simulatordoc.cpp

基于vc 的环境下机器人自主避障的算法 图形处理 具有载物功能

	m_isRunning = FALSE;

	CDocument::DeleteContents();
	CRobotForage::DeleteAllItems();
	if (m_threadIsCreated) {
		m_updateThread->SuspendThread();
		delete m_updateThread;
		m_threadIsCreated = FALSE;
	}
//	sLock.Unlock();

	UpdateAllViews(NULL);
}

// call the dialog to initialize the forage application
void CSimulatorDoc::OnApplicationsForage() 
{
	CDlgForageInit dlgForageInit;
	CRobotForage *robot;
	int i;
	CPoint p;

	dlgForageInit.m_nRobots = 5;
	dlgForageInit.m_nItems = 30;
	dlgForageInit.m_sizeX = 1000;
	dlgForageInit.m_sizeY = 600;

	dlgForageInit.m_radioGroup = 1;

	if (dlgForageInit.DoModal() == IDOK) {
		srand( (unsigned)time( NULL ) );

		DeleteContents();
		// Creating the thread for updating robots
		if (!m_threadIsCreated) {
			m_updateThread = AfxBeginThread(UpdateThreadProc, this, THREAD_PRIORITY_NORMAL, 0, CREATE_SUSPENDED, NULL);
			m_threadIsCreated = TRUE;
		}
		
		for(i=0; i<dlgForageInit.m_nRobots; i++) {
			CString s;
			s.Format("%4d", i);
			p = CPoint( (rand() % dlgForageInit.m_sizeX) + 1, (rand() % dlgForageInit.m_sizeY) + 1);
			robot = new CRobotForage(p.x, p.y, 0, WANDER, (short) m_robots.GetSize(), s, (short) dlgForageInit.m_radioGroup);
			robot->m_localMap = new CMapPath(m_globalMap, FALSE);
			AddRobot(robot);
		}
		 
		for(i=0; i<dlgForageInit.m_nItems; i++) {
			p = CPoint( (rand() % dlgForageInit.m_sizeX) + 1, (rand() % dlgForageInit.m_sizeY) + 1);
			CRobotForage::AddItem(p);
		}

		m_globalMap->m_goalReal = CPoint( (rand() % dlgForageInit.m_sizeX) + 1, (rand() % dlgForageInit.m_sizeY) + 1);
		CRobotForage::SetArea(CSize(dlgForageInit.m_sizeX, dlgForageInit.m_sizeY));

		m_view->ScrollToPosition( CPoint(m_globalMap->m_goalReal.x-400, m_globalMap->m_goalReal.y-400) );
	}
}

// Create 100 robots
void CSimulatorDoc::OnApplications100() 
{
	CRobotHolonomic *robot;
	int i;
	CPoint p;

	for(i=0; i<100; i++) {
		CString s;
		s.Format("%4d", i);
		p = CPoint( (rand() % 5000) + 1, (rand() % 5000) + 1);
		robot = new CRobotHolonomic(p.x, p.y, 0, DOCK, (short) m_robots.GetSize(), s);
		robot->m_localMap = new CMapPath(m_globalMap, FALSE);
		AddRobot(robot);
	}
	
}



//---------------------------------------------------
// Handlers for the control bar and menu events
//---------------------------------------------------

BOOL CSimulatorDoc::OnNewDocument()
{
	if (!CDocument::OnNewDocument())
		return FALSE;

	Initialize();

	return TRUE;
}

BOOL CSimulatorDoc::OnOpenDocument(LPCTSTR lpszPathName) 
{
	if (!CDocument::OnOpenDocument(lpszPathName))
		return FALSE;

	m_globalMap->ComputeMap();
	m_globalMap->ComputePath();

	for(int i=0; i<m_robots.GetSize(); i++){
		m_robots[i]->m_localMap->ComputeMap();
		m_robots[i]->m_localMap->ComputePath();
	}

	// Creating the thread for updating robots
	if (!m_threadIsCreated) {
		m_updateThread = AfxBeginThread(UpdateThreadProc, this, THREAD_PRIORITY_NORMAL, 0, CREATE_SUSPENDED, NULL);
		m_threadIsCreated = TRUE;
	}

	return TRUE;
}

// Start update thread
void CSimulatorDoc::OnInitTimer() 
{
	m_updateThread->ResumeThread();
	m_isRunning = TRUE;
}

void CSimulatorDoc::OnUpdateInitTimer(CCmdUI* pCmdUI) 
{
	if (m_isRunning)
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
	
