Method requestSolution

src/LAMAPFVisualizer.jsx:130–234

(e)

  }

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

    if (this.state.agents.length === 0) {
      this.setState({ isDialogOpen: true });
      console.log("No agents");
      return;
    }

    this.setState({ isPlanning: true });
    // change agents to border
    this.state.agents.forEach((agent) => {
      var height = agent.height;
      var width = agent.width;
      var color = agent.color;
      for (let i = agent.SR; i < agent.SR + height; i++) {
        for (let j = agent.SC; j < agent.SC + width; j++) {
          if (i === agent.SR) {
            document.getElementById(`grid-${i}-${j}`).style.borderTop = `4px solid ${color}`;
          }
          if (i === agent.SR + height - 1) {
            document.getElementById(`grid-${i}-${j}`).style.borderBottom = `4px solid ${color}`;
          }
          if (j === agent.SC) {
            document.getElementById(`grid-${i}-${j}`).style.borderLeft = `4px solid ${color}`;
          }
          if (j === agent.SC + width - 1) {
            document.getElementById(`grid-${i}-${j}`).style.borderRight = `4px solid ${color}`;
          }
        }
      }
      for (let i = agent.GR; i < agent.GR + height; i++) {
        for (let j = agent.GC; j < agent.GC + width; j++) {
          if (i === agent.GR) {
            document.getElementById(`grid-${i}-${j}`).style.borderTop = `4px solid ${color}`;
          }
          if (i === agent.GR + height - 1) {
            document.getElementById(`grid-${i}-${j}`).style.borderBottom = `4px solid ${color}`;
          }
          if (j === agent.GC) {
            document.getElementById(`grid-${i}-${j}`).style.borderLeft = `4px solid ${color}`;
          }
          if (j === agent.GC + width - 1) {
            document.getElementById(`grid-${i}-${j}`).style.borderRight = `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));
        }