YACS::HMI::LinkMatrix Class Reference

#include <LinkMatrix.hxx>

Collaboration diagram for YACS::HMI::LinkMatrix:

Public Member Functions
	LinkMatrix (SceneComposedNodeItem *bloc)
virtual	~LinkMatrix ()
void	compute ()
void	addRowCols ()
void	explore (AbstractSceneItem *child, bool setObstacle=false)
void	defineCost (AbstractSceneItem *child)
void	getBoundingBox (SceneItem *obstacle, int margin, bool setObstacle=false)
std::pair< int, int >	cellFrom (YACS::ENGINE::OutPort *outp)
std::pair< int, int >	cellFrom (YACS::ENGINE::OutGate *outp)
std::pair< int, int >	cellTo (YACS::ENGINE::InPort *inp)
std::pair< int, int >	cellTo (YACS::ENGINE::InGate *inp)
std::list< linkdef >	getListOfCtrlLinkDef ()
std::list< linkdef >	getListOfDataLinkDef ()
LinkPath	getPath (LNodePath lnp)
void	incrementCost (LNodePath lnp)
int	cost (int i, int j) const
int	imax () const
int	jmax () const

Protected Attributes
SceneComposedNodeItem *	_bloc
int	_im
int	_jm
double	_pas
std::set< double >	_sxm
std::set< double >	_sym
std::vector< double >	_xm
std::vector< double >	_ym
std::map< double, int >	_x2i
std::map< double, int >	_y2j
std::vector< int >	_cost
QtGuiContext *	_context

Detailed Description

Definition at line 79 of file LinkMatrix.hxx.

Constructor & Destructor Documentation

LinkMatrix::LinkMatrix

(

SceneComposedNodeItem *

bloc

)

Definition at line 50 of file LinkMatrix.cxx.

References _context, _cost, _im, _jm, _pas, _sxm, _sym, _x2i, _xm, _y2j, _ym, and YACS::HMI::QtGuiContext::getQtCurrent().

                                                 : _bloc(bloc)
{
  _im=0;
  _jm=0;
  _pas=10;
  _sxm.clear();
  _sym.clear();
  _xm.clear();
  _ym.clear();
  _x2i.clear();
  _y2j.clear();
  _cost.clear();
  _context = QtGuiContext::getQtCurrent();
}

LinkMatrix::~LinkMatrix ( )

virtual

Definition at line 65 of file LinkMatrix.cxx.

{
}

Member Function Documentation

void LinkMatrix::addRowCols

(

)

Definition at line 391 of file LinkMatrix.cxx.

References _pas, _sxm, _sym, and CORBAEngineTest::i.

Referenced by compute().

{
  {
    set<double> sxmCpy = _sxm;
    if (sxmCpy.empty()) return;
    set<double>::iterator itx = sxmCpy.begin();
    double xmin = *itx;
    double xmax = xmin;
    itx++;
    for (; itx != sxmCpy.end(); ++itx)
      {
        xmax = *itx;
        int nbpas = floor((xmax -xmin)/_pas);
        
        if (nbpas >= 2)
          {
            double xpas = (xmax -xmin)/nbpas;
            for (int i=1; i<nbpas; i++)
              _sxm.insert(xmin +i*xpas);
          }
        xmin = xmax;
      }
  }
  {
    set<double> symCpy = _sym;
    if (symCpy.empty()) return;
    set<double>::iterator ity = symCpy.begin();
    double ymin = *ity;
    double ymax = ymin;
    ity++;
    for (; ity != symCpy.end(); ++ity)
      {
        ymax = *ity;
        int nbpas = floor((ymax -ymin)/_pas);
        
        if (nbpas >= 2)
          {
            double ypas = (ymax -ymin)/nbpas;
            for (int i=1; i<nbpas; i++)
              _sym.insert(ymin +i*ypas);
          }
        ymin = ymax;
      }
  }
}

std::pair< int, int > LinkMatrix::cellFrom

(

YACS::ENGINE::OutPort *

outp

)

Definition at line 115 of file LinkMatrix.cxx.

References _context, _im, _jm, YACS::HMI::QtGuiContext::_mapOfSceneItem, YACS::HMI::GuiContext::_mapOfSubjectDataPort, _xm, _ym, YACS::HMI::SceneItem::boundingRect(), cost(), DEBTRACE, and CORBAEngineTest::i.

