遗传格网障碍算法

// RobotView.cpp : implementation of the CRobotView class
//

#include "stdafx.h"
#include "Robot.h"

#include "RobotDoc.h"
#include "RobotView.h"
#include "MainFrm.h"
#include "math.h"

#include "SetPara.h"
#include "MyGA.h"
#include "string.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

CString filepath;
extern double Patterns[100][2];
extern double xmin,xmax,ymin,ymax;
extern int gridWidthX,gridWidthY,gridWidth;
extern int chart[500][500];
float a;
float dist=0.0;
/////////////////////////////////////////////////////////////////////////////
// CRobotView

IMPLEMENT_DYNCREATE(CRobotView, CView)

BEGIN_MESSAGE_MAP(CRobotView, CView)
 //{{AFX_MSG_MAP(CRobotView)
 ON_WM_SIZE()
 ON_COMMAND(ID_BTSTART, OnBtstart)
 ON_COMMAND(ID_BTERASE, OnBterase)
 ON_COMMAND(ID_BTADD, OnBtadd)
 ON_COMMAND(ID_BTPARA, OnBtpara)
 ON_COMMAND(ID_MENUADD, OnMenuadd)
 ON_COMMAND(ID_MENUERASE, OnMenuerase)
 ON_COMMAND(ID_MENUPARA, OnMenupara)
 ON_COMMAND(ID_MENUSTART, OnMenustart)
 ON_WM_LBUTTONDOWN()
 ON_COMMAND(ID_BTPAUSE, OnBtpause)
 ON_WM_CANCELMODE()
 ON_WM_CREATE()
 ON_COMMAND(IDD_OBSTACLE, OnObstacle)
 //}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CRobotView construction/destruction

CRobotView::CRobotView()
{
 // TODO: add construction code here
 m_origX=m_origY=20;
 //m_origX =xmin;
 //m_origY =ymin;//画图的起点
 m_bEraseBlock = m_bAddBlock = m_bSetPara = false;
 m_bAlreadyStarted = false;
 m_bNeedInit = true;
 m_CurOpID = ID_APP_ABOUT;
 m_preState = &m_bEraseBlock;
 m_pThread = NULL;
}
CRobotView::~CRobotView()
{
}

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

 return CView::PreCreateWindow(cs);
}

/////////////////////////////////////////////////////////////////////////////
// CRobotView drawing

void CRobotView::OnDraw(CDC* pDC)
{
 CRobotDoc* pDoc = GetDocument();
 ASSERT_VALID(pDoc);
 // TODO: add draw code for native data here
 DrawChart(pDC,m_origX,m_origY);
 DrawBlocks(pDC,m_origX,m_origY);
    DrawPath(pDC,pDoc->GARoad->curBestGenome,pDoc->generation);
 ShowPara(pDC,pDoc->GARoad->curBestGenome);
}

/////////////////////////////////////////////////////////////////////////////
// CRobotView diagnostics

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

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

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

/////////////////////////////////////////////////////////////////////////////
// CRobotView message handlers
void CRobotView::DrawChart(CDC* pDC,int originX,int originY)
{
 CRobotDoc* pDoc = GetDocument();
 int chartWidth = m_CurPara.width;
 //int chartHeight = m_CurPara.height;
 //gridWidth = min(m_cxWnd/chartWidth,(int)(m_cyWnd*7/8/chartHeight));
 //gridWidth=int(m_cxWnd/chartWidth);
 gridWidthX=int(xmax-xmin)/chartWidth+1;
 gridWidthY=int(ymax-ymin)/chartWidth+1;
 gridWidth = min(m_cxWnd/gridWidthX,(int)(m_cyWnd*7/8/gridWidthY));
 //gridWidth=20;.

 /*CString strHint;
 strHint.Format ("(%f,%f),(%f,%f),chartWidth=%d,gridWidth=%d",xmin,ymin,xmax,ymax,chartWidth,gridWidth);
 AfxMessageBox(strHint);
 strHint.Format ("gridWidthX=%d,gridWidthY=%d",gridWidthX,gridWidthY);
 AfxMessageBox(strHint);*/
    //a=gridWidth;
 CPen m_ChartPen(PS_SOLID,1,RGB(0,0,0));
 CPen* m_OldPen = pDC->SelectObject (&m_ChartPen);

 //先画横线
 for (int i = 0; i <= gridWidthX; i++)
 {
  int x0 = originX;
  int x1 = x0+gridWidthY*gridWidth;
  int y = originY + gridWidth*i;
  pDC->MoveTo(x0,y);
  pDC->LineTo(x1,y);
 }

