private void modifySetDefaultSpeeds_Click(object sender, EventArgs e)
{
try
{
double defMin = double.Parse(this.modifyDefaultMinimumSpeedTextBox.Text);
double defMax = double.Parse(this.modifyDefaultMaximumSpeedTextBox.Text);
this.Mission.SpeedLimits = new List <ArbiterSpeedLimit>();
foreach (ArbiterSegment asg in this.RoadNetwork.ArbiterSegments.Values)
{
ArbiterSpeedLimit asl = new ArbiterSpeedLimit();
asl.MinimumSpeed = defMin;
asl.MaximumSpeed = defMax;
asl.Area = asg.SegmentId;
this.Mission.SpeedLimits.Add(asl);
}
foreach (ArbiterZone az in this.RoadNetwork.ArbiterZones.Values)
{
ArbiterSpeedLimit asl = new ArbiterSpeedLimit();
asl.MinimumSpeed = defMin;
asl.MaximumSpeed = defMax;
asl.Area = az.ZoneId;
this.Mission.SpeedLimits.Add(asl);
}
this.PopulateModifyTab();
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
private void modifyRemoveCheckpointButton_Click(object sender, EventArgs e)
{
try
{
int index = this.modifySelectMissionCheckpointComboBox.SelectedIndex;
if (index >= 0)
{
ArbiterCheckpoint[] acs = this.Mission.MissionCheckpoints.ToArray();
this.Mission.MissionCheckpoints = new Queue <ArbiterCheckpoint>();
for (int i = 0; i < acs.Length; i++)
{
if (i != index)
{
this.Mission.MissionCheckpoints.Enqueue(acs[i]);
}
}
this.modifySelectMissionCheckpointComboBox.Text = "";
this.PopulateModifyTab();
}
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
private void PopulateModifyTab()
{
try
{
if (this.Mission != null)
{
this.modifySelectAreaComboBox.Items.Clear();
this.modifySelectAreaComboBox.Items.AddRange(this.GetAreaNames().ToArray());
this.modifySelectCheckpointComboBox.Items.Clear();
this.modifySelectCheckpointComboBox.Items.AddRange(this.GetRoadCheckpointNames().ToArray());
this.modifySelectMissionCheckpointComboBox.Items.Clear();
ArbiterCheckpoint[] acs = this.Mission.MissionCheckpoints.ToArray();
for (int i = 0; i < acs.Length; i++)
{
this.modifySelectMissionCheckpointComboBox.Items.Add(i.ToString() + " - " + acs[i].CheckpointNumber.ToString() + " - " + acs[i].WaypointId.ToString());
}
this.PopulateMissionBrowser();
}
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
private void setAreaSpeedButton_Click(object sender, EventArgs e)
{
try
{
if (this.selectAreaComboBox.SelectedIndex >= 0 &&
this.minAreaSpeedTextBox.Text != null && this.minAreaSpeedTextBox.Text != "" &&
this.maxAreaSpeedTextBox.Text != null && this.maxAreaSpeedTextBox.Text != "")
{
string id = (string)this.selectAreaComboBox.Items[this.selectAreaComboBox.SelectedIndex];
if (this.CreateMissionNonDefaultSpeeds.ContainsKey(id))
{
this.CreateMissionNonDefaultSpeeds[id].MaximumSpeed = double.Parse(this.maxAreaSpeedTextBox.Text);
this.CreateMissionNonDefaultSpeeds[id].MinimumSpeed = double.Parse(this.minAreaSpeedTextBox.Text);
}
else
{
ArbiterSpeedLimit asl = new ArbiterSpeedLimit();
asl.MaximumSpeed = double.Parse(this.maxAreaSpeedTextBox.Text);
asl.MinimumSpeed = double.Parse(this.minAreaSpeedTextBox.Text);
this.CreateMissionNonDefaultSpeeds.Add(id, asl);
}
}
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
private void modifyMoveCheckpointUpButton_Click(object sender, EventArgs e)
{
try
{
int index = this.modifySelectMissionCheckpointComboBox.SelectedIndex;
if (index > 0 && index < this.Mission.MissionCheckpoints.Count)
{
ArbiterCheckpoint[] acs = this.Mission.MissionCheckpoints.ToArray();
this.Mission.MissionCheckpoints = new Queue <ArbiterCheckpoint>();
ArbiterCheckpoint tmp = acs[index];