Referenced by getListOfCtrlLinkDef(), and getListOfDataLinkDef().

{
  SubjectDataPort* subDP = _context->_mapOfSubjectDataPort[outp];
  SceneItem* item = _context->_mapOfSceneItem[subDP];
  QRectF bb = (item->mapToScene(item->boundingRect())).boundingRect();
  qreal xp = bb.right();
  qreal yp = (bb.top() + bb.bottom())*0.5;
  DEBTRACE("xp,yp:"<<xp<<","<<yp);
  int ifrom = -1;
  for (int i=0; i<_im-1; i++)
    if (_xm[i+1] >= xp && xp > _xm[i])
      {
        ifrom = i;
        break;
      }
  int jfrom = -1;
  for (int j=0; j<_jm-1; j++)
    if (_ym[j+1] >= yp && yp > _ym[j])
      {
        jfrom = j;
        break;
      }
  //if ifrom or jfrom == -1 the port is outside the matrix
  if(ifrom < 0 || jfrom < 0)return pair<int,int>(ifrom,jfrom);
  while (ifrom < _im && !cost(ifrom,jfrom)) ifrom++;  // --- from point is inside an obstacle

  return pair<int,int>(ifrom,jfrom);
}

std::pair< int, int > LinkMatrix::cellFrom

(

YACS::ENGINE::OutGate *

outp

)

Definition at line 144 of file LinkMatrix.cxx.

References _context, _im, _jm, YACS::HMI::QtGuiContext::_mapOfSceneItem, YACS::HMI::GuiContext::_mapOfSubjectNode, _xm, _ym, YACS::HMI::SceneItem::boundingRect(), cost(), DEBTRACE, YACS::HMI::SceneHeaderNodeItem::getCtrlOutPortItem(), YACS::HMI::SceneNodeItem::getHeader(), YACS::ENGINE::Port::getNode(), CORBAEngineTest::i, and YASSERT.

{
  SubjectNode* subNode = _context->_mapOfSubjectNode[outp->getNode()];
  SceneNodeItem* itemNode = dynamic_cast<SceneNodeItem*>(_context->_mapOfSceneItem[subNode]);
  YASSERT(itemNode);
  SceneHeaderNodeItem* itemHeader = dynamic_cast<SceneHeaderNodeItem*>(itemNode->getHeader());
  YASSERT(itemHeader);
  SceneCtrlPortItem *item = itemHeader->getCtrlOutPortItem();
  YASSERT(item);
  QRectF bb = (item->mapToScene(item->boundingRect())).boundingRect();
  qreal xp = bb.right();
  qreal yp = (bb.top() + bb.bottom())*0.5;
  DEBTRACE("xp,yp:"<<xp<<","<<yp);
  int ifrom = -1;
  for (int i=0; i<_im-1; i++)
    if (_xm[i+1] >= xp && xp > _xm[i])
      {
        ifrom = i;
        break;
      }
  int jfrom = -1;
  for (int j=0; j<_jm-1; j++)
    if (_ym[j+1] >= yp && yp > _ym[j])
      {
        jfrom = j;
        break;
      }
  //if ifrom or jfrom == -1 the port is outside the matrix
  if(ifrom < 0 || jfrom < 0)return pair<int,int>(ifrom,jfrom);
  while (ifrom < _im && !cost(ifrom,jfrom)) ifrom++;  // --- from point is inside an obstacle

  return pair<int,int>(ifrom,jfrom);
}

std::pair< int, int > LinkMatrix::cellTo

(

YACS::ENGINE::InPort *

inp

)

Definition at line 178 of file LinkMatrix.cxx.

References _context, _im, _jm, YACS::HMI::QtGuiContext::_mapOfSceneItem, YACS::HMI::GuiContext::_mapOfSubjectDataPort, _xm, _ym, YACS::HMI::SceneItem::boundingRect(), cost(), DEBTRACE, and CORBAEngineTest::i.

Referenced by getListOfCtrlLinkDef(), and getListOfDataLinkDef().

