private void SavePathInfoInDatabase(PathResultInformation pathResultInformation)
{
DatabaseInformationInputer dbOut = new DatabaseInformationInputer();
dbOut.info.Add(pathResultInformation);
dbOut.SaveChanges();
}
private void WorkAtOverAgain(ref Stack <int> stackFirstManipulator, ref PathResultInformation pathResultInformation)
{
int iteration = 0;
Initalize();
int pathStackCapacity = -1;
Tuple <int, int, int, int, int, int> region = GetRegionMarks(_startPoint, _endPoint);
rbLog.AppendText("Определяем регион вхождения точек..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
PathRegion pathRegion = new PathRegion(region.Item1, region.Item4, region.Item2, region.Item5, region.Item3, region.Item6);
do
{
rbLog.AppendText("Составляем вероятностную дорожную карту..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
GetGraphPath(1, 0, pathRegion);
rbLog.AppendText("Обработка графа алгоритмом Дейкстры..\n");
rbLog.ScrollToCaret();
rbLog.ScrollToCaret();
rbLog.Refresh();
Deikstra(ref _graphVertices, _adjencyMatrixManipulator);
rbLog.AppendText("Попытка найти путь в графе..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
stackFirstManipulator = GetPathAfterDeikstra(_graphVertices, _adjencyMatrixManipulator);
pathStackCapacity = stackFirstManipulator.Count;
if (stackFirstManipulator.Count > 1)
{
rbLog.AppendText("Путь найден..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
GetFinalPathAndDraw(stackFirstManipulator, Brushes.Purple, _graphVertices, _startPoint, _endPoint);
}
iteration++;
if (iteration >= 2 && iteration <= 4)
{
rbLog.Text += "Расширяем регион карты..\n";
rbLog.ScrollToCaret();
rbLog.Refresh();
pathRegion = new PathRegion((pathRegion.minX - _safeDistance) > 0 ? pathRegion.minX - _safeDistance : 0,
pathRegion.maxX + _safeDistance, (pathRegion.minY - _safeDistance) > 0 ? pathRegion.minY - _safeDistance : 0,
pathRegion.maxY + _safeDistance, (pathRegion.minZ - _safeDistance) > 0 ? pathRegion.minZ - _safeDistance : 0, pathRegion.maxZ + _safeDistance);
}
}while (pathStackCapacity <= 1);
rbLog.AppendText("Сохраняем решение в базу данных..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
pathResultInformation =
new PathResultInformation(
new PathRegion(region.Item1, region.Item4, region.Item2, region.Item5, region.Item3, region.Item6),
_obstaclesPoints, _adjencyMatrixManipulator, _graphVertices, _safeDistance);
}
private void btnStartAlgoritm_Click(object sender, EventArgs e)
{
_startPoint = new Point3D((double)nudStartXVertex.Value, (double)nudStartYVertex.Value, (double)nudStartZVertex.Value);
_endPoint = new Point3D((double)nudEndXVertex.Value, (double)nudEndYVertex.Value, (double)nudEndZVertex.Value);
_boxSize = new Size3D((int)nudWidthObject.Value, (int)nudLengthObject.Value, (int)nudHeightObject.Value);
_percentageComparer = (int)nudPercentagePointCloud.Value;
_iterations = (int)nudIterationCount.Value;
_distanceBetweenPoints = (int)nudDistanceBetweenVertexes.Value;
_safeDistance = GetSafeDistance(_boxSize);
rbLog.AppendText("Обработка введенной информации..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
DateTimeOffset start = DateTimeOffset.Now;
PathRegion finalPathRegion = new PathRegion();
Stack <int> stackFirstManipulator = new Stack <int>();
PathResultInformation pathResultInformation = new PathResultInformation();
DatabaseInformationInputer dbGet = new DatabaseInformationInputer();
rbLog.AppendText("Получение информации из базы данных..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
var getAllDb = (from p in dbGet.info
join c in dbGet.pathRegions on p.regionGraph.id equals c.id
where (c.maxX >= _startPoint.X && c.minX <= _startPoint.X && c.maxY >= _startPoint.Y && c.minY <= _startPoint.Y &&
c.maxZ >= _startPoint.Z && c.minZ <= _startPoint.Z) ||
(c.maxX >= _endPoint.X && c.minX <= _endPoint.X && c.maxY >= _endPoint.Y && c.minY <= _endPoint.Y &&
c.maxZ >= _endPoint.Z && c.minZ <= _endPoint.Z)
select new
{
graphVertex = p.graphVertexes,
adjencyMatrix = p.adjencyMatrix,
obstaclesPoint = p.obstaclesPoint,
pathRegion = p.regionGraph,
safeDistance = p.safeDistance
}).ToList();
rbLog.AppendText("Проверка подходящих вариантов из базы данных..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
if (!getAllDb.Count.Equals(0))
{
for (int i = 0; i < getAllDb.Count; i++)
{
PathRegion pathRegion = getAllDb[i].pathRegion;
Tuple <bool, bool> comparerResult = PathParametersComparer.RegionCompare(_startPoint, _endPoint, pathRegion, _safeDistance);
