Add CPP to RoutePlan

src/Client/Mapper/.vs/Mapper/v17/DocumentLayout.json

@@ -1,7 +1,25 @@
 {
   "Version": 1,
-  "WorkspaceRootPath": "C:\\Users\\tosl1\\source\\repos\\Roommapper\\src\\Client\\Mapper\\",
-  "Documents": [],
+  "WorkspaceRootPath": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\Mapper\\",
+  "Documents": [
+    {
+      "AbsoluteMoniker": "D:0:0:{52F1797E-0731-43F4-AC45-68B7CF563336}|Mapper.csproj|c:\\users\\tom\\source\\repos\\roommapper\\src\\client\\mapper\\map.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{52F1797E-0731-43F4-AC45-68B7CF563336}|Mapper.csproj|solutionrelative:map.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    },
+    {
+      "AbsoluteMoniker": "D:0:0:{A753DACA-164C-417C-8AFD-D53AB375A53D}|..\\RobotController\\RobotController.csproj|c:\\users\\tom\\source\\repos\\roommapper\\src\\client\\robotcontroller\\ultrasonic.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    },
+    {
+      "AbsoluteMoniker": "D:0:0:{A753DACA-164C-417C-8AFD-D53AB375A53D}|..\\RobotController\\RobotController.csproj|c:\\users\\tom\\source\\repos\\roommapper\\src\\client\\robotcontroller\\measurement.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    },
+    {
+      "AbsoluteMoniker": "D:0:0:{3848B011-EF47-4B92-A214-69D439583C52}|..\\..\\CoveragePathPlanner\\CoveragePathPlanner.csproj|c:\\users\\tom\\source\\repos\\roommapper\\src\\coveragepathplanner\\coveragepathplanner.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    },
+    {
+      "AbsoluteMoniker": "D:0:0:{52F1797E-0731-43F4-AC45-68B7CF563336}|Mapper.csproj|c:\\users\\tom\\source\\repos\\roommapper\\src\\client\\mapper\\mapper.csproj||{FA3CD31E-987B-443A-9B81-186104E8DAC1}|",
+      "RelativeMoniker": "D:0:0:{52F1797E-0731-43F4-AC45-68B7CF563336}|Mapper.csproj|solutionrelative:mapper.csproj||{FA3CD31E-987B-443A-9B81-186104E8DAC1}|"
+    }
+  ],
   "DocumentGroupContainers": [
     {
       "Orientation": 0,
@@ -9,11 +27,76 @@
       "DocumentGroups": [
         {
           "DockedWidth": 200,
-          "SelectedChildIndex": -1,
+          "SelectedChildIndex": 5,
           "Children": [
+            {
+              "$type": "Document",
+              "DocumentIndex": 1,
+              "Title": "Ultrasonic.cs",
+              "DocumentMoniker": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\Ultrasonic.cs",
+              "RelativeDocumentMoniker": "..\\RobotController\\Ultrasonic.cs",
+              "ToolTip": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\Ultrasonic.cs",
+              "RelativeToolTip": "..\\RobotController\\Ultrasonic.cs",
+              "ViewState": "AQIAAAAAAAAAAAAAAAAAAAAAAAAAAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-06-09T17:38:23.66Z",
+              "EditorCaption": ""
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 2,
+              "Title": "Measurement.cs",
+              "DocumentMoniker": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\Measurement.cs",
+              "RelativeDocumentMoniker": "..\\RobotController\\Measurement.cs",
+              "ToolTip": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\Measurement.cs",
+              "RelativeToolTip": "..\\RobotController\\Measurement.cs",
+              "ViewState": "AQIAAAAAAAAAAAAAAAAAABYAAAAAAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-06-09T17:35:55.332Z",
+              "EditorCaption": ""
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 3,
+              "Title": "CoveragePathPlanner.cs",
+              "DocumentMoniker": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\CoveragePathPlanner\\CoveragePathPlanner.cs",
+              "RelativeDocumentMoniker": "..\\..\\CoveragePathPlanner\\CoveragePathPlanner.cs",
+              "ToolTip": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\CoveragePathPlanner\\CoveragePathPlanner.cs",
+              "RelativeToolTip": "..\\..\\CoveragePathPlanner\\CoveragePathPlanner.cs",
+              "ViewState": "AQIAAHoAAAAAAAAAAAAAwIYAAAAQAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-06-09T17:34:13.83Z",
+              "EditorCaption": ""
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 4,
+              "Title": "Mapper",
+              "DocumentMoniker": "C:\\Users\\Tom\\Source\\Repos\\Roommapper\\src\\Client\\Mapper\\Mapper.csproj",
+              "RelativeDocumentMoniker": "Mapper.csproj",
+              "ToolTip": "C:\\Users\\Tom\\Source\\Repos\\Roommapper\\src\\Client\\Mapper\\Mapper.csproj",
+              "RelativeToolTip": "Mapper.csproj",
+              "ViewState": "AQIAAAAAAAAAAAAAAAAAAAAAAAAAAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000758|",
+              "WhenOpened": "2024-06-09T17:33:28.667Z",
+              "EditorCaption": ""
+            },
             {
               "$type": "Bookmark",
               "Name": "ST:0:0:{1c4feeaa-4718-4aa9-859d-94ce25d182ba}"
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 0,
+              "Title": "Map.cs",
+              "DocumentMoniker": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\Mapper\\Map.cs",
+              "RelativeDocumentMoniker": "Map.cs",
+              "ToolTip": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\Mapper\\Map.cs",
+              "RelativeToolTip": "Map.cs",
+              "ViewState": "AQIAAAAAAAAAAAAAAAAAABcAAAAcAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-06-09T17:33:29.25Z",
+              "EditorCaption": ""
             }
           ]
         }

