function varargout = location_gui(varargin)%location_gui函數名
% LOCATION_GUI M-file for location_gui.fig
%      LOCATION_GUI, by itself, creates a new LOCATION_GUI or raises the existing
%      singleton*.
%
%      H = LOCATION_GUI returns the handle to a new LOCATION_GUI or the handle to
%      the existing singleton*.
%
%      LOCATION_GUI('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in LOCATION_GUI.M with the given input arguments.
%
%      LOCATION_GUI('Property','Value',...) creates a new LOCATION_GUI or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before location_gui_OpeningFunction gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to location_gui_OpeningFcn via varargin.
%
%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
%      instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES

% Edit the above text to modify the response to help location_gui

% Last Modified by GUIDE v2.5 12-Jan-2006 11:18:01

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @location_gui_OpeningFcn, ...
                   'gui_OutputFcn',  @location_gui_OutputFcn, ...
                   'gui_LayoutFcn',  [] , ...
                   'gui_Callback',   []);
if nargin & isstr(varargin{1})
    gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT


% --- Executes just before location_gui is made visible.
function location_gui_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% varargin   command line arguments to location_gui (see VARARGIN)

% Choose default command line output for location_gui
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes location_gui wait for user response (see UIRESUME)
% uiwait(handles.figure1);GUI為圖形界面設計


% --- Outputs from this function are returned to the command line.
function varargout = location_gui_OutputFcn(hObject, eventdata, handles)
% varargout  cell array for returning output args (see VARARGOUT);
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure
varargout{1} = handles.output;


% --- Executes during object creation, after setting all properties.
function length_edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to length_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function length_edit_Callback(hObject, eventdata, handles)
% hObject    handle to length_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of length_edit as text
%        str2double(get(hObject,'String')) returns contents of length_edit as a double


% --- Executes during object creation, after setting all properties.
function width_edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to width_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function width_edit_Callback(hObject, eventdata, handles)
% hObject    handle to width_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of width_edit as text
%        str2double(get(hObject,'String')) returns contents of width_edit as a double


% --- Executes on button press in ok.
function ok_Callback(hObject, eventdata, handles)
% hObject    handle to ok (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

%%按照場地均勻安排錨節點
%考慮測距誤差為正負10%
%初始化節點及存放定位信息矩陣
node_num=200;%一般節點數量
%錨節點數量大約為一般節點數量的10%，依場地情況而定
length=100;%場地長度
width=100;%場地寬度
rangemax=15;%節點間最大通信距離

%從GUI獲得數據
node_num=str2double(get(handles.node_edit,'String'));
length=str2double(get(handles.length_edit,'String'));
width=str2double(get(handles.width_edit,'String'));

[node_x,node_y]=creatnode(node_num,length,width);%生成普通節點

%開始生成錨節點位置,20個錨節點均勻分布
anchor_length=sqrt(length*width*10/100);
anchor_no=1;
for temp_width=1:(1+width/(anchor_length-7))
    for temp_length=1:(1+length/anchor_length)
        anchor_x(anchor_no)=anchor_length*(temp_length-1);
        anchor_y(anchor_no)=(anchor_length-7)*(temp_width-1);
        anchor_no=anchor_no+1;
    end
end
anchor_num=anchor_no-1;%最后得到的錨節點數量

% 生成存放定位信息的矩陣
%縱坐標為到第一個錨節點的跳數，到第一個錨節點的距離和，到第二個錨節點的跳數……
%橫坐標為所需定位節點的序號，這個序號與最初生成的node序號是一致的
locateinf=ones(2*anchor_num,node_num)*inf;

ok='初始化結束'

%% 察看初始節點狀況
plot(anchor_x,anchor_y,'*',node_x,node_y,'*');

%% 程序開始
%對圖進行廣度先遍歷
abcanchor=0;
abcnode=0;
for anchor_no=1:anchor_num
    %初始化隊列
    abcanchor=abcanchor+1
    queue=zeros(1,node_num);
    front=1;
    rear=1;
    %
	for node_no=1:node_num
        %abcnode=abcnode+1
        distance=dist(anchor_x(anchor_no),anchor_y(anchor_no),node_x(node_no),node_y(node_no));
        if distance<=rangemax
            locateinf(2*(anchor_no-1)+1,node_no)=1; %跳數
            locateinf(2*anchor_no,node_no)=distance; %距離和
            %將該點加入隊列
            queue(1,rear)=node_no;
            rear=rear+1;
            %
        end
        while(front<rear)
            %從隊列中取出元素,該點為known
            known=queue(1,front);
            front=front+1;
            %
            for node_no=1:node_num
                distance=dist(node_x(known),node_y(known),node_x(node_no),node_y(node_no));
                if distance<=rangemax
                    if locateinf(2*(anchor_no-1)+1,node_no)>(locateinf(2*(anchor_no-1)+1,known)+1) %在此可考慮增加采用距離和較短的算法
                        locateinf(2*(anchor_no-1)+1,node_no)=(locateinf(2*(anchor_no-1)+1,known)+1);
                        locateinf(2*anchor_no,node_no)=locateinf(2*anchor_no,known)+distance;
                        %將該點加入隊列
                        queue(1,rear)=node_no;
                        rear=rear+1;
                        %
                    end
                end
            end
        end
    end
end 

ok='完成圖的廣度先遍歷'

