// Clone self with deep copy
public PathPlanningRequest DeepClone()
{
PathPlanningRequest clonedRequest = new PathPlanningRequest();
clonedRequest.UseTaskDifficultyMap = this.UseTaskDifficultyMap;
clonedRequest.UseHierarchy = this.UseHierarchy;
clonedRequest.UseCoarseToFineSearch = this.UseCoarseToFineSearch;
clonedRequest.UseParallelProcessing = this.UseParallelProcessing;
clonedRequest.VehicleType = this.VehicleType;
clonedRequest.DetectionType = this.DetectionType;
clonedRequest.DetectionRate = this.DetectionRate;
clonedRequest.DistMap = this.DistMap.Clone();
clonedRequest.DiffMap = this.DiffMap.Clone();
clonedRequest.UseEndPoint = this.UseEndPoint;
clonedRequest.T = this.T;
clonedRequest.pStart = new DistPoint(pStart.row, pStart.column);
clonedRequest.pEnd = new DistPoint(pEnd.row, pEnd.column);
clonedRequest.AlgToUse = this.AlgToUse;
clonedRequest.BatchRun = this.BatchRun;
clonedRequest.RunTimes = this.RunTimes;
clonedRequest.MaxDifficulty = this.MaxDifficulty;
if (this.DiffRates != null)
{
double[] DiffRatesCopy = new double[DiffRates.Length];
Array.Copy(DiffRates, 0, DiffRatesCopy, 0, DiffRates.Length);
clonedRequest.DiffRates = DiffRatesCopy;
}
clonedRequest.DrawPath = this.DrawPath;
clonedRequest.d = this.d;
clonedRequest.TopN = this.TopN;
return clonedRequest;
}
// Building the path planning request object and does sanity check
private bool BuildRequest(PathPlanningRequest newRequest)
{
bool goodRequest = true;
ListViewItem item = lvQueue.Items[0];
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);
if (chkUseEndPoint.Checked)
{
switch (item.Text)
{
case "CC":
newRequest.AlgToUse = AlgType.CC_E;
break;
case "LHC-GW-CONV":
newRequest.AlgToUse = AlgType.LHCGWCONV_E;
break;
case "LHC-GW-PF":
newRequest.AlgToUse = AlgType.LHCGWPF_E;
break;
case "LHC-Random":
newRequest.AlgToUse = AlgType.LHCRandom_E;
break;
case "Random":
newRequest.AlgToUse = AlgType.Random_E;
break;
case "CONV":
newRequest.AlgToUse = AlgType.CONV_E;
break;
case "PF":
newRequest.AlgToUse = AlgType.PF_E;
break;
case "TopTwo":
newRequest.AlgToUse = AlgType.TopTwo_E;
break;
case "TopN":
newRequest.AlgToUse = AlgType.TopN_E;
break;
case "TopTwoH":
newRequest.AlgToUse = AlgType.TopTwoH_E;
break;
case "TopNH":
newRequest.AlgToUse = AlgType.TopNH_E;
break;
case "EA":
newRequest.AlgToUse = AlgType.EA_E;
break;
case "RealTime":
newRequest.AlgToUse = AlgType.RealTime_E;
break;
}
}
else
{
switch (item.Text)
{
case "CC":
newRequest.AlgToUse = AlgType.CC;
break;
case "LHC-GW-CONV":
newRequest.AlgToUse = AlgType.LHCGWCONV;
break;
case "LHC-GW-PF":
newRequest.AlgToUse = AlgType.LHCGWPF;
break;
case "LHC-Random":
newRequest.AlgToUse = AlgType.LHCRandom;
break;
case "Random":
newRequest.AlgToUse = AlgType.Random;
break;
case "CONV":
newRequest.AlgToUse = AlgType.CONV;
break;
case "PF":
newRequest.AlgToUse = AlgType.PF;
break;
case "TopTwo":
newRequest.AlgToUse = AlgType.TopTwo;
break;
case "TopN":
newRequest.AlgToUse = AlgType.TopN;
break;
case "TopTwoH":
newRequest.AlgToUse = AlgType.TopTwoH;
break;
case "TopNH":
newRequest.AlgToUse = AlgType.TopNH;
break;
case "EA":
newRequest.AlgToUse = AlgType.EA;
break;
case "RealTime":
newRequest.AlgToUse = AlgType.RealTime;
break;
}
}
newRequest.DrawPath = chkShowPath.Checked;
// 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;
}
// Remember TopN parameter for TopTwo and TopN algorithms
if (newRequest.AlgToUse == AlgType.TopTwo || newRequest.AlgToUse == AlgType.TopTwo_E)
{
newRequest.TopN = 2;
}
if (newRequest.AlgToUse == AlgType.TopN || newRequest.AlgToUse == AlgType.TopN_E)
{
newRequest.TopN = Convert.ToInt32(ntxtTopNCount.Value);
}
if (!newRequest.SanityCheck())
{
System.Windows.Forms.MessageBox.Show(newRequest.GetLog());
goodRequest = false;
}
// Clear task queue
lvQueue.Clear();
lvQueue.Columns.Add("Task");
lvQueue.Columns[0].Width = lvQueue.Width - 5;
return goodRequest;
}
// Construct byte array for Server Queue Item
private byte[] RequestToByteArray(PathPlanningRequest newRequest)
{
byte[] bytes;
ProtoBuffer.PathPlanningRequest.Builder newPBRequest = ProtoBuffer.PathPlanningRequest.CreateBuilder();
