public void InitDrawGrid(TableObject tableObj = null)
{
try
{
ThreadedInfoBox TinfoBox = new ThreadedInfoBox();
TinfoBox.Canceled += (o) => {
if (o == Operation.Creating)
{
this.Dispatcher.BeginInvoke(new Action(() => this.Close()));
}
};
TinfoBox.StartNewThreadInfoBox(Operation.Creating, "Creating table structure ...", this.Title);
DrawGrid();
if (tableObj != null)
{
FillSavedMapFields(tableObj);
}
this.Show();
TinfoBox.EndNewThreadInfoBox();
}
catch { }
}
private void AStarAlgorithm()
{
#region "Initiate"
CancelProcessing = false;
ApplyingAStarAlgorithm = true;
bool AtLeastOnePathOpen = false;
List <Rectangle> OpenList = new List <Rectangle>();
List <Rectangle> ClosedList = new List <Rectangle>();
ClearYellowAndCarTracks();
ClearSearchPaths();
List <List <Rectangle> > MasterPath = new List <List <Rectangle> >();
Rectangle MasterStartPoint = (myGrid.Children.OfType <Rectangle>()).Where(r => (r.Fill as ImageBrush).ImageSource == GreenFlag.ImageSource).FirstOrDefault();
Rectangle StartPoint = MasterStartPoint;
Rectangle Current = StartPoint;
List <Rectangle> AccumulatedEndPointList = new List <Rectangle>();
List <Rectangle> CheckedEndPoints = new List <Rectangle>();
List <Rectangle> EndPointList = CreateEndPointList(StartPoint, CheckedEndPoints);
int NumberOfEndPoints = EndPointList.Count;
Rectangle EndPoint = EndPointList.FirstOrDefault();
#endregion
#region "Starto nje ThreadedInfoBox me tregue procesimin"
ThreadedInfoBox TinfoBox = new ThreadedInfoBox(WindowStartupLocation.Manual, 50, 250);
TinfoBox.Canceled += (o) =>
{
if (o == Operation.Processing)
{
CancelProcessing = true;
}
};
TinfoBox.StartNewThreadInfoBox(Operation.Processing, "Processing path ...", this.Title);
#endregion
#region "Algoritmi"
MoveNext:
OpenList.Add(Current);
while (OpenList.Count != 0)
{
if (CancelProcessing)
{
TinfoBox.EndNewThreadInfoBox(); return;
}
Current = OpenList.ApplyUncertainty(UncertaintyLevel); // Merre Current rectangle amo me nji uncertainty
if (NumberOfEndPoints != 0)
{
EndPointList = CreateEndPointList(Current, CheckedEndPoints); // Checkirati distancat me endpoints qe jane me afer Current
EndPoint = EndPointList.FirstOrDefault();
}
if ((Current.Tag as RectangleParameter).GridPosition.Location == (EndPoint.Tag as RectangleParameter).GridPosition.Location)
{
#region "EndPoint Found"
AtLeastOnePathOpen = true;
List <Rectangle> Path = new List <Rectangle>();
Path = ReconstructPath(StartPoint, EndPoint);
if (!MasterPath.Contains(Path))
{
MasterPath.Add(Path);
}
if (!AccumulatedEndPointList.Contains(EndPoint))
{
AccumulatedEndPointList.Add(EndPoint);
}
NumberOfEndPoints--;
if (NumberOfEndPoints > 0)
{
if (!CheckedEndPoints.Contains(EndPoint))
{
CheckedEndPoints.Add(EndPoint);
}
StartPoint = Current;
ClosedList.Clear();
OpenList.Clear();
goto MoveNext;
}
else if (NumberOfEndPoints == 0 && BackPathType == BackPathType.Shortest)
{
StartPoint = Current;
EndPoint = MasterStartPoint;
IsGoingBack = true;
ClosedList.Clear();
OpenList.Clear();
goto MoveNext;
}
IsGoingBack = false;
DrawPath(MasterPath, AccumulatedEndPointList, MasterStartPoint, TinfoBox, PathType.StartToStop);
return;
#endregion
}
OpenList.Remove(Current);
ClosedList.Add(Current);
List <Rectangle> NeighborRectangles = ((myGrid.Children.OfType <Rectangle>()).CalculateHValue(EndPoint)).
Where(r => IsNodeAdjacent(r, Current) &&
IsNodeWalkable(r)).ToList();
foreach (Rectangle rect in NeighborRectangles.Except(ClosedList))
{
if (IsNodeDiagonal(rect, Current))
{
continue; // Mos i merr parasysh levizjen ne diagonale
}
if ((rect.Fill as ImageBrush).ImageSource != GreenFlag.ImageSource && (rect.Fill as ImageBrush).ImageSource != RedFlag.ImageSource && (rect.Fill as ImageBrush).ImageSource != RedFlagChecked.ImageSource)
{
rect.Fill = IsGoingBack ? VioletSpace : CyanSpace;
AllowUIToUpdate();
}
if (!OpenList.Contains(rect))
{
OpenList.Add(rect);
(rect.Tag as RectangleParameter).NodeParameters.Parent = Current;
rect.CalculateGValue().CalculateFValue();
}
else
{
Rectangle temp = new Rectangle();
temp.Tag = new RectangleParameter()
{
GridPosition = new GridPosition((rect.Tag as RectangleParameter).GridPosition), NodeParameters = new NodeParameters(Current)
};
temp.CalculateGValue();
if ((temp.Tag as RectangleParameter).NodeParameters.G_Value < (rect.Tag as RectangleParameter).NodeParameters.G_Value)
{
(rect.Tag as RectangleParameter).NodeParameters.Parent = Current;
rect.CalculateFValue();
}
}
}
}
#endregion
#region "Handel 'EndPoint not found'"
NumberOfEndPoints--;
if (NumberOfEndPoints > 0)
{
if (!CheckedEndPoints.Contains(EndPoint))
{
CheckedEndPoints.Add(EndPoint);
}
Current = StartPoint;
ClosedList.Clear();
ClosedList.Add(MasterStartPoint);
OpenList.Clear();
goto MoveNext;
}
else if (NumberOfEndPoints == 0 && AtLeastOnePathOpen)
{
if (BackPathType == BackPathType.Shortest)
{
StartPoint = AccumulatedEndPointList.LastOrDefault();
Current = StartPoint;
EndPoint = MasterStartPoint;
ClosedList.Clear();
OpenList.Clear();
goto MoveNext;
}
else if (BackPathType == BackPathType.Reversed)
{
DrawPath(MasterPath, AccumulatedEndPointList, MasterStartPoint, TinfoBox, PathType.StartToStop);
return;
}
}
ApplyingAStarAlgorithm = false;
TinfoBox.EndNewThreadInfoBox();
ShowMessage(false, PathType.StartToStop);
#endregion
}