bool isSolutionFind = false;
if (!comparerResult.Equals(new Tuple <bool, bool>(false, false)) &&
ComparerItemsInalizer.ComparerPointCloudComparerInPercenrage(_obstaclesPoints,
(List <Point3D>)CompleteSolutionAnalizer.GetObstaclesVertexes(getAllDb[i].obstaclesPoint), pathRegion) >= _percentageComparer &&
PathParametersComparer.AnalizeSafeDistance(_safeDistance, getAllDb[i].safeDistance))
{
switch (comparerResult)
{
case var tuple when tuple.Item1.Equals(true) && tuple.Item2.Equals(false):
{
rbLog.AppendText("Стартовая точка входит в регион. Идет достроение веротяностной карты (графа)..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
isSolutionFind = true;
_adjencyMatrixManipulator = CompleteSolutionAnalizer.GetAdjencyMatrix(getAllDb[i].adjencyMatrix);
_graphVertices = CompleteSolutionAnalizer.GetGraphVertexes(getAllDb[i].graphVertex);
_graphVertices.Add(new GraphVertex(_graphVertices.Count, _startPoint, true));
_graphVertices.Add(new GraphVertex(_graphVertices.Count, _endPoint, true));
SolutionFinderFromDb(_endPoint, pathRegion, ref finalPathRegion, ref isSolutionFind, _adjencyMatrixManipulator, _graphVertices,
_graphVertices.Count - 1, _graphVertices.Count - 2);
break;
}
case var tuple when tuple.Item1.Equals(false) && tuple.Item2.Equals(true):
{
rbLog.AppendText("Конечная точка входит в регион. Идет достроение вероятностной карты (графа)..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
isSolutionFind = true;
_adjencyMatrixManipulator = CompleteSolutionAnalizer.GetAdjencyMatrix(getAllDb[i].adjencyMatrix);
_graphVertices = CompleteSolutionAnalizer.GetGraphVertexes(getAllDb[i].graphVertex);
_graphVertices.Add(new GraphVertex(_graphVertices.Count, _startPoint, true));
_graphVertices.Add(new GraphVertex(_graphVertices.Count, _endPoint, true));
SolutionFinderFromDb(_startPoint, pathRegion, ref finalPathRegion, ref isSolutionFind, _adjencyMatrixManipulator, _graphVertices,
_graphVertices.Count - 1, _graphVertices.Count - 2);
break;
}
case var tuple when tuple.Item1.Equals(true) && tuple.Item2.Equals(true):
{
rbLog.AppendText("Обе точки входят в регион..\n");
rbLog.AppendText("Добавляем точки в карту..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
_adjencyMatrixManipulator = CompleteSolutionAnalizer.GetAdjencyMatrix(getAllDb[i].adjencyMatrix);
_graphVertices = CompleteSolutionAnalizer.GetGraphVertexes(getAllDb[i].graphVertex);
List <GraphVertex> startEndVertexes = new List <GraphVertex>();
startEndVertexes.AddRange(new List <GraphVertex> {
new GraphVertex(_graphVertices.Count, _startPoint, true),
new GraphVertex(_graphVertices.Count + 1, _endPoint, true)
});
_adjencyMatrixManipulator = ResizeAdjencyMatrixManipulator(_adjencyMatrixManipulator, startEndVertexes.Count);
TryToConnect(_graphVertices, _distanceBetweenPoints, _adjencyMatrixManipulator, AlgoritmTryType.DatabaseDataWork, startEndVertexes); ///////
_graphVertices.AddRange(startEndVertexes);
Deikstra(ref _graphVertices, _adjencyMatrixManipulator, _graphVertices.Count - 2);
stackFirstManipulator = GetPathAfterDeikstra(_graphVertices, _adjencyMatrixManipulator, _graphVertices.Count - 1);
GetFinalPathAndDraw(stackFirstManipulator, Brushes.Purple, _graphVertices, _startPoint, _endPoint);
finalPathRegion = pathRegion;
isSolutionFind = true;
break;
}
}
if (isSolutionFind)
{
rbLog.AppendText("Решение найдено, происходит сохранение в базу данных..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
pathResultInformation = new PathResultInformation(finalPathRegion, _obstaclesPoints, _adjencyMatrixManipulator, _graphVertices, _safeDistance);
break;
}
}
if (!isSolutionFind)
{
_adjencyMatrixManipulator = new int[0, 0];
_graphVertices.Clear();
rbLog.AppendText("Не было найдено подходящих вариантов из базы данных..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
}
}
}
else
{
rbLog.AppendText("Подходящих решений не найдено. Поиск нового решения..\n");
rbLog.ScrollToCaret();
rbLog.Refresh();
WorkAtOverAgain(ref stackFirstManipulator, ref pathResultInformation);
}
try
{
SavePathInfoInDatabase(pathResultInformation);
}
catch (Exception ex)
{
WorkAtOverAgain(ref stackFirstManipulator, ref pathResultInformation);
SavePathInfoInDatabase(pathResultInformation);
}
MessageBox.Show($"Путь найден!\n{start.ToString()}\n{DateTimeOffset.Now.ToString()}\nВсего вершин: {_graphVertices.Count}", "Оповещение", MessageBoxButtons.OK, MessageBoxIcon.Information);
}