acs[index] = acs[index - 1];
acs[index - 1] = tmp;
for (int i = 0; i < acs.Length; i++)
{
this.Mission.MissionCheckpoints.Enqueue(acs[i]);
}
this.PopulateModifyTab();
this.modifySelectMissionCheckpointComboBox.SelectedItem = this.modifySelectMissionCheckpointComboBox.Items[index - 1];
this.modifySelectMissionCheckpointComboBox.SelectedIndex = index - 1;
}
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
private void modifyRandomizeButton_Click(object sender, EventArgs e)
{
try
{
int length = int.Parse(this.modifyNumberToRandomizeTextBox.Text);
this.Mission.MissionCheckpoints = new Queue <ArbiterCheckpoint>();
List <ArbiterCheckpoint> acs = new List <ArbiterCheckpoint>();
foreach (KeyValuePair <int, IArbiterWaypoint> ac in this.RoadNetwork.Checkpoints)
{
acs.Add(new ArbiterCheckpoint(ac.Key, ac.Value.AreaSubtypeWaypointId));
}
Random r = new Random();
for (int i = 0; i < length; i++)
{
int num = r.Next(acs.Count);
this.Mission.MissionCheckpoints.Enqueue(acs[num]);
}
this.PopulateModifyTab();
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
private void modifySetAreaSpeedButton_Click(object sender, EventArgs e)
{
try
{
int index = this.modifySelectAreaComboBox.SelectedIndex;
if (index >= 0)
{
double minSpeed = double.Parse(this.modifyMinSpeedTextBox.Text);
double maxSpeed = double.Parse(this.modifyMaxSpeedTextBox.Text);
int areaId = int.Parse((string)this.modifySelectAreaComboBox.Items[index]);
foreach (ArbiterSpeedLimit asl in this.Mission.SpeedLimits)
{
if (asl.Area.Number.Equals(areaId))
{
asl.MaximumSpeed = maxSpeed;
asl.MinimumSpeed = minSpeed;
break;
}
}
this.PopulateModifyTab();
}
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
private void PopulateMissionBrowser()
{
try
{
if (this.Mission != null)
{
List <List <string> > browser = new List <List <string> >();
ArbiterCheckpoint[] acs = this.Mission.MissionCheckpoints.ToArray();
for (int i = 0; i < this.Mission.MissionCheckpoints.Count; i++)
{
List <string> cpString = new List <string>();
cpString.Add(i.ToString());
cpString.Add(acs[i].CheckpointNumber.ToString());
cpString.Add(acs[i].WaypointId.ToString());
browser.Add(cpString);
}
for (int i = 0; i < this.Mission.SpeedLimits.Count; i++)
{
List <string> slString = new List <string>();
slString.Add(this.Mission.SpeedLimits[i].Area.ToString());
slString.Add(this.Mission.SpeedLimits[i].MinimumSpeed.ToString());
slString.Add(this.Mission.SpeedLimits[i].MaximumSpeed.ToString());
if (browser.Count > i)
{
browser[i].AddRange(slString);
}
else
{
List <string> tmpString = new List <string>();
tmpString.Add("");
tmpString.Add("");
tmpString.Add("");
tmpString.AddRange(slString);
browser.Add(tmpString);
}
}
this.missionBrowser.Items.Clear();
foreach (List <string> vals in browser)
{
this.missionBrowser.Items.Add(new ListViewItem(vals.ToArray()));
}
this.missionBrowser.Invalidate();
}
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
private void selectRoadNetworkCheckpointComboBox_SelectedIndexChanged(object sender, EventArgs e)
{
try
{
int index = this.selectRoadNetworkCheckpointComboBox.SelectedIndex;
string text = (string)this.selectRoadNetworkCheckpointComboBox.Items[index];
string[] delimeters = new string[] { " - " };
string[] final = text.Split(delimeters, StringSplitOptions.RemoveEmptyEntries);
int goal = int.Parse(final[0]);
this.roadDisplay1.Center(this.RoadNetwork.Checkpoints[goal].Position);
this.roadDisplay1.Invalidate();
