#include "StdAfx.h"
|
#include "PathScheduler_Dual_TSP.h"
|
#include "DynamicTSP.h"
|
#include "AnnealingTSP.h"
|
|
CPathScheduler_Dual_TSP::CPathScheduler_Dual_TSP(void)
|
{
|
}
|
|
|
CPathScheduler_Dual_TSP::~CPathScheduler_Dual_TSP(void)
|
{
|
}
|
|
int CPathScheduler_Dual_TSP::CalculatePath(const SPathData& startPath, const VectorPathData& vecTotalPathData, const CRect& rtRange, CPathSchedulerResult& scheduleResult)
|
{
|
scheduleResult.Reset();
|
|
// get path data
|
VectorPathData vecPathData;
|
for (constVectorPathDataIt it=vecTotalPathData.begin(); it!=vecTotalPathData.end(); it++)
|
{
|
if ( rtRange.PtInRect( CPoint(it->nPosX,it->nPosY )) )
|
{
|
vecPathData.push_back(*it);
|
}
|
}
|
|
// check path count
|
int nPathCount = (int) vecPathData.size();
|
if (nPathCount<1) return 0;
|
|
// new TSP
|
CGreedyTSP *pTSP = NULL;
|
if (nPathCount<=m_nPointMin)
|
{
|
pTSP = new CDynamicTSP();
|
}
|
else if (nPathCount<=m_nPointMax)
|
{
|
pTSP = new CAnnealingTSP();
|
}
|
else
|
{
|
pTSP = new CGreedyTSP();
|
}
|
if (pTSP==NULL) return 0;
|
|
// set path data
|
pTSP->SetPathData(vecPathData, startPath);
|
|
// cal tsp
|
if (pTSP->CalculateTSP()<0.1)
|
{
|
delete pTSP;
|
return 0;
|
}
|
|
// check path count
|
nPathCount = pTSP->GetPathCount();
|
if (nPathCount<1)
|
{
|
delete pTSP;
|
return 0;
|
}
|
|
// resize result count
|
scheduleResult.SetScheduleResultCount(nPathCount);
|
|
// ½ºÄÉÁì ½ÃÀÛÀ§Ä¡..
|
BOOL bStartPos = FALSE;
|
SSchedulerResult sStartPos;
|
if (startPath.nPosX!=NO_PATH_DATA && startPath.nPosY!=NO_PATH_DATA)
|
{
|
sStartPos.nTotalIndex = -1;
|
sStartPos.nPointIndex = -1;
|
sStartPos.dPositionX = startPath.nPosX / 1000.0;
|
sStartPos.dPositionY = startPath.nPosY / 1000.0;
|
sStartPos.dAutoFocusTime = m_PathSchedulerParam.GetAutoFocusTime();
|
sStartPos.dImageGrabTime = m_PathSchedulerParam.GetImageGrabTime();
|
sStartPos.dMotionDelayTime = m_PathSchedulerParam.GetMotionDelayTime();
|
bStartPos = TRUE;
|
}
|
|
for (int i=0; i<nPathCount; i++)
|
{
|
SSchedulerResult *pCurResult = scheduleResult.GetPathSchedulerResult(i);
|
if (pCurResult==NULL) continue;
|
|
pCurResult->nPointIndex = pTSP->GetPathResult(i);
|
if (pCurResult->nPointIndex<0) continue;
|
|
const SPathData *pPathData = pTSP->GetPathData(pCurResult->nPointIndex);
|
if (pPathData==NULL) continue;
|
pCurResult->nTotalIndex = pPathData->nIndex;
|
pCurResult->dPositionX = double(pPathData->nPosX) / 1000.0;
|
pCurResult->dPositionY = double(pPathData->nPosY) / 1000.0;
|
pCurResult->dAutoFocusTime = m_PathSchedulerParam.GetAutoFocusTime();
|
pCurResult->dImageGrabTime = m_PathSchedulerParam.GetImageGrabTime();
|
pCurResult->dMotionDelayTime = m_PathSchedulerParam.GetMotionDelayTime();
|
|
memcpy(pCurResult->pDataType, pPathData->pDataType, sizeof(int)*PATH_DATA_TYPE_COUNT);
|
|
if (i==0) // first point
|
{
|
// exist start pos
|
if (bStartPos)
|
{
|
if (!CalculateDistanceSpeedTime(*pCurResult, sStartPos))
|
{
|
continue;
|
}
|
}
|
else if(!CalculateDistanceSpeedTime(*pCurResult, *pCurResult))
|
{
|
continue;
|
}
|
}
|
else // from second point
|
{
|
SSchedulerResult *pPrevResult = scheduleResult.GetPathSchedulerResult(i-1);
|
if (!CalculateDistanceSpeedTime(*pCurResult, *pPrevResult))
|
{
|
continue;
|
}
|
}
|
}
|
|
delete pTSP;
|
|
return (int) vecPathData.size();
|
}
|
