public void Form1_Load(object sender, EventArgs e)
{
drones = new Drones[3];
drones[0] = new Drones("Vulcan Black Widow", 500, 100, 5);
drones[1] = new Drones("Vulcan Payload Development", 5000, 150, 5);
drones[2] = new Drones("Vulcan Airlift", 1000, 150, 10);
string[] drone = new string[3];
for (int i = 0; i < 3; i++)
{
drone[i] = drones[i].name;
}
LoadData loader = new LoadData();
string filepath = @"e:\data source\addressbook.map"; //addressbook file path
string addressBook = null, routes = null;
int numLines = loader.fileDecrypt(filepath, ref addressBook);
nodes = new Graph[(numLines - 1) * 4];
object[] addresses = new string[numLines - 1];
loader.loadNodes(addressBook, numLines, ref nodes);
filepath = @"e:\data source\routes.map"; //routes file path
loader.fileDecrypt(filepath, ref routes);
loader.loadRoutes(routes, ref nodes); //загрузка соседей в каждый нод
for (int i = 0; i < numLines - 1; i++)
{
addresses[i] = nodes[i].street + " " + nodes[i].house;
}
comboBox2.Items.AddRange(addresses);
comboBox1.Items.AddRange(drone);
mapBrowser.Navigate("https://www.google.ru/maps/@55.0457912,82.9236788,16.91z");
routing route = new routing();
map = new Graph[41, 41, 4];
grid = new SquareGrid(41, 41, 4);
route.MapMaker(ref map, nodes, 41, 41, 4, 55.041513, 82.916838);
}
public double StraightLineDistanceTo(Graph end)
{
routing route = new routing();
return(route.Haversine(Point.X, end.Point.X, Point.Y, end.Point.Y, Point.Z, end.Point.Z));
}
public void loadRoutes(string file, ref Graph[] node)
{
string[] lines = file.Split(
new[] { Environment.NewLine },
StringSplitOptions.None
);
int linesNum = lines.Length - 1;
for (int i = 0; i < linesNum; i++)
{
string[] words = lines[i].Split('\t');
int lineLength = 0;
for (int j = 0; j < words.Length; j++)
{
if (words[j] != "")
{
lineLength++;
}
}
int[] indexes = new int[lineLength];
for (int j = 0; j < lineLength; j++)
{
Int32.TryParse(words[j], out indexes[j]);
}
for (int j = 1; j < lineLength; j++)
{
//Rib edge = new Rib();
routing route = new routing();
node[indexes[0] - 1].neighbourhood.Add(node[indexes[j] - 1]);
//edge.ConnectedNode = node[indexes[j] - 1];
//edge.Length = route.Haversine(node[indexes[0] - 1].latitude, node[indexes[j] - 1].latitude, node[indexes[0] - 1].longitude, node[indexes[j] - 1].longitude, node[indexes[0] - 1].altitude, node[indexes[j] - 1].altitude);
//node[indexes[0] - 1].connections.Add(edge);
}
}
for (int i = 0; i < node.Length / 4; i++)
{
for (int j = 0; j < node.Length / 4; j++)
{
//Rib edge = new Rib();
routing route = new routing();
if (j == i && j < (node.Length / 4 - 1))
{
j++;
}
node[i + (node.Length / 4)].neighbourhood.Add(node[j + (node.Length / 4)]);
node[i + (node.Length / 4) * 2].neighbourhood.Add(node[j + (node.Length / 4) * 2]);
node[i + (node.Length / 4) * 3].neighbourhood.Add(node[j + (node.Length / 4) * 3]);
/*edge.ConnectedNode = node[j + (node.Length / 4)];
* edge.Length = route.Haversine(node[i + (node.Length / 4)].latitude, node[j + (node.Length / 4)].latitude, node[i + (node.Length / 4)].longitude, node[j + (node.Length / 4)].longitude, node[i + (node.Length / 4)].altitude, node[j + (node.Length / 4)].altitude);
* node[i + (node.Length / 4)].connections.Add(edge);
*
* edge.ConnectedNode = node[j + (node.Length / 4) * 2];
* edge.Length = route.Haversine(node[i + (node.Length / 4) * 2].latitude, node[j + (node.Length / 4 * 2)].latitude, node[i + (node.Length / 4 * 2)].longitude, node[j + (node.Length / 4 * 2)].longitude, node[i + (node.Length / 4 * 2)].altitude, node[j + (node.Length / 4 * 2)].altitude);
