#include "StdAfx.h"
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#include "CHPathScheduler/PathScheduler_TSP.h"
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#include "CHPathScheduler/DynamicTSP.h"
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#include "CHPathScheduler/AnnealingTSP.h"
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CPathScheduler_TSP::CPathScheduler_TSP(void)
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{
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}
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CPathScheduler_TSP::~CPathScheduler_TSP(void)
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{
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}
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int CPathScheduler_TSP::CalculatePath(const SPathData& startPath, const VectorPathData& vecTotalPathData, CPathSchedulerResult& scheduleResult)
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{
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scheduleResult.Reset();
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// get path data
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VectorPathData vecPathData;
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for (constVectorPathDataIt it=vecTotalPathData.begin(); it!=vecTotalPathData.end(); it++)
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{
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if (*it == startPath )
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{
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vecPathData.push_back(*it);
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}
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}
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// check path count
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int nPathCount = (int) vecPathData.size();
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if (nPathCount<1) return 0;
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// new TSP
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CGreedyTSP *pTSP = NULL;
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if (nPathCount<=m_nPointMin)
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{
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pTSP = new CDynamicTSP();
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}
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else if (nPathCount<=m_nPointMax)
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{
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pTSP = new CAnnealingTSP();
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}
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else
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{
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pTSP = new CGreedyTSP();
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}
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if (pTSP==NULL) return 0;
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// set path data
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pTSP->SetPathData(vecPathData, startPath);
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// cal tsp
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if (pTSP->CalculateTSP()<0.1)
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{
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delete pTSP;
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return 0;
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}
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// check path count
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nPathCount = pTSP->GetPathCount();
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if (nPathCount<1)
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{
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delete pTSP;
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return 0;
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}
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// resize result count
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scheduleResult.SetScheduleResultCount(nPathCount);
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// ½ºÄÉÁì ½ÃÀÛÀ§Ä¡..
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BOOL bStartPos = FALSE;
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SSchedulerResult sStartPos;
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if (startPath.nPosX!=NO_PATH_DATA && startPath.nPosY!=NO_PATH_DATA)
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{
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sStartPos.nTotalIndex = -1;
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sStartPos.nPointIndex = -1;
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sStartPos.dPositionX = startPath.nPosX / 1000.0;
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sStartPos.dPositionY = startPath.nPosY / 1000.0;
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sStartPos.dAutoFocusTime = m_PathSchedulerParam.GetAutoFocusTime();
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sStartPos.dImageGrabTime = m_PathSchedulerParam.GetImageGrabTime();
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sStartPos.dMotionDelayTime = m_PathSchedulerParam.GetMotionDelayTime();
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bStartPos = TRUE;
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}
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for (int i=0; i<nPathCount; i++)
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{
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SSchedulerResult *pCurResult = scheduleResult.GetPathSchedulerResult(i);
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if (pCurResult==NULL) continue;
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pCurResult->nPointIndex = pTSP->GetPathResult(i);
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if (pCurResult->nPointIndex<0) continue;
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const SPathData *pPathData = pTSP->GetPathData(pCurResult->nPointIndex);
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if (pPathData==NULL) continue;
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pCurResult->nTotalIndex = pPathData->nIndex;
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pCurResult->dPositionX = double(pPathData->nPosX) / 1000.0;
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pCurResult->dPositionY = double(pPathData->nPosY) / 1000.0;
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pCurResult->dAutoFocusTime = m_PathSchedulerParam.GetAutoFocusTime();
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pCurResult->dImageGrabTime = m_PathSchedulerParam.GetImageGrabTime();
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pCurResult->dMotionDelayTime = m_PathSchedulerParam.GetMotionDelayTime();
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memcpy(pCurResult->pDataType, pPathData->pDataType, sizeof(int)*PATH_DATA_TYPE_COUNT);
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if (i==0) // first point
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{
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// exist start pos
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if (bStartPos)
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{
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if (!CalculateDistanceSpeedTime(*pCurResult, sStartPos))
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{
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continue;
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}
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}
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else if(!CalculateDistanceSpeedTime(*pCurResult, *pCurResult))