{
  SubjectDataPort* subDP = _context->_mapOfSubjectDataPort[inp];
  SceneItem* item = _context->_mapOfSceneItem[subDP];
  QRectF bb = (item->mapToScene(item->boundingRect())).boundingRect();
  qreal xp = bb.left();
  qreal yp = (bb.top() + bb.bottom())*0.5;
  DEBTRACE("xp,yp:"<<xp<<","<<yp);
  int ito = -1;
  for (int i=0; i<_im-1; i++)
    if (_xm[i+1] >= xp && xp > _xm[i])
      {
        ito = i;
        break;
      }
  int jto = -1;
  for (int j=0; j<_jm-1; j++)
    if (_ym[j+1] >= yp && yp > _ym[j])
      {
        jto = j;
        break;
      }
  //if ito or jto == -1 the port is outside the matrix
  if(ito < 0 || jto < 0)return pair<int,int>(ito,jto);
  while (ito >0 && !cost(ito,jto)) ito--;  // --- to point is inside an obstacle

  return pair<int,int>(ito,jto);
}

std::pair< int, int > LinkMatrix::cellTo

(

YACS::ENGINE::InGate *

inp

)

Definition at line 207 of file LinkMatrix.cxx.

References _context, _im, _jm, YACS::HMI::QtGuiContext::_mapOfSceneItem, YACS::HMI::GuiContext::_mapOfSubjectNode, _xm, _ym, YACS::HMI::SceneItem::boundingRect(), cost(), DEBTRACE, YACS::HMI::SceneHeaderNodeItem::getCtrlInPortItem(), YACS::HMI::SceneNodeItem::getHeader(), YACS::ENGINE::Port::getNode(), CORBAEngineTest::i, and YASSERT.

{
  SubjectNode* subNode = _context->_mapOfSubjectNode[inp->getNode()];
  SceneNodeItem* itemNode = dynamic_cast<SceneNodeItem*>(_context->_mapOfSceneItem[subNode]);
  YASSERT(itemNode);
  SceneHeaderNodeItem* itemHeader = dynamic_cast<SceneHeaderNodeItem*>(itemNode->getHeader());
  YASSERT(itemHeader);
  SceneCtrlPortItem *item = itemHeader->getCtrlInPortItem();
  YASSERT(item);
  QRectF bb = (item->mapToScene(item->boundingRect())).boundingRect();
  qreal xp = bb.left();
  qreal yp = (bb.top() + bb.bottom())*0.5;
  DEBTRACE("xp,yp:"<<xp<<","<<yp);
  int ito = -1;
  for (int i=0; i<_im-1; i++)
    if (_xm[i+1] >= xp && xp > _xm[i])
      {
        ito = i;
        break;
      }
  int jto = -1;
  for (int j=0; j<_jm-1; j++)
    if (_ym[j+1] >= yp && yp > _ym[j])
      {
        jto = j;
        break;
      }
  //if ito or jto == -1 the port is outside the matrix
  if(ito < 0 || jto < 0)return pair<int,int>(ito,jto);
  while (ito > 0 && !cost(ito,jto)) ito--;  // --- to point is inside an obstacle

  return pair<int,int>(ito,jto);
}

void LinkMatrix::compute

(

)

Definition at line 69 of file LinkMatrix.cxx.

References YACS::HMI::Scene::_addRowCols, _bloc, _cost, _im, _jm, _sxm, _sym, _x2i, _xm, _y2j, _ym, addRowCols(), cost(), DEBTRACE, explore(), getBoundingBox(), CORBAEngineTest::i, and gui.GraphViewer::m.

Referenced by YACS::HMI::SceneComposedNodeItem::rebuildLinks().

{
  getBoundingBox(_bloc,0);
  explore(_bloc);        // --- define the boundaries _xm[i] and _ym[j]
  if (Scene::_addRowCols) addRowCols();
  _im = _sxm.size();
  _xm.resize(_im);
  DEBTRACE("_sxm.size()=" << _im);
  int i =0;
  for(std::set<double>::iterator it = _sxm.begin(); it != _sxm.end(); ++it)
    {
      _xm[i] = *it;
      _x2i[*it] = i;
      DEBTRACE("_xm[" << i << "] = " << _xm[i]);
      i++;
    }
  _jm = _sym.size();
  _ym.resize(_jm);
  DEBTRACE("_sym.size()=" << _jm);
  i =0;
  for(std::set<double>::iterator it = _sym.begin(); it != _sym.end(); ++it)
    {
      _ym[i] = *it;
      _y2j[*it] = i;
      DEBTRACE("_ym[" << i << "] = " << _ym[i]);
      i++;
    }
  _cost.resize(_im*_jm);
  for (int ij=0; ij < _im*_jm; ij++)
    _cost[ij] = 1;       // --- set the _cost matrix open everywhere (no obstacles)
  explore(_bloc, true);  // --- fill the cells cost(i,j) with obstacles