src/Client/Mapper/Map.cs

@@ -5,28 +5,6 @@ namespace Mapper
 {
     public class Map
     {
-      private Coordinate bottomLeft, bottomRight;
-
-      public Map(Coordinate bottomLeft, Coordinate bottomRight)
-      {
-        this.bottomLeft = bottomLeft;
-        this.bottomRight = bottomRight;
-        Console.Write(testPathPlanner);
-      }
-
-    public List<Point> testPathPlanner()
-    {
-      CoveragePathPlanner planner = new CoveragePathPlanner(500, 500);
-
-      List<Obstacle> obstacles = new List<Obstacle>
-      {
-        new Obstacle { X = 100, Y = 100, Width = 50, Height = 50 },
-        new Obstacle { X = 200, Y = 200, Width = 100, Height = 100 },
-        new Obstacle { X = 300, Y = 300, Width = 150, Height = 150 }
-      };
-
-      return planner.PlanPath(obstacles);
+      
     }
-
-  }
 }

src/Client/RobotController/.vs/RobotController/v17/DocumentLayout.json

@@ -1,7 +1,24 @@
 {
   "Version": 1,
-  "WorkspaceRootPath": "C:\\Users\\tosl1\\source\\repos\\Roommapper\\src\\Client\\RobotController\\",
-  "Documents": [],
+  "WorkspaceRootPath": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\",
+  "Documents": [
+    {
+      "AbsoluteMoniker": "D:0:0:{8962460F-9112-4A79-9B40-35CA420C98C6}|RobotController.csproj|c:\\users\\tom\\source\\repos\\roommapper\\src\\client\\robotcontroller\\ultrasonic.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{8962460F-9112-4A79-9B40-35CA420C98C6}|RobotController.csproj|solutionrelative:ultrasonic.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    },
+    {
+      "AbsoluteMoniker": "D:0:0:{8962460F-9112-4A79-9B40-35CA420C98C6}|RobotController.csproj|c:\\users\\tom\\source\\repos\\roommapper\\src\\client\\robotcontroller\\coordinate.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{8962460F-9112-4A79-9B40-35CA420C98C6}|RobotController.csproj|solutionrelative:coordinate.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    },
+    {
+      "AbsoluteMoniker": "D:0:0:{8962460F-9112-4A79-9B40-35CA420C98C6}|RobotController.csproj|c:\\users\\tom\\source\\repos\\roommapper\\src\\client\\robotcontroller\\measurement.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{8962460F-9112-4A79-9B40-35CA420C98C6}|RobotController.csproj|solutionrelative:measurement.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    },
+    {
+      "AbsoluteMoniker": "D:0:0:{8962460F-9112-4A79-9B40-35CA420C98C6}|RobotController.csproj|c:\\users\\tom\\source\\repos\\roommapper\\src\\client\\robotcontroller\\gyrosensor.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{8962460F-9112-4A79-9B40-35CA420C98C6}|RobotController.csproj|solutionrelative:gyrosensor.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    }
+  ],
   "DocumentGroupContainers": [
     {
       "Orientation": 0,
@@ -9,11 +26,63 @@
       "DocumentGroups": [
         {
           "DockedWidth": 200,
-          "SelectedChildIndex": -1,
+          "SelectedChildIndex": 0,
           "Children": [
+            {
+              "$type": "Document",
+              "DocumentIndex": 0,
+              "Title": "Ultrasonic.cs",
+              "DocumentMoniker": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\Ultrasonic.cs",
+              "RelativeDocumentMoniker": "Ultrasonic.cs",
+              "ToolTip": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\Ultrasonic.cs",
+              "RelativeToolTip": "Ultrasonic.cs",
+              "ViewState": "AQIAAAAAAAAAAAAAAAAAAA0AAAAfAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-06-13T19:25:01.727Z",
+              "EditorCaption": ""
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 1,