%% 生成錨節點優先選取矩陣anchorchosen，將距離遠的錨節點序號放在后面，即從好到壞排列
for node_no=1:node_num
    node_no
    for anchor_no=1:anchor_num
        %構造temp矩陣
        temp(anchor_no,1)=anchor_no;
        temp(anchor_no,2)=locateinf((2*anchor_no),node_no);
    end
    %對temp矩陣進行排序處理
    for ti=1:anchor_num-1
        min=ti;
        for tj=ti+1:anchor_num
            if temp(tj,2)<temp(min,2)
                min=tj;
            end
        end
        if ti~=min
            tempintemp1=temp(ti,1);
            tempintemp2=temp(ti,2);
            temp(ti,1)=temp(min,1);
            temp(ti,2)=temp(min,2);
            temp(min,1)=tempintemp1;
            temp(min,2)=tempintemp2;
        end
    end
    for anchor_no=1:anchor_num
        anchorchosen(anchor_no,node_no)=temp(anchor_no,1);
    end
end

ok='生成錨節點優先選取矩陣'

%% 改進算法，選取跳數少的錨節點進行定位,節點坐標存為(locate_near_x,locate_near_y)
locate_near_x=zeros(1,node_num);
locate_near_y=zeros(1,node_num);
for node_no=1:node_num
    tempflag=0;
    node_no
    for chosen1=1:(anchor_num-2)
        for chosen2=(chosen1+1):(anchor_num-1)
            for chosen3=(chosen2+1):anchor_num
               %[x,y]=barycenter(anchor_x(anchorchosen(chosen1,node_no)),anchor_y(anchorchosen(chosen1,node_no)),locateinf(2*anchorchosen(chosen1,node_no),node_no),anchor_x(anchorchosen(chosen2,node_no)),anchor_y(anchorchosen(chosen2,node_no)),locateinf(2*anchorchosen(chosen2,node_no),node_no),anchor_x(anchorchosen(chosen3,node_no)),anchor_y(anchorchosen(chosen3,node_no)),locateinf(2*anchorchosen(chosen3,node_no),node_no));
                [x,y]=barycenter(anchor_x(anchorchosen(chosen1,node_no)),anchor_y(anchorchosen(chosen1,node_no)),locateinf(2*anchorchosen(chosen1,node_no),node_no),anchor_x(anchorchosen(chosen2,node_no)),anchor_y(anchorchosen(chosen2,node_no)),locateinf(2*anchorchosen(chosen2,node_no),node_no),anchor_x(anchorchosen(chosen3,node_no)),anchor_y(anchorchosen(chosen3,node_no)),locateinf(2*anchorchosen(chosen3,node_no),node_no));
                if((isreal(x)==1)&&(isreal(y)==1)) 
                    locate_near_x(node_no)=x;
                    locate_near_y(node_no)=y;
                    tempflag=1;
                end
                if(tempflag==1) break; end
            end
            if(tempflag==1) break; end
        end
        if(tempflag==1) break; end
    end
end

ok='定位完成'

%% 計算誤差
% 距離差
difference_x=abs(locate_near_x-node_x);
difference_y=abs(locate_near_y-node_y);

%% 顯示距離差
plot(difference_x,difference_y,'+');

% 得出距離差，放在矩陣difference中
for node_no=1:node_num
    difference(node_no)=sqrt((difference_x(node_no))^2+(difference_y(node_no))^2);
end

%% 得到距離差大于值gatevalue的點，將節點序號存于badpoint中，badpoint_no為badpoint的數量
gatevalue=rangemax;
badpoint_no=1;
for node_no=1:node_num
    if difference(node_no)>gatevalue
        badpoint(badpoint_no)=node_no;
        badpoint_no=badpoint_no+1;
    end
end
badpoint_no=badpoint_no-1;

range_error=(mean(difference)/rangemax)*100


% 繪制node節點位置和計算出的位置，并用線段連接

plot(anchor_x,anchor_y,'*',node_x,node_y,'*',locate_near_x,locate_near_y,'+');
hold on;
for node_no=1:node_num
    line([node_x(node_no),locate_near_x(node_no)],[node_y(node_no),locate_near_y(node_no)]);
end
s=['平均定位誤差：',num2str(range_error),'%'];
title(s);
hold off;
%plot(anchor_x,anchor_y,'*',node_x,node_y,'*')
%hold on;
%plot(locate_near_x,locate_near_y,'.','MarkerSize',15,'Color','r');
%for node_no=1:node_num
%    line([node_x(node_no),locate_near_x(node_no)],[node_y(node_no),locate_near_y(node_no)]);
%end
%hold off;

%門限值為最大通信距離,顯示距離差大于門限值的節點個數
badpoint_no

%計算連通度，并顯示結果
count=0;
for node_no=1:node_num
    if(isnan(difference(node_no))~=1)
        count=count+1;
    end
end
connectivity=count/node_num;
connectivity

ok='全部完成'
% --- Executes during object creation, after setting all properties.
function node_edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to node_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function node_edit_Callback(hObject, eventdata, handles)
% hObject    handle to node_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of node_edit as text
%        str2double(get(hObject,'String')) returns contents of node_edit as a double


% --- Executes during object creation, after setting all properties.
function anchor_edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to anchor_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function anchor_edit_Callback(hObject, eventdata, handles)
% hObject    handle to anchor_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of anchor_edit as text
%        str2double(get(hObject,'String')) returns contents of anchor_edit as a double