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
private void modifySaveButton_Click(object sender, EventArgs e)
{
// create a new open file dialog
this.saveFileDialog1 = new SaveFileDialog();
// settings for openFileDialog
saveFileDialog1.InitialDirectory = "Desktop\\";
saveFileDialog1.Filter = "Arbiter Mission Description (*.amd)|*.amd|All files (*.*)|*.*";
saveFileDialog1.FilterIndex = 1;
saveFileDialog1.RestoreDirectory = true;
// check if everything was selected alright
if (saveFileDialog1.ShowDialog() == DialogResult.OK)
{
try
{
// switch over the final index
switch (saveFileDialog1.FilterIndex)
{
// create an mdf
case 1:
// create file
FileStream fs = new FileStream(saveFileDialog1.FileName, FileMode.Create);
// serializer
BinaryFormatter bf = new BinaryFormatter();
// serialize
bf.Serialize(fs, this.Mission);
// release holds
fs.Dispose();
// end case
break;
}
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
}
private void MoveUpMissionCheckpointButton_Click(object sender, EventArgs e)
{
try
{
int index = this.selectMissionCheckpointComboBox.SelectedIndex;
if (index > 0 && index < CreateMissionCheckpoints.Count)
{
this.SwapCreateMissionCheckpoint(index, index - 1);
this.selectMissionCheckpointComboBox.Items.Clear();
this.selectMissionCheckpointComboBox.Items.AddRange(this.CreateMissionCheckpoints.ToArray());
this.selectMissionCheckpointComboBox.SelectedIndex = index - 1;
this.selectMissionCheckpointComboBox.Invalidate();
}
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
/// <summary>
/// Generates a road graph to a file from the internal road network
/// </summary>
/// <param name="fileName"></param>
public void GenerateRoadGraph(string fileName)
{
// create file
FileStream fs = new FileStream(fileName, FileMode.Create);
// create writer
StreamWriter sw = new StreamWriter(fs);
// notify
EditorOutput.WriteLine("Generating road graph to file: " + fileName);
// notify
EditorOutput.WriteLine("Writing general information");
// general
this.WriteGeneralInformation(sw);
// notify
EditorOutput.WriteLine("Writing waypoint information");
// waypoint
this.WriteWaypointInformation(sw);
// notify
EditorOutput.WriteLine("Writing partition information");
// partitions
this.WritePartitionInformation(sw);
// end rndf
sw.WriteLine("End_Rndf");
// write final
sw.Close();
// release holds
fs.Dispose();
// notify
EditorOutput.WriteLine("Generated road graph to file: " + fileName);
}
private void modifyAddCheckpointButton_Click(object sender, EventArgs e)
{
try
{
int index = this.modifySelectCheckpointComboBox.SelectedIndex;
if (index >= 0)
{
string text = (string)this.modifySelectCheckpointComboBox.Items[index];
string[] delimeters = new string[] { " - " };
string[] final = text.Split(delimeters, StringSplitOptions.RemoveEmptyEntries);
int goal = int.Parse(final[0]);
this.Mission.MissionCheckpoints.Enqueue(new ArbiterCheckpoint(goal, this.RoadNetwork.Checkpoints[goal].AreaSubtypeWaypointId));
this.PopulateModifyTab();
}
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
private void RemoveMissionCheckpointButton_Click(object sender, EventArgs e)
{
try
{
int index = this.selectMissionCheckpointComboBox.SelectedIndex;
if (index >= 0 && index < CreateMissionCheckpoints.Count)
{
this.CreateMissionCheckpoints.RemoveAt(index);
this.selectMissionCheckpointComboBox.Items.Clear();
this.selectMissionCheckpointComboBox.Items.AddRange(this.CreateMissionCheckpoints.ToArray());
