void SK66(
int node,
int source,
int dest,
int iterCount,
const Graph & graph,
const EdgeInfoDict & edgeInfoDict,
const Conditions & conditions,
SK66_D_dict & ddict,
SK66_F_dict & fdict,
ShortestPathDict & pathDict) {
// 当迭代次数为0时， 直接计算node->dest单源最短路径，存入结果字典里
if(iterCount == 0) {
std::pair<int, int> pathToBeSolve(node, dest);
if(!pathDict.count(pathToBeSolve))
Dijkstra(graph, edgeInfoDict, node, pathDict);
if(!pathDict.count(pathToBeSolve)) {
std::pair<std::pair<int, int>, int> key;
key.first = pathToBeSolve;
key.second = 0;
Path path;
path.first = 0xffffff; // 六个f， 足够表示无穷大了, 防止在后续加法中溢出
fdict[key] = path;
} else {
std::pair<std::pair<int, int>, int> key;
key.first = pathToBeSolve;
key.second = 0;
ShortestPathDict::const_iterator PPath = pathDict.find(pathToBeSolve);
Path path = PPath->second;
fdict[key] = path;
}
} else {
// 当迭代次数大于0的时候
std::pair<std::pair<int, int>, int> key;
key.first = std::pair<int, int>(node, dest);
key.second = iterCount;
Path minCostPath;
minCostPath.first = 0x7fffffff;
for(Conditions::const_iterator iter = conditions.begin(); iter != conditions.end(); ++iter) {
if(*iter == node)
continue;
// 计算D(v_i, v_l)
std::pair<int, int> leftHalfPathToBeSolve(node, *iter);
if(!pathDict.count(leftHalfPathToBeSolve)) {
Dijkstra(graph, edgeInfoDict, node, pathDict);
}
if(!pathDict.count(leftHalfPathToBeSolve)) {
Path leftHalfPath;
leftHalfPath.first = 0xffffff;
ddict[leftHalfPathToBeSolve] = leftHalfPath;
} else {
ShortestPathDict::const_iterator PPath = pathDict.find(leftHalfPathToBeSolve);
Path leftHalfPath = PPath->second;
ddict[leftHalfPathToBeSolve] = leftHalfPath;
}
// 计算F(v_l, t)
// 筛选出最小值
std::pair<std::pair<int, int>, int> rightHalfPathToBeSolve;
rightHalfPathToBeSolve.first.first = *iter;
rightHalfPathToBeSolve.first.second = dest;
rightHalfPathToBeSolve.second = iterCount-1;
if(!fdict.count(rightHalfPathToBeSolve)) {
SK66(*iter, source, dest, iterCount-1, graph, edgeInfoDict, conditions, ddict, fdict, pathDict);
}
if(ddict[leftHalfPathToBeSolve].first + fdict[rightHalfPathToBeSolve].first < minCostPath.first) {
minCostPath.first = ddict[leftHalfPathToBeSolve].first + fdict[rightHalfPathToBeSolve].first;
minCostPath.second.first.clear();
minCostPath.second.second.clear();
minCostPath.second.first.insert(minCostPath.second.first.end(),
ddict[leftHalfPathToBeSolve].second.first.begin(),
ddict[leftHalfPathToBeSolve].second.first.end());
minCostPath.second.first.insert(minCostPath.second.first.end(),
fdict[rightHalfPathToBeSolve].second.first.begin(),
fdict[rightHalfPathToBeSolve].second.first.end());
minCostPath.second.second.insert(
minCostPath.second.second.end(),
ddict[leftHalfPathToBeSolve].second.second.begin(),
ddict[leftHalfPathToBeSolve].second.second.end());
minCostPath.second.second.insert(
minCostPath.second.second.end(),
fdict[rightHalfPathToBeSolve].second.second.begin(),
fdict[rightHalfPathToBeSolve].second.second.end());
}
}
fdict[key] = minCostPath;
}
}
void CScheduleDlg::OnBnClickedOk()
{
// TODO: 在此添加控件通知处理程序代码
CString strAGCNo, strTargetNo, strOpt;
m_comboAGCNo.GetWindowTextW(strAGCNo);
m_comboTargetNo.GetWindowTextW(strTargetNo);
m_comboOpt.GetWindowTextW(strOpt);
if (strAGCNo.IsEmpty() || strTargetNo.IsEmpty()
|| strOpt.IsEmpty())
{
AfxMessageBox(_T("请输入车号，目标点号和操作！"));
return;
}
// 类型转换
BYTE agvno = _ttoi(strAGCNo);
UINT16 targetno = _ttoi(strTargetNo);
