// Function to actually generate seeds of various algorithms
private bool GenerateSeeds(List<EAPath> AllPaths, PathPlanningRequest newRequest, AlgPathPlanning myAlg, int count)
{
for (int i = 0; i < count; i++)
{
switch (newRequest.AlgToUse)
{
case AlgType.CC:
myAlg = new AlgCC(newRequest, mDist, mDiff, Efficiency_UB);
break;
case AlgType.LHCGWCONV:
myAlg = new AlgGlobalWarming(newRequest, ModeCount, mDist, mDiff, Efficiency_UB);
break;
case AlgType.LHCGWPF:
myAlg = new AlgGlobalWarming(newRequest, ModeCount, mDist, mDiff, Efficiency_UB);
break;
case AlgType.LHCRandom:
myAlg = new AlgLHCRandom(newRequest, mDist, mDiff, Efficiency_UB);
break;
case AlgType.Random:
myAlg = new AlgRandom(newRequest, mDist, mDiff, Efficiency_UB);
break;
case AlgType.TopTwoH:
myAlg = new AlgTopTwo(newRequest, ModeCount, mModes, mDist, mDiff, Efficiency_UB);
break;
case AlgType.TopNH:
myAlg = new AlgTopTwo(newRequest, ModeCount, mModes, mDist, mDiff, Efficiency_UB);
break;
default:
break;
}
DateTime startTime2 = DateTime.Now;
myAlg.PlanPath();
DateTime stopTime2 = DateTime.Now;
TimeSpan duration2 = stopTime2 - startTime2;
double RunTime2 = duration2.TotalSeconds;
if (ProjectConstants.DebugMode)
{
curRequest.SetLog("Algorithm " + newRequest.AlgToUse + " took " + RunTime2 + " seconds.\n");
}
EAPath eap = new EAPath();
eap.CDF = myAlg.GetCDF();
eap.Path.AddRange(myAlg.GetPath());
myAlg = null;
// Add EAPath to population
AllPaths.Add(eap);
// If we already have the best path, then no need to continue
CDF = eap.CDF;
Path = eap.Path;
if (Math.Abs(CDF - Efficiency_UB) < 0.001)
{
return true;
}
}
return false;
}
// Performing the path planning task
public void Run()
{
// Use the right algorithm
switch (curRequest.AlgToUse)
{
case AlgType.CC:
curAlg = new AlgCC(curRequest, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.CC_E:
curAlg = new AlgSearchReverse(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.LHCGWCONV:
curAlg = new AlgGlobalWarming(curRequest, ModeCount, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.LHCGWCONV_E:
curAlg = new AlgSearchReverse(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.LHCGWPF:
curAlg = new AlgGlobalWarming(curRequest, ModeCount, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.LHCGWPF_E:
curAlg = new AlgSearchReverse(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.LHCRandom:
curAlg = new AlgLHCRandom(curRequest, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.LHCRandom_E:
curAlg = new AlgSearchReverse(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.Random:
curAlg = new AlgRandom(curRequest, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.Random_E:
curAlg = new AlgSearchReverse(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.CONV:
curAlg = new AlgGlobalWarming(curRequest, ModeCount, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.CONV_E:
curAlg = new AlgSearchReverse(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.PF:
curAlg = new AlgPFLooper(curRequest, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.PF_E:
curAlg = new AlgSearchReverse(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.TopTwo:
curAlg = new AlgTopTwo(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.TopTwo_E:
curAlg = new AlgTopTwo(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.TopN:
curAlg = new AlgTopN(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.TopN_E:
curAlg = new AlgTopN(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.TopTwoH:
curAlg = new AlgTopTwoH(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.TopTwoH_E:
curAlg = new AlgTopTwoH(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.TopNH:
curAlg = new AlgTopNH(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.TopNH_E:
curAlg = new AlgTopNH(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.EA:
curAlg = new AlgEA(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.EA_E:
curAlg = new AlgSearchReverse(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.RealTime:
curAlg = new AlgRealTime(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
case AlgType.RealTime_E:
curAlg = new AlgRealTime(curRequest, ModeCount, mModes, mDistReachable, mDiffReachable, Efficiency_UB);
curAlg.PlanPath();
break;
}
// Set things ready for getters
Efficiency = curAlg.GetEfficiency();
RunTime = curAlg.GetRunTime();
Path = curAlg.GetPath();
curAlg.Shout();
// Debug code, show actual path
if (curRequest.DrawPath)
{
//// Draw coverage
//Bitmap CurBMP = new Bitmap(mDistReachable.Columns, mDistReachable.Rows);
//ImgLib.MatrixToImage(ref mDistReachable, ref CurBMP);
//frmMap map = new frmMap();
//map.Text = "Actual UAV path";
//map.setImage(CurBMP);
//map.Show();
//map.resetImage();
//map.DrawCoverage(Path);
//map.Refresh();
//// Draw path
//Bitmap CurBMP2 = new Bitmap(mDistReachable.Columns, mDistReachable.Rows);
//ImgLib.MatrixToImage(ref mDistReachable, ref CurBMP2);
//frmMap map2 = new frmMap();
//map2.Text = "UAV trajectory simulation";
//map2.setImage(CurBMP2);
//map2.Show();
//map2.resetImage();
//map2.DrawPath(Path);
//map2.Refresh();
// 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");
}
// Log results
if (ProjectConstants.DebugMode)
{
curRequest.SetLog("Run time: " + curAlg.GetRunTime() + "\n");
curRequest.SetLog("Best CDF: " + curAlg.GetCDF() + "\n");
curRequest.SetLog("Best Efficiency: " + curAlg.GetEfficiency() + "\n");
}
//// Log Path
//for (int i = 0; i < curAlg.GetPath().Count; i++)
//{
// Point p = curAlg.GetPath()[i];
// curRequest.SetLog(p.X + "," + p.Y + "\n");
//}
}