this.selectMissionCheckpointComboBox.SelectedIndex = this.CreateMissionCheckpoints.Count > 0 ? 0 : -1;
if (this.CreateMissionCheckpoints.Count == 0)
{
this.selectMissionCheckpointComboBox.Text = "";
}
this.selectMissionCheckpointComboBox.Invalidate();
}
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
private void ShiftNetworkOkButton_Click(object sender, EventArgs e)
{
try
{
double east = double.Parse(this.ShiftNetworkEastTextBox.Text);
double north = double.Parse(this.ShiftNetworkNorthTextBox.Text);
Coordinates shift = new Coordinates(east, north);
foreach (IArbiterWaypoint iaw in roads.ArbiterWaypoints.Values)
{
iaw.Position = iaw.Position + shift;
}
// safety zone filter
DisplayObjectFilter f = delegate(IDisplayObject target)
{
// check if target is network object
if (target is ArbiterSafetyZone)
{
return(true);
}
else
{
return(false);
}
};
// remove safety zones
display.RemoveDisplayObjectType(f);
// new safety
roads.ArbiterSafetyZones = new List <ArbiterSafetyZone>();
// remove from network
List <IDisplayObject> displayObjects = new List <IDisplayObject>();
foreach (IDisplayObject ido in roads.DisplayObjects)
{
if (!f(ido))
{
displayObjects.Add(ido);
}
}
// remove lane safety zones, create new partition paths
foreach (ArbiterSegment asg in roads.ArbiterSegments.Values)
{
foreach (ArbiterLane al in asg.Lanes.Values)
{
al.SafetyZones = new List <ArbiterSafetyZone>();
// path segments of lane
List <IPathSegment> pathSegments = new List <IPathSegment>();
// loop
foreach (ArbiterLanePartition alPar in al.Partitions)
{
// make new segment
pathSegments.Add(new LinePathSegment(alPar.Initial.Position, alPar.Final.Position));
}
// generate lane partition path
Path partitionPath = new Path(pathSegments);
al.PartitionPath = partitionPath;
}
}
// recreate safety zones
foreach (IArbiterWaypoint iaw in roads.ArbiterWaypoints.Values)
{
if (iaw is ArbiterWaypoint)
{
ArbiterWaypoint aw = (ArbiterWaypoint)iaw;
if (aw.IsStop)
{
ArbiterLane al = aw.Lane;
LinePath.PointOnPath end = al.GetClosestPoint(aw.Position);
double dist = -30;
LinePath.PointOnPath begin = al.LanePath().AdvancePoint(end, ref dist);
if (dist != 0)
{
EditorOutput.WriteLine(aw.ToString() + " safety zone too close to start of lane, setting start to start of lane");
begin = al.LanePath().StartPoint;
}
ArbiterSafetyZone asz = new ArbiterSafetyZone(al, end, begin);
asz.isExit = true;
asz.Exit = aw;
al.SafetyZones.Add(asz);
roads.DisplayObjects.Add(asz);
roads.ArbiterSafetyZones.Add(asz);
display.AddDisplayObject(asz);
}
}
}
// redraw
this.display.Invalidate();
// notify
EditorOutput.WriteLine("Shifted road network: east: " + east.ToString("F6") + ", north: " + north.ToString("F6"));
EditorOutput.WriteLine("Recomputed position-dependent types");
// close form
this.Close();
}
catch (Exception ex)
{
EditorOutput.WriteLine("Shift of road network failed: \n" + ex.ToString());
}
}
/// <summary>
/// Write partition informaton
/// </summary>
/// <param name="sw"></param>
private void WritePartitionInformation(StreamWriter sw)
{
// get list of all partitions that connect waypoints
List <IConnectAreaWaypoints> icaws = new List <IConnectAreaWaypoints>();
#region Populate partitions
// get lane partitions
foreach (ArbiterSegment asg in roadNetwork.ArbiterSegments.Values)
{
foreach (ArbiterLane al in asg.Lanes.Values)
{
foreach (ArbiterLanePartition alp in al.Partitions)
{
icaws.Add(alp);
}
}
}
// get interconnects