* node[i + (node.Length / 4 * 2)].connections.Add(edge);
*
* edge.ConnectedNode = node[j + (node.Length / 4) * 3];
* edge.Length = route.Haversine(node[i + (node.Length / 4) * 3].latitude, node[j + (node.Length / 4 * 3)].latitude, node[i + (node.Length / 4 * 3)].longitude, node[j + (node.Length / 4 * 3)].longitude, node[i + (node.Length / 4 * 3)].altitude, node[j + (node.Length / 4 * 3)].altitude);
* node[i + (node.Length / 4 * 3)].connections.Add(edge);*/
}
}
for (int i = 0; i < (node.Length / 4); i++)
{
//Rib edge = new Rib();
routing route = new routing();
node[i].neighbourhood.Add(node[i + (node.Length / 4)]);
node[i + (node.Length / 4)].neighbourhood.Add(node[i]);
node[i + (node.Length / 4)].neighbourhood.Add(node[i + (node.Length / 4) * 2]);
node[i + (node.Length / 4) * 2].neighbourhood.Add(node[i + (node.Length / 4) * 3]);
node[i + (node.Length / 4) * 2].neighbourhood.Add(node[i + (node.Length / 4)]);
node[i + (node.Length / 4) * 3].neighbourhood.Add(node[i + (node.Length / 4) * 2]);
////0
//edge.ConnectedNode = node[i + (node.Length / 4)];
//edge.Length = route.Haversine(node[i].latitude, node[i + (node.Length / 4)].latitude, node[i].longitude, node[i + (node.Length / 4)].longitude, node[i].altitude, node[i + (node.Length / 4)].altitude);
//node[i].connections.Add(edge);
////1
//edge.ConnectedNode = node[i];
//edge.Length = route.Haversine(node[i].latitude, node[i + (node.Length / 4)].latitude, node[i].longitude, node[i + (node.Length / 4)].longitude, node[i].altitude, node[i + (node.Length / 4)].altitude);
//node[i + (node.Length / 4)].connections.Add(edge);
//edge.ConnectedNode = node[+(node.Length / 4) * 2];
//edge.Length = route.Haversine(node[i + (node.Length / 4)].latitude, node[i + (node.Length / 4) * 2].latitude, node[i + (node.Length / 4)].longitude, node[i + (node.Length / 4) * 2].longitude, node[i + (node.Length / 4)].altitude, node[i + (node.Length / 4) * 2].altitude);
//node[i + (node.Length / 4)].connections.Add(edge);
////2
//edge.ConnectedNode = node[+(node.Length / 4) * 3];
//edge.Length = route.Haversine(node[i + (node.Length / 4) * 2].latitude, node[i + (node.Length / 4) * 3].latitude, node[i + (node.Length / 4) * 2].longitude, node[i + (node.Length / 4) * 3].longitude, node[i + (node.Length / 4) * 2].altitude, node[i + (node.Length / 4) * 3].altitude);
//node[i + (node.Length / 4) * 2].connections.Add(edge);
//edge.ConnectedNode = node[+(node.Length / 4)];
//edge.Length = route.Haversine(node[i + (node.Length / 4) * 2].latitude, node[i + (node.Length / 4)].latitude, node[i + (node.Length / 4) * 2].longitude, node[i + (node.Length / 4)].longitude, node[i + (node.Length / 4) * 2].altitude, node[i + (node.Length / 4)].altitude);
//node[i + (node.Length / 4) * 2].connections.Add(edge);
////3
//edge.ConnectedNode = node[+(node.Length / 4) * 2];
//edge.Length = route.Haversine(node[i + (node.Length / 4) * 2].latitude, node[i + (node.Length / 4) * 3].latitude, node[i + (node.Length / 4) * 2].longitude, node[i + (node.Length / 4) * 3].longitude, node[i + (node.Length / 4) * 2].altitude, node[i + (node.Length / 4) * 3].altitude);
//node[i + (node.Length / 4) * 3].connections.Add(edge);
}
}
private void BFS_Click(object sender, EventArgs e)
{
routing path = new routing();
Graph search = new Graph();
Location[] route = new Location[pointsCount];
Graph[] links = new Graph[pointsCount];
