From e95811d6f0c7a9c8616ea81d0dcc2172d3a3d140 Mon Sep 17 00:00:00 2001
From: Paul-Winpenny <92634321+Paul-Winpenny@users.noreply.github.com>
Date: Mon, 4 Nov 2024 15:01:54 +0000
Subject: [PATCH] Added node selection, and beginings for A* pathfinding.
---
App/RobobinApp/Models/Graph.cs | 48 ++++-
.../ViewModels/MainPageViewModel.cs | 2 +-
App/RobobinApp/Views/CentreGraph.xaml.cs | 172 +++++++++++++++---
App/RobobinApp/Views/MainPage.xaml | 8 +-
App/RobobinApp/Views/MainPage.xaml.cs | 55 +++++-
5 files changed, 242 insertions(+), 43 deletions(-)
diff --git a/App/RobobinApp/Models/Graph.cs b/App/RobobinApp/Models/Graph.cs
index e8fa370c..8e1c3b8a 100644
--- a/App/RobobinApp/Models/Graph.cs
+++ b/App/RobobinApp/Models/Graph.cs
@@ -1,22 +1,30 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace Robobin.Models
+namespace Robobin.Models
{
public class Node
{
public string Name { get; set; }
public float X { get; set; }
public float Y { get; set; }
+ public List<Edge> Edges { get; set; } // Add edges to keep track of connections
public Node(string name, float x, float y)
{
Name = name;
X = x;
Y = y;
+ Edges = new List<Edge>(); // Initialize the edges list
+ }
+ }
+
+ public class Edge
+ {
+ public Node TargetNode { get; set; }
+ public float Cost { get; set; } // Cost to traverse this edge
+
+ public Edge(Node targetNode, float cost)
+ {
+ TargetNode = targetNode;
+ Cost = cost;
}
}
@@ -31,13 +39,35 @@ namespace Robobin.Models
Name = name;
Nodes = nodes;
AdjacencyMatrix = adjacencyMatrix;
+
+ BuildEdges(); // Create edges based on the adjacency matrix
}
- public Graph( List<Node> nodes, (float, float)[,] adjacencyMatrix)
+
+ public Graph(List<Node> nodes, (float, float)[,] adjacencyMatrix)
{
Name = "Graph";
Nodes = nodes;
AdjacencyMatrix = adjacencyMatrix;
+
+ BuildEdges(); // Create edges based on the adjacency matrix
}
- }
+ private void BuildEdges()
+ {
+ for (int i = 0; i < Nodes.Count; i++)
+ {
+ for (int j = 0; j < Nodes.Count; j++)
+ {
+ if (AdjacencyMatrix[i, j].magnitude > 0) // Check if there's a connection
+ {
+ float angle = AdjacencyMatrix[i, j].angle;
+ float x = Nodes[j].X; // Target node x
+ float y = Nodes[j].Y; // Target node y
+ Nodes[i].Edges.Add(new Edge(Nodes[j], AdjacencyMatrix[i, j].magnitude));
+ }
+ }
+ }
+ }
+
+ }
}
diff --git a/App/RobobinApp/ViewModels/MainPageViewModel.cs b/App/RobobinApp/ViewModels/MainPageViewModel.cs
index 5d1041cb..26c62ad1 100644
--- a/App/RobobinApp/ViewModels/MainPageViewModel.cs
+++ b/App/RobobinApp/ViewModels/MainPageViewModel.cs
@@ -119,7 +119,7 @@ namespace RobobinApp.ViewModels
// Add graphs to collection
Graphs = new ObservableCollection<Graph> { graph1, graph2, graph3 };
- GraphNames = new ObservableCollection<string>(Graphs.Select(g => g.Name)); // Create list of names
+ GraphNames = new ObservableCollection<string>(Graphs.Select(g => g.Name));
Graph = Graphs.First();
}
diff --git a/App/RobobinApp/Views/CentreGraph.xaml.cs b/App/RobobinApp/Views/CentreGraph.xaml.cs
index 6c2d591e..7836b1d3 100644
--- a/App/RobobinApp/Views/CentreGraph.xaml.cs
+++ b/App/RobobinApp/Views/CentreGraph.xaml.cs
@@ -1,83 +1,211 @@
using Microsoft.Maui.Graphics;
using Robobin.Models;
-using RobobinApp.Models; // Ensure you have the correct namespace for your Models
+using RobobinApp.Models;
+using System;
+using System.Linq;
namespace RobobinApp.Views
{
