?? 航路規劃view.cpp
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// 航路規劃View.cpp : implementation of the CMyView class
//
#include "stdafx.h"
#include "航路規劃.h"
#include "航路規劃Doc.h"
#include "航路規劃View.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif
#include "inputdialog.h"
#include "math.h"
/////////////////////////////////////////////////////////////////////////////
// CMyView
IMPLEMENT_DYNCREATE(CMyView, CView)
BEGIN_MESSAGE_MAP(CMyView, CView)
//{{AFX_MSG_MAP(CMyView)
ON_COMMAND(input, Oninput)
ON_COMMAND(start, Onstart)
ON_EN_MAXTEXT(IDC_ED, OnMaxtextEd)
//}}AFX_MSG_MAP
// Standard printing commands
ON_COMMAND(ID_FILE_PRINT, CView::OnFilePrint)
ON_COMMAND(ID_FILE_PRINT_DIRECT, CView::OnFilePrint)
ON_COMMAND(ID_FILE_PRINT_PREVIEW, CView::OnFilePrintPreview)
END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
// CMyView construction/destruction
CMyView::CMyView()
{
// TODO: add construction code here
}
CMyView::~CMyView()
{
}
BOOL CMyView::PreCreateWindow(CREATESTRUCT& cs)
{
// TODO: Modify the Window class or styles here by modifying
// the CREATESTRUCT cs
return CView::PreCreateWindow(cs);
}
/////////////////////////////////////////////////////////////////////////////
// CMyView drawing
void CMyView::OnDraw(CDC* pDC)
{
CMyDoc* pDoc = GetDocument();
ASSERT_VALID(pDoc);
// TODO: add draw code for native data here
struct obstaclenode * obp;
struct node * closepointer,*cp1,*cp2,
*openhead,*op1,*op2,
*expandinghead,*expandingpointer,*ep1,*ep2,
*routepointer;
int n=0;
int a,b;
if(pDoc->startsearch==1)
{///////////////////////////////////////////////////////////////////////////
//close,open,expanding鏈表初始化
struct node node[7];
for(int i=0;i<7;i++)
{
node[i].x=0;
node[i].y=0;
node[i].docost=0;
node[i].undocost=0;
node[i].fathernodepointer=NULL;
}
cp1=&node[0];
cp2=closepointer=&node[1];
cp1->next=cp2;
cp2->next=NULL;
ep1=&node[2];
ep2=&node[3];
ep1->next=ep2;
ep2->next=NULL;
op1=&node[4];
op2=&node[5];
openhead=&node[6];
op1->next=op2;
op2->next=openhead;
node[6].x=pDoc->startx;
node[6].y=pDoc->starty;
node[6].undocost=sqrt(500*500+900*900);
node[6].fathernodepointer=NULL;
node[6].next=NULL;
//循環取open首點進行擴展
while(openhead!=NULL)
{
/////////////////////////////////////////////////////////
// open首點移入close鏈表
closepointer->next=openhead;
closepointer=openhead;
openhead=openhead->next;
node[5].next=openhead;
closepointer->next=NULL;
///////////////////////////////////////////////////////////
//建立expanding鏈表(第一次合法性檢查)
expandingpointer=&node[3];
for (int j=0; j<3; j++)
{
switch(j)
{
case(0):a=closepointer->x+1;b=closepointer->y-1;
break;
case(1):a=closepointer->x+1;b=closepointer->y;
break;
case(2):a=closepointer->x+1;b=closepointer->y+1;
break;
}
n=0;
obp=(pDoc->obstaclepreviousnode).next; /*傳入obstacle鏈表頭指針*/
while(obp!=NULL)
{
if((obp->x-a)*(obp->x-a)+(obp->y-b)*(obp->y-b)<=obp->r*obp->r)
{
n=1;
break;
}
obp=obp->next;
}
if(n==1)
continue;
if(a>=pDoc->endx+1)
goto display1; /*超界檢查*/
expandingpointer->next=(struct node*)malloc(sizeof(struct node)); /*分配內存空間*/
expandingpointer=expandingpointer->next;/*鏈入expanding表*/
expandingpointer->x=a;/*節點賦值*/
expandingpointer->y=b;
switch(j)
{
case(0):expandingpointer->docost=closepointer->docost+1.4f;
break;
case(1):expandingpointer->docost=closepointer->docost+1; /*可取二維五叉樹，三叉樹或三維搜索*/
break;
case(2):expandingpointer->docost=closepointer->docost+1.4f;
break;
}
expandingpointer->undocost=fabs(5*a+9*b-5900)/sqrt(106)+
sqrt((pDoc->endx-a)*(pDoc->endx-a)+(pDoc->endy-b)*(pDoc->endy-b));
expandingpointer->fathernodepointer=closepointer;
expandingpointer->next=NULL;
if(a==pDoc->endx && b==pDoc->endy)
{
pDoc->startsearch=0;
goto display2;/*搜索結束跳出并顯示*/
}
}
/////////////////////////////////////////////////////////
//expanding節點第二次檢查
ep1=&node[2];
ep2=&node[3];
while(ep2->next!=NULL)
{
ep1=ep1->next;
loop: ep2=ep1->next;
//////////////////////
//比較close鏈表