foreach (ArbiterInterconnect ai in roadNetwork.ArbiterInterconnects.Values)
{
icaws.Add(ai);
}
// zones (holy stuff what a hack)
foreach (ArbiterZone az in roadNetwork.ArbiterZones.Values)
{
icaws.Add(new SceneZonePartition(az));
}
#endregion
// notify
sw.WriteLine("NumberOfPartitions" + "\t" + icaws.Count.ToString());
string completionPercent = "";
#region Create Partitions in Road Graph
// write each
for (int i = 0; i < icaws.Count; i++)
{
IConnectAreaWaypoints icaw = icaws[i];
sw.WriteLine("Partition");
string id = "";
if (icaw is SceneZonePartition)
{
id = ("PartitionId" + "\t" + ((SceneZonePartition)icaw).Zone.ToString());
}
else
{
id = ("PartitionId" + "\t" + icaw.ConnectionId.ToString());
}
sw.WriteLine(id);
// notify
double percent = ((double)i) / ((double)icaws.Count) * 100.0;
string tmpP = percent.ToString("F0") + "% Complete";
if (tmpP != completionPercent)
{
completionPercent = tmpP;
EditorOutput.WriteLine(completionPercent);
}
#region Interconnect
if (icaw is ArbiterInterconnect)
{
ArbiterInterconnect ai = (ArbiterInterconnect)icaw;
sw.WriteLine("PartitionType" + "\t" + "Interconnect");
sw.WriteLine("Sparse" + "\t" + "False");
sw.WriteLine("FitType" + "\t" + "Line");
Coordinates c = ai.FinalGeneric.Position - ai.InitialGeneric.Position;
sw.WriteLine("FitParameters" + "\t" + c.ArcTan.ToString("F6"));
sw.WriteLine("LeftBoundary" + "\t" + "None");
sw.WriteLine("RightBoundary" + "\t" + "None");
sw.WriteLine("NumberOfPoints" + "\t" + "2");
sw.WriteLine("Points");
sw.WriteLine(ai.InitialGeneric.ToString());
sw.WriteLine(ai.FinalGeneric.ToString());
sw.WriteLine("End_Points");
List <ArbiterWaypoint> aws = this.GetNearbyStops(ai);
sw.WriteLine("NumberOfNearbyStoplines" + "\t" + aws.Count);
if (aws.Count != 0)
{
sw.WriteLine("NearbyStoplines");
foreach (ArbiterWaypoint aw in aws)
{
sw.WriteLine(aw.ToString());
}
sw.WriteLine("End_NearbyStoplines");
}
#region Adjacent
List <string> adjacentPartitions = new List <string>();
// add current
adjacentPartitions.Add(ai.ToString());
#region Initial
if (icaw.InitialGeneric is ArbiterWaypoint)
{
// wp
ArbiterWaypoint aw = (ArbiterWaypoint)icaw.InitialGeneric;
// prev
if (aw.PreviousPartition != null)
{
adjacentPartitions.Add(aw.PreviousPartition.ToString());
}
// next
if (aw.NextPartition != null)
{
adjacentPartitions.Add(aw.NextPartition.ToString());
}
// exits
if (aw.IsExit)
{
foreach (ArbiterInterconnect ais in aw.Exits)
{
if (!ais.Equals(ai))
{
adjacentPartitions.Add(ais.ToString());
}
}
}
if (aw.IsEntry)
{
foreach (ArbiterInterconnect ais in aw.Entries)
{
if (!ais.Equals(ai))
{
adjacentPartitions.Add(ais.ToString());
}
}
}
}
else if (icaw.InitialGeneric is ArbiterPerimeterWaypoint)
{
adjacentPartitions.Add((new SceneZonePartition(((ArbiterPerimeterWaypoint)icaw.InitialGeneric).Perimeter.Zone)).ToString());
}
#endregion
#region Final
if (icaw.FinalGeneric is ArbiterWaypoint)
{
// wp
ArbiterWaypoint aw = (ArbiterWaypoint)icaw.FinalGeneric;
// prev
if (aw.PreviousPartition != null)
{
adjacentPartitions.Add(aw.PreviousPartition.ToString());
}
// next
if (aw.NextPartition != null)
{
adjacentPartitions.Add(aw.NextPartition.ToString());
}
// exits
if (aw.IsExit)
{
foreach (ArbiterInterconnect ais in aw.Exits)
{
adjacentPartitions.Add(ais.ToString());
}
}
if (aw.IsEntry)
{
foreach (ArbiterInterconnect ais in aw.Entries)
{
if (!ais.Equals(ai))
{
adjacentPartitions.Add(ais.ToString());
}
}
}
}
else if (icaw.FinalGeneric is ArbiterPerimeterWaypoint)