  for (int j=0; j<_jm; j++)
    {
      char* m = new char[_im+1];
      for (int i=0; i<_im; i++)
        if (cost(i,j))
          m[i] = ' ';
        else 
          m[i] = 'X';
      m[_im] = 0;
      DEBTRACE(m);
      delete [] m;
    }
}

int YACS::HMI::LinkMatrix::cost ( int  i, int  j  ) const

inline

Definition at line 98 of file LinkMatrix.hxx.

References _cost, and _jm.

Referenced by YACS::HMI::LinkAStar::addNeighbours(), cellFrom(), cellTo(), and compute().

{ return _cost[i*_jm +j]; };

void YACS::HMI::LinkMatrix::defineCost

(

AbstractSceneItem *

child

)

void LinkMatrix::explore	(	AbstractSceneItem *	child,
		bool	setObstacle = false
	)

find recursively elementary nodes and node headers and call getBoundingBox on each item. first pass with setObstacle = false stores the x and y coordinates of the mesh boundaries. second pass with setObstacle = true fills the mesh with obstacles i.e. elementary nodes or nodeHeaders.

Definition at line 340 of file LinkMatrix.cxx.

References getBoundingBox(), YACS::HMI::SceneComposedNodeItem::getChildren(), and YACS::HMI::SceneNodeItem::getHeader().

Referenced by compute().

{
  SceneComposedNodeItem *cnItem = dynamic_cast<SceneComposedNodeItem*>(child);
  if (cnItem)
    {
      SceneHeaderItem *obstacle = cnItem->getHeader();
      if (obstacle) getBoundingBox(obstacle, 0, setObstacle);
      list<AbstractSceneItem*> children = cnItem->getChildren();
      for (list<AbstractSceneItem*>::const_iterator it = children.begin(); it != children.end(); ++it)
        explore(*it, setObstacle);
    }
  SceneElementaryNodeItem *ceItem = dynamic_cast<SceneElementaryNodeItem*>(child);
  if (ceItem)
    {
      getBoundingBox(ceItem, 1, setObstacle);
    }
}

void LinkMatrix::getBoundingBox	(	SceneItem *	obstacle,
		int	margin,
		bool	setObstacle = false
	)

first pass with setObstacle = false stores the x and y coordinates of the mesh boundaries. second pass with setObstacle = true fills the mesh with obstacles i.e. elementary nodes or nodeHeaders. For elementary nodes, the bounding box is smaller to let a path between nodes that are stick together.

Definition at line 364 of file LinkMatrix.cxx.

References _cost, _jm, _sxm, _sym, _x2i, _y2j, YACS::HMI::SceneItem::boundingRect(), DEBTRACE, CORBAEngineTest::i, imax(), and jmax().

Referenced by compute(), and explore().

{
  QRectF bb = (obstacle->mapToScene(obstacle->boundingRect())).boundingRect();
  if (setObstacle)
    {
      int imin = _x2i[bb.left()   + margin];
      int imax = _x2i[bb.right()  - margin];
      int jmin = _y2j[bb.top()    + margin];
      int jmax = _y2j[bb.bottom() - margin];
      DEBTRACE(bb.left() << " " << bb.right() << " " << bb.top() << " " << bb.bottom() );
      DEBTRACE(imin << " " << imax << " " << jmin << " " << jmax);
      for (int j=jmin; j<jmax; j++)
        for (int i=imin; i<imax; i++)
          {
            int ij = i*_jm +j;
            _cost[ij] = 0;       // --- obstacle
          }
    }
  else
    {
      _sxm.insert(bb.left()   + margin);
      _sxm.insert(bb.right()  - margin);
      _sym.insert(bb.top()    + margin);
      _sym.insert(bb.bottom() - margin);
    }
}

std::list< linkdef > LinkMatrix::getListOfCtrlLinkDef

(

)

Definition at line 241 of file LinkMatrix.cxx.

