Method requestSolution

src/EECBSVisualizer.jsx:143–244

(e)

  }

  async requestSolution(e) {
    e.preventDefault();

    if (this.state.agents.length === 0) {
      this.setState({ isDialogOpen: true });
      return;
    }

    if (this.state.goalToAdd) return;

    this.setState({ isPlanning: true });

    // change agents to border
    this.state.agents.forEach((agent) => {
      var color = agent.color;
      document.getElementById(`grid-${agent.SR}-${agent.SC}`).style.backgroundColor = "#fff";
      document.getElementById(`grid-${agent.SR}-${agent.SC}`).style.border = `4px solid ${color}`;
      document.getElementById(`grid-${agent.GR}-${agent.GC}`).style.backgroundColor = "#fff";
      document.getElementById(`grid-${agent.GR}-${agent.GC}`).style.border = `4px solid ${color}`;
    });

    await new Promise((resolve) => setTimeout(resolve, 1000));

    var walls = [];
    var agents = [];
    this.state.map.forEach((row, rowId) => {
      row.forEach((grid, gridId) => {
        if (grid.isWall) {
          walls.push(this.linearizeLocation(rowId, gridId));
        }
      });
    });
    this.state.agents.forEach((agent) => {
      agents.push({
        startLoc: this.linearizeLocation(agent.SR, agent.SC),
        goalLoc: this.linearizeLocation(agent.GR, agent.GC),
      });
    });

    const req = {
      method: "POST",
      headers: {
        // Accept: "application/json",
        "Content-Type": "application/json",
      },
      body: JSON.stringify({
        row: this.state.numRow,
        col: this.state.numCol,
        walls: walls,
        agents: agents,
        heuristic: this.state.heuristics[this.state.whichHeuristic],
        isBypass: this.state.isBypass,
        isPrioritizeConflict: this.state.isPrioritizeConflict,
        isDisjointSplitting: this.state.isDisjointSplitting,
        isTarget: this.state.isTarget,
        solver: this.state.highLevelSolvers[this.state.whichSolver],
        inadmissibleHeuristic:
          this.state.inadmissibleHeuristics[this.state.whichInadmissibleHeuristic],