using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace RichCreator.Utility.Structs
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{
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/// <summary>
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/// 路径信息
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/// </summary>
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public class HousePathInfo
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{
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public HousePathInfo()
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{
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Obstacles = new List<ZTPolygon>();
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LocationPoints = new List<ParametersPoint>();
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FindPathPoints = new List<ZTPoint>();
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LoopLines = new List<ZTLinePoint>();
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FindPathLines = new List<ZTLinePoint>();
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}
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public HousePathInfo(Int32 width,Int32 height):this()
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{
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this.Width = width;
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this.Height = height;
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}
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#region Propertys
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/// <summary>
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/// 宽
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/// </summary>
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public int Width { get; set; }
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/// <summary>
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/// 高
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/// </summary>
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public int Height { get; set; }
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/// <summary>
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/// 障碍物
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/// </summary>
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public List<ZTPolygon> Obstacles { get; set; }
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/// <summary>
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/// 定位点
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/// </summary>
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public List<ParametersPoint> LocationPoints { get; set; }
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/// <summary>
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/// 寻路点
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/// </summary>
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public List<ZTPoint> FindPathPoints{ get; set; }
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/// <summary>
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/// 循逻线
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/// </summary>
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public List<ZTLinePoint> LoopLines { get; set; }
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/// <summary>
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/// 寻路线
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/// </summary>
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public List<ZTLinePoint> FindPathLines { get; set; }
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#endregion
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#region Editor
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/// <summary>
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/// 添加障碍物
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/// </summary>
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/// <returns></returns>
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public bool AddObstacle(ZTPolygon obstacle)
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{
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Int32 index = 0;
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if (ExistsObstacle(out index, obstacle))
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{
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return false;
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}
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this.Obstacles.Add(obstacle);
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return true;
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}
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/// <summary>
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/// 删除障碍物
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/// </summary>
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/// <param name="obstacle"></param>
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/// <returns></returns>
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public void RemoveObstacle(ZTPolygon obstacle)
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{
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Int32 index = 0;
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if (!ExistsObstacle(out index, obstacle))
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{
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return;
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}
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this.Obstacles.RemoveAt(index);
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return;
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}
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/// <summary>
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/// 是否存在障碍物
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/// </summary>
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/// <param name="obstacle"></param>
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/// <returns></returns>
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private bool ExistsObstacle(out Int32 index,ZTPolygon obstacle)
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{
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index = 0;
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for (int i = 0; i < Obstacles.Count; i++)
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{
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if (Obstacles[i] == obstacle)
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{
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index = i;
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return true;
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}
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}
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return false;
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}
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/// <summary>
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/// 添加定位点
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/// </summary>
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/// <param name="point"></param>
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/// <param name="parameters"></param>
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/// <returns></returns>
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public bool AddLocationPosition(ParametersPoint point)
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{
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if (this.LocationPoints.Exists((p) => { return point.Point == p.Point; }))
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{
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return false;
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}
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this.LocationPoints.Add(point);
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return true;
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}
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/// <summary>
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/// 清空定位点
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/// </summary>
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/// <returns></returns>
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public void ClearLocationPosiltion()
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{
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this.LocationPoints.Clear();
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}
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/// <summary>
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/// 添加寻路点
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/// </summary>
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/// <param name="point"></param>
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/// <returns></returns>
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public bool AddFindPathPoint(ZTPoint point)
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{
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Int32 index = 0;
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if (ExistsFindPathPoint(out index, point))
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{
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return false;
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}
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this.FindPathPoints.Add(point);
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return true;
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}
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/// <summary>
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/// 删除寻路点
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/// </summary>
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/// <param name="point"></param>
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/// <returns></returns>
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public bool RemoveFindPathPoint(ZTPoint point)
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{
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Int32 index = 0;
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if (!ExistsFindPathPoint(out index,point))
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{
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return true;
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}
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//查询巡逻线和寻路线是否有用到此点
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if (ExistsPointInAllLine(point))
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{
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return false;
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}
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this.FindPathPoints.RemoveAt(index);
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return true;
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}
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/// <summary>
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/// 是否存在指定寻路点
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/// </summary>
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/// <param name="index"></param>
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/// <param name="point"></param>
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/// <returns></returns>
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private bool ExistsFindPathPoint(out Int32 index, ZTPoint point)
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{
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index = 0;
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for (int i = 0; i < this.FindPathPoints.Count; i++)
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{
