arrestdlg.cpp

多机器人目标围捕 用MFC自行设计了简单的机器人围捕场景。机器人策略采用注册机制易于机器人的策略的扩展。捕捉机器人策略应用了人工势场法。

	}
	
}

void CArrestDlg::ShowStepsStat()
{
	CPaintDC dc(this);// 设备上下文		
	CWnd* pWnd = GetDlgItem(IDC_STATICFIELD);// 获取绘制坐标的文本框
	CDC* pDC = pWnd->GetDC();// 指针
	CFont * pOldFont;
	CFont newFont;
	newFont.CreateFont(
		20,                        // nHeight
		0,                         // nWidth
		0,                         // nEscapement
		0,                         // nOrientation
		FW_SEMIBOLD,                 // nWeight
		FALSE,                     // bItalic
		FALSE,                     // bUnderline
		0,                         // cStrikeOut
		ANSI_CHARSET,              // nCharSet
		OUT_DEFAULT_PRECIS,        // nOutPrecision
		CLIP_DEFAULT_PRECIS,       // nClipPrecision
		DEFAULT_QUALITY,           // nQuality
		DEFAULT_PITCH | FF_SWISS,  // nPitchAndFamily
		"Arial");                 // lpszFacename
	
	CString str;
	str .Format("%d",m_iStepsStat);		
	str+="   ";
	
	pOldFont = pDC->SelectObject(&newFont);
	
	pDC->TextOut(iEDGE1*2/3+iEDGE2/3+100,iEDGE2+15,str);
	pDC->SelectObject(pOldFont);
}

void CArrestDlg::OnButtonreset() 
{
	// TODO: Add your control notification handler code here
	m_bStartPhase  = true;
	m_bKeyControl = false;
	m_iStepsStat = 0;
	m_ThiefMenuDir = STILL;
	GetDlgItem(IDC_BUTTONSTART)->SetWindowText("开始"); 
	InitPersonPosition();
	DrawField(m_iFieldSize);
	DrawPerson(false);
	ShowStepsStat();
	EnableComboxes(true);
	GetDlgItem(IDC_BUTTONSTART)->EnableWindow(true);

	m_comThief.SetCurSel(1);
	m_comPolice1.SetCurSel(1);
	m_comPolice2.SetCurSel(1);
	m_comPolice3.SetCurSel(1);
	m_comPolice4.SetCurSel(1);
	m_comPolice5.SetCurSel(0);
	m_comPolice6.SetCurSel(0);	
	
}

void CArrestDlg::EnableComboxes(bool bEnable)
{
	
	m_comboFieldSize.EnableWindow(bEnable);
	m_comThief.EnableWindow(bEnable);
	m_comPolice1.EnableWindow(bEnable);
	m_comPolice2.EnableWindow(bEnable);
	m_comPolice3.EnableWindow(bEnable);
	m_comPolice4.EnableWindow(bEnable);
	m_comPolice5.EnableWindow(bEnable);
	m_comPolice6.EnableWindow(bEnable);
	
}

void CArrestDlg::OnButtonstart() 
{
	
	int iNumPolice=0;
	int iCombox = 0;
	bool bWrongStrategy = false;
	// TODO: Add your control notification handler code here
	if (m_bStartPhase)
	{
		iCombox = m_comThief.GetCurSel();
		if (iCombox ==CB_ERR)
		{
			iCombox = 1;
			bWrongStrategy = true;
		}
		m_iPersonStrategy[0] = m_dqThiefStrategy[iCombox];

		iCombox = m_comPolice1.GetCurSel();
		if (iCombox ==CB_ERR)
		{
			iCombox = 1;
			bWrongStrategy = true;
		}
		m_iPersonStrategy[1] = m_dqPoliceStrategy[iCombox];

		iCombox = m_comPolice2.GetCurSel();
		if (iCombox ==CB_ERR)
		{
			iCombox = 1;
			bWrongStrategy = true;
		}
		m_iPersonStrategy[2] = m_dqPoliceStrategy[iCombox];