newPBRequest.SetUseDistributionMap(newRequest.UseDistributionMap)
.SetUseTaskDifficultyMap(newRequest.UseTaskDifficultyMap)
.SetUseHierarchy(newRequest.UseHierarchy)
.SetUseCoarseToFineSearch(newRequest.UseCoarseToFineSearch)
.SetUseParallelProcessing(newRequest.UseParallelProcessing)
.SetVehicleType((ProtoBuffer.PathPlanningRequest.Types.UAVType)newRequest.VehicleType)
.SetDetectionType((ProtoBuffer.PathPlanningRequest.Types.DType)newRequest.DetectionType)
.SetDetectionRate(newRequest.DetectionRate)
.SetUseEndPoint(newRequest.UseEndPoint)
.SetT(newRequest.T)
.SetPStart(DistPointToPBDistPoint(newRequest.pStart))
.SetPEnd(DistPointToPBDistPoint(newRequest.pEnd))
.SetAlgToUse((ProtoBuffer.PathPlanningRequest.Types.AlgType)newRequest.AlgToUse)
.SetBatchRun(newRequest.BatchRun)
.SetRunTimes(newRequest.RunTimes)
.SetMaxDifficulty(newRequest.MaxDifficulty)
.SetDrawPath(newRequest.DrawPath)
.SetD(newRequest.d)
.SetTopNCount(newRequest.TopN);
// Have to deal with DiffRates array separately
if (newRequest.DiffRates != null)
{
for (int i = 0; i < newRequest.DiffRates.Length; i++)
{
newPBRequest.AddDiffRate(newRequest.DiffRates[i]);
}
}
//Here do the matrix thing
//// Debug Code
//// Test with small matrix
//// int d = 40;
//int d = 100;
//int v = 1;
//RtwMatrix testM = new RtwMatrix(d, d);
//for (int i = 0; i < d; i++)
//{
// for (int j = 0; j < d; j++)
// {
// testM[i, j] = v;
// }
//}
//newPBRequest.SetDistMap(RtwMatrixToPBMatrix(testM));
if (newRequest.DistMap != null)
{
newPBRequest.SetDistMap(RtwMatrixToPBMatrix(newRequest.DistMap));
}
if (newRequest.DiffMap != null)
{
newPBRequest.SetDiffMap(RtwMatrixToPBMatrix(newRequest.DiffMap));
}
ProtoBuffer.PathPlanningRequest Request = newPBRequest.Build();
newRequest = null;
// Finally the ServerQueueItem
ProtoBuffer.ServerQueueItem.Builder newServerQueueItem = new ProtoBuffer.ServerQueueItem.Builder();
newServerQueueItem.SetCallerIP("127.0.0.1")
.SetCurRequest(Request);
ProtoBuffer.ServerQueueItem ServerQueueItem = newServerQueueItem.Build();
newServerQueueItem = null;
bytes = ServerQueueItem.ToByteArray();
return bytes;
}
// Plan Flight Path button is pressed
private void btnExecute_Click(object sender, EventArgs e)
{
// Sanity check
#region Sanity Check
// Make sure there are tasks in queue
if (lvQueue.Items.Count < 1)
{
System.Windows.Forms.MessageBox.Show("Please select a task first!");
return;
}
// 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;
}
// Sanity check to 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
// Generate path planning requests
PathPlanningRequest newRequest = new PathPlanningRequest();
if (!BuildRequest(newRequest))
{
return;
}
// Build Path Request into Object
// Object via protocol buffer
byte[] outStream = RequestToByteArray(newRequest);
// Add header to indicate data size
byte[] outStreamFinal = outStreamFinal = ProtoBuffer.TCPHandler.AddDataSizeHeader(outStream);
// Send request
try
{
TcpClient clientSocket = new TcpClient();
clientSocket.Connect("127.0.0.1", 8888);
NetworkStream serverStream = clientSocket.GetStream();
// Send data over socket connection
serverStream.Write(outStreamFinal, 0, outStreamFinal.Length);
serverStream.Flush();
// Get server response
byte[] inStream = ProtoBuffer.TCPHandler.RecieveData(clientSocket, serverStream);
// Convert byte array to things we want
if (inStream.Length == 0)
{
System.Windows.Forms.MessageBox.Show("Server exception occurred. No data received!");
}
else
{
Log("Efficiency = " + BitConverter.ToDouble(inStream, 0) + "\n");
Log("Run Time = " + BitConverter.ToDouble(inStream, 8) + "\n");
int[] curP = new int[inStream.Length - 16];
Log("Path = ");
for (int i = 16; i < inStream.Length; i = i + 4)
{
Log(BitConverter.ToInt32(inStream, i).ToString() + " ");
if ((i / 4) % 2 == 1)
{
Log(", ");
}
}
}
}
catch (System.Net.Sockets.SocketException ex)
{
if (ex.ErrorCode == 10061)
{
System.Windows.Forms.MessageBox.Show("Server not available!");
}
else
{
Log(ex.Message);
}
}
//TODO Deal with path response
// First 4 bytes size of data
// Next 4 bytes Efficiency
// Rest path
}
