antcolonyview.cpp

双蚁群算法实现机器人路径规划

// AntColonyView.cpp : implementation of the CAntColonyView class
//

#include "stdafx.h"
#include "AntColony.h"
#include "operation.h"
#include "AntColonyDoc.h"
#include "AntColonyView.h"
#include "MainFrm.h"
#include "SETOBSDIA.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif
  
/////////////////////////////////////////////////////////////////////////////
// CAntColonyView
SETOBSDIA asetobsdia;
unsigned int MapTemp[mapH][mapV];//临时地图数据
int ObsState,BottonDownFlag=0;;
void MapOut(void)
{ FILE *fp;
  int i,j;
  fp=fopen("map.dat", "w");
  for(i=0;i<mapH;i++)
    {for(j=0;j<mapV;j++)
        {
          fprintf(fp, "%5d",MapTemp[i][j]);
          fprintf(fp, " ");
        }
      fprintf(fp,"\n");
     }
  fclose(fp) ;
}
void MapIn2(void)
{ FILE *fp1; 
  int i,j;
  fp1=fopen("map.dat", "r");
  for(i=0;i<mapH;i++)
		for(j=0;j<mapV;j++)
         fscanf(fp1,"%5d",&MapTemp[i][j]);
  fclose(fp1) ;

}

/////////////////////////////////////////////////////////////////////////////
IMPLEMENT_DYNCREATE(CAntColonyView, CView)

BEGIN_MESSAGE_MAP(CAntColonyView, CView)
	//{{AFX_MSG_MAP(CAntColonyView)
	ON_COMMAND(ID_SETOBS, OnSetobs)
	ON_COMMAND(ID_MOVEOBS, OnMoveobs)
	ON_WM_LBUTTONDOWN()
	ON_WM_LBUTTONUP()
	ON_WM_MOUSEMOVE()
	ON_COMMAND(ID_CMAP, OnCmap)
	ON_COMMAND(ID_AUTOOBSSET, OnAutoobsset)
	ON_COMMAND(ID_SHOWLASTMAP, OnShowlastmap)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CAntColonyView construction/destruction

CAntColonyView::CAntColonyView()
{
	// TODO: add construction code here

}

CAntColonyView::~CAntColonyView()
{
}

BOOL CAntColonyView::PreCreateWindow(CREATESTRUCT& cs)
{
	// TODO: Modify the Window class or styles here by modifying
	//  the CREATESTRUCT cs

	return CView::PreCreateWindow(cs);
}

/////////////////////////////////////////////////////////////////////////////
// CAntColonyView drawing

void CAntColonyView::OnDraw(CDC* pDC)
{
	CAntColonyDoc* pDoc = GetDocument();
	ASSERT_VALID(pDoc);
	// TODO: add draw code for native data here
}

/////////////////////////////////////////////////////////////////////////////
// CAntColonyView diagnostics

#ifdef _DEBUG
void CAntColonyView::AssertValid() const
{
	CView::AssertValid();
}

void CAntColonyView::Dump(CDumpContext& dc) const
{
	CView::Dump(dc);
}

CAntColonyDoc* CAntColonyView::GetDocument() // non-debug version is inline
{
	ASSERT(m_pDocument->IsKindOf(RUNTIME_CLASS(CAntColonyDoc)));
	return (CAntColonyDoc*)m_pDocument;
}
#endif //_DEBUG

/////////////////////////////////////////////////////////////////////////////
// CAntColonyView message handlers

void CAntColonyView::test()
{
	 MapTemp[0][1]=3;
}

void CAntColonyView::OnSetobs() 
{
	// TODO: Add your command handler code here
	ObsState=1; //允许设置障碍
}

void CAntColonyView::OnMoveobs() 
{
	// TODO: Add your command handler code here
	ObsState=2;//允许擦除障碍
}

void CAntColonyView::OnLButtonDown(UINT nFlags, CPoint point) 
{
	// TODO: Add your message handler code here and/or call default
//	StartPt.x=point.x;
//	StartPt.y=point.y;
	BottonDownFlag=1;
	CView::OnLButtonDown(nFlags, point);
}

void CAntColonyView::OnLButtonUp(UINT nFlags, CPoint point) 
{
	// TODO: Add your message handler code here and/or call default
//	StartPt.x=-1;
	BottonDownFlag=0;
	CView::OnLButtonUp(nFlags, point);
}

void CAntColonyView::OnMouseMove(UINT nFlags, CPoint point) 
{
	unsigned int x0,y0,x1,y1,gys;
	gys=400/mapH;
	x0=gys*(point.x/gys);
	y0=gys*(point.y/gys);
	x1=gys*(point.x/gys)+gys;
	y1=gys*(point.y/gys)+gys;