 //画竖线
 for (i = 0; i <= gridWidthY; i++)
 {
  int y0 = originY;
  int y1 = y0 + gridWidth*gridWidthX;
  int x = originX + gridWidth*i;
  pDC->MoveTo(x,y0);
  pDC->LineTo(x,y1);
 }

 /*//画竖线
 for (i = 0; i <= chartWidth; i++)
 {
  int y0 = originY;
  int y1 = y0 + gridWidth*chartHeight;
  int x = originX + gridWidth*i;
  pDC->MoveTo(x,y0);
  pDC->LineTo(x,y1);
 }*/

 //显示起点和终点
/* CFont font;
 LOGFONT lf;
 memset(&lf, 0, sizeof(LOGFONT));
 lf.lfHeight = gridWidth/2;
 strcpy(lf.lfFaceName, "Arial");
 VERIFY(font.CreateFontIndirect(&lf));
 CFont* oldFont = pDC->SelectObject(&font);
 
 int startX = originX+gridWidth/3;
 int startY = originY+gridWidth/3;
 pDC->TextOut(startX,startY,"S");//output S

 int endX = originX+(chartWidth-1)*gridWidth+gridWidth/3;
 int endY = originY+(chartHeight-1)*gridWidth+gridWidth/3;
 pDC->TextOut(endX,endY,"E");//output E*/

 pDC->SelectObject(m_OldPen);
 //pDC->SelectObject(oldFont);
}

void CRobotView::OnSize(UINT nType, int cx, int cy)
{
 CView::OnSize(nType, cx, cy);
 
 // TODO: Add your message handler code here
 m_cxWnd = cx;
 m_cyWnd = cy;
}

void CRobotView::DrawBlocks(CDC* pDC,int originX,int originY)
{
 CRobotDoc* pDoc = GetDocument();
 int width = gridWidthX;
 int height = gridWidthY;
 int upleftX,upleftY,lowrightX,lowrightY;
 CRect blockRect;
 CBrush m_BlockBrush;
 m_BlockBrush.CreateSolidBrush(RGB(0,0,0));
 CBrush* oldBrush = pDC->SelectObject(&m_BlockBrush);
 //CString strHint;
 //strHint.Format ("width:%d,height:%d",width,height);
 //AfxMessageBox(strHint);
 for (int i=0; i<=width; i++)
  for (int j=0; j<=height; j++)
  {
   //if (pDoc->GARoad->IsBlock(i,j))
   if(chart[i][j]==1)
   {
    //CString strHint;
    //strHint.Format ("i：%d,j：%d",i,j);
          //AfxMessageBox(strHint);
    upleftX = originX+j*gridWidth;
    upleftY = originY+i*gridWidth;
    lowrightX = upleftX+gridWidth+1;
    lowrightY = upleftY+gridWidth+1;
    blockRect.SetRect(upleftX,upleftY,lowrightX,lowrightY);
    pDC->Rectangle(blockRect);
   }
  }

 pDC->SelectObject(oldBrush);
}

void CRobotView::DrawPath(CDC* pDC,Gen* path,int generation)
{

 if (path)
 {
  CRobotDoc* pDoc = GetDocument();
  int chartH,chartW;
  pDoc->GARoad->GetChartSize(chartH,chartW);
  
  BYTE red = (20*generation)%256;
  BYTE green = (50*generation)%256;
  BYTE blue = (80*generation)%256;
  COLORREF m_PathColor = RGB(red,green,blue);
  CPen m_PathPen(PS_DASH,2,m_PathColor);
  CPen* m_OldPen = pDC->SelectObject(&m_PathPen);
  if (path->genVec.size()!=0 && chartH!=0 && chartW!=0)
  {
   int len = path->genVec.size();
   int curY,curX,curY1,curX1;
   curY = path->genVec[0]/chartW;
   curX = path->genVec[0]%chartW;
   curY = m_origY + curY*gridWidth + (gridWidth+1)/2;
   curX = m_origX + curX*gridWidth + (gridWidth+1)/2;
   pDC->MoveTo(curX,curY);
   dist=sqrt((m_origX-curX)*(m_origX-curX)+(m_origY-curY)*(m_origY-curY));
   for (int i = 1; i < len; i++)
   {
    curY1=curY;
    curX1=curX;
    curY = path->genVec[i]/chartW;
    curX = path->genVec[i]%chartW;
    curY = m_origY + curY*gridWidth + (gridWidth+1)/2;
    curX = m_origX + curX*gridWidth + (gridWidth+1)/2;
    pDC->LineTo(curX,curY);
    dist+=sqrt((curX-curX1)*(curX-curX1)+(curY-curY1)*(curY-curY1));
    pDC->MoveTo(curX,curY);
   }
  }
  pDC->SelectObject(m_OldPen);
 }
}

