protected void BaseStartUS()
{
BuildDebug.Log(name + ": Beginning Update Search");
loops = 0;
path.Clear();
line.positionCount = 0;
realTimeSolutionStarted = true;
BreadcrumbManager.singleton.ResetCrumbs();
}
public void Init(Environment Env)
{
BuildDebug.Log("Initializing " + name);
SetDeltas();
env = Env;
initState = env.startState;
transform.position = env.CellRepPos(initState);
transform.localScale = new Vector2(Env.cellSize, Env.cellSize);
}
protected void BaseEndUS()
{
BuildDebug.Log("--------------------");
BuildDebug.Log(name + ": Ending Update Search");
BuildDebug.Log("Number of loops: " + loops);
Debug.Log("About to Log path length");
BuildDebug.Log("Path Length: " + path.Count);
LogMemory();
BuildDebug.Log("--------------------");
realTimeSolutionStarted = false;
}
void Awake()
{
canvas = FindObjectOfType <Canvas>();
BuildDebug.Log("Starting Load");
string EnvDir = Save.GetDirectory();
BuildDebug.Log("Loading Directory: " + EnvDir);
rawEnv = Save.LoadEnvironment(EnvDir);
GenerateGrid();
GenerateEnvVisuals();
}
void Update()
{
if (Input.GetKeyDown(KeyCode.Escape))
{
BuildDebug.Log("Ending Program");
Application.Quit();
}
if (Input.mouseScrollDelta != Vector2.zero)
{
cameraZoom = Mathf.Clamp(cameraZoom - (Input.mouseScrollDelta.y * scrollSense), minCameraSize, maxCameraSize);
cam.orthographicSize = cameraZoom;
textCam.orthographicSize = cameraZoom;
}
if (Input.GetMouseButtonDown(2))
{
cameraZoom = Mathf.Clamp(cameraDefault, minCameraSize, maxCameraSize);
cam.orthographicSize = cameraZoom;
textCam.orthographicSize = cameraZoom;
}
bool startedBot = false;
for (int i = 0; i < robots.Count; ++i)
{
if (CheckKey(i + 1))
{
startedBot = true;
}
if (robots[i].moved)
{
BreadcrumbManager.singleton.PlaceCrumb(robots[i].transform.position, i);
}
robots[i].moved = false;
robots[i].UpdateSolutionControl(CheckKey(i + 1));
}
if (startedBot)
{
for (int i = 0; i < robots.Count; ++i)
{
if (!CheckKey(i + 1))
{
robots[i].SilentEndUS();
}
robots[i].gameObject.SetActive(CheckKey(i + 1));
}
}
}
public static string GetDirectory()
{
if (File.Exists("FileToLoad.txt"))
{
BuildDebug.Log("Directory instructions found");
StreamReader SR = new StreamReader("FileToLoad.txt");
return(SR.ReadLine());
}
else
{
BuildDebug.Log("Directory instructions missing!");
}
return("Environments/RobotNav-test.txt");
}
protected override void LogMemory()
{
BuildDebug.Log("End Memory Used: " + nodeQueue.Count + " Nodes in queue, " + triedNodes.Count + " Nodes in list = " + (nodeQueue.Count + triedNodes.Count));
}
protected override void LogMemory()
{
BuildDebug.Log("End Memory Used: " + BFSNodes.Count + " Nodes in tree");
}
protected virtual void LogMemory()
{
BuildDebug.Log("End Memory Used: Unknown");
}
protected override void LogMemory()
{
BuildDebug.Log("End Memory Used: " + usedNodes.Count + " Nodes in complete tree + "
+ path.Count + " Nodes in main Branch = " + (path.Count + usedNodes.Count));
}
public static RawEnvironment LoadEnvironment(string path)
{
if (!File.Exists(path))
{
BuildDebug.Log("ERROR loading chosen directory. Swapping to default Environment");
if (File.Exists("Environments/RobotNav-test.txt"))
{
path = "Environments/RobotNav-test.txt";
}
else
{
BuildDebug.Log("ERROR loading default directory.");
path = "";
}
}
if (File.Exists(path))
{
BuildDebug.Log("Loading Chosen Environment");
RawEnvironment RE = new RawEnvironment();
List <string> lines = new List <string>();
StreamReader SR = new StreamReader(path);
while (!SR.EndOfStream)
{
lines.Add(SR.ReadLine());
}
if (lines.Count < 3)
{
Debug.LogError("Environment file incomplete");
return(new RawEnvironment());
}
RE.gridSize = lines[0].StringToV2();
//Swap the x and y values to make later code simpler.
int temp = RE.gridSize.x;
RE.gridSize.x = RE.gridSize.y;
RE.gridSize.y = temp;
RE.startPos = lines[1].StringToV2();
string[] goals = lines[2].Split('|');
RE.goalsPos = new List <Vector2Int>();
foreach (string G in goals)
{
RE.goalsPos.Add(G.StringToV2());
}
lines.RemoveRange(0, 3);
if (lines.Count == 0)
{
Debug.LogWarning("No walls in Environment");
return(new RawEnvironment());
}
RE.wallRects = new List <Rect>();
foreach (string wall in lines)
{
RE.wallRects.Add(wall.StringToRect());
}
return(RE);
}
return(new RawEnvironment());
}
protected override void CancelUpdateSolution()
{
BaseEndUS();
BuildDebug.Log("Cancelling Depth First");
}