		
		iCombox = m_comPolice3.GetCurSel();
		if (iCombox ==CB_ERR)
		{
			iCombox = 1;
			bWrongStrategy = true;
		}
		m_iPersonStrategy[3] = m_dqPoliceStrategy[iCombox];

		
		iCombox = m_comPolice4.GetCurSel();
		if (iCombox ==CB_ERR)
		{
			iCombox = 1;
			bWrongStrategy = true;
		}
		m_iPersonStrategy[4] = m_dqPoliceStrategy[iCombox];

		
		iCombox = m_comPolice5.GetCurSel();
		if (iCombox ==CB_ERR)
		{
			iCombox = 1;
			bWrongStrategy = true;
		}
		m_iPersonStrategy[5] = m_dqPoliceStrategy[iCombox];

		
		iCombox = m_comPolice6.GetCurSel();
		if (iCombox == CB_ERR)
		{
			iCombox = 1;
			bWrongStrategy = true;
		}
		m_iPersonStrategy[6] = m_dqPoliceStrategy[iCombox];

		if(bWrongStrategy)
		{
			MessageBox("策略输入有误,调用默认策略代替!");
		}

		for (int i=1;i<MAX_NUM_PERSON;i++)
		{
			if(m_iPersonStrategy[i]!=0)
				iNumPolice++;
		}
		if(iNumPolice<2)
		{
			MessageBox("警察数目不足!");
			return;
		}

		EnableComboxes(false);
		m_bStartPhase = false; 
		GetDlgItem(IDC_BUTTONSTART)->SetWindowText("下一步"); 
		if (m_iPersonStrategy[0] == 0)
		{
			m_bKeyControl = true;
			GetDlgItem(IDC_BUTTONSTART)->EnableWindow(false);
			SetFocus();//让对话框获取键盘出入消息
			return;
		}
		
	}
	m_arsField.SetFieldSize(m_iFieldSize);
	if (m_iPersonStrategy[0] == 0)
	{
		m_arsField.SetThiefMenuDirection(m_ThiefMenuDir);
	}
	DrawPerson(true);
	if(m_arsField.ToArrest(m_ptPerson,m_iPersonStrategy,MAX_NUM_PERSON))
	{
		MessageBox("围捕成功!");
		GetDlgItem(IDC_BUTTONSTART)->EnableWindow(false);
		m_bKeyControl = false;
		
	}
	m_iStepsStat++;
	ShowStepsStat();
	DrawPerson(false);

	
	
}


void CArrestDlg::ReadStrategy()
{
	
	
	char tmpName[32];
	m_comThief.AddString("人工");
	m_dqThiefStrategy.push_back(0);

	m_comPolice1.AddString("关闭");
	m_comPolice2.AddString("关闭");
	m_comPolice3.AddString("关闭");
	m_comPolice4.AddString("关闭");
	m_comPolice5.AddString("关闭");
	m_comPolice6.AddString("关闭");
	m_dqPoliceStrategy.push_back(0);

	
	for(int i=0;i<(int)ARSAction::ms_dequeActionRegister.size();i++)
	{
		//读取贼策略
		if (strncmp("Th",ARSAction::ms_dequeActionRegister[i].name,2)==0)
		{
			strcpy(tmpName,ARSAction::ms_dequeActionRegister[i].name);			
			m_comThief.InsertString(-1,tmpName);
			m_dqThiefStrategy.push_back(i+1);
		}
		//读取警察策略
		if (strncmp("Po",ARSAction::ms_dequeActionRegister[i].name,2)==0)
		{
			strcpy(tmpName,ARSAction::ms_dequeActionRegister[i].name);
			m_dqPoliceStrategy.push_back(i+1);
			m_comPolice1.InsertString(-1,tmpName);
			m_comPolice2.InsertString(-1,tmpName);
			m_comPolice3.InsertString(-1,tmpName);
			m_comPolice4.InsertString(-1,tmpName);
			m_comPolice5.InsertString(-1,tmpName);
			m_comPolice6.InsertString(-1,tmpName);
			
		}
	}
	m_comThief.SetCurSel(1);
	m_comPolice1.SetCurSel(1);
	m_comPolice2.SetCurSel(1);
	m_comPolice3.SetCurSel(1);
	m_comPolice4.SetCurSel(1);
	m_comPolice5.SetCurSel(0);
	m_comPolice6.SetCurSel(0);
	
