void generatePlans(CoverageCell[][] mat, CoverageCell first) {
Vector<String> selectedVehicles = new Vector<String>();
Vector<SystemsList> tmp = getConsole().getSubPanelsOfClass(SystemsList.class);
selectedVehicles.addAll(tmp.get(0).getSelectedSystems(true));
Object planid;
if (selectedVehicles.size() > 1)
planid = JOptionPane.showInputDialog(getConsole(), "Enter desired plan prefix");
else planid = JOptionPane.showInputDialog(getConsole(), "Enter desired plan name");
MissionType mission = getConsole().getMission();
if (mission == null) {
GuiUtils.errorMessage(getConsole(), "Coverage Plan Solver", "No mission has been set");
return;
}
if (selectedVehicles.size() <= 1) {
CoverageCell current = first, next = current.next;
PlanCreator creator = new PlanCreator(mission);
creator.setLocation(first.realWorldLoc);
// creator.addManeuver("Goto");
while (next != null) {
if (next.j != current.j) {
CoverageCell pivot = current;
while (pivot.previous != null && pivot.previous.i == current.i) pivot = pivot.previous;
creator.setLocation(pivot.realWorldLoc);
creator.addManeuver("Goto");
creator.setLocation(next.realWorldLoc);
creator.addManeuver("Goto");
}
current = next;
next = current.next;
}
PlanType plan = creator.getPlan();
plan.setId(planid.toString());
plan.setVehicle(getConsole().getMainSystem());
mission.addPlan(plan);
mission.save(false);
getConsole().updateMissionListeners();
} else {
double distance = 0;
CoverageCell current = first, next = current.next;
distance += current.realWorldLoc.getDistanceInMeters(next.realWorldLoc);
while (next != null) {
if (next.j != current.j) {
CoverageCell pivot = current;
while (pivot.previous != null && pivot.previous.i == current.i) pivot = pivot.previous;
}
distance += current.realWorldLoc.getDistanceInMeters(next.realWorldLoc);
current = next;
next = current.next;
}
double distEach = distance / selectedVehicles.size();
current = first;
next = current.next;
PlanCreator creator = new PlanCreator(mission);
creator.setLocation(current.realWorldLoc);
distance = 0;
int curIndex = 0;
while (next != null) {
if (next.j != current.j) {
CoverageCell pivot = current;
while (pivot.previous != null && pivot.previous.i == current.i) pivot = pivot.previous;
creator.setLocation(pivot.realWorldLoc);
creator.addManeuver("Goto");
distance += current.realWorldLoc.getDistanceInMeters(next.realWorldLoc);
if (distance < distEach) {
creator.setLocation(next.realWorldLoc);
creator.addManeuver("Goto");
}
} else distance += current.realWorldLoc.getDistanceInMeters(next.realWorldLoc);
if (distance > distEach) {
creator.setLocation(current.realWorldLoc);
creator.addManeuver("Goto");
PlanType plan = creator.getPlan();
plan.setVehicle(selectedVehicles.get(curIndex));
plan.setId(planid + "_" + selectedVehicles.get(curIndex++));
mission.addPlan(plan);
creator = new PlanCreator(mission);
creator.setLocation(current.realWorldLoc);
creator.addManeuver("Goto");
distance = 0;
}
current = next;
next = current.next;
}
PlanType plan = creator.getPlan();
plan.setVehicle(selectedVehicles.get(curIndex));
plan.setId(planid + "_" + selectedVehicles.get(curIndex++));
mission.addPlan(plan);
mission.save(false);
getConsole().updateMissionListeners();
}
}
