/// <summary>
/// Runs the algorithm.
/// </summary>
/// <param name="refreshRate"></param>
/// <param name="ComputationLimit"></param>
/// <param name="Batch"></param>
/// <param name="maxPathLength"></param>
/// <returns></returns>
public Results Run( long refreshRate, bool Batch, double computationLimitCeilingRatio,
string Alg, int ComputationLimit, Metric OptimalPathLength, string File,
bool Dynamic)
{
if ( Algorithm is RealTimeAlgorithm<GenericGridWorldStaticState,
GenericGridWorldDynamicState> ) {
( Algorithm as RealTimeAlgorithm<GenericGridWorldStaticState,
GenericGridWorldDynamicState> ).SetComputationLimit( ComputationLimit );
}
Path<GenericGridWorldStaticState, GenericGridWorldDynamicState> path = null;
Path<GenericGridWorldStaticState, GenericGridWorldDynamicState> fullPath =
new Path<GenericGridWorldStaticState, GenericGridWorldDynamicState>(
(GenericGridWorldDynamicState)null );
long MaxMemoryUsage = 0;
int numStops = 0;
List<double> ComputationTimes = new List<double>( );
List<double> Expansions = new List<double>( );
double LastExpansions = 0;
long ComputationTimeMax = long.MinValue;
if ( !Batch ) {
#if OpenGl
if ( vis != null ) {
vis.Visualize( StaticState, StaticState.InitialDynamicState );
vis.SetInitData( Alg, ComputationLimit,
StaticState.Map != null && StaticState.Map.OptimalSolutionCostSpecified ?
StaticState.Map.OptimalSolutionCost :
OptimalPathLength.ToDouble( ), File, Resultss );
}
#else
System.Console.WriteLine( StaticState.InitialDynamicState ) ;
#endif
}
int StepNumber = 0;
UncoverMap( );
Stopwatch total = Stopwatch.StartNew( );
Stopwatch step = Stopwatch.StartNew( );
foreach ( var nextPath in
Algorithm.Compute( StaticState, StaticState.InitialDynamicState, Goal,
Actions ) ) {
step.Stop( );
total.Stop( );
long CurrentUsage = Process.GetCurrentProcess( ).PrivateMemorySize64;
if ( CurrentUsage > MaxMemoryUsage ) {
MaxMemoryUsage = CurrentUsage;
}
path = nextPath;
if ( path != null ) {
foreach ( var Action in path.Actions ) {
var oldState = StaticState.InitialDynamicState;
if ( !Action.IsValidOn( StaticState.InitialDynamicState, StaticState, true ) ) {
throw new IllegalActionOnStateException(
"Illegal Action Given By Algorithm" );
}
StaticState.InitialDynamicState = Action.PerformOn(
StaticState.InitialDynamicState, StaticState ).First( );
fullPath.Push( Action, oldState, StaticState.InitialDynamicState );
if ( !Batch ) {
var U = StaticState.InitialDynamicState.FindUnit( 0 );
StaticState.Tiles[U.Y][U.X].Hits++;
#if OpenGl
vis.Visualize( StaticState, StaticState.InitialDynamicState );
vis.SetStepData( (int)Algorithm.Generations, (int)Algorithm.Expansions,
total.ElapsedTicks, fullPath.Cost.ToDouble( ) + numStops,
ComputationTimes.Count != 0 ? ComputationTimes.Average( ): 0,
MaxMemoryUsage, ComputationTimeMax,
Expansions.Count != 0 ? Expansions.Average( ): 0 );
#else
System.Console.WriteLine( StaticState.InitialDynamicState ) ;
#endif
}
HandleChanges( Dynamic, StepNumber );
}
} else {
numStops++;
HandleChanges( Dynamic, StepNumber );
#if OpenGl
if ( !Batch ) {
vis.Visualize( StaticState, StaticState.InitialDynamicState );
( vis as OpenGLStateVisualizer ).redraw( );
vis.SetStepData( (int)Algorithm.Generations, (int)Algorithm.Expansions,
total.ElapsedTicks, fullPath.Cost.ToDouble( )+ numStops,
ComputationTimes.Count != 0 ? ComputationTimes.Average( ): 0,
MaxMemoryUsage, ComputationTimeMax,
Expansions.Count != 0 ? Expansions.Average( ): 0 );
}
#endif
}
Expansions.Add( Algorithm.Expansions - LastExpansions );
LastExpansions = Algorithm.Expansions;
ComputationTimes.Add( step.ElapsedTicks );
if ( step.ElapsedTicks > ComputationTimeMax ) {
ComputationTimeMax = step.ElapsedTicks;
}
if ( Goal.IsSatisfiedBy( StaticState, StaticState.InitialDynamicState ) ) {
break;
}
long t = refreshRate - step.ElapsedMilliseconds;
if ( t > 0 ) {
Thread.Sleep( (int)t );
}
Metric maxPathLength = new Metric( computationLimitCeilingRatio *
( StaticState.Map != null && StaticState.Map.OptimalSolutionCostSpecified ?
StaticState.Map.OptimalSolutionCost :
OptimalPathLength.ToDouble( ) ) );
if ( maxPathLength.Equals( Metric.Infinity ) && fullPath.Cost + new Metric( numStops ) >= maxPathLength ) {
throw new MaxPathLengthExceded(
new Results( Alg, ComputationLimit, Algorithm.Generations,
Algorithm.Expansions, total.ElapsedTicks, fullPath.Cost.ToDouble( )+ numStops,
StaticState.Map != null && StaticState.Map.OptimalSolutionCostSpecified ?
StaticState.Map.OptimalSolutionCost :
OptimalPathLength.ToDouble( ), File, ComputationTimes.Average( ),
MaxMemoryUsage, ComputationTimeMax, Expansions.Average( ) ) );
}
StepNumber++;
step.Reset( );
step.Start( );
total.Start( );
}
total.Stop( );
if ( !Batch ) {
#if OpenGl
if ( vis != null ) {
vis.Cleanup( );
}
#else
new GenericGridWorldPathVisualizer( ).Visualize(
Console.Out, fullPath, StaticState, StaticState.InitialDynamicState );
#endif
}
double AverageComputationTime = ComputationTimes.Average( );
return new Results( Alg, ComputationLimit, Algorithm.Generations,
Algorithm.Expansions, total.ElapsedTicks, fullPath.Cost.ToDouble( )+ numStops,
StaticState.Map != null && StaticState.Map.OptimalSolutionCostSpecified ?
StaticState.Map.OptimalSolutionCost :
OptimalPathLength.ToDouble( ), File, AverageComputationTime,
MaxMemoryUsage, ComputationTimeMax, Expansions.Average( ) );
}
