public void Run()
{
int BatchCount = 1;
if (curRequest.BatchRun)
{
BatchCount = curRequest.RunTimes;
}
// First do reachable area (Dist and Diff)
RtwMatrix mDistReachable;
RtwMatrix mDiffReachable;
if (curRequest.T < curRequest.DistMap.Rows + curRequest.DistMap.Columns)
{
mDistReachable = curRequest.DistMap.Clone();
mDiffReachable = curRequest.DiffMap.Clone();
if (!ComputeReachableArea(mDistReachable, mDiffReachable))
{
// Cannot plan path.
return;
}
}
else
{
mDistReachable = curRequest.DistMap.Clone();
mDiffReachable = curRequest.DiffMap.Clone();
}
// Then do mode count (If Diff map is used, multiply first)
CountDistModes myCount;
if (curRequest.UseTaskDifficultyMap)
{
RtwMatrix mRealModes = new RtwMatrix(mDistReachable.Rows, mDistReachable.Columns);
for (int i = 0; i < mRealModes.Rows; i++)
{
for (int j = 0; j < mRealModes.Columns; j++)
{
mRealModes[i, j] = mDistReachable[i, j] *
(float)curRequest.DiffRates[Convert.ToInt32(mDiffReachable[i, j])];
}
}
myCount = new CountDistModes(mRealModes);
}
else
{
myCount = new CountDistModes(mDistReachable);
}
int ModeCount = myCount.GetCount();
RtwMatrix mModes = myCount.GetModes();
myCount = null;
//Console.WriteLine("ModeCount = " + ModeCount);
// Then do efficiency lower bound
ComputeEfficiencyUB myELB = new ComputeEfficiencyUB(curRequest, mDistReachable, mDiffReachable);
double Efficiency_UB = myELB.GetEfficiency_UB();
myELB = null;
// Set sample rate based on max value in mdistReachable.
float max = mDistReachable.MinMaxValue()[1];
ProjectConstants.DownSample_Rate = max / 10f;
// Do the batch run of Path Planning
List<double> AllRunTimes = new List<double>();
List<double> AllEfficiencies = new List<double>();
for (int i = 0; i < BatchCount; i++)
{
// Run them sequencially and don't use multiple threads.
PathPlanningTask curTask = new PathPlanningTask(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curTask.Run();
AllRunTimes.Add(curTask.GetRunTime());
AvgRunTime += curTask.GetRunTime();
AllEfficiencies.Add(curTask.GetEfficiency());
AvgEfficiency += curTask.GetEfficiency();
Path = curTask.GetPath();
curTask = null;
}
AvgRunTime = AvgRunTime / BatchCount;
StdRunTime = ComputeStDev(AllRunTimes, AvgRunTime);
AvgEfficiency = AvgEfficiency / BatchCount;
StdEfficiency = ComputeStDev(AllEfficiencies, AvgEfficiency);
// Log path planning activities
if (ProjectConstants.DebugMode)
{
curRequest.SetLog("----------------------------------------------\n");
curRequest.SetLog("Average run time: " + AvgRunTime.ToString() + "\n");
curRequest.SetLog("Standard deviation: " + StdRunTime.ToString() + "\n");
curRequest.SetLog("Average efficiency: " + AvgEfficiency.ToString() + "\n");
curRequest.SetLog("Standard deviation: " + StdEfficiency.ToString() + "\n");
curRequest.SetLog("----------------------------------------------");
curRequest.SetLog("----------------------------------------------\n");
}
}
// When the test button is pressed (Count how many modes)
private void btnTest_Click(object sender, EventArgs e)
{
#region Test Mode Count
//DateTime startTime = DateTime.Now;
//CountDistModes myCount;
//if (chkUseDiff.Checked)
//{
// RtwMatrix mDistReachable = test.DistMap.Clone();
// RtwMatrix mDiffReachable = test.DiffMap.Clone();
