// Constructor
public AlgPathPlanning(PathPlanningRequest _curRequest,
RtwMatrix _mDist, RtwMatrix _mDiff, double _Efficiency_UB)
{
// Start timer
startTime = DateTime.Now;
curRequest = _curRequest;
mDist = _mDist;
mDiff = _mDiff;
// Clone distribution map so we can modify it
mCurDist = mDist.Clone();
Efficiency_UB = _Efficiency_UB;
}
public void SetmDist(RtwMatrix m)
{
mDist = m;
mCurDist = mDist.Clone();
}
// Print to console CDF progress for graphing purposes
public void PrintCDFGraph(List<Point> curPath, RtwMatrix curDist)
{
float curCDF = 0;
RtwMatrix mCDF = curDist.Clone();
Console.Write("curCDF=");
for (int i = 0; i < curRequest.T + 1; i++)
{
curCDF += GetPartialDetection(curPath[i], mCDF);
mCDF[curPath[i].Y, curPath[i].X] = VacuumProbability(curPath[i], mCDF);
// Write out CDF as time progresses for chart
Console.Write(curCDF + " ");
}
Console.Write("\n");
// Cleaning up
mCDF = null;
}
// At current GW do LHC
private bool PlanPathAtCurrentGW(RtwMatrix mGW, int index)
{
#region Deal with LHCGWCONV and LHCGWCONV_E algorithms
// Console.WriteLine("Doing PlanPathAtCurrentGW once!");
if (curRequest.AlgToUse == AlgType.LHCGWCONV || curRequest.AlgToUse == AlgType.LHCGWCONV_E)
{
// If LHCGWCONV, search multiple convolution kernal sizes
int dim = Math.Max(mDist.Rows, mDist.Columns);
for (int j = 5; j < dim; j += (int)(dim / ConvCount))
{
// Console.Write("j=" + j + "\n");
AlgLHCGWCONV myAlg = null;
if (curRequest.UseParallelProcessing)
{
PathPlanningRequest curRequestCopy = curRequest.DeepClone();
RtwMatrix mGWCopy = mGW.Clone();
RtwMatrix mDiffCopy = mDiff.Clone();
myAlg = new AlgLHCGWCONV(curRequestCopy, mGWCopy, mDiffCopy, Efficiency_UB, j);
myAlg.SetBeforeStart(BeforeStart);
// Debug code
myAlg.conv = j;
myAlg.index = index;
lstThreads.Add(myAlg);
}
else
{
myAlg = new AlgLHCGWCONV(curRequest, mGW, mDiff, Efficiency_UB, j);
myAlg.SetBeforeStart(BeforeStart);
myAlg.PlanPath();
// Remember if true CDF is better
RememberBestPath(myAlg);
// Cleaning up
myAlg = null;
// If we already have the best path, then no need to continue
if (Math.Abs(Efficiency_UB - CDF) < 0.001)
{
return true;
}
}
}
//// Print one GW per line (3 conv each line)
//curRequest.SetLog("\n");
}
#endregion
#region Deal with LHCGWPF and LHCGWPF_E algorithms
if (curRequest.AlgToUse == AlgType.LHCGWPF || curRequest.AlgToUse == AlgType.LHCGWPF_E)
{
// If LHCGWPF, search three convolution kernal sizes
int dim = Math.Max(mDist.Rows, mDist.Columns);
int Sigma = 0;
for (int j = 0; j < PFCount; j++)
{
//Console.Write("j=" + j + "\n");
Sigma += Convert.ToInt16(dim / 3);
AlgLHCGWCONV myAlg = null;
if (curRequest.UseParallelProcessing)
{
PathPlanningRequest curRequestCopy = curRequest.DeepClone();
RtwMatrix mGWCopy = mGW.Clone();
RtwMatrix mDiffCopy = mDiff.Clone();
myAlg = new AlgLHCGWCONV(curRequestCopy, mGWCopy, mDiffCopy, Efficiency_UB, Sigma);
myAlg.SetBeforeStart(BeforeStart);
// Debug code
myAlg.conv = j;
myAlg.index = index;
lstThreads.Add(myAlg);
}
else
{
myAlg = new AlgLHCGWCONV(curRequest, mGW, mDiff, Efficiency_UB, Sigma);
myAlg.SetBeforeStart(BeforeStart);
myAlg.PlanPath();
// Remember if true CDF is better
RememberBestPath(myAlg);
// Cleaning up
myAlg = null;
// If we already have the best path, then no need to continue
if (Math.Abs(Efficiency_UB - CDF) < 0.001)
{
return true;
}
}
}
// Print one GW per line (3 conv each line)
//curRequest.SetLog("\n");
}
#endregion
#region Deal with CONV and CONV_E algorithms