	CClientDC dc(this);
 	CBrush newbrush;
 	CBrush *oldbrush;
	newbrush.CreateSolidBrush(RGB(0,0,250)); 
//	newbrush.CreateHatchBrush(HS_CROSS,RGB(0,0,255)); 
//	newbrush.CreateHatchBrush(HS_BDIAGONAL,RGB(0,0,255)); 
	oldbrush=dc.SelectObject(&newbrush);
	if(BottonDownFlag==1&&point.x<400&&point.y<400)//鼠标点在地图范围之内
	{
		dc.Rectangle(x0,y0,x1,y1);
		MapTemp[point.y/gys][point.x/gys]=1;
	}
	dc.SelectObject(oldbrush);
	newbrush.DeleteObject();
	CView::OnMouseMove(nFlags, point);
}

void CAntColonyView::OnCmap() 
{
	// TODO: Add your command handler code here

	MapOut();

}

void CAntColonyView::OnAutoobsset() 
{
	// TODO: Add your command handler code here
	//取得障碍率，生成地图，输出地图，画出地图
	static int flag=0;
	double prob1,prob2;
	int i,j;
	unsigned int x0,y0,x1,y1,gys;
	if(!flag)
	{
		asetobsdia.m_AUTOSETOBS=10;
	}
	flag++;
	asetobsdia.DoModal();
	prob1=asetobsdia.m_AUTOSETOBS/100;

	for(i=0;i<mapH;i++)
	{
		srand( (unsigned)time( NULL )*(i+1+rand()));		
		for(j=0;j<mapV;j++)
		{
			prob2=rand()/(double)RAND_MAX;
			if(prob2<=prob1)
				MapTemp[i][j]=1;
		}
	}
////////////////////////////////////////TT  SS 不能是障碍
	MapTemp[TT/mapH][TT%mapH]=0;
	MapTemp[SS/mapH][SS%mapH]=0;
	MapTemp[0][0]=1;
////////////////////////////////////////
		CClientDC dc(this);
 		CBrush newbrush;
 		CBrush *oldbrush;
		newbrush.CreateSolidBrush(RGB(0,0,255)); 
	//	newbrush.CreateHatchBrush(HS_CROSS,RGB(0,0,255)); 
	//	newbrush.CreateHatchBrush(HS_BDIAGONAL,RGB(0,0,255)); 
	for(i=0;i<mapH;i++)
	for(j=0;j<mapV;j++)
	{
		if(MapTemp[j][i]==1)
		{
		gys=400/mapH;
		x0=gys*i;
		y0=gys*j;
		x1=gys*i+gys;
		y1=gys*j+gys;
		oldbrush=dc.SelectObject(&newbrush);
		dc.Rectangle(x0,y0,x1,y1);
		}
	}
	dc.SelectObject(oldbrush);
	newbrush.DeleteObject();

	MapOut();


}

void CAntColonyView::OnShowlastmap() 
{
	// TODO: Add your command handler code here
	unsigned int x0,y0,x1,y1,gys;
	int i,j;

		CClientDC dc(this);
 		CBrush newbrush;
 		CBrush *oldbrush;
		newbrush.CreateSolidBrush(RGB(0,0,255)); 
	//	newbrush.CreateHatchBrush(HS_CROSS,RGB(0,0,255)); 
	//	newbrush.CreateHatchBrush(HS_BDIAGONAL,RGB(0,0,255)); 
	MapIn2();
	for(i=0;i<mapH;i++)
	for(j=0;j<mapV;j++)
	{
		if(MapTemp[j][i]==1)
		{
		gys=400/mapH;
		x0=gys*i;
		y0=gys*j;
		x1=gys*i+gys;
		y1=gys*j+gys;
		oldbrush=dc.SelectObject(&newbrush);
		dc.Rectangle(x0,y0,x1,y1);
		}
	}
	dc.SelectObject(oldbrush);
	newbrush.DeleteObject();
}