// RtwMatrix mRealModes = new RtwMatrix(CurDiffMap.Rows, CurDiffMap.Columns);
// for (int i = 0; i < mRealModes.Rows; i++)
// {
// for (int j = 0; j < mRealModes.Columns; j++)
// {
// mRealModes[i, j] = mDistReachable[i, j] *
// (float)test.DiffRates[Convert.ToInt32(mDiffReachable[i, j])];
// }
// }
// myCount = new CountDistModes(mRealModes);
// // Debug code: Showing the product of dist and diff
// frmMap mapReal = new frmMap();
// Bitmap CurBMPReal = new Bitmap(mRealModes.Columns, mRealModes.Rows);
// ImgLib.MatrixToImage(ref mRealModes, ref CurBMPReal);
// mapReal.Text = "Real probability distribution with respect to difficulty map";
// mapReal.setImage(CurBMPReal);
// mapReal.Show();
// mapReal.resetImage();
//}
//else
//{
// myCount = new CountDistModes(CurDistMap);
//}
//Log(myCount.GetCount().ToString() + "\n");
//DateTime stopTime = DateTime.Now;
//TimeSpan duration = stopTime - startTime;
//Log("Computation took " + duration.ToString() + " seconds.\n");
//// Show mode nodes
//RtwMatrix myModes = myCount.GetModes().Clone();
//for (int i = 0; i < myModes.Rows; i++)
//{
// for (int j = 0; j < myModes.Columns; j++)
// {
// if (myModes[i, j] > 0)
// {
// myModes[i, j] = 255;
// }
// }
//}
//// Convert matrix to image
//Bitmap CurBMP = new Bitmap(myModes.Columns, myModes.Rows);
//ImgLib.MatrixToImage(ref myModes, ref CurBMP);
//// Showing map in map form
//frmMap myModesForm = new frmMap(this);
//myModesForm.Text = "Modes Map";
//myModesForm.setImage(CurBMP);
//myModesForm.Show();
//myCount = null;
#endregion
#region Test permutation
//int[] intInput = { 1, 2, 3, 4};
//Log(ShowPermutations<int>(intInput, 3));
//string[] stringInput = { "Hello", "World", "Foo" };
//Log(ShowPermutations<string>(stringInput, 2));
#endregion
#region Test MATLAB
//////////////////////
//// Input Parameters
//////////////////////
//// create an array ar for the real part of "a"
//System.Array ar = new double[2];
//ar.SetValue(11, 0);
//ar.SetValue(12, 1);
//// create an array ai for the imaginary part of "a"
//System.Array ai = new double[2];
//ai.SetValue(1, 0);
//ai.SetValue(2, 1);
//// create an array br for the real part of "b"
//System.Array br = new double[2];
//br.SetValue(21, 0);
//br.SetValue(22, 1);
//// create an array bi for the imaginary part of "b"
//System.Array bi = new double[2];
//bi.SetValue(3, 0);
//bi.SetValue(4, 1);
///////////////////////
//// Output Parameters
///////////////////////
//// initialize variables for return value from ML
//System.Array cr = new double[2];
//System.Array ci = new double[2];
//System.Array dr = new double[2];
//System.Array di = new double[2];
//////////////////////////
//// Call MATLAB function
//////////////////////////
//// call appropriate function/method based on Mode
//// use MATLAB engine
//UseEngine(ar, ai, br, bi, ref cr, ref ci, ref dr, ref di);
//Log("ar = " + ar.GetValue(0).ToString() + " " + ar.GetValue(1).ToString() + "\n");
//Log("ai = " + ai.GetValue(0).ToString() + " " + ai.GetValue(1).ToString() + "\n");
//Log("br = " + br.GetValue(0).ToString() + " " + br.GetValue(1).ToString() + "\n");
//Log("bi = " + bi.GetValue(0).ToString() + " " + bi.GetValue(1).ToString() + "\n");