cp1=&node[0];
cp2=&node[1];
n=0;
while(cp2->next!=NULL)
{
cp1=cp1->next;
cp2=cp1->next;
if(cp2->x==ep2->x && cp2->y==ep2->y)
{
n=1;
break;
}
}
if(n==1)
{
if(cp2->docost<=ep2->docost)
{
ep1->next=ep2->next;
free(ep2); /*expanding節點刪除*/
if(ep1->next!=NULL) /*校正expanding指針*/
goto loop;
else break;
}
else
{
cp1->next=cp2->next;
free(cp2); /*close節點刪除*/
continue;
}
}
/////////////////////
//比較open鏈表
op1=&node[4];
op2=&node[5];
n=0;
while(op2->next!=NULL)
{
op1=op1->next;
op2=op1->next;
if(op2->x==ep2->x && op2->y==ep2->y)
{
n=1;
break;
}
}
if(n==1)
{
if(op2->docost<=ep2->docost)
{
ep1->next=ep2->next;
free(ep2); /*expanding節點刪除*/
if(ep1->next!=NULL) /*校正expanding指針*/
goto loop;
else break;
}
else
{
op1->next=op2->next;
free(op2); /*open節點刪除*/
}
}
}
//////////////////////////////////////////////////////
//把expanding節點從小到大插入已有open鏈表中
while( node[3].next != NULL )
{
expandinghead=node[3].next;
node[3].next=expandinghead->next;
op1=&node[4];
op2=&node[5];
n=0;
while(op2->next!=NULL)
{
op1=op1->next;
op2=op1->next;
if(0.4*expandinghead->docost+0.6*expandinghead->undocost<=0.4*op2->docost+0.6*op2->undocost) /*g(n),h(n)選擇設置*/
{
n=1;
break;
}
}
if(n==1)
{
op1->next=expandinghead;
expandinghead->next=op2;
}
else
{
op2->next=expandinghead;
expandinghead->next=NULL;
}
}
openhead=node[5].next;
}
///////////////////////////////////////////////////////////////////
//總循環跳出
display1: pDC->TextOut(400,300,"規劃失敗");
display2: routepointer=expandingpointer;
CPen tPen;
tPen.CreatePen(PS_SOLID, 1, RGB(0,255,0));
CPen * tOldPen;
tOldPen = pDC->SelectObject(&tPen);
pDC->MoveTo(routepointer->x,routepointer->y);
while(routepointer->fathernodepointer!=NULL)
{
routepointer=routepointer->fathernodepointer;
pDC->LineTo(routepointer->x,routepointer->y);
}
pDC->SelectObject(tOldPen);
}
//////////////////////////////////////////////////////////////////////////////////////////////
//if選擇繪路徑結束，開始畫障礙圓
pDC->SelectStockObject(BLACK_BRUSH);
obp=(pDoc->obstaclepreviousnode).next; /*傳入obstacle鏈表頭指針*/
while(obp!=NULL)
{
pDC->Ellipse(obp->x-obp->r,obp->y-obp->r,obp->x+obp->r,obp->y+obp->r);
obp=obp->next;
}
TRACE ("規劃失敗"規劃失敗"");
}
/////////////////////////////////////////////////////////////////////////////
// CMyView printing
BOOL CMyView::OnPreparePrinting(CPrintInfo* pInfo)
{
// default preparation
return DoPreparePrinting(pInfo);
}
void CMyView::OnBeginPrinting(CDC* /*pDC*/, CPrintInfo* /*pInfo*/)
{
// TODO: add extra initialization before printing
}
void CMyView::OnEndPrinting(CDC* /*pDC*/, CPrintInfo* /*pInfo*/)
{
// TODO: add cleanup after printing
}
/////////////////////////////////////////////////////////////////////////////
// CMyView diagnostics
#ifdef _DEBUG
void CMyView::AssertValid() const
{
CView::AssertValid();
}
void CMyView::Dump(CDumpContext& dc) const
{
CView::Dump(dc);
}
CMyDoc* CMyView::GetDocument() // non-debug version is inline
{
ASSERT(m_pDocument->IsKindOf(RUNTIME_CLASS(CMyDoc)));
return (CMyDoc*)m_pDocument;
}
#endif //_DEBUG
////////////////////////////////////////////////////////////////////////////////////////
// CMyView message handlers
void CMyView::Oninput()
{ CMyDoc* pDoc = GetDocument();
ASSERT_VALID(pDoc);
// TODO: Add your command handler code here
inputdialog dlg;
if(dlg.DoModal()==IDOK)
{
(pDoc->obstaclepointer)->next=(struct obstaclenode*)malloc(sizeof(struct obstaclenode));
(pDoc->obstaclepointer)=(pDoc->obstaclepointer)->next;
(pDoc->obstaclepointer)->x=dlg.x;
(pDoc->obstaclepointer)->y=dlg.y;
(pDoc->obstaclepointer)->r=dlg.r;
(pDoc->obstaclepointer)->next=NULL;
}
Invalidate(FALSE);
}
void CMyView::Onstart()
{ CMyDoc* pDoc = GetDocument();
ASSERT_VALID(pDoc);
// TODO: Add your command handler code here
pDoc->startsearch=1;
Invalidate(FALSE);
}
void CMyView::OnMaxtextEd()
{
// TODO: Add your control notification handler code here
}
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