+              "Title": "Coordinate.cs",
+              "DocumentMoniker": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\Coordinate.cs",
+              "RelativeDocumentMoniker": "Coordinate.cs",
+              "ToolTip": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\Coordinate.cs",
+              "RelativeToolTip": "Coordinate.cs",
+              "ViewState": "AQIAAAAAAAAAAAAAAAAAABIAAAAFAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-06-13T20:22:20.968Z",
+              "EditorCaption": ""
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 3,
+              "Title": "GyroSensor.cs",
+              "DocumentMoniker": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\GyroSensor.cs",
+              "RelativeDocumentMoniker": "GyroSensor.cs",
+              "ToolTip": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\GyroSensor.cs",
+              "RelativeToolTip": "GyroSensor.cs",
+              "ViewState": "AQIAAAAAAAAAAAAAAAAAAAAAAAAAAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-06-13T20:22:19.326Z",
+              "EditorCaption": ""
+            },
             {
               "$type": "Bookmark",
               "Name": "ST:0:0:{1c4feeaa-4718-4aa9-859d-94ce25d182ba}"
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 2,
+              "Title": "Measurement.cs",
+              "DocumentMoniker": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\Measurement.cs",
+              "RelativeDocumentMoniker": "Measurement.cs",
+              "ToolTip": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\Client\\RobotController\\Measurement.cs",
+              "RelativeToolTip": "Measurement.cs",
+              "ViewState": "AQIAAAAAAAAAAAAAAAAqwBMAAAAFAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-06-09T17:39:17.31Z",
+              "EditorCaption": ""
             }
           ]
         }

src/CoveragePathPlanner/.vs/CoveragePathPlanner/v17/DocumentLayout.json

@@ -0,0 +1,41 @@
+{
+  "Version": 1,
+  "WorkspaceRootPath": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\CoveragePathPlanner\\",
+  "Documents": [
+    {
+      "AbsoluteMoniker": "D:0:0:{19337BCA-6374-4DAE-90D4-38CF1D236D30}|CoveragePathPlanner.csproj|c:\\users\\tom\\source\\repos\\roommapper\\src\\coveragepathplanner\\coveragepathplanner.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{19337BCA-6374-4DAE-90D4-38CF1D236D30}|CoveragePathPlanner.csproj|solutionrelative:coveragepathplanner.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    }
+  ],
+  "DocumentGroupContainers": [
+    {
+      "Orientation": 0,
+      "VerticalTabListWidth": 256,
+      "DocumentGroups": [
+        {
+          "DockedWidth": 200,
+          "SelectedChildIndex": 1,
+          "Children": [
+            {
+              "$type": "Bookmark",
+              "Name": "ST:0:0:{1c4feeaa-4718-4aa9-859d-94ce25d182ba}"
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 0,
+              "Title": "CoveragePathPlanner.cs",
+              "DocumentMoniker": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\CoveragePathPlanner\\CoveragePathPlanner.cs",
+              "RelativeDocumentMoniker": "CoveragePathPlanner.cs",
+              "ToolTip": "C:\\Users\\Tom\\source\\repos\\Roommapper\\src\\CoveragePathPlanner\\CoveragePathPlanner.cs",
+              "RelativeToolTip": "CoveragePathPlanner.cs",
+              "ViewState": "AQIAAGMAAAAAAAAAAAA3wA0AAAAeAAAA",
+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2024-06-09T17:04:53.416Z",
+              "EditorCaption": ""
+            }
+          ]
+        }
+      ]
+    }
+  ]
+}