UINT16 opt = (UINT16)m_comboOpt.GetItemData(m_comboOpt.GetCurSel());
if (++MSG_TAG > 255)
MSG_TAG = 0;
// 任务编号
UINT16 taskno = ++MSG_TASK;
// 还要接收E1消息，其中的M6与这条tag不一样要重发
m_m6.tag = MSG_TAG;
m_m6.agvno = agvno;
m_m6.target = targetno;
m_m2.tag = MSG_TAG;
m_m2.agvno = agvno;
m_m2.taskno = taskno;
m_m2.taskopcode = opt;
m_m1.tag = MSG_TAG;
m_m1.agvno = agvno;
m_m1.taskno = taskno;
// 段数，可行走段号 通过Dijkstra算法计算
// 获取小车当前点号
CObList& clientList = m_pDoc->m_pListenSocket->m_clientList;
POSITION pos = clientList.GetHeadPosition();
CClientSocket* pClient = NULL;
while (pos)
{
pClient = (CClientSocket*)clientList.GetNext(pos);
if (pClient->m_e1.agvno == agvno)
break;
}
// 计算最短路径
if (!pClient) {
AfxMessageBox(_T("还没用任何小车连接！"));
return;
}
pClient->m_targetPt = targetno;
Dijkstra(pClient->m_e1.curPoint, targetno);
auto& vecRoute = m_pDoc->m_vecRoute;
m_m1.secnum = (BYTE)vecRoute.size() - 1; // 段数
// 可行走段
auto& mapSideNo = m_pDoc->m_sideNo; //<段，段号>
auto it = vecRoute.begin();
int prevSide = *it;
std::advance(it, 1);
int i = 0; // 控制段索引
CString strSideNo, strTemp; // 输出
for (auto it2 = it; it2 != vecRoute.end(); ++it2)
{
unsigned sideNo = mapSideNo[make_pair(prevSide, *it2)];
prevSide = *it2;
m_m1.secno[i++] = sideNo;
strTemp.Format(_T("%d-"), sideNo);
strSideNo += strTemp;
}
if (strSideNo.IsEmpty())
strSideNo = _T("''");
Msg_M1M2M6 m1m2m6;
m1m2m6.m1 = m_m1;
m1m2m6.m2 = m_m2;
m1m2m6.m6 = m_m6;
// 写入数据库
m_AdoConn.OnInitADOConn();
CTime tm = CTime::GetCurrentTime();
CString strTm;
strTm.Format(_T("%04d/%02d/%02d %02d:%02d:%02d"),
tm.GetYear(), tm.GetMonth(), tm.GetDay(), tm.GetHour(), tm.GetMinute(), tm.GetSecond());
CString str; //
str.Format(_T("%d,\'%s\',%d,%d,%d,%d,%d,%d,%d,\'%s\'"),
taskno, strTm, agvno, 1, pClient->m_e1.curPoint, \
targetno, MSG_TAG, opt, m_m1.secnum, strSideNo);
CString sql = _T("insert into tasklist (") \
_T("taskno,starttime,agvno,priority,startPt,endPt,msgtag,taskOptCode,sidenum,sideno) ") \
_T("values(") + str + _T(")");
m_AdoConn.ExecuteSQL((_bstr_t)sql);
m_AdoConn.ExitConn();
// 给小车发送M1,M2,M6消息
pClient->Send(&m1m2m6, sizeof(m1m2m6));
CDialogEx::OnOK();
}
main()
{
FILE *f;
char filename[50];
printf("input the name of the file:");
scanf("%s",filename);//the file's name can be absolute path,include the .txt example: D:\\file1\\file2\\test.txt
f=fopen(filename,"rb");
if (f==NULL)//if can not open the file,stop the program
{
printf("OMG,the file is not existed!\n");
system("pause");
return;
}
get_the_map(f);
getchar();
printf("input the start street name:");
gets(start_street);
printf("input the start house number:");
scanf("%d",&start_house);
getchar();
printf("input the destination street name:");
gets(destination_street);
printf("input the destination house number:");
scanf("%d",&destination_house);
Insert_start_destination(street_num,start_house,destination_house,start_street,destination_street);
if (start_unique=='\0' || destination_unique=='\0')
{
system("pause");
return 0;
}
if (start_unique == destination_unique)
{
printf("the start point is the same as destination!\n");
system("pause");
return 0;
}
int k=1;
int i,j;
Dijkstra();//Dijkstra算法存储从起点开始，每个点到起点的最短路径的父亲节点
struct search_path BFS_array[50];
/*the destination node has his father nodes,and these father nodes also have their own father nodes.
So it's a tree,and I use the BFS method to find every shortest path.