public class GraphicsDrawable : IDrawable
{
private Graph _graph;
+ public const float BaseNodeRadius = 5f; // Make this public
+ private static readonly Color DefaultNodeColor = Colors.Red;
+ private static readonly Color HomeNodeColor = Colors.Green;
+ private static readonly Color BackgroundColor = Color.FromHex("#2C2F33");
+ private static readonly Color ConnectionColor = Colors.Grey;
+ private static readonly Color HighlightedNodeColor = Colors.Yellow; // Color for the highlighted node
+
+ // Properties to keep track of scale and offset
+ public float CurrentScale { get; private set; } = 1.0f; // Initialize to default scale
+ public (float X, float Y) CurrentOffset { get; private set; } = (0, 0); // Initialize to default offset
+ private Node _highlightedNode; // Field to keep track of the highlighted node
public void SetGraph(Graph graph)
{
- _graph = graph;
+ _graph = graph ?? throw new ArgumentNullException(nameof(graph));
+ _highlightedNode = null; // Reset highlighted node when setting a new graph
}
public void Draw(ICanvas canvas, RectF dirtyRect)
{
if (_graph == null) return;
-
- canvas.FillColor = Color.FromHex("#2C2F33");
+ DrawBackground(canvas, dirtyRect);
+ (float minX, float minY, float maxX, float maxY) = CalculateBounds();
+
+ CurrentScale = CalculateScale(dirtyRect, minX, minY, maxX, maxY); // Update CurrentScale
+ (float offsetX, float offsetY) = CalculateOffsets(dirtyRect, minX, minY, maxX, maxY, CurrentScale);
+ CurrentOffset = (offsetX, offsetY); // Update CurrentOffset
+ float nodeRadius = BaseNodeRadius * CurrentScale;
+
+ DrawConnections(canvas, CurrentScale, offsetX, offsetY);
+ DrawNodes(canvas, CurrentScale, offsetX, offsetY, nodeRadius, _highlightedNode);
+ }
+
+ private void DrawBackground(ICanvas canvas, RectF dirtyRect)
+ {
+ canvas.FillColor = BackgroundColor;
canvas.FillRectangle(dirtyRect);
+ }
-
+ private (float minX, float minY, float maxX, float maxY) CalculateBounds()
+ {
float minX = _graph.Nodes.Min(node => node.X);
float minY = _graph.Nodes.Min(node => node.Y);
float maxX = _graph.Nodes.Max(node => node.X);
float maxY = _graph.Nodes.Max(node => node.Y);
+ return (minX, minY, maxX, maxY);
+ }
+ private float CalculateScale(RectF dirtyRect, float minX, float minY, float maxX, float maxY)
+ {
float graphWidth = maxX - minX;
float graphHeight = maxY - minY;
-
float scaleX = dirtyRect.Width / graphWidth;
float scaleY = dirtyRect.Height / graphHeight;
- float scale = Math.Min(scaleX, scaleY) * 0.8f;
+ return Math.Min(scaleX, scaleY) * 0.8f; // Scale with some margin
+ }
+ private (float offsetX, float offsetY) CalculateOffsets(RectF dirtyRect, float minX, float minY, float maxX, float maxY, float scale)
+ {
float offsetX = dirtyRect.Center.X - ((minX + maxX) * 0.5f) * scale;
float offsetY = dirtyRect.Center.Y - ((minY + maxY) * 0.5f) * scale;
+ return (offsetX, offsetY);
+ }
-
- const float baseNodeRadius = 5;
- float nodeRadius = baseNodeRadius * scale;
+ private void DrawConnections(ICanvas canvas, float scale, float offsetX, float offsetY)
+ {
+ canvas.StrokeColor = ConnectionColor;
+ canvas.StrokeSize = 2;
foreach (var node in _graph.Nodes)
{
+ int nodeIndex = _graph.Nodes.IndexOf(node);
for (int j = 0; j < _graph.Nodes.Count; j++)
{
- var (magnitude, angle) = _graph.AdjacencyMatrix[_graph.Nodes.IndexOf(node), j];
+ var (magnitude, angle) = _graph.AdjacencyMatrix[nodeIndex, j];