if (curRequest.AlgToUse == AlgType.CONV || curRequest.AlgToUse == AlgType.CONV_E)
{
// If CONV, search multiple convolution kernal sizes
int dim = Math.Max(mDist.Rows, mDist.Columns);
for (int j = 3; j < dim; j += (int)(dim / ConvCount))
{
//Console.Write("j=" + j + "\n");
AlgCONV myAlg = null;
if (curRequest.UseParallelProcessing)
{
PathPlanningRequest curRequestCopy = curRequest.DeepClone();
RtwMatrix mGWCopy = mGW.Clone();
RtwMatrix mDiffCopy = mDiff.Clone();
myAlg = new AlgCONV(curRequestCopy, mGWCopy, mDiffCopy, Efficiency_UB, j);
myAlg.SetBeforeStart(BeforeStart);
// Debug code
myAlg.conv = j;
myAlg.index = index;
lstThreads.Add(myAlg);
}
else
{
myAlg = new AlgCONV(curRequest, mGW, mDiff, Efficiency_UB, j);
myAlg.SetBeforeStart(BeforeStart);
myAlg.PlanPath();
// Remember if true CDF is better
RememberBestPath(myAlg);
// Cleaning up
myAlg = null;
// If we already have the best path, then no need to continue
if (Math.Abs(Efficiency_UB - CDF) < 0.001)
{
return true;
}
}
}
//// Print one GW per line (3 conv each line)
//curRequest.SetLog("\n");
}
#endregion
//// Debug code:
//arrResponses = new PathPlanningResponse[lstThreads.Count];
//for (int i = 0; i < lstThreads.Count; i++)
//{
// int cur_i = i;
// StoreResults(cur_i);
//}
//// Now that all threads/tasks are done, find the best one
//FindBestPath();
return false;
}
// When the Load button for task-difficulty map is clicked.
private void btnLoad2_Click(object sender, EventArgs e)
{
// Read in map file to matrix
CurDiffMap = MISCLib.ReadInMap(txtFileName2.Text);
// Scale so RGB range [0,255]
RtwMatrix TempDiffMap = CurDiffMap.Clone();
ImgLib.ScaleImageValues(ref TempDiffMap);
// Convert matrix to image
Bitmap CurBMP = new Bitmap(CurDiffMap.Columns, CurDiffMap.Rows);
ImgLib.MatrixToImage(ref TempDiffMap, ref CurBMP);
// Showing map in map form
frmDiffMap = new frmMap(this);
frmDiffMap.Text = "Task-Difficulty Map";
frmDiffMap.setImage(CurBMP);
// Also show start end points
Start.X = Convert.ToInt32(ntxtSX.Value);
Start.Y = Convert.ToInt32(ntxtSY.Value);
SetDestPoint(true, Start);
End.X = Convert.ToInt32(ntxtEX.Value);
End.Y = Convert.ToInt32(ntxtEY.Value);
SetDestPoint(false, End);
frmDiffMap.DrawingStartEndPoints();
frmDiffMap.Show();
}
// When the Load button for task-difficulty map is clicked.
private void btnLoad2_Click(object sender, EventArgs e)
{
// Read in map file to matrix
CurDiffMap = MISCLib.ReadInMap(txtFileName2.Text);
// Scale so RGB range [0,255]
RtwMatrix TempDiffMap = CurDiffMap.Clone();
ImgLib.ScaleImageValues(ref TempDiffMap);
// Convert matrix to image
Bitmap CurBMP = new Bitmap(CurDiffMap.Columns, CurDiffMap.Rows);
ImgLib.MatrixToImage(ref TempDiffMap, ref CurBMP);
// Showing map in map form
frmDiffMap = new frmMap(this);
frmDiffMap.Text = "Task-Difficulty Map";
frmDiffMap.setImage(CurBMP);
// Also show start end points
Start.X = Convert.ToInt32(ntxtSX.Value);
Start.Y = Convert.ToInt32(ntxtSY.Value);
SetDestPoint(true, Start);
End.X = Convert.ToInt32(ntxtEX.Value);
End.Y = Convert.ToInt32(ntxtEY.Value);
SetDestPoint(false, End);
frmDiffMap.DrawingStartEndPoints();
frmDiffMap.Show();
// Set dimensions for controls
// BUG: if distmap is not loaded, this crashes.
ProjectConstants.DefaultHeight = CurDistMap.Rows;
ProjectConstants.DefaultWidth = CurDistMap.Columns;
ntxtSX.Maximum = ProjectConstants.DefaultWidth;
ntxtSY.Maximum = ProjectConstants.DefaultHeight;
ntxtEX.Maximum = ProjectConstants.DefaultWidth;
ntxtEY.Maximum = ProjectConstants.DefaultHeight;
}
