// add cave and sort list
public void addCave(Cave c)
{
int k = _listOfCaves.BinarySearch(c, _caveComparer);
if (k == -1) // no element
{
_listOfCaves.Insert(0, c);
}
else if (k < 0) // find location by complement
{
k = ~k;
_listOfCaves.Insert(k, c);
}
else if (k >= 0)
{
_listOfCaves.Insert(k, c);
}
}
// Calculate distance between 2 caves
public double eucledian(Cave c)
{
return(Math.Sqrt(Math.Pow(this._x - c._x, 2) + Math.Pow(this._y - c._y, 2)));
}
// add cave to caves it can go to
public void addToCavesList(Cave c)
{
this._toCavesList.Add(c);
}
public static void Main(string[] args)
{
while (true)
{
// arraylist that will store all caves
ArrayList caves = new ArrayList();
int caveID = 1;
string mode = GetMode();
// display error message
if (mode != "s" && mode != "r")
{
Console.WriteLine(Environment.NewLine + "'r' or 's' please" + Environment.NewLine);
}
// if mode chosen
else
{
if (mode == "s")
{
Console.WriteLine("--------------------------------------------------");
Console.WriteLine("To step through the program press enter each time.");
Console.WriteLine("--------------------------------------------------");
}
string text = GetCavesFiles();
// if caves file is not empty
if (text != null)
{
//convert data to an array
String[] data = text.Split(',');
//extract data from the array
int noOfCaves = Int16.Parse(data[0]);
//Get coordinates and build caves
for (int count = 1; count < ((noOfCaves * 2) + 1); count = count + 2)
{
int x = Int16.Parse(data[count]);
int y = Int16.Parse(data[count + 1]);
Cave cave = new Cave(x, y, caveID);
caves.Add(cave);
caveID++;
}
//Build connectivity matrix
//Declare the array
Boolean[][] connected = new Boolean[noOfCaves][];
for (int _row = 0; _row < noOfCaves; _row++)
{
connected[_row] = new Boolean[noOfCaves];
}
//Now read data, starting point in array is after the coordinates
int col = 0; int row = 0;
for (int point = (noOfCaves * 2) + 1; point < data.Length; point++)
{
//work through the array
if (data[point].Equals("1"))
{
connected[row][col] = true;
}
else
{
connected[row][col] = false;
}
row++;
if (row == noOfCaves)
{
row = 0;
col++;
}
}
//Generate toCavesList
for (int i = 1; i < caves.Count + 1; i++)
{
Cave tempCave = null;
Cave possibleChild = null;
foreach (Cave c in caves)
{
if (c.CaveID == i)
{
tempCave = c;
}
}
for (int j = 1; j < caves.Count + 1; j++)
{
foreach (Cave d in caves)
{
if (d.CaveID == j)
{
possibleChild = d;
}
}
int cave1ID = tempCave.CaveID;
int cave2ID = possibleChild.CaveID;
Boolean check = connected[cave1ID - 1][cave2ID - 1];
if (!tempCave.Equals(possibleChild) && check)
{
tempCave.addToCavesList(possibleChild);
}
}
}
//Call A* function
Cave startCave = (Cave)caves[0];
Cave endCave = (Cave)caves[caves.Count - 1];
ArrayList aStarCaves = AstarSearch(startCave, endCave, mode);
}
else
{
Console.ReadKey();
}
}
}
}
//A star algorithm
static ArrayList AstarSearch(Cave startCave, Cave endCave, String mode)
{
Cave tempCave;
Boolean step = false;
if (mode == "s")
{
step = true;
}
// make an open list containing only the starting node
MethodsAStar open = new MethodsAStar();
open.addCave(startCave);
// show contents of open list if step by step program
if (step)
{
Console.WriteLine("Open list: ");
Console.WriteLine(" " + startCave.CaveID);
Console.WriteLine("");
Console.ReadKey();
}
// make an empty closed list
MethodsAStar closed = new MethodsAStar();
// show contents of closed list
if (step)
{
Console.WriteLine("Closed list:");
Console.WriteLine("");
Console.ReadKey();
}