if (magnitude > 0)
{
-
float targetX = (node.X + magnitude * MathF.Cos(MathF.PI * angle / 180)) * scale + offsetX;
float targetY = (node.Y + magnitude * MathF.Sin(MathF.PI * angle / 180)) * scale + offsetY;
-
- canvas.StrokeColor = Colors.Grey;
- canvas.StrokeSize = 2;
canvas.DrawLine(node.X * scale + offsetX, node.Y * scale + offsetY, targetX, targetY);
}
}
}
+ }
- // Draw nodes
+ private void DrawNodes(ICanvas canvas, float scale, float offsetX, float offsetY, float nodeRadius, Node highlightedNode)
+ {
foreach (var node in _graph.Nodes)
{
float scaledX = node.X * scale + offsetX;
float scaledY = node.Y * scale + offsetY;
- canvas.FillColor = Colors.Red;
- if (node.Name == "Home")
- {
- canvas.FillColor = Colors.Green;
-
- }
+ // Use different color for highlighted node
+ canvas.FillColor = (highlightedNode != null && highlightedNode == node) ? HighlightedNodeColor : (node.Name == "Home" ? HomeNodeColor : DefaultNodeColor);
canvas.FillCircle(scaledX, scaledY, nodeRadius);
canvas.FontColor = Colors.White;
canvas.DrawString(node.Name, scaledX + nodeRadius + 2, scaledY - nodeRadius, HorizontalAlignment.Left);
}
}
+ public Node FindNearestNode(float clickX, float clickY, float scale, float offsetX, float offsetY)
+ {
+ Node nearestNode = null;
+ float minDistance = float.MaxValue;
+
+ foreach (var node in _graph.Nodes)
+ {
+ float scaledX = node.X * scale + offsetX;
+ float scaledY = node.Y * scale + offsetY;
+
+ float distance = MathF.Sqrt(MathF.Pow(clickX - scaledX, 2) + MathF.Pow(clickY - scaledY, 2));
+ if (distance < minDistance)
+ {
+ minDistance = distance;
+ nearestNode = node;
+ }
+ }
+
+ return nearestNode;
+ }
+
+ public void HighlightNode(Node node)
+ {
+ _highlightedNode = node; // Store the node to highlight
+ }
+ public List<Node> AStarPathfinding(Node startNode, Node targetNode)
+ {
+ var openSet = new List<Node> { startNode };
+ var cameFrom = new Dictionary<Node, Node>();
+ var gScore = new Dictionary<Node, float>(); // Cost from start to node
+ var fScore = new Dictionary<Node, float>(); // Estimated cost from start to target through node
+
+ foreach (var node in _graph.Nodes)
+ {
+ gScore[node] = float.MaxValue; // Initial cost is infinite
+ fScore[node] = float.MaxValue; // Initial cost is infinite
+ }
+ gScore[startNode] = 0;
+ fScore[startNode] = Heuristic(startNode, targetNode); // Initial heuristic
+
+ while (openSet.Count > 0)
+ {
+ // Find node with the lowest fScore
+ Node currentNode = openSet.OrderBy(node => fScore[node]).First();
+
+ if (currentNode == targetNode)
+ {
+ return ReconstructPath(cameFrom, currentNode);
+ }
+
+ openSet.Remove(currentNode);
+
+ // Check neighboring nodes
+ foreach (var edge in currentNode.Edges)
+ {
+ Node neighbor = edge.TargetNode; // Get the neighboring node
+ float tentativeGScore = gScore[currentNode] + edge.Cost; // Calculate tentative gScore
+
+ if (tentativeGScore < gScore[neighbor]) // A better path has been found
+ {
+ cameFrom[neighbor] = currentNode;
+ gScore[neighbor] = tentativeGScore;
+ fScore[neighbor] = gScore[neighbor] + Heuristic(neighbor, targetNode);
+
+ if (!openSet.Contains(neighbor))
+ {
+ openSet.Add(neighbor);
+ }
+ }
+ }
+ }
+
+ return new List<Node>(); // Return empty path if there is no path
+ }
+
+ private float Heuristic(Node a, Node b)
+ {
+ // Euclidean distance
+ return MathF.Sqrt(MathF.Pow(a.X - b.X, 2) + MathF.Pow(a.Y - b.Y, 2));