	
}

void CArrestDlg::OnSelendokCombopolice1() 
{
	// TODO: Add your control notification handler code here
	int iComBox ,iPerson = 1;//
	int x=1,y=1,tmp;
	iComBox = m_comPolice1.GetCurSel();//
	if (iComBox == CB_ERR)
	{
		return;
	}
	
	if (iComBox == 0)
	{
		if (m_ptPerson[iPerson].x != 0||m_ptPerson[iPerson].y!=0)
		{
			m_iPersonNum = iPerson;
			DrawRect(m_ptPerson[iPerson].x,m_ptPerson[iPerson].y,true);
			m_ptPerson[iPerson].x = m_ptPerson[iPerson].y = 0;			
		}
	}
	else
	{
		if (m_ptPerson[iPerson].x == 0&&m_ptPerson[iPerson].y==0)
		{
			m_iPersonNum = iPerson;
		
			while (ChoicePerson(x,y,tmp))
			{
				x++;
			}

			m_ptPerson[iPerson].x = x;
			m_ptPerson[iPerson].y = y;
			DrawRect(m_ptPerson[iPerson].x,m_ptPerson[iPerson].y,false);
			
		}

	}
}

void CArrestDlg::OnSelendokCombopolice2() 
{
	// TODO: Add your control notification handler code here
	int iComBox ,iPerson = 2;//
	int x=1,y=1,tmp;
	iComBox = m_comPolice2.GetCurSel();//
	if (iComBox == CB_ERR)
	{
		return;
	}
	if (iComBox == 0)
	{
		if (m_ptPerson[iPerson].x != 0||m_ptPerson[iPerson].y!=0)
		{
			m_iPersonNum = iPerson;
			DrawRect(m_ptPerson[iPerson].x,m_ptPerson[iPerson].y,true);
			m_ptPerson[iPerson].x = m_ptPerson[iPerson].y = 0;			
		}
	}
	else
	{
		if (m_ptPerson[iPerson].x == 0&&m_ptPerson[iPerson].y==0)
		{
			m_iPersonNum = iPerson;
		
			while (ChoicePerson(x,y,tmp))
			{
				x++;
			}

			m_ptPerson[iPerson].x = x;
			m_ptPerson[iPerson].y = y;
			DrawRect(m_ptPerson[iPerson].x,m_ptPerson[iPerson].y,false);
			
		}

	}
}

void CArrestDlg::OnSelendokCombopolice3() 
{
	// TODO: Add your control notification handler code here
	int iComBox ,iPerson = 3;//
	int x=1,y=1,tmp;
	iComBox = m_comPolice3.GetCurSel();//
	if (iComBox == CB_ERR)
	{
		return;
	}
	if (iComBox == 0)
	{
		if (m_ptPerson[iPerson].x != 0||m_ptPerson[iPerson].y!=0)
		{
			m_iPersonNum = iPerson;
			DrawRect(m_ptPerson[iPerson].x,m_ptPerson[iPerson].y,true);
			m_ptPerson[iPerson].x = m_ptPerson[iPerson].y = 0;			
		}
	}
	else
	{
		if (m_ptPerson[iPerson].x == 0&&m_ptPerson[iPerson].y==0)
		{
			m_iPersonNum = iPerson;
		
			while (ChoicePerson(x,y,tmp))
			{
				x++;
			}

			m_ptPerson[iPerson].x = x;
			m_ptPerson[iPerson].y = y;
			DrawRect(m_ptPerson[iPerson].x,m_ptPerson[iPerson].y,false);
			