UINT ThreadFunc(LPVOID pParam)
{
 CRobotView* m_CurView = (CRobotView*)pParam;
 CRobotDoc* pDoc = m_CurView->GetDocument();
 MyGA* m_Robot = pDoc->GARoad;
 if (m_Robot)
 {
  //刚开始执行，需要初始化
  if (m_CurView->m_bNeedInit)
  {
   m_Robot->releaseData();
   m_Robot->initialData(m_CurPara);
   m_Robot->InitialPop();
   m_Robot->EvalPop();
   pDoc->generation = 0;
  }
  
  int dstTime,srcTime;
  while (pDoc->generation < m_Robot->GetGeneration())
  {
   m_Robot->GenerateNextPop();
   m_Robot->EvalPop();
   m_Robot->PerformEvoltion();
   pDoc->generation++;

   m_CurView->Invalidate();
   m_CurView->UpdateWindow();
   
   dstTime = srcTime = GetTickCount();
   do {
    dstTime = GetTickCount();
   } while((dstTime-srcTime)<=1500);
  }

  //进化完之后在对最后的序列进行一次插值
  //使之更加连续
  if (pDoc->generation == m_Robot->GetGeneration())
  {
   int len = m_Robot->curBestGenome->genVec.size();
   int insertResult;
   for (int j = 1; j < len;)
   {
    insertResult = m_Robot->Insertpt(m_Robot->curBestGenome,j);
    if (insertResult == 0)
     j += 1;
    else
     j += 2;
    len = m_Robot->curBestGenome->genVec.size();
   }
   
   m_CurView->Invalidate();
   m_CurView->UpdateWindow();
   
   m_Robot->releaseData();
   m_Robot->initialData(m_CurPara);

   m_CurView->m_bNeedInit = true;
   m_CurView->m_bAlreadyStarted = false;
  }
 }
 
 return 0;
}

void CRobotView::OnBtstart()
{
 // TODO: Add your command handler code here
 ((CMainFrame*)::AfxGetMainWnd())->checkButton(m_CurOpID,FALSE);
 *m_preState = false;

 m_CurOpID = ID_BTSTART;
 ((CMainFrame*)::AfxGetMainWnd())->checkButton(m_CurOpID,TRUE);

 if (!m_bAlreadyStarted)
 {
  m_bAlreadyStarted = true;
  m_pThread = AfxBeginThread(ThreadFunc,this);
 }
 else if (m_pThread)
 {
  m_bNeedInit = false;
  m_pThread->ResumeThread();
 }
}

void CRobotView::OnBtpause()
{
 // TODO: Add your command handler code here
 ((CMainFrame*)::AfxGetMainWnd())->checkButton(m_CurOpID,FALSE);
 *m_preState = false;

 m_CurOpID = ID_BTPAUSE;
 ((CMainFrame*)::AfxGetMainWnd())->checkButton(m_CurOpID,TRUE);
 if(m_pThread)
 {
  m_pThread->SuspendThread();

  //暂停时对当前最优的序列进行一次插值
  //使之更加连续
  CRobotDoc* pDoc = GetDocument();
  MyGA* m_Robot = pDoc->GARoad;
  int len = m_Robot->curBestGenome->genVec.size();
  int insertResult;
  for (int j = 1; j < len;)
  {
   insertResult = m_Robot->Insertpt(m_Robot->curBestGenome,j);
   if (insertResult == 0)
    j += 1;
   else
    j += 2;
   len = m_Robot->curBestGenome->genVec.size();
  } 
  Invalidate();
  UpdateWindow();
 } 
}

void CRobotView::OnBterase()
{
 // TODO: Add your command handler code here
 ((CMainFrame*)::AfxGetMainWnd())->checkButton(m_CurOpID,FALSE);
 *m_preState = false;
 m_bEraseBlock = !m_bEraseBlock;
 m_preState = &m_bEraseBlock;
 m_CurOpID = ID_BTERASE;
 if (m_bEraseBlock)
  ((CMainFrame*)::AfxGetMainWnd())->checkButton(m_CurOpID,TRUE);
 else
  ((CMainFrame*)::AfxGetMainWnd())->checkButton(m_CurOpID,FALSE);
}