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{
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continue;
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}
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}
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else // from second point
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{
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SSchedulerResult *pPrevResult = scheduleResult.GetPathSchedulerResult(i-1);
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if (!CalculateDistanceSpeedTime(*pCurResult, *pPrevResult))
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{
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continue;
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}
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}
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}
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delete pTSP;
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return scheduleResult.GetPathSchedulerResultCount();
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}
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int CPathScheduler_TSP::CalculatePath( const SPathData& startPath, const VectorPathData& vecFirstPathData, const VectorPathData& vecSecondPathData, CPathSchedulerResult& scheduleResult )
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{
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scheduleResult.Reset();
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// get path data
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VectorPathData vecPathData;
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for (constVectorPathDataIt it=vecFirstPathData.begin(); it!=vecFirstPathData.end(); it++)
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{
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if (*it == startPath )
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{
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vecPathData.push_back(*it);
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}
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}
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// Second filtering path data
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VectorPathData vecSecondPath;
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for (constVectorPathDataIt it=vecSecondPathData.begin(); it!=vecSecondPathData.end(); it++)
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{
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if (*it == startPath )
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{
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vecSecondPath.push_back(*it);
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}
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}
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// check path count
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int nPathCount = (int) vecPathData.size();
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if (nPathCount<1) return 0;
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int nSecondPathCount = (int) vecSecondPath.size();
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if ( nSecondPathCount<1) return 0;
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// new TSP
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CGreedyTSP *pTSP = NULL;
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if (nPathCount <=m_nPointMin)
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{
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pTSP = new CDynamicTSP();
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}
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else if (nPathCount <=m_nPointMax)
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{
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pTSP = new CAnnealingTSP();
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}
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else
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{
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pTSP = new CGreedyTSP();
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}
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if (pTSP==NULL) return 0;
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// set path data
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pTSP->SetPathData(vecPathData, startPath);
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// cal tsp
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if (pTSP->CalculateTSP()<0.1)
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{
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delete pTSP;
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return 0;
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}
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// check path count
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nPathCount = pTSP->GetPathCount();
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if (nPathCount<1)
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{
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delete pTSP;
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return 0;
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}
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// new Second TSP
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CGreedyTSP *pSecondTSP = NULL;
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if (nSecondPathCount <=m_nPointMin)
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{
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pSecondTSP = new CDynamicTSP();
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}
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else if (nSecondPathCount <=m_nPointMax)
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{
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pSecondTSP = new CAnnealingTSP();
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}
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else
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{
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pSecondTSP = new CGreedyTSP();
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}
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if (pSecondTSP==NULL) return 0;
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// set path data
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pSecondTSP->SetPathData(vecSecondPath, startPath);
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// cal tsp
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if (pSecondTSP->CalculateTSP()<0.1)
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{
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delete pSecondTSP;
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return 0;
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}
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// check path count
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nSecondPathCount = pSecondTSP->GetPathCount();
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if (nSecondPathCount<1)
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{
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delete pSecondTSP;
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return 0;
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}
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// resize result count
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scheduleResult.SetScheduleResultCount(nPathCount+nSecondPathCount);
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// ½ºÄÉÁì ½ÃÀÛÀ§Ä¡..
