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task.cpp
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task.cpp
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#include "task.h"
using namespace tinyxml2;
bool Task::getTask(const char *fileName)
{
XMLDocument doc;
if(doc.LoadFile(fileName) != XMLError::XML_SUCCESS)
{
std::cout << "Error openning input XML file."<<std::endl;
return false;
}
XMLElement *root = doc.FirstChildElement(CNS_TAG_ROOT);
if (!root)
{
std::cout << "No '"<<CNS_TAG_ROOT<<"' element found in XML task-file."<<std::endl;
return false;
}
double defaultSize(CN_DEFAULT_SIZE), defaultRSpeed(CN_DEFAULT_RSPEED), defaultMSpeed(CN_DEFAULT_MSPEED),
defaultSHeading(CN_DEFAULT_SHEADING), defaultGHeading(CN_DEFAULT_GHEADING);
root = root->FirstChildElement(CNS_TAG_AGENTS);
if (!root)
{
std::cout << "No '"<<CNS_TAG_AGENTS<<"' element found in XML file."<<std::endl;
return false;
}
XMLElement *element = root->FirstChildElement(CNS_TAG_DEF_PARAMS);
if(element)
{
defaultSize = element->DoubleAttribute(CNS_TAG_ATTR_SIZE);
defaultRSpeed = element->DoubleAttribute(CNS_TAG_ATTR_RSPEED);
defaultMSpeed = element->DoubleAttribute(CNS_TAG_ATTR_MSPEED);
defaultSHeading = element->DoubleAttribute(CNS_TAG_ATTR_SHEADING);
defaultGHeading = element->DoubleAttribute(CNS_TAG_ATTR_GHEADING);
if(element->Attribute(CNS_TAG_ATTR_GHEADING) == CNS_HEADING_WHATEVER)
defaultGHeading = CN_HEADING_WHATEVER;
if(defaultSize <= 0 || defaultSize > 10.0)
{
std::cout<<"Incorrect value of default "<<CNS_TAG_ATTR_SIZE" parameter. The value is set to "<< CN_DEFAULT_SIZE<<".\n";
defaultSize = CN_DEFAULT_SIZE;
}
if(defaultRSpeed <= 0 || defaultRSpeed > 10.0)
{
std::cout<<"Incorrect value of default "<<CNS_TAG_ATTR_ROTATIONSPEED<<" parameter. The value is set to "<< CN_DEFAULT_RSPEED<<".\n";
defaultRSpeed = CN_DEFAULT_RSPEED;
}
if(defaultMSpeed <= 0 || defaultMSpeed > 10.0)
{
std::cout<<"Incorrect value of default "<<CNS_TAG_ATTR_MOVESPEED<<" parameter. The value is set to "<< CN_DEFAULT_MSPEED<<".\n";
defaultMSpeed = CN_DEFAULT_MSPEED;
}
if(defaultSHeading < 0 || defaultSHeading > 360)
{
std::cout<<"Incorrect value of default "<<CNS_TAG_ATTR_SHEADING<<" parameter. The value is set to "<< CN_DEFAULT_SHEADING<<".\n";
defaultSHeading = CN_DEFAULT_SHEADING;
}
if(defaultGHeading < -1 || defaultGHeading > 360)
{
std::cout<<"Incorrect value of default "<<CNS_TAG_ATTR_GHEADING<<" parameter. The value is set to "<< CN_DEFAULT_GHEADING<<".\n";
defaultGHeading = CN_DEFAULT_GHEADING;
}
}
element = root->FirstChildElement(CNS_TAG_AGENT);
if(!element)
{
std::cout << "No '"<<CNS_TAG_AGENT<<"' element found in XML file."<<std::endl;
return false;
}
int k(0);
for(element; element; element = element->NextSiblingElement("agent"))
{
Agent agent;
agent.start_i = element->IntAttribute(CNS_TAG_ATTR_SY);
agent.start_j = element->IntAttribute(CNS_TAG_ATTR_SX);
agent.goal_i = element->IntAttribute(CNS_TAG_ATTR_GY);
agent.goal_j = element->IntAttribute(CNS_TAG_ATTR_GX);
if(element->Attribute(CNS_TAG_ATTR_ID))
agent.id = element->Attribute(CNS_TAG_ATTR_ID);