if (comboBox1.Text == "")
{
MessageBox.Show("Please select drone");
return;
}
switch (pointsCount)
{
case 0:
MessageBox.Show("Not enough checkpoints. Please add more points to the route");
return;
case 1:
route[0] = search.findNode(linkLabel1.Text, map, 41, 41, 4);
break;
case 2:
route[0] = search.findNode(linkLabel1.Text, map, 41, 41, 4);
route[1] = search.findNode(linkLabel2.Text, map, 41, 41, 4);
break;
case 3:
route[0] = search.findNode(linkLabel1.Text, map, 41, 41, 4);
route[1] = search.findNode(linkLabel2.Text, map, 41, 41, 4);
route[2] = search.findNode(linkLabel3.Text, map, 41, 41, 4);
break;
}
int selected;
string unserviced = "Sorry, chosen addresses:\n";
bool unsrvcd = false;
for (int i = 0; i < pointsCount; i++)
{
if (route[i].x < 0)
{
unserviced += points[i] + "\n";
unsrvcd = true;
}
}
if (unsrvcd)
{
unserviced += "are yet to be added to our coverage";
MessageBox.Show(unserviced);
return;
}
for (selected = 0; selected < 3; selected++)
{
if (comboBox1.Text == drones[selected].name)
{
break;
}
}
NewGrid(41, 41, 4, route);
//AStarSearch astar = new AStarSearch(grid, route[0], route[1]);
//ThePath = astar.ReconstructPath(route[0], route[1], astar.cameFrom);
BFSSearch bfs = new BFSSearch(grid, route[0], route[1]);
ThePath = bfs.ReconstructPath(route[0], route[1], bfs.cameFrom);
KML makefile = new KML();
makefile.NewKML(ThePath, map);
}
public void loadRoutes(string file, ref Graph[] node)
{
string[] lines = file.Split(
new[] { Environment.NewLine },
StringSplitOptions.None
);
int linesNum = lines.Length - 1;
for (int i = 0; i < linesNum; i++)
{
string[] words = lines[i].Split('\t');
int lineLength = 0;
for (int j = 0; j < words.Length; j++)
{
if (words[j] != "")
{
lineLength++;
}
}
int[] indexes = new int[lineLength];
for (int j = 0; j < lineLength; j++)
{
Int32.TryParse(words[j], out indexes[j]);
}
for (int j = 1; j < lineLength; j++)
{
Rib edge = new Rib();
routing route = new routing();
node[indexes[0] - 1].neighbourhood.Add(node[indexes[j] - 1]);
edge.ConnectedNode = node[indexes[j] - 1];
edge.Length = route.Haversine(node[indexes[0] - 1].latitude, node[indexes[j] - 1].latitude, node[indexes[0] - 1].longitude, node[indexes[j] - 1].longitude, node[indexes[0] - 1].altitude, node[indexes[j] - 1].altitude);
node[indexes[0] - 1].connections.Add(edge);
//node[indexes[0] - 1 + node.Length / 4].neighbourhood.Add(node[indexes[j] - 1 + node.Length / 4]); //работает правильно, на на уровне 50 метров в данном квратале нет препятствий
//node[indexes[0] - 1 + node.Length / 4 * 2].neighbourhood.Add(node[indexes[j] - 1 + node.Length / 4 * 2]);
//node[indexes[0] - 1 + node.Length / 4 * 3].neighbourhood.Add(node[indexes[j] - 1 + node.Length / 4 * 3]);
}
}
for (int i = 0; i < node.Length / 4; i++)
{
for (int j = 0; j < node.Length / 4; j++)
{
Rib edge = new Rib();
routing route = new routing();
if (j == i && j < (node.Length / 4 - 1))
{
j++;
}
node[i + (node.Length / 4)].neighbourhood.Add(node[j + (node.Length / 4)]);
node[i + (node.Length / 4) * 2].neighbourhood.Add(node[j + (node.Length / 4) * 2]);
node[i + (node.Length / 4) * 3].neighbourhood.Add(node[j + (node.Length / 4) * 3]);
edge.ConnectedNode = node[j + (node.Length / 4)];
edge.Length = route.Haversine(node[i + (node.Length / 4)].latitude, node[j + (node.Length / 4)].latitude, node[i + (node.Length / 4)].longitude, node[j + (node.Length / 4)].longitude, node[i + (node.Length / 4)].altitude, node[j + (node.Length / 4)].altitude);
node[i + (node.Length / 4)].connections.Add(edge);