{
adjacentPartitions.Add((new SceneZonePartition(((ArbiterPerimeterWaypoint)icaw.FinalGeneric).Perimeter.Zone)).ToString());
}
#endregion
sw.WriteLine("NumberOfLaneAdjacentPartitions" + "\t" + adjacentPartitions.Count.ToString());
if (adjacentPartitions.Count != 0)
{
sw.WriteLine("LaneAdjacentPartitions");
foreach (string s in adjacentPartitions)
{
sw.WriteLine(s);
}
sw.WriteLine("End_LaneAdjacentPartitions");
}
#endregion
sw.WriteLine("NumberOfLeftLaneAdjacentPartitions" + "\t" + "0");
sw.WriteLine("NumberOfRightLaneAdjacentPartitions" + "\t" + "0");
List <IConnectAreaWaypoints> nearby = this.GetNearbyPartitions(ai, icaws);
sw.WriteLine("NumberOfNearbyPartitions" + "\t" + nearby.Count.ToString());
if (nearby.Count != 0)
{
sw.WriteLine("NearbyPartitions");
foreach (IConnectAreaWaypoints tmp in nearby)
{
sw.WriteLine(tmp.ToString());
}
sw.WriteLine("End_NearbyPartitions");
}
sw.WriteLine("End_Partition");
}
#endregion
#region Zone
else if (icaw is SceneZonePartition)
{
SceneZonePartition szp = (SceneZonePartition)icaw;
sw.WriteLine("PartitionType" + "\t" + "Zone");
sw.WriteLine("Sparse" + "\t" + "False");
sw.WriteLine("FitType" + "\t" + "Polygon");
string count = szp.Zone.Perimeter.PerimeterPoints.Count.ToString();
string wps = "";
foreach (ArbiterPerimeterWaypoint apw in szp.Zone.Perimeter.PerimeterPoints.Values)
{
wps = wps + "\t" + apw.Position.X.ToString("f6") + "\t" + apw.Position.Y.ToString("f6");
}
sw.WriteLine("FitParameters" + "\t" + count + wps);
sw.WriteLine("LeftBoundary" + "\t" + "None");
sw.WriteLine("RightBoundary" + "\t" + "None");
sw.WriteLine("NumberOfPoints" + "\t" + szp.Zone.Perimeter.PerimeterPoints.Count.ToString());
sw.WriteLine("Points");
foreach (ArbiterPerimeterWaypoint apw in szp.Zone.Perimeter.PerimeterPoints.Values)
{
sw.WriteLine(apw.WaypointId.ToString());
}
sw.WriteLine("End_Points");
List <ArbiterWaypoint> aws = this.GetNearbyStops(szp);
sw.WriteLine("NumberOfNearbyStoplines" + "\t" + aws.Count);
if (aws.Count != 0)
{
sw.WriteLine("NearbyStoplines");
foreach (ArbiterWaypoint aw in aws)
{
sw.WriteLine(aw.ToString());
}
sw.WriteLine("End_NearbyStoplines");
}
#region Adjacent
List <string> adjacentStrings = new List <string>();
// add current
adjacentStrings.Add(szp.ToString());
foreach (ArbiterPerimeterWaypoint apw in szp.Zone.Perimeter.PerimeterPoints.Values)
{
if (apw.IsExit)
{
foreach (ArbiterInterconnect ai in apw.Exits)
{
adjacentStrings.Add(ai.ToString());
}
}
if (apw.IsEntry)
{
foreach (ArbiterInterconnect ais in apw.Entries)
{
adjacentStrings.Add(ais.ToString());
}
}
}
sw.WriteLine("NumberOfLaneAdjacentPartitions" + "\t" + adjacentStrings.Count.ToString());
if (adjacentStrings.Count != 0)
{
sw.WriteLine("LaneAdjacentPartitions");
foreach (string s in adjacentStrings)
{
sw.WriteLine(s);
}
sw.WriteLine("End_LaneAdjacentPartitions");
}
#endregion
sw.WriteLine("NumberOfLeftLaneAdjacentPartitions" + "\t" + "0");
sw.WriteLine("NumberOfRightLaneAdjacentPartitions" + "\t" + "0");
List <IConnectAreaWaypoints> nearby = this.GetNearbyPartitions(szp, icaws);
sw.WriteLine("NumberOfNearbyPartitions" + "\t" + nearby.Count.ToString());
if (nearby.Count != 0)
{
sw.WriteLine("NearbyPartitions");
foreach (IConnectAreaWaypoints tmp in nearby)
{
sw.WriteLine(tmp.ToString());
}
sw.WriteLine("End_NearbyPartitions");
}
sw.WriteLine("End_Partition");
}
#endregion
#region Lane
else if (icaw is ArbiterLanePartition)
{