src/CoveragePathPlanner/CoveragePathPlanner.cs

@@ -1,4 +1,5 @@
 using System;
+using System.Collections.Generic;
 using System.Drawing;
 
 public class CoveragePathPlanner
@@ -6,12 +7,14 @@ public class CoveragePathPlanner
   private int _width;
   private int _height;
   private List<Cell> _cells;
+  private List<Obstacle> _obstacles;
 
   public CoveragePathPlanner(int width, int height)
   {
     _width = width;
     _height = height;
     _cells = new List<Cell>();
+    _obstacles = new List<Obstacle>();
 
     for (int x = 0; x < width; x++)
     {
@@ -22,16 +25,36 @@ public class CoveragePathPlanner
     }
   }
 
-  public List<Point> PlanPath(List<Obstacle> obstacles)
+  public void AddObstacleRectangle(int x, int y, int width, int height)
+  {
+    _obstacles.Add(new Obstacle { X = x, Y = y, Width = width, Height = height, IsRectangle = true });
+  }
+
+  public void AddObstacleCell(int x, int y)
+  {
+    _obstacles.Add(new Obstacle { X = x, Y = y, Width = 0, Height = 0, IsRectangle = false });
+  }
+
+  public List<Point> PlanPath()
   {
     // Add obstacles to the grid
-    foreach (Obstacle obstacle in obstacles)
+    foreach (Obstacle obstacle in _obstacles)
     {
       foreach (Cell cell in _cells)
       {
-        if (cell.IsWithinObstacle(obstacle))
+        if (obstacle.IsRectangle)
         {
-          cell.IsObstacle = true;
+          if (cell.IsWithinObstacle(obstacle))
+          {
+            cell.IsObstacle = true;
+          }
+        }
+        else
+        {
+          if (cell.X == obstacle.X && cell.Y == obstacle.Y)
+          {
+            cell.IsObstacle = true;
+          }
         }
       }
     }
@@ -56,7 +79,7 @@ public class CoveragePathPlanner
         while (currentCell != null)
         {
           path.Add(new Point(currentCell.X, currentCell.Y));
-          currentCell = currentCell.Parent;
+          currentCell = currentCell.Parent!;
         }
         return path;
       }
@@ -92,6 +115,7 @@ public class Obstacle
   public int Y { get; set; }
   public int Width { get; set; }
   public int Height { get; set; }
+  public bool IsRectangle { get; set; }
 }
 
 public class Cell
@@ -101,7 +125,7 @@ public class Cell
   public bool IsObstacle { get; set; }
   public bool IsVisited { get; set; }
   public double Cost { get; set; }
-  public Cell Parent { get; set; }
+  public Cell? Parent { get; set; }
 
   public bool IsWithinObstacle(Obstacle obstacle)
   {

src/Server/RobotControlServer/RobotControlServer.csproj

@@ -1,6 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <ItemGroup>
+    <ProjectReference Include="..\..\CoveragePathPlanner\CoveragePathPlanner.csproj" />
     <ProjectReference Include="..\LibParse\LibParse.csproj" />
     <ProjectReference Include="..\LibServer\LibServer.csproj" />
   </ItemGroup>

src/Server/RobotControlServer/Routes/RoutePlan.cs

@@ -2,7 +2,9 @@ using Cassandra;
 using LibParse.Json;
 using LibServer.Http;
 using LibServer.Router;
+using Newtonsoft.Json;
 using RobotControlServer.JsonClasses;
+using System.Drawing;
 
 namespace RobotControlServer.Routes;
 
@@ -21,8 +23,19 @@ public class RoutePlan: IRoute {
       }
 
       // ParsedBody?.objects = [[0,1],[0,2],...]
-      // Implement path planning algorithm
-      // var path;
+
+      // New instance of CPP with a 500x500 grid || where 0,0 = top-left and 499, 499 = bottom-right
+      CoveragePathPlanner planner = new CoveragePathPlanner(500, 500);
+
+      // Add obstacles cell by cell
+      foreach (var obj in parsedBody?.objects)
+      {
+        planner.AddObstacleCell(obj[0], obj[1]);
+      }
+
+      List<Point> PlanPath = planner.PlanPath();
+      // Don't know if this is needed here or just do List<Point> path = planner.PlanPath(obstacles);?
+      string path = JsonConvert.SerializeObject(PlanPath);
 
       // Return success message with the path
       return new HttpResponse($"{{\"message\":\"success\",\"path\":\"{path}\"}}");