		}

	}
}

void CArrestDlg::OnSelendokCombopolice4() 
{
	// TODO: Add your control notification handler code here
	int iComBox ,iPerson = 4;//
	int x=1,y=1,tmp;
	iComBox = m_comPolice4.GetCurSel();//
	if (iComBox == CB_ERR)
	{
		return;
	}
	if (iComBox == 0)
	{
		if (m_ptPerson[iPerson].x != 0||m_ptPerson[iPerson].y!=0)
		{
			m_iPersonNum = iPerson;
			DrawRect(m_ptPerson[iPerson].x,m_ptPerson[iPerson].y,true);
			m_ptPerson[iPerson].x = m_ptPerson[iPerson].y = 0;			
		}
	}
	else
	{
		if (m_ptPerson[iPerson].x == 0&&m_ptPerson[iPerson].y==0)
		{
			m_iPersonNum = iPerson;
		
			while (ChoicePerson(x,y,tmp))
			{
				x++;
			}

			m_ptPerson[iPerson].x = x;
			m_ptPerson[iPerson].y = y;
			DrawRect(m_ptPerson[iPerson].x,m_ptPerson[iPerson].y,false);
			
		}

	}
}

void CArrestDlg::OnSelendokCombopolice5() 
{
	// TODO: Add your control notification handler code here
	int iComBox ,iPerson = 5;//
	int x=1,y=1,tmp;
	iComBox = m_comPolice5.GetCurSel();//
	if (iComBox == CB_ERR)
	{
		return;
	}
	if (iComBox == 0)
	{
		if (m_ptPerson[iPerson].x != 0||m_ptPerson[iPerson].y!=0)
		{
			m_iPersonNum = iPerson;
			DrawRect(m_ptPerson[iPerson].x,m_ptPerson[iPerson].y,true);
			m_ptPerson[iPerson].x = m_ptPerson[iPerson].y = 0;			
		}
	}
	else
	{
		if (m_ptPerson[iPerson].x == 0&&m_ptPerson[iPerson].y==0)
		{
			m_iPersonNum = iPerson;
		
			while (ChoicePerson(x,y,tmp))
			{
				x++;
			}

			m_ptPerson[iPerson].x = x;
			m_ptPerson[iPerson].y = y;
			DrawRect(m_ptPerson[iPerson].x,m_ptPerson[iPerson].y,false);
			
		}

	}
}

void CArrestDlg::OnSelendokCombopolice6() 
{
	// TODO: Add your control notification handler code here
	int iComBox ,iPerson = 6;//
	int x=1,y=1,tmp;
	iComBox = m_comPolice6.GetCurSel();//
	if (iComBox == CB_ERR)
	{
		return;
	}
	if (iComBox == 0)
	{
		if (m_ptPerson[iPerson].x != 0||m_ptPerson[iPerson].y!=0)
		{
			m_iPersonNum = iPerson;
			DrawRect(m_ptPerson[iPerson].x,m_ptPerson[iPerson].y,true);
			m_ptPerson[iPerson].x = m_ptPerson[iPerson].y = 0;			
		}
	}
	else
	{
		if (m_ptPerson[iPerson].x == 0&&m_ptPerson[iPerson].y==0)
		{
			m_iPersonNum = iPerson;
		
			while (ChoicePerson(x,y,tmp))
			{
				x++;
			}

			m_ptPerson[iPerson].x = x;
			m_ptPerson[iPerson].y = y;
			DrawRect(m_ptPerson[iPerson].x,m_ptPerson[iPerson].y,false);
			
		}

	}
}


BOOL CArrestDlg::PreTranslateMessage(MSG* pMsg) 
{
	// TODO: Add your specialized code here and/or call the base class
	bool bAvailable = false;
	if(pMsg->message==WM_KEYDOWN)   
	{   		
		
		if (m_bKeyControl)
		{
			switch(pMsg->wParam)
			{
		
			case 88://X
				m_ThiefMenuDir = DOWN;
				bAvailable = true;
				break;		
			case 65://A
				m_ThiefMenuDir = LEFT;
				bAvailable = true;
				break;
			case 83://S
				m_ThiefMenuDir = STILL;
				bAvailable = true;
				break;
			case 68://D
				m_ThiefMenuDir = RIGHT;
				bAvailable = true;
				break;	
			case 87://W
				m_ThiefMenuDir = UP;
				bAvailable = true;
				break;
			default:
				break;
			}
			if (bAvailable)
			{
				OnButtonstart();
			}
		
		}
		
		
		
	} 
	return CDialog::PreTranslateMessage(pMsg);
}