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if (this.FindPathPoints[i] == point)
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{
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index = i;
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return true;
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}
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}
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return false;
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}
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/// <summary>
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/// 添加巡逻线
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/// </summary>
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/// <param name="line"></param>
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/// <returns></returns>
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public bool AddLoopLine(ZTLinePoint line)
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{
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Int32 index = 0;
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if (ExistsLoopLine(out index, line))
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{
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return false;
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}
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if (line.P1 == line.P2)
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{
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return false;
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}
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this.LoopLines.Add(line);
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return true;
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}
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/// <summary>
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/// 删除巡逻线
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/// </summary>
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/// <param name="line"></param>
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/// <returns></returns>
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public bool RemoveLoopLine(ZTLinePoint line)
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{
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Int32 index = 0;
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if (!ExistsLoopLine(out index, line))
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{
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return true;
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}
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this.LoopLines.RemoveAt(index);
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return true;
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}
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/// <summary>
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/// 是否存在巡逻线
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/// </summary>
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/// <param name="index"></param>
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/// <param name="line"></param>
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/// <returns></returns>
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private bool ExistsLoopLine(out Int32 index, ZTLinePoint line)
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{
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index = 0;
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for (int i = 0; i < this.LoopLines.Count; i++)
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{
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if (this.LoopLines[i] == line)
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{
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index = i;
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return true;
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}
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}
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return false;
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}
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/// <summary>
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/// 添加寻路线
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/// </summary>
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/// <param name="line"></param>
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/// <returns></returns>
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public bool AddFindPathLine(ZTLinePoint line)
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{
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Int32 index = 0;
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if (ExistsFindPathLine(out index, line))
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{
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return false;
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}
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this.FindPathLines.Add(line);
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return true;
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}
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/// <summary>
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/// 删除寻路线
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/// </summary>
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/// <param name="line"></param>
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/// <returns></returns>
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public bool RemoveFindPathLine(ZTLinePoint line)
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{
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Int32 index = 0;
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if (!ExistsFindPathLine(out index, line))
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{
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return true;
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}
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this.FindPathLines.RemoveAt(index);
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return true;
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}
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/// <summary>
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/// 是否存在寻路线
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/// </summary>
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/// <param name="index"></param>
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/// <param name="line"></param>
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/// <returns></returns>
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private bool ExistsFindPathLine(out Int32 index, ZTLinePoint line)
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{
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index = 0;
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for (int i = 0; i < this.FindPathLines.Count; i++)
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{
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if (this.FindPathLines[i] == line)
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{
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index = i;
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return true;
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}
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}
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return false;
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}
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/// <summary>
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/// 巡逻线或寻路线中是否存在某点
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/// </summary>
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/// <param name="point"></param>
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/// <returns></returns>
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private bool ExistsPointInAllLine(ZTPoint point)
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{
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for (int i = 0; i < this.LoopLines.Count; i++)
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{
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if (this.LoopLines[i].P1 == point || this.LoopLines[i].P2 == point)
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{
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return true;
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}
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}
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for (int i = 0; i < this.FindPathLines.Count; i++)
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{
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if (this.FindPathLines[i].P1 == point || this.FindPathLines[i].P2 == point)
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{
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return true;
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}
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}
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return false;
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}
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#endregion
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/// <summary>
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/// 获取json
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/// </summary>
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/// <returns></returns>
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public string ToJsonString()
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{
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string json = ZTImage.Json.JsonBuilder.ToJsonString(this);
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return json;
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}
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/// <summary>
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/// 从json字符串生成对象
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/// </summary>
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/// <param name="json"></param>
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/// <returns></returns>
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public static HousePathInfo FromJsonString(string json)
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{
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return ZTImage.Json.JsonParser.ToObject<HousePathInfo>(json);
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}
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/// <summary>
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/// 寻找巡逻路线
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/// </summary>
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/// <param name="rolePosition"></param>
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public static void FindLoopPath(ZTPoint rolePosition)
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{
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}
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/// <summary>
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/// 两点之间寻路
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/// </summary>
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/// <param name="start"></param>
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/// <param name="end"></param>
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public static void FindPath(ZTPoint start, ZTPoint end)
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{
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}
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}
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}
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