/// <summary>
/// 递归查找起始点到终点的所有路段集合
/// </summary>
/// <param name="StartMarkPoint"></param>
/// <param name="EndMarkPoint"></param>
/// <param name="BeforeMarkPoint"></param>
/// <param name="AllRoads"></param>
/// <param name="PassedRoads"></param>
public async Task <Boolean> GetCombination(MarkPointInfo StartMarkPoint, MarkPointInfo EndMarkPoint, MarkPointInfo BeforeMarkPoint, List <RoadInfo> AllRoads, List <RoadInfo> PassedRoads, List <RoadInfo> GetRoadInfoList)
{
//地标点和路径信息全获取
MarkPointInfo StartMarkPointTmp = new MarkPointInfo();
MarkPointInfo EndMarkPointTmp = new MarkPointInfo();
MarkPointInfo BeforeMarkPointTmp = new MarkPointInfo();
MarkPointInfo TmpMarkPointTmp = new MarkPointInfo();
StartMarkPointTmp = StartMarkPoint;
EndMarkPointTmp = EndMarkPoint;
Boolean FindOneRoutes = false;
if (!Equals(GetRoadInfoList, null))
{
BeforeMarkPointTmp = BeforeMarkPoint;
foreach (var foreachData in GetRoadInfoList)
{
//针对有反向线段不检索
if (Equals(foreachData.EndMarkPointInfo, StartMarkPointTmp))
{
continue;
}
//起始地标点和终点地标点都在同一个Road中
if (Equals(foreachData.StartMarkPointInfo, StartMarkPointTmp) && Equals(foreachData.EndMarkPointInfo, EndMarkPointTmp))
{
//添加终点路段和经过路段
AllRoads.Add(foreachData);
if (!Equals(PassedRoads, null))
{
PassedRoads.Reverse();
AllRoads.AddRange(PassedRoads);
PassedRoads.Reverse();
}
FindOneRoutes = true;
}
else
{
TmpMarkPointTmp = foreachData.EndMarkPointInfo;
//符合递归条件：路段起始点相同 此路段不是上一个路段的反向 走过的路段不能重复 走过的点不能重复
if ((Equals(foreachData.StartMarkPointInfo, StartMarkPointTmp)) && (!Equals(foreachData.EndMarkPointInfo, BeforeMarkPointTmp)) &&
((PassedRoads.FindIndex(a => Equals(a.StartMarkPointInfo, foreachData.EndMarkPointInfo))) == -1))
//&& (PassedRoads.IndexOf(foreachData) == -1))
{
PassedRoads.Add(foreachData);
//添加相同的起始点的路径到AllRoads
FindOneRoutes = await GetCombination(TmpMarkPointTmp, EndMarkPointTmp, StartMarkPointTmp, AllRoads, PassedRoads, GetRoadInfoList);
//移除最后一个
PassedRoads.RemoveAt(PassedRoads.Count - 1);
}
}
}
}
else
{
AllRoads.Clear();
}
return(FindOneRoutes);
}
/// <summary>
/// [AIBegin]
/// 関数初回実行時に呼ばれるコールバック関数
/// 引数1: 通常実行→終了する関数, 割り込み実行の場合→現在の通常実行関数, 存在しない場合null
/// 引数2: 並列関数として実行？
/// </summary>
public override void AIBegin(BaseAIFunction beforeFunction, bool isParallel)
{
m_markTarget = m_thisGoingFunction.markTarget;
if (m_markTarget == null)
{
return;
}
var message = m_markTarget.GetComponent <MarkingMessage>();
if (message == null)
{
return;
}
m_markingObjectInfo = new MarkPointInfo(m_markTarget,
message, transform, m_markingRotation);
}
public async Task <IHttpActionResult> Generate(params Agv.Dtos.RouteInfoInputDto[] dto)
{
//地标点和路径信息全获取
List <MarkPointInfo> TmpMarkPointList = MarkPointInfoContract.MarkPointInfos?.ToList();
//起始点
MarkPointInfo StartMarkPoint = new MarkPointInfo();
//终止点
MarkPointInfo EndMarkPoint = new MarkPointInfo();
//中间层起始点
MarkPointInfo BeforeMarkPoint = new MarkPointInfo();
List <RoadInfo> AllRoads = new List <RoadInfo>();
List <RoadInfo> PassedRoads = new List <RoadInfo>();
List <RoadInfo> GetRoadInfoList = RoadInfoContract.RoadInfos.ToList();
//反向所有路段
List <RoadInfo> GetReverseRoadInfoList = RoadInfoContract.RoadInfos.ToList();
