private void DoInferenceGA(int distance)
{
bool cicloPais = true;
bool AvaliarTodaPopulacao = false;
CircuitoChromosome current = null;
if (ctControleParent == _ga.PopulationSize)
cicloPais = false;
if (cicloPais)
{
//Atribuir os valores medidos para o circuito
_ga.GetCurrentChromosome((ctControleParent)).Distance = distance;
_ga.GetCurrentChromosome((ctControleParent)).Time = 140;
_ga.GetCurrentChromosome((ctControleParent)).GetFitness();
current = _ga.GetCurrentChromosome(ctControleParent);
lblNumeroPortasAlteradas.Text = "P" + ctControleParent + " -";
}
else
if (ctControleClones == 0)
{
_ga.CalculaNormFit();
//_ga.InitializeClones((ctControleParent - ctPaisDecrescente), sensors);
_ga.InitializeClone((ctControleParent - ctPaisDecrescente), sensors);
current = _ga.GetCurrentCloneChromosome((ctControleParent - ctPaisDecrescente), 0);
}
else
{
_ga.GetCurrentCloneChromosome((ctControleParent - ctPaisDecrescente), (ctControleClones - 1)).Distance = distance;
_ga.GetCurrentCloneChromosome((ctControleParent - ctPaisDecrescente), (ctControleClones - 1)).Time = 140;
//Mostra o numero de portas alteradas
lblNumeroPortasAlteradas.Text = "C" + ctControleClones + " : " + _ga.GetCurrentCloneChromosome((ctControleParent - ctPaisDecrescente), (ctControleClones - 1)).N.ToString();
if ((ctControleClones - 1) < (_ga.Clonepopulation + 1))
current = _ga.GetCurrentCloneChromosome((ctControleParent - ctPaisDecrescente), (ctControleClones - 1));
_ga.InitializeClone((ctControleParent - ctPaisDecrescente), sensors);
}
if (ctControleParent == _ga.PopulationSize && (cicloPais))
{
//ctPaisDecrescente = _ga.PopulationSize;
ctPaisDecrescente = _ga.PopulationSize;
cicloPais = false;
}
if ((!cicloPais) && (ctControleClones < (_ga.Clonepopulation + 1)))
ctControleClones++;
if (ctControleClones > (_ga.Clonepopulation))
{
ctPaisDecrescente--;
}
if (ctControleClones > (_ga.Clonepopulation) && (ctPaisDecrescente == 0))
{
AvaliarTodaPopulacao = true;
}
if (ctControleClones > (_ga.Clonepopulation))
{
ctControleClones = 0;
}
if (cicloPais && (ctControleClones <= _ga.Clonepopulation))
ctControleParent++;
if (AvaliarTodaPopulacao)
{
cicloPais = true;
//Fazer o processo de seleção
//Manter apenas o melhor individuo (População de Pais)
_ga.FindSolution();
//ctPaisDecrescente = _ga.PopulationSize;
ctPaisDecrescente = _ga.PopulationSize;
int intTemp = Convert.ToInt32(lblGeneration.Text);
intTemp++;
DataRow drResultado = dtResultados.NewRow();
drResultado["Bestfitness"] = (int)_ga.BestCircuit.Fitness;
drResultado["Averagefitness"] = (averagefitness / (_ga.PopulationSize + (_ga.PopulationSize * _ga.Clonepopulation)));
drResultado["geracao"] = Convert.ToInt32(lblGeneration.Text.Trim());
dtResultados.Rows.Add(drResultado);
lblGeneration.Text = intTemp.ToString();
lblFitness4.Text = _ga.BestCircuit.Fitness.ToString();
bestIndividualLatGeneration = _ga.BestCircuit;
current = _ga.BestCircuit;
ctControleParent = 0;
if (intTemp % 50 == 0)
{
intTemp = intTemp;
}
}
if (current != null)
{
//{Cartesian genetic programming”,
ShowChromosome(current, lblFitness4);
lblGeneration.Text = _ga.Generation.ToString();
AtualizaDirecao(current);
}
}
/// <summary>
/// Mostra o fitness e desenha o quadrado resposta (cromossomo)
/// </summary>
/// <param name="circuitChromo"></param>
/// <param name="lFitness"></param>
private void ShowChromosome(CircuitoChromosome circuitChromo, Label lFitness)
{
if (circuitChromo == null) return;