}

// Suspend update thread
void CSimulatorDoc::OnFinishTimer() 
{
	m_updateThread->SuspendThread();
	m_isRunning = FALSE;
}

void CSimulatorDoc::OnUpdateFinishTimer(CCmdUI* pCmdUI) 
{
	if (m_isRunning)
		pCmdUI->SetCheck(0);
	else
		pCmdUI->SetCheck(1);
}

void CSimulatorDoc::OnDrawRange() 
{
	m_drawRange = !m_drawRange;
	UpdateAllViews(NULL);
}

void CSimulatorDoc::OnUpdateDrawRange(CCmdUI* pCmdUI) 
{
	if (m_drawRange) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
}

void CSimulatorDoc::OnDrawErased() 
{
	m_drawErased = !m_drawErased;
	UpdateAllViews(NULL);
}

void CSimulatorDoc::OnUpdateDrawErased(CCmdUI* pCmdUI) 
{
	if (m_drawErased) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
}


void CSimulatorDoc::OnSelect() 
{
	m_selectedButton = SELECT;	
	SetCursor(AfxGetApp()->LoadStandardCursor(IDC_ARROW));
}

void CSimulatorDoc::OnUpdateSelect(CCmdUI* pCmdUI) 
{
	if (m_selectedButton == SELECT) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
}

void CSimulatorDoc::OnCreateObstacleCircle() 
{
	m_selectedButton = CIRCLEOBST;
}

void CSimulatorDoc::OnUpdateCreateObstacleCircle(CCmdUI* pCmdUI) 
{
	if (m_selectedButton == CIRCLEOBST) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
}

void CSimulatorDoc::OnCreateObstacleRect() 
{
	m_selectedButton = RECTOBST;	
}

void CSimulatorDoc::OnUpdateCreateObstacleRect(CCmdUI* pCmdUI) 
{
	if (m_selectedButton == RECTOBST) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
}

void CSimulatorDoc::OnCreateObstaclePolygon() 
{
	m_selectedButton = POLYGONOBST;	
	
}

void CSimulatorDoc::OnUpdateCreateObstaclePolygon(CCmdUI* pCmdUI) 
{
	
	if (m_selectedButton == POLYGONOBST) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
	
}


void CSimulatorDoc::OnCreateBoxPolygon() 
{
	m_selectedButton = POLYGONBOX;	
	
}

void CSimulatorDoc::OnUpdateCreateBoxPolygon(CCmdUI* pCmdUI) 
{
	if (m_selectedButton == POLYGONBOX) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
	
}

void CSimulatorDoc::OnCreateBoxCircle() 
{
	m_selectedButton = CIRCLEBOX;	
	
}

void CSimulatorDoc::OnUpdateCreateBoxCircle(CCmdUI* pCmdUI) 
{

	if (m_selectedButton == CIRCLEBOX) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
}

void CSimulatorDoc::OnCreateBoxRect() 
{
	m_selectedButton = RECTBOX;	
	
}

void CSimulatorDoc::OnUpdateCreateBoxRect(CCmdUI* pCmdUI) 
{
	if (m_selectedButton == RECTBOX) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
}


void CSimulatorDoc::OnCreateLabmate() 
{
	m_selectedButton = LABMATEROBOT;
	
}

void CSimulatorDoc::OnUpdateCreateLabmate(CCmdUI* pCmdUI) 
{
	if (m_selectedButton == LABMATEROBOT) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
}



void CSimulatorDoc::OnDrawpath() 
{
	m_drawPath = !m_drawPath;
	UpdateAllViews(NULL);
	
}

void CSimulatorDoc::OnUpdateDrawpath(CCmdUI* pCmdUI) 
{
	if (m_drawPath) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
	
}

void CSimulatorDoc::OnCreaterobotholonomic() 
{
	m_selectedButton = HOLONOMICROBOT;
	
}

void CSimulatorDoc::OnUpdateCreaterobotholonomic(CCmdUI* pCmdUI) 
{
	if (m_selectedButton == HOLONOMICROBOT) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);

}

void CSimulatorDoc::OnCreaterobotnonholonomic() 
{
	m_selectedButton = NONHOLONOMICROBOT;
	
}

void CSimulatorDoc::OnUpdateCreaterobotnonholonomic(CCmdUI* pCmdUI) 
{
	if (m_selectedButton == NONHOLONOMICROBOT) 
		pCmdUI->SetCheck(1);
	else
		pCmdUI->SetCheck(0);
	
}