//Log("cr = " + cr.GetValue(0).ToString() + " " + cr.GetValue(1).ToString() + "\n");
//Log("ci = " + ci.GetValue(0).ToString() + " " + ci.GetValue(1).ToString() + "\n");
//Log("dr = " + dr.GetValue(0).ToString() + " " + dr.GetValue(1).ToString() + "\n");
//Log("di = " + di.GetValue(0).ToString() + " " + di.GetValue(1).ToString() + "\n");
#endregion
#region Test MATH.NET EVD
//DenseMatrix m = new DenseMatrix(new[,] { { 81.1887, -18.4630 }, { -18.4630, 115.9033 } });
//System.Numerics.Complex[] d = m.Evd().EigenValues().ToArray();
//double a = d[0].Real;
//double b = d[1].Real;
//Log(a + " " + b);
#endregion
#region Test Arrays
//int n = 3;
//Array arrModes = new double[n];
//Array arrMUs = new double[n, 2];
//Array arrSigmaXSigmaY = new double[n];
//for (int i = 0; i < n; i++)
//{
// // Means
// arrMUs.SetValue(21, i, 0);
// arrMUs.SetValue(22, i, 1);
//}
#endregion
#region Compute Efficiency with existing path
#region Sanity Check
// Make sure maps are loaded
if (chkUseDist.Checked && CurDistMap == null)
{
System.Windows.Forms.MessageBox.Show("Please load a probability distribution map first!");
return;
}
if (chkUseDiff.Checked && CurDiffMap == null)
{
System.Windows.Forms.MessageBox.Show("Please load a task-difficulty map first!");
return;
}
// Make sure distribution map and task-difficulty map have same size
if (chkUseDiff.Checked && chkUseDist.Checked)
{
if (CurDistMap.Rows != CurDiffMap.Rows || CurDistMap.Columns != CurDiffMap.Columns)
{
System.Windows.Forms.MessageBox.Show("Please make sure the distribution map and the " +
"task-difficulty map must be the same size!");
return;
}
}
// Use default distribution map or task-difficulty map if only one is checked
if (chkUseDiff.Checked && !chkUseDist.Checked)
{
CurDistMap = new RtwMatrix(CurDiffMap.Rows, CurDiffMap.Columns);
}
if (!chkUseDiff.Checked && chkUseDist.Checked)
{
CurDiffMap = new RtwMatrix(CurDistMap.Rows, CurDistMap.Columns);
}
#endregion
// Create request object
PathPlanningRequest newRequest = new PathPlanningRequest();
#region Setting Request Object Properties
newRequest.UseDistributionMap = chkUseDist.Checked;
newRequest.UseTaskDifficultyMap = chkUseDiff.Checked;
newRequest.UseHierarchy = chkHierarchy.Checked;
newRequest.UseCoarseToFineSearch = chkCoaseToFine.Checked;
newRequest.UseParallelProcessing = chkParallel.Checked;
if (rbtnFixWing.Checked)
{
newRequest.VehicleType = UAVType.FixWing;
}
if (rbtnCopter.Checked)
{
newRequest.VehicleType = UAVType.Copter;
}
if (rbtnFixedAmount.Checked)
{
newRequest.DetectionType = DType.FixAmount;
}
if (rbtnFixedAmountPercent.Checked)
{
newRequest.DetectionType = DType.FixAmountInPercentage;
}
if (rbtnFixedPercent.Checked)
{
newRequest.DetectionType = DType.FixPercentage;
}
newRequest.DetectionRate = Convert.ToDouble(ntxtDetectionRate.Value);
newRequest.DistMap = CurDistMap;
newRequest.DiffMap = CurDiffMap;
newRequest.UseEndPoint = chkUseEndPoint.Checked;
newRequest.T = trbFlightTime.Value;
newRequest.pStart.column = Convert.ToInt16(ntxtSX.Value);
newRequest.pStart.row = Convert.ToInt16(ntxtSY.Value);
newRequest.pEnd.column = Convert.ToInt16(ntxtEX.Value);
newRequest.pEnd.row = Convert.ToInt16(ntxtEY.Value);
newRequest.AlgToUse = AlgType.LHCGWCONV;
newRequest.DrawPath = chkShowPath.Checked;