References _context, YACS::HMI::QtGuiContext::_mapOfSceneItem, YACS::HMI::GuiContext::_mapOfSubjectControlLink, cellFrom(), cellTo(), DEBTRACE, YACS::HMI::linkdef::from, YACS::HMI::AbstractSceneItem::getLabel(), YACS::HMI::linkdef::item, and YACS::HMI::linkdef::to.

Referenced by YACS::HMI::SceneComposedNodeItem::rebuildLinks().

{
  list<linkdef> alist;
  map<pair<Node*, Node*>, SubjectControlLink*>::const_iterator it;
  for (it = _context->_mapOfSubjectControlLink.begin();
       it != _context->_mapOfSubjectControlLink.end(); ++it)
    {
      linkdef ali;
      pair<Node*, Node*> outin = it->first;
      SubjectControlLink* sub = it->second;
      ali.from = cellFrom(outin.first->getOutGate());
      ali.to = cellTo(outin.second->getInGate());
      ali.item = dynamic_cast<SceneLinkItem*>(_context->_mapOfSceneItem[sub]);
      alist.push_back(ali);
      DEBTRACE("from("<<ali.from.first<<","<<ali.from.second
               <<") to ("<<ali.to.first<<","<<ali.to.second
               <<") " << ali.item->getLabel().toStdString());
    }
  return alist;
}

std::list< linkdef > LinkMatrix::getListOfDataLinkDef

(

)

Definition at line 262 of file LinkMatrix.cxx.

References _context, YACS::HMI::QtGuiContext::_mapOfSceneItem, YACS::HMI::GuiContext::_mapOfSubjectLink, cellFrom(), cellTo(), DEBTRACE, YACS::HMI::linkdef::from, YACS::HMI::AbstractSceneItem::getLabel(), YACS::HMI::linkdef::item, and YACS::HMI::linkdef::to.

Referenced by YACS::HMI::SceneComposedNodeItem::rebuildLinks().

{
  list<linkdef> alist;
  map<pair<OutPort*, InPort*>, SubjectLink*>::const_iterator it;
  for (it = _context->_mapOfSubjectLink.begin();
       it != _context->_mapOfSubjectLink.end(); ++it)
    {
      linkdef ali;
      pair<OutPort*, InPort*> outin = it->first;
      SubjectLink* sub = it->second;
      ali.from = cellFrom(outin.first);
      ali.to = cellTo(outin.second);
      ali.item = dynamic_cast<SceneLinkItem*>(_context->_mapOfSceneItem[sub]);
      alist.push_back(ali);
      DEBTRACE("from("<<ali.from.first<<","<<ali.from.second
               <<") to ("<<ali.to.first<<","<<ali.to.second
               <<") " << ali.item->getLabel().toStdString());
    }
  return alist;
}

LinkPath LinkMatrix::getPath

(

LNodePath

lnp

)

Definition at line 283 of file LinkMatrix.cxx.

References _im, _jm, _xm, _ym, gui.CONNECTOR::a, DEBTRACE, CORBAEngineTest::i, YACS::HMI::Resource::link_separation_weight, YACS::HMI::linkPoint::x, and YACS::HMI::linkPoint::y.

Referenced by YACS::HMI::SceneComposedNodeItem::rebuildLinks().

{
  DEBTRACE("LinkMatrix::getPath " << lnp.size());
  LinkPath lp;
  lp.clear();
  int dim = lnp.size();  
  //use a random coefficient between 0.25 and 0.75 to try to separate links
  double coef=-0.25+rand()%101*0.005;
  coef=0.5 + coef* Resource::link_separation_weight/10.;
  LNodePath::const_iterator it = lnp.begin();
  for (int k=0; k<dim; k++)
    {
      int i = it->getX();
      int j = it->getY();
      DEBTRACE("i, j: " << i << " " << j << " Xmax, Ymax: " << _im << " " << _jm);
      linkPoint a;

      if ( (i+1)==_im ) {
        a.x = _xm[i];
      } else {
        a.x = coef*_xm[i] + (1.-coef)*_xm[i+1];
      };

      if ( (j+1)==_jm ) {
        a.y = _ym[j];
      } else {
        a.y = coef*_ym[j] + (1.-coef)*_ym[j+1];
      };

      lp.push_back(a);
      DEBTRACE(a.x << " " << a.y);
      ++it;
    }
  return lp;
}

int YACS::HMI::LinkMatrix::imax ( ) const

inline

Definition at line 99 of file LinkMatrix.hxx.