lblGeneration.Text = (_ga.Generation + 1).ToString();
lFitness.Text = circuitChromo.GetFitness().ToString();
lblFitness4.Text = circuitChromo.GetFitness().ToString();
//DrawTable(eqc.Valores);
txtGeneAgv.Text = String.Empty;
foreach (int i in circuitChromo.Cgp.Genotype)
txtGeneAgv.Text = txtGeneAgv.Text + i + ";";
//Remove o ultimo ';'
txtGeneAgv.Text = txtGeneAgv.Text.Remove(txtGeneAgv.Text.Length - 1);
//DataRow drResultado = dtResultados.NewRow();
//drResultado["Bestfitness"] = -1;
//drResultado["Averagefitness"] = (int)circuitChromo.Fitness;
//drResultado["geracao"] = Convert.ToInt32(lblGeneration.Text.Trim());
//dtResultados.Rows.Add(drResultado);
averagefitness += (int)circuitChromo.Fitness;
}
public void AtualizaDirecao(CircuitoChromosome chromoRobo)
{
double NewAngle = -1;
_virou = false;
if ((!chromoRobo.OutputBits[0].Output && !chromoRobo.OutputBits[1].Output) || (chromoRobo.OutputBits[0].Output && chromoRobo.OutputBits[1].Output))
pbMotor1.Visible = pbMotor2.Visible = true;
else
{
pbMotor1.Visible = pbMotor2.Visible = false;
}
if ((chromoRobo.OutputBits[0].Output == false && chromoRobo.OutputBits[1].Output == false) || (chromoRobo.OutputBits[0].Output == true && chromoRobo.OutputBits[1].Output == true))
{
NewAngle = 0;
_traz = false;
}
//vira esquerda
else if (chromoRobo.OutputBits[0].Output == true && chromoRobo.OutputBits[1].Output == false)
{
pbMotor1.Visible = true;
double vlTmp = Convert.ToDouble(lblCtViraEsq.Text);
vlTmp++;
lblCtViraEsq.Text = vlTmp.ToString();
//NewAngle = -7;
NewAngle = -15;
_virou = true;
}
else if (chromoRobo.OutputBits[0].Output == false && chromoRobo.OutputBits[1].Output == true)
{
pbMotor2.Visible = true;
double vlTmp = Convert.ToDouble(lblCtViraDir.Text);
vlTmp++;
lblCtViraDir.Text = vlTmp.ToString();
//NewAngle = +7;
NewAngle = +15;
_virou = true;
}
Angle += NewAngle;
}
// Moving the AGV
private void MoveAGV()
{
bestIndividualLatGeneration = null;
//Passado 140 milisegundos, coletar a distancia percorrida pelo robo
if (_bCiclo)
{
_ponto1 = true;
p2 = new Point(pbRobot.Left - pbTerrain.Left + pbRobot.Width / 2, pbRobot.Top - pbTerrain.Top + pbRobot.Height / 2);
_bCiclo = false;
//Passa a distancia ao controle para avaliação do mesmo
DoInferenceGA(GetDistance(p1, p2));
}
Speed = Convert.ToDouble(txtSpeed.Text);
if (_traz)//Se for p/ traz;
{
if (Speed > 0)
Speed = Speed * -1;
txtSpeed.Text = Speed.ToString();
}
else
{
//Volta para velocidade positiva
if (Speed < 0)
Speed = Speed * -1;
txtSpeed.Text = Speed.ToString();
}
double rad = ((Angle + 90) * Math.PI) / 180;
int Offset = 0;
int Inc = (-1 * Convert.ToInt32(Speed / 5));
Offset += Inc;
int IncX = Convert.ToInt32(Offset * Math.Cos(rad));
int IncY = Convert.ToInt32(Offset * Math.Sin(rad));
if (_traz)
{
pbRobot.Top = (int)(pbRobot.Top - IncY);
pbRobot.Left = (int)(pbRobot.Left - IncX);
}
else
{
pbRobot.Top = (int)(pbRobot.Top + IncY);
pbRobot.Left = (int)(pbRobot.Left + IncX);
}
if (_ponto1)
{
p1 = new Point(pbRobot.Left - pbTerrain.Left + pbRobot.Width / 2, pbRobot.Top - pbTerrain.Top + pbRobot.Height / 2);
_ponto1 = false;
}
// Leaving the track
if (cbTrajeto.Checked)
{
Graphics g = Graphics.FromImage(OriginalMap);
Point p1 = new Point(pbRobot.Left - pbTerrain.Left + pbRobot.Width / 2, pbRobot.Top - pbTerrain.Top + pbRobot.Height / 2);
Point p2 = new Point(p1.X + IncX, p1.Y + IncY);
g.DrawLine(new Pen(new SolidBrush(Color.Blue)), p1, p2);
g.DrawImage(OriginalMap, 0, 0);
g.Dispose();
}
}