#endregion
#region Find max task-difficulty and compute diff rates only once
if (chkUseDiff.Checked)
{
newRequest.MaxDifficulty = Convert.ToInt32(CurDiffMap.MinMaxValue()[1]);
// Set task-difficulty rates
double[] DiffRates = new double[newRequest.MaxDifficulty + 1];
double rate = 1.0 / (newRequest.MaxDifficulty + 1);
for (int i = 0; i < newRequest.MaxDifficulty + 1; i++)
{
DiffRates[i] = 1 - i * rate;
}
newRequest.DiffRates = DiffRates;
}
if (!newRequest.SanityCheck())
{
System.Windows.Forms.MessageBox.Show(newRequest.GetLog());
return;
}
#endregion
// Read in existing path using hard-coded file path
string BAPathFileName = @"H:\Research\20 New IPPAs for Partial Detection Conference Paper\Selected Cases Maps\BAPath.csv";
RtwMatrix BAPath = MISCLib.ReadInMap(BAPathFileName);
#region First do reachable area (Dist and Diff)
RtwMatrix mDistReachable;
RtwMatrix mDiffReachable;
if (newRequest.T < newRequest.DistMap.Rows + newRequest.DistMap.Columns)
{
mDistReachable = newRequest.DistMap.Clone();
mDiffReachable = newRequest.DiffMap.Clone();
if (!ComputeReachableArea(newRequest, mDistReachable, mDiffReachable))
{
// Cannot plan path.
return;
}
}
else
{
mDistReachable = newRequest.DistMap.Clone();
mDiffReachable = newRequest.DiffMap.Clone();
}
#endregion
// Then do efficiency lower bound
ComputeEfficiencyUB myELB = new ComputeEfficiencyUB(newRequest, mDistReachable, mDiffReachable);
double Efficiency_UB = myELB.GetEfficiency_UB();
List<Point> TeleportPath = myELB.GetTeleportPath();
myELB = null;
// Creating path planning object
AlgPathPlanning curAlg = new AlgGlobalWarming(newRequest, 1, mDistReachable, mDiffReachable, Efficiency_UB);
// Call method to compute existing path CDF
List<Point> Path = new List<Point>();
for(int i=0; i<BAPath.Rows; i++)
{
Point p = new Point(Convert.ToInt16(BAPath[i,0]), Convert.ToInt16(BAPath[i,1]));
Path.Add(p);
}
float CDF = curAlg.GetTrueCDF(Path);
// Compute efficiency
double Efficiency = 0;
if (Efficiency_UB == 0)
{
Efficiency = 1;
}
else
{
Efficiency = CDF / Efficiency_UB;
}
// Compute CDF for graph
Console.WriteLine("Print Existing Path CDF Graph:");
curAlg.PrintCDFGraph(TeleportPath, newRequest.DistMap);
Console.WriteLine("Print BAPath CDF Graph:");
curAlg.PrintCDFGraph(Path, newRequest.DistMap);
curAlg.SetPath(Path);
// Show results
Log("----------------------------------------------\n");
Log("Efficiency: " + Efficiency.ToString() + "\n");
Log("----------------------------------------------");
Log("----------------------------------------------\n");
#region Show path
if (newRequest.DrawPath)
{
// Draw path with map remains
Bitmap CurBMP3 = new Bitmap(mDistReachable.Columns, mDistReachable.Rows);
ImgLib.MatrixToImage(ref mDistReachable, ref CurBMP3);
frmMap map3 = new frmMap();
map3.Text = "UAV trajectory and coverage";
map3.setImage(CurBMP3);
map3.Show();
map3.resetImage();
List<float> remains = curAlg.ShowCoverage();
Color c = Color.FromArgb(255, 0, 0);
for (int i = 0; i < Path.Count; i++)
{
Point p = Path[i];
map3.setPointColor(p, c);
map3.Refresh();
map3.setPointColor(p, remains[i]);
map3.Refresh();
}
// Drawing real path
MISCLib.ShowImage(MISCLib.DrawPath(Path), "Real Path");
}
#endregion
#endregion
}