+ }
+
+ private List<Node> ReconstructPath(Dictionary<Node, Node> cameFrom, Node currentNode)
+ {
+ var totalPath = new List<Node> { currentNode };
+
+ while (cameFrom.ContainsKey(currentNode))
+ {
+ currentNode = cameFrom[currentNode];
+ totalPath.Add(currentNode);
+ }
+
+ totalPath.Reverse(); // Reverse the path to start from the initial node
+ return totalPath;
+ }
+
}
}
diff --git a/App/RobobinApp/Views/MainPage.xaml b/App/RobobinApp/Views/MainPage.xaml
index bd416ccc..6dfef3e9 100644
--- a/App/RobobinApp/Views/MainPage.xaml
+++ b/App/RobobinApp/Views/MainPage.xaml
@@ -45,7 +45,13 @@
VerticalOptions="FillAndExpand"
Grid.Column="1" Grid.Row="0">
<GraphicsView x:Name="GraphicsView"
- Drawable="{StaticResource drawable}" />
+ Drawable="{StaticResource drawable}">
+ <GraphicsView.GestureRecognizers>
+ <TapGestureRecognizer Tapped="OnGraphicsViewTapped" />
+ </GraphicsView.GestureRecognizers>
+ </GraphicsView>
+
+
</Frame>
<VerticalStackLayout StyleClass="sideFrame"
diff --git a/App/RobobinApp/Views/MainPage.xaml.cs b/App/RobobinApp/Views/MainPage.xaml.cs
index 886ab3f3..5b06ec41 100644
--- a/App/RobobinApp/Views/MainPage.xaml.cs
+++ b/App/RobobinApp/Views/MainPage.xaml.cs
@@ -1,7 +1,8 @@
using Microsoft.Maui.Controls;
-using RobobinApp.ViewModels;
+using RobobinApp.ViewModels;
using RobobinApp.Models;
using System.Diagnostics;
+using RobobinApp.Views;
namespace RobobinApp.Views
{
@@ -11,10 +12,8 @@ namespace RobobinApp.Views
{
InitializeComponent();
- // Get the drawable from resources
+
var drawable = (GraphicsDrawable)Resources["drawable"];
-
- // Set the graph in the drawable using the existing BindingContext
if (BindingContext is MainPageViewModel viewModel)
{
drawable.SetGraph(viewModel.Graph);
@@ -23,21 +22,57 @@ namespace RobobinApp.Views
private void OnGraphSelected(object sender, EventArgs e)
{
+
if (sender is Picker picker && BindingContext is MainPageViewModel viewModel)
{
- // Update the selected graph
+
viewModel.SelectGraphCommand.Execute(picker.SelectedIndex);
- // Refresh the drawable with the new graph
+
var drawable = (GraphicsDrawable)Resources["drawable"];
var newGraph = viewModel.Graphs.FirstOrDefault(g => g.Name == viewModel.Graph.Name);
- drawable.SetGraph(newGraph);
- // Invalidate the GraphicsView to redraw the updated graph
- GraphicsView.Invalidate();
+
+ if (newGraph != null)
+ {
+ drawable.SetGraph(newGraph);
+ GraphicsView.Invalidate();
+ Debug.WriteLine("New Graph picked and drawn");
+ }
+ else
+ {
+ Debug.WriteLine("Graph not found!");
+ }
+ }
+ }
+
+ private void OnGraphicsViewTapped(object sender, TappedEventArgs e)
+ {
+ var tapPoint = e.GetPosition(GraphicsView);
+ var drawable = (GraphicsDrawable)Resources["drawable"];
+
+ float scale = drawable.CurrentScale;
+ var offset = drawable.CurrentOffset;
- Debug.WriteLine("New Graph picked and drawn");
+ var tapPointX = (float)tapPoint.Value.X;
+ var tapPointY = (float)tapPoint.Value.Y;
+ var nearestNode = drawable.FindNearestNode(tapPointX, tapPointY, scale, offset.X, offset.Y);
+
+
+ drawable.HighlightNode(nearestNode);
+
+
+ if (nearestNode != null)
+ {
+ DisplayAlert("Node Clicked", $"You clicked on node: {nearestNode.Name}", "OK");
}
+ else
+ {
+ DisplayAlert("No Node", "No node was clicked.", "OK");
+ }
+
+ GraphicsView.Invalidate();
}
}
+
}
--
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