void CRobotView::OnBtadd()
{
 // TODO: Add your command handler code here
 ((CMainFrame*)::AfxGetMainWnd())->checkButton(m_CurOpID,FALSE);
 *m_preState = false;
 m_bAddBlock = !m_bAddBlock;
 m_preState = &m_bAddBlock;
 m_CurOpID = ID_BTADD;
 if (m_bAddBlock)
  ((CMainFrame*)::AfxGetMainWnd())->checkButton(m_CurOpID,TRUE);
 else
  ((CMainFrame*)::AfxGetMainWnd())->checkButton(m_CurOpID,FALSE); 
}

void CRobotView::OnBtpara()
{
 // TODO: Add your command handler code here
 ((CMainFrame*)::AfxGetMainWnd())->checkButton(m_CurOpID,FALSE);
 *m_preState = false;
 m_bSetPara = !m_bSetPara;
 m_preState = &m_bSetPara;
 m_CurOpID = ID_BTPARA;

 SetPara m_ChangePara;
 if (m_ChangePara.DoModal() == IDOK)
 {
  //注意参数变了之后，需要对chart的大小进行调整
  CRobotDoc* pDoc = GetDocument();
  pDoc->GARoad->AdjustChart(m_ChangePara.m_Height,m_ChangePara.m_Width);

  m_CurPara.height = m_ChangePara.m_Height;
  m_CurPara.width = m_ChangePara.m_Width;
  m_CurPara.propC = m_ChangePara.m_Cross;
  m_CurPara.propM = m_ChangePara.m_Mutation;
  m_CurPara.pSize = m_ChangePara.m_PopSize;
  m_CurPara.T = m_ChangePara.m_GenNum;
  Invalidate();
  UpdateWindow();
 }
}

void CRobotView::OnMenuadd()
{
 // TODO: Add your command handler code here
 OnBtadd(); 
}

void CRobotView::OnMenuerase()
{
 // TODO: Add your command handler code here
 OnBterase();
}

void CRobotView::OnMenupara()
{
 // TODO: Add your command handler code here
 OnBtpara(); 
}

void CRobotView::OnMenustart()
{
 // TODO: Add your command handler code here
 OnBtstart();
}

void CRobotView::OnLButtonDown(UINT nFlags, CPoint point)
{
 // TODO: Add your message handler code here and/or call default
 
 CView::OnLButtonDown(nFlags, point);
 int curBlockULX = (point.x-m_origX)/gridWidth;
 int curBlockULY = (point.y-m_origY)/gridWidth;

 CRobotDoc* pDoc = GetDocument();

 if (m_bEraseBlock)
 {
  pDoc->GARoad->ClearBlock(curBlockULY,curBlockULX);
  Invalidate();
  UpdateWindow();
 }
 else if (m_bAddBlock)
 {
  pDoc->GARoad->SetBlock(curBlockULY,curBlockULX);
  Invalidate();
  UpdateWindow();
 }
}

void CRobotView::ShowPara(CDC* pDC,Gen* path)
{
 CRobotDoc* pDoc = GetDocument();
 int gridWidth = min(m_cxWnd/gridWidthX,(int)(m_cyWnd*7/8/gridWidthY));
 int curBound = xmin+gridWidthY*gridWidth;
 int startX = curBound+40;
 int startY = 20;

 CFont font;
 LOGFONT lf;
 memset(&lf, 0, sizeof(LOGFONT));
 lf.lfHeight = 16;
 strcpy(lf.lfFaceName, "Arial");
 VERIFY(font.CreateFontIndirect(&lf));
 CFont* oldFont = pDC->SelectObject(&font);
 pDC->TextOut(startX,startY,"当前种群规模:");
 pDC->TextOut(startX,startY+30,"当前进化代数:");
 pDC->TextOut(startX,startY+60,"当前适应度:");
 pDC->TextOut(startX,startY+90,"gridWidth:");
 pDC->TextOut(startX,startY+120,"路径长度:");
 pDC->TextOut(startX,startY+150,"左上角坐标:");
 pDC->TextOut(startX,startY+180,"右下角坐标:");
 pDC->SelectObject(oldFont);
 
 COLORREF oldColor = pDC->SetTextColor(RGB(255,0,255));
 
 CString gen;
 gen.Format(_T("%d"),m_CurPara.pSize);
 pDC->TextOut(startX+120,startY,gen);
 gen.Format(_T("%d"),pDoc->generation);
 pDC->TextOut(startX+120,startY+30,gen);
 gen.Format(_T("%.3f"),pDoc->GARoad->curBestGenome->fitness);
 pDC->TextOut(startX+120,startY+60,gen);
 gen.Format(_T("%.2f"),a);
 pDC->TextOut(startX+120,startY+90,gen);
 gen.Format(_T("%.2f"),dist);
 pDC->TextOut(startX+120,startY+120,gen);
 gen.Format(_T("%f,%f"),xmin,ymin);
 pDC->TextOut(startX+120,startY+150,gen);
 gen.Format(_T("%f,%f"),xmax,ymax);
 pDC->TextOut(startX+120,startY+180,gen);
 pDC->SetTextColor(oldColor);
}