References _im.

Referenced by YACS::HMI::LinkAStar::addNeighbours(), and getBoundingBox().

{ return _im; };

void LinkMatrix::incrementCost

(

LNodePath

lnp

)

Definition at line 319 of file LinkMatrix.cxx.

References _cost, _jm, CORBAEngineTest::i, and YACS::HMI::Resource::link_separation_weight.

Referenced by YACS::HMI::SceneComposedNodeItem::rebuildLinks().

{
  int dim = lnp.size();  
  LNodePath::const_iterator it = lnp.begin();
  for (; it != lnp.end(); ++it)
    {
      int i = it->getX();
      int j = it->getY();
      int ij = i*_jm +j;
      _cost[ij] += Resource::link_separation_weight; // --- big cost, because distance is x2+y2

    }    
}

int YACS::HMI::LinkMatrix::jmax ( ) const

inline

Definition at line 100 of file LinkMatrix.hxx.

References _jm.

Referenced by YACS::HMI::LinkAStar::addNeighbours(), and getBoundingBox().

{ return _jm; };

Member Data Documentation

SceneComposedNodeItem* YACS::HMI::LinkMatrix::_bloc

protected

Definition at line 100 of file LinkMatrix.hxx.

Referenced by compute().

QtGuiContext* YACS::HMI::LinkMatrix::_context

protected

Definition at line 114 of file LinkMatrix.hxx.

Referenced by cellFrom(), cellTo(), getListOfCtrlLinkDef(), getListOfDataLinkDef(), and LinkMatrix().

std::vector<int> YACS::HMI::LinkMatrix::_cost

protected

Definition at line 113 of file LinkMatrix.hxx.

Referenced by compute(), cost(), getBoundingBox(), incrementCost(), and LinkMatrix().

int YACS::HMI::LinkMatrix::_im

protected

Definition at line 104 of file LinkMatrix.hxx.

Referenced by cellFrom(), cellTo(), compute(), getPath(), imax(), and LinkMatrix().

int YACS::HMI::LinkMatrix::_jm

protected

Definition at line 105 of file LinkMatrix.hxx.

Referenced by cellFrom(), cellTo(), compute(), cost(), getBoundingBox(), getPath(), incrementCost(), jmax(), and LinkMatrix().

double YACS::HMI::LinkMatrix::_pas

protected

Definition at line 106 of file LinkMatrix.hxx.

Referenced by addRowCols(), and LinkMatrix().

std::set<double> YACS::HMI::LinkMatrix::_sxm

protected

Definition at line 107 of file LinkMatrix.hxx.

Referenced by addRowCols(), compute(), getBoundingBox(), and LinkMatrix().

std::set<double> YACS::HMI::LinkMatrix::_sym

protected

Definition at line 108 of file LinkMatrix.hxx.

Referenced by addRowCols(), compute(), getBoundingBox(), and LinkMatrix().

std::map<double,int> YACS::HMI::LinkMatrix::_x2i

protected

Definition at line 111 of file LinkMatrix.hxx.

Referenced by compute(), getBoundingBox(), and LinkMatrix().

std::vector<double> YACS::HMI::LinkMatrix::_xm

protected

Definition at line 109 of file LinkMatrix.hxx.

Referenced by cellFrom(), cellTo(), compute(), getPath(), and LinkMatrix().

std::map<double,int> YACS::HMI::LinkMatrix::_y2j

protected

Definition at line 112 of file LinkMatrix.hxx.

Referenced by compute(), getBoundingBox(), and LinkMatrix().

std::vector<double> YACS::HMI::LinkMatrix::_ym

protected

Definition at line 110 of file LinkMatrix.hxx.

Referenced by cellFrom(), cellTo(), compute(), getPath(), and LinkMatrix().

---

The documentation for this class was generated from the following files:

• src/genericgui/LinkMatrix.hxx
• src/genericgui/LinkMatrix.cxx