ArbiterLanePartition alp = (ArbiterLanePartition)icaw;
sw.WriteLine("PartitionType" + "\t" + "Lane");
string sparseString = alp.Type == PartitionType.Sparse ? "True" : "False";
sw.WriteLine("Sparse" + "\t" + sparseString);
if (alp.Type != PartitionType.Sparse) //alp.UserPartitions.Count <= 1)
{
sw.WriteLine("FitType" + "\t" + "Line");
sw.WriteLine("FitParameters" + "\t" + alp.Vector().ArcTan.ToString("F6"));
}
else
{
sw.WriteLine("FitType" + "\t" + "Polygon");
/*List<Coordinates> polyCoords = new List<Coordinates>();
* polyCoords.Add(alp.Initial.Position);
* polyCoords.AddRange(alp.NotInitialPathCoords());
* LinePath lpr = (new LinePath(polyCoords)).ShiftLateral(-TahoeParams.VL * 3.0);
* LinePath lpl = (new LinePath(polyCoords)).ShiftLateral(TahoeParams.VL * 3.0);
* List<Coordinates> finalCoords = new List<Coordinates>(polyCoords.ToArray());
* finalCoords.AddRange(lpr);
* finalCoords.AddRange(lpl);
* Polygon p = Polygon.GrahamScan(finalCoords);*/
if (alp.SparsePolygon == null)
{
alp.SetDefaultSparsePolygon();
}
string coordinateString = "";
foreach (Coordinates c in alp.SparsePolygon)
{
coordinateString = coordinateString + "\t" + c.X.ToString("F6") + "\t" + c.Y.ToString("F6");
}
sw.WriteLine("FitParameters" + "\t" + alp.SparsePolygon.Count.ToString() + coordinateString);
}
sw.WriteLine("LaneWidth" + "\t" + alp.Lane.Width.ToString("F6"));
sw.WriteLine("LeftBoundary" + "\t" + alp.Lane.BoundaryLeft.ToString());
sw.WriteLine("RightBoundary" + "\t" + alp.Lane.BoundaryRight.ToString());
sw.WriteLine("NumberOfPoints" + "\t" + "2");
sw.WriteLine("Points");
sw.WriteLine(alp.InitialGeneric.ToString());
sw.WriteLine(alp.FinalGeneric.ToString());
sw.WriteLine("End_Points");
List <ArbiterWaypoint> aws = this.GetNearbyStops(alp);
sw.WriteLine("NumberOfNearbyStoplines" + "\t" + aws.Count);
if (aws.Count != 0)
{
sw.WriteLine("NearbyStoplines");
foreach (ArbiterWaypoint aw in aws)
{
sw.WriteLine(aw.ToString());
}
sw.WriteLine("End_NearbyStoplines");
}
#region Adjacent
List <string> adjacentPartitions = new List <string>();
// add current
adjacentPartitions.Add(alp.ToString());
#region Initial
if (icaw.InitialGeneric is ArbiterWaypoint)
{
// wp
ArbiterWaypoint aw = (ArbiterWaypoint)icaw.InitialGeneric;
// prev
if (aw.PreviousPartition != null)
{
adjacentPartitions.Add(aw.PreviousPartition.ToString());
}
// next
if (aw.NextPartition != null && !aw.NextPartition.Equals(alp))
{
adjacentPartitions.Add(aw.NextPartition.ToString());
}
// exits
if (aw.IsExit)
{
foreach (ArbiterInterconnect ais in aw.Exits)
{
adjacentPartitions.Add(ais.ToString());
}
}
if (aw.IsEntry)
{
foreach (ArbiterInterconnect ais in aw.Entries)
{
adjacentPartitions.Add(ais.ToString());
}
}
}
#endregion
#region Final
if (icaw.FinalGeneric is ArbiterWaypoint)
{
// wp
ArbiterWaypoint aw = (ArbiterWaypoint)icaw.FinalGeneric;
// prev
if (aw.PreviousPartition != null && !aw.PreviousPartition.Equals(alp))
{
adjacentPartitions.Add(aw.PreviousPartition.ToString());
}
// next
if (aw.NextPartition != null)
{
adjacentPartitions.Add(aw.NextPartition.ToString());
}
// exits
if (aw.IsExit)
{
foreach (ArbiterInterconnect ais in aw.Exits)
{
adjacentPartitions.Add(ais.ToString());
}
}
if (aw.IsEntry)
{
foreach (ArbiterInterconnect ais in aw.Entries)
{
adjacentPartitions.Add(ais.ToString());
}
}
}
#endregion
sw.WriteLine("NumberOfLaneAdjacentPartitions" + "\t" + adjacentPartitions.Count.ToString());
if (adjacentPartitions.Count != 0)
{
sw.WriteLine("LaneAdjacentPartitions");