MarkPointInfo TmproadInfo = new MarkPointInfo();
Agv.Dtos.RouteInfoInputDto RouteInfo = new Agv.Dtos.RouteInfoInputDto();
OperationResult result = new OperationResult();
dto = new Agv.Dtos.RouteInfoInputDto[1] {
RouteInfo
};
int StartMarkPointOfMarkPoints = 0;
int EndMarkPointOfMarkPoints = -1;
//相同起点和终点的路段编号
int RoutesNum = 0;
if (!Equals(TmpMarkPointList, null))
{
//得到无相路段
GetReverseRoadInfoList.ForEach((a) =>
{
TmproadInfo = a.StartMarkPointInfo;
a.StartMarkPointInfo = a.EndMarkPointInfo;
a.EndMarkPointInfo = TmproadInfo;
});
GetRoadInfoList.AddRange(GetReverseRoadInfoList);
//起始点和终止点全排列
for (int i = 0; i < TmpMarkPointList.Count; i++)
{
for (int j = 0; j < TmpMarkPointList.Count; j++)
{
if (i != j)
{
RoutesNum = 0;
StartMarkPoint = TmpMarkPointList[i];
BeforeMarkPoint = TmpMarkPointList[i];
EndMarkPoint = TmpMarkPointList[j];
if (!Equals(AllRoads, null))
{
AllRoads.Clear();
}
if (!Equals(PassedRoads, null))
{
PassedRoads.Clear();
}
//用递归找到可以到达的路径的集合
var V = await RouteInfoContract.GetCombination(StartMarkPoint, EndMarkPoint, BeforeMarkPoint, AllRoads, PassedRoads, GetRoadInfoList);
if (AllRoads.Count > 0)
{
//list翻转
AllRoads.Reverse();
//用来区分路段集合中的多段路径
for (int k = 0; k < AllRoads.Count; k++)
{
//记录每一次开始地标点存在的位置在MarkPoints
if (Equals(AllRoads[k].StartMarkPointInfo, StartMarkPoint))
{
StartMarkPointOfMarkPoints = k;
}
//记录每一次结束地标点存在的位置在MarkPoints
if (Equals(AllRoads[k].EndMarkPointInfo, EndMarkPoint))
{
EndMarkPointOfMarkPoints = k;
}
//每次找到结束点添加多段路径的表中
if (EndMarkPointOfMarkPoints >= 0)
{
++RoutesNum;
dto?.ToList().ForEach((a) =>
{
a.TotalDistance = 0;
a.MarkPoints = "";
a.Id = CombHelper.NewComb();
a.CreatorUserId = User.Identity.Name;
a.CreatedTime = DateTime.Now;
a.LastUpdatedTime = a.CreatedTime;
a.LastUpdatorUserId = a.CreatorUserId;
for (int m = StartMarkPointOfMarkPoints; m <= EndMarkPointOfMarkPoints; m++)
{
a.RouteStatus = AllRoads[m].RoadStatus;
a.TotalDistance += AllRoads[m].Distance;
//if (a.MarkPoints.IndexOf(MarkPoints[m].StartMarkPointInfo.MarkPointName) == -1)
//{
a.MarkPoints += AllRoads[m].StartMarkPointInfo.MarkPointName + ",";
//}
}
a.RouteNo = "Route" + "(" + StartMarkPoint.MarkPointName + "-" + EndMarkPoint.MarkPointName + ")" + "=" + RoutesNum.ToString();
a.RouteName = "路段" + "(" + StartMarkPoint.MarkPointName + "-" + EndMarkPoint.MarkPointName + ")" + "=" + RoutesNum.ToString();
//if (a.MarkPoints.IndexOf(EndMarkPoint.MarkPointName) == -1)
//{
a.MarkPoints += EndMarkPoint.MarkPointName;
//}
a.StartMarkPointInfo = StartMarkPoint;
a.EndMarkPointInfo = EndMarkPoint;
a.StartMarkPointInfo_Id = StartMarkPoint.Id;
a.EndMarkPointInfo_Id = EndMarkPoint.Id;
});
EndMarkPointOfMarkPoints = -1;
result = await RouteInfoContract.Generate(dto);
if (!result.Successed)
{
return(Json(result));
}
}
}
}
}
}
}
}
else
{
return(null);
}
return(Json(result));
}
/// <summary>
/// [AIEnd]
/// 関数が実行登録を解除される際に呼ばれるコールバック関数
/// 引数1: 通常実行→次回実行する関数, 割り込み実行の場合→現在の通常実行関数, 存在しない場合null
/// 引数2: 並列関数として実行？
/// </summary>
public override void AIEnd(BaseAIFunction nextFunction, bool isParallel)
{
m_markTarget = null;
m_markingObjectInfo = null;
}