else
agent.id = std::to_string(k);
if(element->Attribute(CNS_TAG_ATTR_SIZE))
agent.size = element->DoubleAttribute(CNS_TAG_ATTR_SIZE);
else
agent.size = defaultSize;
if(element->Attribute(CNS_TAG_ATTR_RSPEED))
agent.rspeed = element->DoubleAttribute(CNS_TAG_ATTR_RSPEED);
else
agent.rspeed = defaultRSpeed;
if(element->Attribute(CNS_TAG_ATTR_MSPEED))
agent.mspeed = element->DoubleAttribute(CNS_TAG_ATTR_MSPEED);
else
agent.mspeed = defaultMSpeed;
if(element->Attribute(CNS_TAG_ATTR_SHEADING))
agent.start_heading = element->DoubleAttribute(CNS_TAG_ATTR_SHEADING);
else
agent.start_heading = defaultSHeading;
if(element->Attribute(CNS_TAG_ATTR_GHEADING))
agent.goal_heading = element->DoubleAttribute(CNS_TAG_ATTR_GHEADING);
else
agent.goal_heading = defaultGHeading;
if(agent.size <= 0 || agent.size > 10.0)
{
std::cout<<"Incorrect value of "<<CNS_TAG_ATTR_SIZE<<" attribute of agent "<<agent.id<<". It's set to default value "<<defaultSize<<".\n";
agent.size = defaultSize;
}
if(agent.rspeed <= 0 || agent.rspeed > 10.0)
{
std::cout<<"Incorrect value of "<<CNS_TAG_ATTR_RSPEED<<" of agent "<<agent.id<<". It's set to default value "<<defaultRSpeed<<".\n";
agent.rspeed = defaultRSpeed;
}
if(agent.mspeed <= 0 || agent.mspeed > 10.0)
{
std::cout<<"Incorrect value of "<<CNS_TAG_ATTR_MSPEED<<" of agent "<<agent.id<<". It's set to default value "<<defaultMSpeed<<".\n";
agent.mspeed = defaultMSpeed;
}
if(agent.start_heading < 0 || agent.start_heading > 360.0)
{
std::cout<<"Incorrect value of "<<CNS_TAG_ATTR_SH<<" of agent "<<agent.id<<". It's set to default value "<<defaultSHeading<<".\n";
agent.start_heading = defaultSHeading;
}
if(agent.goal_heading < -1 || agent.goal_heading > 360.0)
{
std::cout<<"Incorrect value of "<<CNS_TAG_ATTR_GHEADING<<" of agent "<<agent.id<<". It's set to default value "<<defaultSHeading<<".\n";
agent.goal_heading = defaultGHeading;
}
k++;
agents.push_back(agent);
break;
}
return true;
}
bool Task::validateTask(const Map &map)
{
LineOfSight los;
for(Agent a:agents)
{
los.setSize(a.size);
if(!los.checkTraversability(a.start_i, a.start_j, map))
{
std::cout<<"Error! Start position of agent "<<a.id<<" is invalid.\n";
return false;
}
if(!los.checkTraversability(a.goal_i, a.goal_j, map))
{
std::cout<<"Error! Goal position of agent "<<a.id<<" is invalid.\n";
return false;
}
}
for(int i = 0; i < agents.size(); i++)
for(int j = i + 1; j < agents.size(); j++)
{
Agent a1 = agents[i], a2 = agents[j];
if(sqrt(pow(a1.start_i - a2.start_i, 2) + pow(a1.start_j - a2.start_j, 2)) < (a1.size + a2.size))
{
std::cout<<"Error! Start positions of agents "<< a1.id <<" and "<< a2.id <<" are placed too close.\n";
return false;
}
if(sqrt(pow(a1.goal_i - a2.goal_i, 2) + pow(a1.goal_j - a2.goal_j, 2)) < (a1.size + a2.size))
{
std::cout<<"Error! Goal positions of agents "<< a1.id <<" and "<< a2.id <<" are placed too close.\n";
return false;
}
}
return true;
}
Agent Task::getAgent(unsigned int id) const
{
if(id < agents.size())
return agents[id];
else
return Agent();
}
unsigned int Task::getNumberOfAgents() const
{
return agents.size();
}