//while there are caves in the open list
while (open.count() != 0)
{
//consider cave with smallest g in the open list
tempCave = open.take_smallest();
if (step)
{
Console.WriteLine("---" + Environment.NewLine + "Current cavern: " + tempCave.CaveID + " removed from open list." + Environment.NewLine + "---");
Console.WriteLine("Adding current cavern " + tempCave.CaveID + " to closed list.");
}
//put temp cave in the closed list
closed.addCave(tempCave);
//display lists
if (step)
{
Console.WriteLine("Open list: ");
List <int> openNow = open.printCaves();
foreach (int i in openNow)
{
Console.WriteLine(" " + i);
}
Console.WriteLine("");
Console.ReadKey();
Console.WriteLine("Closed list: ");
List <int> closedNow = closed.printCaves();
foreach (int i in closedNow)
{
Console.WriteLine(" " + i);
}
Console.WriteLine("");
Console.ReadKey();
}
//look at all the caves temp Cave can go to
ArrayList to_caves_list = tempCave.ToCavesList;
if (step)
{
Console.WriteLine("Look at the caves " + tempCave.CaveID + " can go to.");
}
//for each to-cave of the tempCave
foreach (Cave to_cave in to_caves_list)
{
//while the cave is not in closed list and not in the open list
while ((closed.FindCave(to_cave.CaveID) == null) && (open.FindCave(to_cave.CaveID) == null))
{
if (step)
{
Console.WriteLine("Current cave beeing considered to go from " + tempCave.CaveID + ": " + to_cave.CaveID);
}
// set its g
to_cave.g = tempCave.g + to_cave.eucledian(tempCave);
if (step)
{
Console.WriteLine("Current cave's total distance so far: " + to_cave.g + " units");
}
//change the to_cave's parent to this tempCave
to_cave.FromCave = tempCave;
//add it to the open list
open.addCave(to_cave);
//display lists
if (step)
{
Console.WriteLine("Open list: ");
List <int> openNow = open.printCaves();
foreach (int i in openNow)
{
Console.WriteLine(" " + i);
}
Console.WriteLine("");
Console.ReadKey();
Console.WriteLine("Closed list: ");
List <int> closedNow = closed.printCaves();
foreach (int i in closedNow)
{
Console.WriteLine(" " + i);
}
Console.WriteLine("");
Console.ReadKey();
}
}
//if to_cave has lower g value than temp
if (to_cave.g > (tempCave.g + to_cave.eucledian(tempCave)))
{
if (step)
{
Console.WriteLine("---" + Environment.NewLine + "Current cave beeing considered: " + to_cave.CaveID + Environment.NewLine + "---");
}
//replace the to_cave with the new, lower, g value
to_cave.g = tempCave.g + to_cave.eucledian(tempCave);
if (step)
{
Console.WriteLine("Current cave's total distance so far: " + to_cave.g + " units");
}
//tempCave is now the to_cave's parent
to_cave.FromCave = tempCave;
if (step)
{
Console.WriteLine(to_cave.CaveID + " is now officially part of the solution path");
}
}
}
// if this cave is our destination cave
if (tempCave == endCave)
{
// Find the final path by looking at the FromCave feature
Cave current = endCave;
//create a list of caves to print to the solution
ArrayList answer = new ArrayList();
while (current != null)
{
//add from endCave to startCave
answer.Add(current);
current = current.FromCave;
}
answer.Reverse();
//Print solution path
Console.WriteLine(Environment.NewLine + Environment.NewLine + "----------------------------");
Console.WriteLine(" SOLUTION PATH: ");
foreach (Cave c in answer)
{
Console.WriteLine(" " + c.CaveID);
}
Console.WriteLine(Environment.NewLine + "Total distance: " + String.Format("{0:0.00}", endCave.g) + " units");
Console.WriteLine("----------------------------" + Environment.NewLine + Environment.NewLine);
}
}
return(null);
}