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BOOL bStartPos = FALSE;
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SSchedulerResult sStartPos;
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if (startPath.nPosX!=NO_PATH_DATA && startPath.nPosY!=NO_PATH_DATA)
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{
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sStartPos.nTotalIndex = -1;
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sStartPos.nPointIndex = -1;
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sStartPos.dPositionX = startPath.nPosX / 1000.0;
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sStartPos.dPositionY = startPath.nPosY / 1000.0;
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sStartPos.dAutoFocusTime = m_PathSchedulerParam.GetAutoFocusTime();
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sStartPos.dImageGrabTime = m_PathSchedulerParam.GetImageGrabTime();
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sStartPos.dMotionDelayTime = m_PathSchedulerParam.GetMotionDelayTime();
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bStartPos = TRUE;
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}
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for (int i=0; i<nPathCount; i++)
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{
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SSchedulerResult *pCurResult = scheduleResult.GetPathSchedulerResult(i);
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if (pCurResult==NULL) continue;
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pCurResult->nPointIndex = pTSP->GetPathResult(i);
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if (pCurResult->nPointIndex<0) continue;
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const SPathData *pPathData = pTSP->GetPathData(pCurResult->nPointIndex);
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if (pPathData==NULL) continue;
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pCurResult->nTotalIndex = pPathData->nIndex;
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pCurResult->dPositionX = double(pPathData->nPosX) / 1000.0;
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pCurResult->dPositionY = double(pPathData->nPosY) / 1000.0;
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pCurResult->dAutoFocusTime = m_PathSchedulerParam.GetAutoFocusTime();
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pCurResult->dImageGrabTime = m_PathSchedulerParam.GetImageGrabTime();
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pCurResult->dMotionDelayTime = m_PathSchedulerParam.GetMotionDelayTime();
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memcpy(pCurResult->pDataType, pPathData->pDataType, sizeof(int)*PATH_DATA_TYPE_COUNT);
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if (i==0) // first point
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{
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// exist start pos
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if (bStartPos)
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{
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if (!CalculateDistanceSpeedTime(*pCurResult, sStartPos))
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{
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continue;
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}
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}
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else if(!CalculateDistanceSpeedTime(*pCurResult, *pCurResult))
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{
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continue;
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}
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}
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else // from second point
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{
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SSchedulerResult *pPrevResult = scheduleResult.GetPathSchedulerResult(i-1);
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if (!CalculateDistanceSpeedTime(*pCurResult, *pPrevResult))
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{
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continue;
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}
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}
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}
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delete pTSP;
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// Second½ºÄÉÁì ½ÃÀÛÀ§Ä¡..
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SSchedulerResult *pSecondStartResult = scheduleResult.GetPathSchedulerResult(nPathCount-1);
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if (pSecondStartResult==NULL) return 0;
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BOOL bSecondStartPos = FALSE;
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SSchedulerResult sSecondStartPos;
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if (pSecondStartResult->dPositionX !=NO_PATH_DATA && pSecondStartResult->dPositionY !=NO_PATH_DATA)
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{
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sSecondStartPos.nTotalIndex = -1;
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sSecondStartPos.nPointIndex = -1;
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sSecondStartPos.dPositionX = pSecondStartResult->dPositionX;
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sSecondStartPos.dPositionY = pSecondStartResult->dPositionY;
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sSecondStartPos.dAutoFocusTime = m_PathSchedulerParam.GetAutoFocusTime();
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sSecondStartPos.dImageGrabTime = m_PathSchedulerParam.GetImageGrabTime();
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sSecondStartPos.dMotionDelayTime = m_PathSchedulerParam.GetMotionDelayTime();
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bSecondStartPos = TRUE;
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}
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for (int i=0; i<nSecondPathCount; i++)
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{
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SSchedulerResult *pCurResult = scheduleResult.GetPathSchedulerResult(i+nPathCount);
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if (pCurResult==NULL) continue;
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pCurResult->nPointIndex = pSecondTSP->GetPathResult(i);
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if (pCurResult->nPointIndex<0) continue;
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const SPathData *pPathData = pSecondTSP->GetPathData(pCurResult->nPointIndex);
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if (pPathData==NULL) continue;
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pCurResult->nTotalIndex = pPathData->nIndex;
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pCurResult->dPositionX = double(pPathData->nPosX) / 1000.0;
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pCurResult->dPositionY = double(pPathData->nPosY) / 1000.0;
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pCurResult->dAutoFocusTime = m_PathSchedulerParam.GetAutoFocusTime();
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pCurResult->dImageGrabTime = m_PathSchedulerParam.GetImageGrabTime();
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pCurResult->dMotionDelayTime = m_PathSchedulerParam.GetMotionDelayTime();
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memcpy(pCurResult->pDataType, pPathData->pDataType, sizeof(int)*PATH_DATA_TYPE_COUNT);
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if (i==0) // first point
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{
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// exist start pos
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if (bStartPos)
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{
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if (!CalculateDistanceSpeedTime(*pCurResult, sStartPos))
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{
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continue;
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}
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}
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else if(!CalculateDistanceSpeedTime(*pCurResult, *pCurResult))
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{
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continue;
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}
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}
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else // from second point
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{
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SSchedulerResult *pPrevResult = scheduleResult.GetPathSchedulerResult(i-1 + nPathCount);
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if (!CalculateDistanceSpeedTime(*pCurResult, *pPrevResult))
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{
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continue;
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}
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}
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}
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delete pSecondTSP;
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return scheduleResult.GetPathSchedulerResultCount();
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}
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