edge.ConnectedNode = node[j + (node.Length / 4) * 2];
edge.Length = route.Haversine(node[i + (node.Length / 4) * 2].latitude, node[j + (node.Length / 4 * 2)].latitude, node[i + (node.Length / 4 * 2)].longitude, node[j + (node.Length / 4 * 2)].longitude, node[i + (node.Length / 4 * 2)].altitude, node[j + (node.Length / 4 * 2)].altitude);
node[i + (node.Length / 4 * 2)].connections.Add(edge);
edge.ConnectedNode = node[j + (node.Length / 4) * 3];
edge.Length = route.Haversine(node[i + (node.Length / 4) * 3].latitude, node[j + (node.Length / 4 * 3)].latitude, node[i + (node.Length / 4 * 3)].longitude, node[j + (node.Length / 4 * 3)].longitude, node[i + (node.Length / 4 * 3)].altitude, node[j + (node.Length / 4 * 3)].altitude);
node[i + (node.Length / 4 * 3)].connections.Add(edge);
}
}
for (int i = 0; i < (node.Length / 4); i++)
{
Rib edge = new Rib();
routing route = new routing();
node[i].neighbourhood.Add(node[i + (node.Length / 4)]);
node[i + (node.Length / 4)].neighbourhood.Add(node[i]);
node[i + (node.Length / 4)].neighbourhood.Add(node[i + (node.Length / 4) * 2]);
node[i + (node.Length / 4) * 2].neighbourhood.Add(node[i + (node.Length / 4) * 3]);
node[i + (node.Length / 4) * 2].neighbourhood.Add(node[i + (node.Length / 4)]);
node[i + (node.Length / 4) * 3].neighbourhood.Add(node[i + (node.Length / 4) * 2]);
//0
edge.ConnectedNode = node[i + (node.Length / 4)];
edge.Length = route.Haversine(node[i].latitude, node[i + (node.Length / 4)].latitude, node[i].longitude, node[i + (node.Length / 4)].longitude, node[i].altitude, node[i + (node.Length / 4)].altitude);
node[i].connections.Add(edge);
//1
edge.ConnectedNode = node[i];
edge.Length = route.Haversine(node[i].latitude, node[i + (node.Length / 4)].latitude, node[i].longitude, node[i + (node.Length / 4)].longitude, node[i].altitude, node[i + (node.Length / 4)].altitude);
node[i + (node.Length / 4)].connections.Add(edge);
edge.ConnectedNode = node[+(node.Length / 4) * 2];
edge.Length = route.Haversine(node[i + (node.Length / 4)].latitude, node[i + (node.Length / 4) * 2].latitude, node[i + (node.Length / 4)].longitude, node[i + (node.Length / 4) * 2].longitude, node[i + (node.Length / 4)].altitude, node[i + (node.Length / 4) * 2].altitude);
node[i + (node.Length / 4)].connections.Add(edge);
//2
edge.ConnectedNode = node[+(node.Length / 4) * 3];
edge.Length = route.Haversine(node[i + (node.Length / 4) * 2].latitude, node[i + (node.Length / 4) * 3].latitude, node[i + (node.Length / 4) * 2].longitude, node[i + (node.Length / 4) * 3].longitude, node[i + (node.Length / 4) * 2].altitude, node[i + (node.Length / 4) * 3].altitude);
node[i + (node.Length / 4) * 2].connections.Add(edge);
edge.ConnectedNode = node[+(node.Length / 4)];
edge.Length = route.Haversine(node[i + (node.Length / 4) * 2].latitude, node[i + (node.Length / 4)].latitude, node[i + (node.Length / 4) * 2].longitude, node[i + (node.Length / 4)].longitude, node[i + (node.Length / 4) * 2].altitude, node[i + (node.Length / 4)].altitude);
node[i + (node.Length / 4) * 2].connections.Add(edge);
//3
edge.ConnectedNode = node[+(node.Length / 4) * 2];
edge.Length = route.Haversine(node[i + (node.Length / 4) * 2].latitude, node[i + (node.Length / 4) * 3].latitude, node[i + (node.Length / 4) * 2].longitude, node[i + (node.Length / 4) * 3].longitude, node[i + (node.Length / 4) * 2].altitude, node[i + (node.Length / 4) * 3].altitude);
node[i + (node.Length / 4) * 3].connections.Add(edge);
}
}