// ---------------------------------------------- //
// ------------ Buttons Functions ----------- //
// ---------------------------------------------- //
public void RunExploration(bool simulation)
{
Arena.ClearBoard();
if (simulation)
{
string path = DEFAULT_MAP_PATH;;
if (Application.isEditor)
{
//path = EditorUtility.OpenFilePanel("Load map file: ", "Assets/", "txt");
}
if (path.Length > 0)
{
Arena.CreateBoard(false);
startingPos = new Pos(1, 1);
startingDir = Direction.EAST;
Exploration._sensorBuffer = "-1,-1,-1,-1,1";
Exploration.Init(startingPos, startingDir, LoadMap(path));
}
else
{
return; // didn't load map
}
}
else
{
if (!connected)
{
return; // not connected to RPI
}
Arena.CreateBoard(false);
Exploration.Init(startingPos, startingDir);
}
if (coveragePercentage < 100) // simulation: coverage
{
explorationThread = new Thread(new ThreadStart(Exploration.ExplorationAlgoCoverage));
}
else if (hasTimeLimit) // simulation: time limit
{
explorationThread = new Thread(new ThreadStart(Exploration.ExplorationAlgoTimeLimit));
}
else // real run & plain simulation
{
explorationThread = new Thread(new ThreadStart(Exploration.ExplorationAlgo));
}
inExploration = true;
hasCompleteMap = false;
explorationThread.Start();
}
public void LoadMapFromFile()
{
Arena.ClearBoard();
string path = DEFAULT_MAP_PATH;
if (Application.isEditor)
{
//path = EditorUtility.OpenFilePanel("Load map file: ", "Assets/", "txt");
}
if (path.Length > 0)
{
gridStatuses = Arena.LoadMap(path);
CreateVirtualWall(true);
}
else
{
Debug.LogError("Not able to open file! Loading default test map file. ");
gridStatuses = Arena.LoadMap(DEFAULT_MAP_PATH);
}
Arena.CreateBoard(true);
}