 

void CRobotView::OnObstacle()
{
 // TODO: Add your command handler code here
 CDC* pDC;
 int curBound = m_origX+m_CurPara.width*gridWidth+1;
 int startX = curBound+20;
 int startY = 20;
 CString strFilter,word,s,strHint,c,line,b;
 FILE *InFilePtr;
 int Columns=2,Numpatterns=0,i,j;
 double x;
 strFilter="Text Files(*.txt)|*.txt||";
 CFileDialog dlg(TRUE,NULL,NULL,OFN_EXPLORER|OFN_HIDEREADONLY|OFN_ENABLESIZING|OFN_FILEMUSTEXIST,strFilter);
 dlg.m_ofn .lStructSize =sizeof(OPENFILENAME);
 if(dlg.DoModal ()==IDOK)
 {
  filepath=dlg.GetPathName();
 }
if((InFilePtr = fopen(filepath, "r")) == NULL)
{
 strHint.Format ("文件%s不存在",filepath);
 AfxMessageBox(strHint);
    return;
}
fscanf(InFilePtr,"%s",word);
while(!feof(InFilePtr))
{
 if (strcmp(word,"POINT")==0 )
    Numpatterns++;
 fscanf(InFilePtr,"%s",word);
}
fclose(InFilePtr);
if((InFilePtr = fopen(filepath, "r")) == NULL)
    return;
for (i=0;i<Numpatterns;i++)
{
 fscanf(InFilePtr,"%s",b);
 for (j=0; j<Columns; j++)
   {      
      fscanf(InFilePtr,"%lg",&x);
   Patterns[i][j]=x;
      }
  }
  xmin=Patterns[0][0];
 xmax=Patterns[0][0];
 ymin=Patterns[0][1];
 ymax=Patterns[0][1];
 for(i=0;i<Numpatterns;i++)
  for(j=0;j<Columns;j++)
     if(!j)
     {
      if(Patterns[i][j]<xmin)
       xmin=Patterns[i][j];
      if(Patterns[i][0]>xmax)
       xmax=Patterns[i][j];
     }
 for(i=0;i<Numpatterns;i++)
  for(j=0;j<Columns;j++)
   if(j)
   {
      if(Patterns[i][j]<ymin)
     ymin=Patterns[i][j];
      if(Patterns[i][1]>ymax)
      ymax=Patterns[i][j];
   }
  
  strHint.Format ("左上角：%f,%f,右下角：%f,%f",xmin,ymin,xmax,ymax);
  AfxMessageBox(strHint);
  int chartWidth = m_CurPara.width;
  gridWidthX=int(xmax-xmin)/chartWidth+1;
     gridWidthY=int(ymax-ymin)/chartWidth+1;
     gridWidth = min(m_cxWnd/gridWidthX,(int)(m_cyWnd*7/8/gridWidthY));
  strHint.Format ("chartWidth：%d,gridWidthX：%d,gridWidthY：%d",chartWidth,gridWidthX,gridWidthY);
  AfxMessageBox(strHint);
  for(i=0;i<Numpatterns;i++)
  {
   int w=int(Patterns[i][1]-ymin)/chartWidth;
   int h=int(Patterns[i][0]-xmin)/chartWidth;
  //strHint.Format ("h：%d,w：%d",h,w);
  //AfxMessageBox(strHint);
  if (h>=0 && h<=gridWidthX && w>=0 && w<=gridWidthY)
 { 
   
  chart[h][w] = 1;
 
 }
  } 
 Invalidate();
 UpdateWindow();

}

char * CRobotView::getline(FILE *inputfile)
{
int c;
   char* newline;
   int n = 0;
   int size = 1023;
   char* line = (char*)malloc((size_t)(size+1)*sizeof(char));
   while ((c = getc(inputfile))!='\n' && c != EOF)
   {
  if (c!=' ')
     {
   if (n == size)
        {
    size *= 2;
          newline = (char*)malloc((size_t)(size+1)*sizeof(char));
          strncpy (newline, line, n);
          free (line);
          line = newline;
        }
        line[n] = c;
        n++;
     }
   }

   if (n==0)
   {
  free (line);
     return 0;
   }
   line[n] = '\0';
   newline = (char*)malloc((size_t)(n+1)*sizeof(char));
   strcpy (newline, line);
   free(line);
   return newline;
}

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