foreach (string s in adjacentPartitions)
{
sw.WriteLine(s);
}
sw.WriteLine("End_LaneAdjacentPartitions");
}
#endregion
List <string> leftAlps = new List <string>();
List <string> rightAlps = new List <string>();
foreach (ArbiterLanePartition tmpAlp in alp.NonLaneAdjacentPartitions)
{
if (tmpAlp.Lane.Equals(alp.Lane.LaneOnLeft))
{
leftAlps.Add(tmpAlp.ToString());
}
else
{
rightAlps.Add(tmpAlp.ToString());
}
}
sw.WriteLine("NumberOfLeftLaneAdjacentPartitions" + "\t" + leftAlps.Count.ToString());
if (leftAlps.Count != 0)
{
sw.WriteLine("LeftLaneAdjacentPartitions");
foreach (string s in leftAlps)
{
sw.WriteLine(s);
}
sw.WriteLine("End_LeftLaneAdjacentPartitions");
}
sw.WriteLine("NumberOfRightLaneAdjacentPartitions" + "\t" + rightAlps.Count.ToString());
if (rightAlps.Count != 0)
{
sw.WriteLine("RightLaneAdjacentPartitions");
foreach (string s in rightAlps)
{
sw.WriteLine(s);
}
sw.WriteLine("End_RightLaneAdjacentPartitions");
}
List <IConnectAreaWaypoints> nearby = this.GetNearbyPartitions(alp, icaws);
sw.WriteLine("NumberOfNearbyPartitions" + "\t" + nearby.Count.ToString());
if (nearby.Count != 0)
{
sw.WriteLine("NearbyPartitions");
foreach (IConnectAreaWaypoints tmp in nearby)
{
sw.WriteLine(tmp.ToString());
}
sw.WriteLine("End_NearbyPartitions");
}
sw.WriteLine("End_Partition");
}
#endregion
}
#endregion
}
private void createMissionButton_Click_1(object sender, EventArgs e)
{
// create a new open file dialog
this.saveFileDialog1 = new SaveFileDialog();
// settings for openFileDialog
saveFileDialog1.InitialDirectory = "Desktop\\";
saveFileDialog1.Filter = "Mission Description File (*.mdf)|*.mdf|All files (*.*)|*.*";
saveFileDialog1.FilterIndex = 1;
saveFileDialog1.RestoreDirectory = true;
saveFileDialog1.FileName = this.missionNameTextBox.Text;
// check if everything was selected alright
if (saveFileDialog1.ShowDialog() == DialogResult.OK)
{
try
{
// switch over the final index
switch (saveFileDialog1.FilterIndex)
{
// create an mdf
case 1:
// save to a file
FileStream fs = new FileStream(saveFileDialog1.FileName, FileMode.Create);
StreamWriter sw = new StreamWriter(fs);
sw.WriteLine("MDF_name" + "\t" + this.missionNameTextBox.Text);
sw.WriteLine("RNDF_name" + "\t" + this.roadNetworkNameTextBox.Text);
sw.WriteLine("creation_date" + "\t" + this.creationDateTimePicker.Value.ToString());
sw.WriteLine("checkpoints");
sw.WriteLine("num_checkpoints" + "\t" + this.CreateMissionCheckpoints.Count.ToString());
foreach (object obj in this.CreateMissionCheckpoints)
{
string text = (string)obj;
string[] delimeters = new string[] { " - " };
string[] final = text.Split(delimeters, StringSplitOptions.RemoveEmptyEntries);
int goal = int.Parse(final[0]);
sw.WriteLine(goal.ToString());
}
sw.WriteLine("end_checkpoints");
sw.WriteLine("speed_limits");
sw.WriteLine("num_speed_limits" + "\t" + this.GetAreaNames().Count);
foreach (string s in this.GetAreaNames())
{
if (this.CreateMissionNonDefaultSpeeds.ContainsKey(s))
{
sw.WriteLine(s + "\t" +
this.CreateMissionNonDefaultSpeeds[s].MinimumSpeed.ToString("F0") + "\t" +
this.CreateMissionNonDefaultSpeeds[s].MaximumSpeed.ToString("F0"));
}
else
{
sw.WriteLine(s + "\t" +
this.defaultMinimumSpeedTextBox.Text + "\t" +
this.defaultMaximumSpeedTextBox.Text);
}
}
sw.WriteLine("end_speed_limits");
sw.WriteLine("end_file");
sw.Dispose();
fs.Close();
// end case
break;
}
}
catch (Exception ex)
{
EditorOutput.WriteLine(ex.ToString());
}
}
}