*/
int label;
label=Index(destination_unique);
BFS_array[1].unique=destination_unique;
i=1;
int from,present;//from 和 to 都是数组的角标
from=2;
j=from;
present=from+adj_list[label].father_num;
while (i<=adj_list[label].father_num)//此次循环得到终点以及终点的父节点，将他们纳入BFS_array这个集合
{
BFS_array[j].unique=adj_list[label].father_unique_num[i];
BFS_array[j].pre_label=1;
j++;
i++;
}
get_BFS_list(BFS_array,from,present);////////!!!!!!!!!!!!!
i=1;
int counter=0;
while(BFS_array[i].unique!='\0')//get the total number of the shortest pathes
{
if (BFS_array[i].unique==start_unique)
counter++;
i++;
}
struct each_path shortest_ways[counter+1];
get_the_pathes(shortest_ways,BFS_array);
int ways=counter;
for (i=1;i<=ways;i++)
{
path_link present;
present=&shortest_ways[i];
float pre_x,pre_y;
if (present->unique_num==1)
{
pre_x=start_x;
pre_y=start_y;
}
else
{
present->x=present->unique_num/100;
present->y=present->unique_num%100;
pre_x=present->x;
pre_y=present->y;
}
present=present->next_node;
while(present!=NULL)
{
float X,Y;
if (present->unique_num==2)
{
X=pre_x-destination_x;
Y=pre_y-destination_y;
present->distance=sqrt(pow(X,2)+pow(Y,2))*mile;
}
else
{
present->x=present->unique_num/100;
present->y=present->unique_num%100;
X=pre_x-present->x;
Y=pre_y-present->y;
present->distance=sqrt(pow(X,2)+pow(Y,2))*mile;
pre_x=present->x;
pre_y=present->y;
}
present=present->next_node;
}
}
turn_by_turn(shortest_ways,ways);
system("pause");
}
int main() {
printf("\nCOMP2000 Assignment 5\n\nStudent # : 812000767\n\n\n\n********** Graph ************* \n\n\n");
FILE*in = fopen("input.txt", "r");
FILE*out = fopen("output.txt", "w");
// part (a)
char word[MaxWordSize] = { '\0' };
int numVertices = 0;
fscanf(in, "%s", &word);
while (strcmp(word,"END") != 0){
numVertices++; // getting the number of vertices's
insertNode(&rootPtr, word);
fscanf(in, "%s", &word);
}
Graph G = newGraph(numVertices);
buildGraph(in, G);
printGraph(out, G);
// end part (a)
printf("-> Part (a) finished ... \n\n");
// part b
fscanf(in, "%s", &word);
search(rootPtr, word);
depthFirstTraversal(out, G, Placement);
breadthFirstTraversal(out, G, Placement);
fscanf(in, "%s", &word);
search(rootPtr, word);
depthFirstTraversal(out, G, Placement);
breadthFirstTraversal(out, G, Placement);
fprintf(out, "\n");
fprintf(out, "\n");
// end part b
printf("-> Part (b) finished ... \n\n");
// part (c)
fscanf(in, "%s", &word);
while (strcmp(word, "END") != 0){
search(rootPtr, word);
fprintf(out, "Minimal cost path from %s:\n", word);
Dijkstra(out, G, Placement, word);
fscanf(in, "%s", &word);
Placement = 0;
fprintf(out, "\n");
}
// end part (c)
printf("-> Part (c) finished ... \n\n");
Placement = j = order = 0;
fclose(in);
fclose(out);
printf("********* Finished ***********\n\n");
system("PAUSE");
return 0;
}
//Calls Dijkstra to obtain the fastest path to POI
vector<unsigned> the_fastest_path(unsigned inter_id_start, const vector<unsigned>& destinations) {
int size = destinations.size();
if (size == 1) return DirectedPath(inter_id_start, destinations[0]);
else return Dijkstra(inter_id_start, destinations);
}
#include "mainwindow.h"
#include "ui_mainwindow.h"
#include "nodo.h"
#include "dijkstra.h"
#include "floyd.h"
#include "kruskal.h"
#include "QComboBox"
#include "QLabel"
#include "QString"
QLabel * label;
Dijkstra dijkstra = Dijkstra();
Floyd floyd = Floyd();
Kruskal kruskal = Kruskal();
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
setWindowTitle("Map Path Simulator");
ui->mapa->setPixmap(QPixmap(":/Images/mapa.png"));
layout = new QVBoxLayout(this);
//for(int i = 0; i < 54; i++)
//{
//label = new QLabel("hola");
//QString hola;
//hola.append("hola");
//label->setText(hola);
//layout->addWidget(label);
//}
int main(int argc, char *argv[])
{
Dijkstra(0);
return 0;
}
