are not moving");
return(null);
}
else
{
return(GSearch(currentCoord[0], currentCoord[1]));
}
}
int depthLimit = 1000; //change for deeper or shallower search
public PixelNode ASearch()
{
Frontier myQueue = new Frontier();
PixelPath beginPixel, endPixel;
beginPixel = new PixelPath(startX, startY, dimensions);
endPixel = new PixelPath(endX, endY, dimensions);
HashSet <int[]> explored = new HashSet <int[]>();
PixelNode startNode = new PixelNode(beginPixel);
if (beginPixel.Equals(endPixel))
{//start and end is the same place. This line is here for satisfying the
//alogorithm rather than consistent application. I don't know if there is a situation that a pixel could be marked as red and blue
return(startNode);
}
myQueue.Add(startNode);
while (!myQueue.IsEmpty())
{
PixelNode temp = myQueue.PopTop();
if (temp == null || temp.depth == depthLimit)
{
MessageBox.Show("TempInvalid");
return(null);
}
else
{
if (explored.Contains(temp.myCoord))
{
continue;
//no reason to do anything, this pixel has been explored
}
else
{ //unexplored
if (temp.IsEnd())
{ //We found the end!
return(temp);
}
else
{//start processing pixelNode
temp.Expand();
foreach (PixelNode child in temp.choices)
{
if (!(myQueue.Contains(child)))
{//add children not in Queue
myQueue.Add(child);
}
}
explored.Add(temp.myCoord);
}
}
}
}
MessageBox.Show("We didn't find it");
return(null);
}
public PixelNode PopTop()
{//remove and return first element
if (IsEmpty())
{
return(null);
}
else
{
PixelNode top = unexplored.First();
unexplored.Remove(top);
return(top);
}
}
public void Remove(PixelNode pn)
{//remove PixelNode from unexplored
unexplored.Remove(pn);
}
public void Add(PixelNode pn)
{//add PixelNode to unexplored
unexplored.Add(pn);
}
private void button1_Click_1(object sender, EventArgs e)
{//This is set up to execute the entire alogrithm on successful file selection
//grabbing image file
OpenFileDialog imageSelect = new OpenFileDialog();
imageSelect.Filter = "PNG Image|*.png|JPG Image|*.jpg|BMP Image|*.bmp";
imageSelect.Title = "Select Maze";
if (imageSelect.ShowDialog() == DialogResult.OK)
{
imageFile = Image.FromFile(imageSelect.FileName); //we now have the file location of the maze
pictureBox1.Image = imageFile;
MessageBox.Show("Here is the selected Maze", "Maze Selected");
maze = new Bitmap(imageFile);
FindStartNEnd();
MessageBox.Show(dimensions[0].ToString() + " by " + dimensions[1].ToString(), "Maze Dimensions");
MessageBox.Show("(" + startX.ToString() + "," + startY.ToString() + ")", "Start Pixel");
MessageBox.Show("(" + endX.ToString() + "," + endY.ToString() + ")", "End Pixel");
//start search
PixelNode finish = new PixelNode();
bool check = true;
while (check)
{
MessageBox.Show("Please type your prefered version of search: A, G, or U");
searchType = textBoxInput.Text;
switch (searchType)
{
case "u":
finish = USearch();
check = false;
break;
//case "g":
// PixelNode finish = GSearch();
//break
case "a":
finish = ASearch();
check = false;
break;
default:
MessageBox.Show("Please type A, G, or U for your preferred search");
break;
}
}
//save output
SaveFileDialog sfd = new SaveFileDialog();
sfd.Filter = "PNG Image|*.png|JPG Image|*.jpg|BMP Image|*.bmp";
sfd.FileName = "outputMaze";
sfd.Title = "Save Output Maze";
if (sfd.ShowDialog() == DialogResult.OK)
{
string path = sfd.FileName;
maze.Save(path);
imageFile = Image.FromFile(path);
}
try
{//catch null pointers
MessageBox.Show(finish.myCoord.ToString());
}
catch (Exception myException)
{
MessageBox.Show(myException.Message + " This happened because the algorithm travelled outside of the Maze.");
}
}
else
{
MessageBox.Show("You did not select a file!\nPlease reselect the \"Select Maze\" button to choose a maze.", "User Failed to select a file");
}
}