public Platform(Enviroment enviroment, ControlPolicy.ControlPolicyAbstract controller, CommunicationModel commModel)
{
Pose = new Pose();
Map = new MapObject(enviroment.Map.Rows, enviroment.Map.Columns);
enviroment.Platforms.Add(this);
this.enviroment = enviroment;
FieldOfViewRadius = 2;
this.ControlPolicy = controller;
this.CommunicationModel = commModel;
IDs++;
this.ID = IDs;
this.Color = Color.Blue;
}
private void setAllPlatformsAndSave(ControlPolicy.ControlPolicyAbstract policy, CommunicationModel comm, String path, String fileWithoutExtension)
{
String cpPrefix = "";
foreach (Platform plt in enviroment.Platforms)
{
if (policy is ClosestFronterierControlPolicy)
{
plt.ControlPolicy = new ClosestFronterierControlPolicy();
cpPrefix = "cf";
}
if (policy is MaxInformationGainControlPolicy)
{
plt.ControlPolicy = new MaxInformationGainControlPolicy();
cpPrefix = "mi";
}
if (policy is BidingControlPolicy)
{
plt.ControlPolicy = new BidingControlPolicy();
cpPrefix = "bf";
}
}
String commPrefix = "";
foreach (Platform plt in enviroment.Platforms)
{
if (comm is NearbyCommunicationModel)
{
plt.CommunicationModel = new NearbyCommunicationModel();
commPrefix = "nc";
}
if (comm is GlobalCommunicationModel)
{
plt.CommunicationModel = new GlobalCommunicationModel();
commPrefix = "gc";
}
}
String newEnviromentPath = path + "//" + fileWithoutExtension + "_" + commPrefix + "_" + cpPrefix + ".bin";
Stream stream = new FileStream(newEnviromentPath, FileMode.Create, FileAccess.Write, FileShare.None);
BinaryFormatter binaryFormatter = new System.Runtime.Serialization.Formatters.Binary.BinaryFormatter();
binaryFormatter.Serialize(stream, this.enviroment);
stream.Close();
}
public Bitmap Draw(MapObject map, List <Platform> platforms, Platform platform = null)
{
Bitmap bitmap = new Bitmap(map.Columns * BinSize, map.Rows * BinSize);
Graphics g = Graphics.FromImage(bitmap);
Pen blackPen = new Pen(Color.Black, 1);
Pen platformPen = new Pen(ColorPlatform, 1);
//Color customColor = Color.FromArgb(50, Color.Gray);
//SolidBrush shadowBrush = new SolidBrush(customColor);
// draw map structure
for (int i = 0; i < map.Rows; i++)
{
for (int j = 0; j < map.Columns; j++)
{
Rectangle rect = new Rectangle(StartX + j * BinSize, StartY + i * BinSize, BinSize, BinSize);
// frame for boxes
int val = 255 - (int)(map.MapMatrix[i, j] * 255);
SolidBrush brush = new SolidBrush(Color.FromArgb(val, val, val));
g.FillRectangles(brush, new Rectangle[] { rect });
//g.DrawRectangle(blackPen, rect);
// draw distance map if it is applicable
if ((this.ShowDistanceMap) && (platform != null) && (platform.ControlPolicy is IDistanceMap))
{
IDistanceMap policy = platform.ControlPolicy as IDistanceMap;
double[,] distMap = policy.DistMap;
if (distMap != null)
{
if ((distMap[i, j] != Double.NegativeInfinity) && (distMap[i, j] != Double.PositiveInfinity))
{
double minDistMap = policy.MinDistMap - 1;
double maxDistMap = policy.MaxDistMap + 1;
if (maxDistMap != minDistMap)
{
int val_map = (int)((distMap[i, j] - minDistMap) / (maxDistMap - minDistMap) * 100 + 1);
brush = new SolidBrush(Color.FromArgb(255 - val_map, 0, 0));
g.FillRectangles(brush, new Rectangle[] { rect });
}
}
}
}
}
}
// draw platform spcific info
if ((this.ShowBreadCumbers) && (platform != null))
{
ControlPolicy.ControlPolicyAbstract policy = platform.ControlPolicy;
if (policy.Trajectory != null)
{
foreach (Pose p in policy.Trajectory)
{
Rectangle rect = new Rectangle(StartX + p.Y * BinSize, StartY + p.X * BinSize, BinSize, BinSize);
g.FillRectangles(new SolidBrush(Color.Yellow), new Rectangle[] { rect });
}
}
if (policy.CommandSequence != null)
{
foreach (Pose p in policy.CommandSequence)
{
Rectangle rect = new Rectangle(StartX + p.Y * BinSize, StartY + p.X * BinSize, BinSize, BinSize);
g.FillRectangles(new SolidBrush(Color.Orange), new Rectangle[] { rect });
}
}
if (policy.BestFronterier != null)
{
Rectangle minPoseRect = new Rectangle(StartX + policy.BestFronterier.Y * BinSize, StartY + policy.BestFronterier.X * BinSize, BinSize, BinSize);
g.FillRectangles(new SolidBrush(Color.Orange), new Rectangle[] { minPoseRect });
}
}
//draw platforms
if (platforms != null)
{
foreach (Platform p in platforms)
{
drawPlatform(g, p);
}
}
if (platform != null)
{
drawPlatform(g, platform);
}
if ((platform != null) && (platform.ControlPolicy is IAllocationMap))
{
IAllocationMap policy = platform.ControlPolicy as IAllocationMap;
if (policy.AllocationMap != null)
{
for (int i = 0; i < map.Rows; i++)
{
for (int j = 0; j < map.Columns; j++)
{
if (policy.AllocationMap[i, j] == platform.ID)
{
Rectangle rect = new Rectangle(StartX + j * BinSize, StartY + i * BinSize, BinSize, BinSize);
g.DrawRectangle(platformPen, rect);
}
}
}
}
}
// frame around the map to show extents
blackPen = new Pen(Color.Black, 2);
g.DrawRectangle(blackPen, StartX, StartY, map.Columns * BinSize, map.Rows * BinSize);
return(bitmap);
}