from model import model
from initial import initial_map,initial_agvplan
from change import switch_to_location,switch_to_xy
from f1score import F1score
import numpy as np
import openpyxl
def singleControl():
    Special_structure = [[[[2, 8], 1, 1, 1], [[2, 11], 1, 1, 1], [[2, 14], 1, 1, 1]], [], [[[2, 1], 3, 2, 3]],
                         [[[10, 9], 9, 9, 4], [[10, 11], 9, 1, 0, 3, 3, 0], [[12, 9], 1, 9, 3, 0, 2, 0]],
                         [[[6, 6], 1, 3, 5], [[6, 12], 2, 2, 5], [[8, 19], 2, 1, 5], [[11, 4], 1, 3, 5],
                          [[11, 4], 4, 1, 5],
                          [[15, 19], 1, 2, 5]]]  # 设置了6个白值，分别对应车道，出口卸货台，入口装货台，AGV停止区，货架，障碍物，通过2维矩阵和色块着色来绘制地图
    MAP = initial_map(Special_structure)
    AGV_PLAN = initial_agvplan(5, MAP,seed=5)
    theory_total = 0
    for key in AGV_PLAN.keys():
        for i in range(len(AGV_PLAN[key]) - 1):
            [des_x, des_y] = switch_to_xy(AGV_PLAN[key][i + 1])
            [x, y] = switch_to_xy(AGV_PLAN[key][i])
            if (x != des_x) & (y != des_y):
                theory_total += abs(des_x - x) + abs(des_y - y) + 1
            else:
                theory_total += abs(des_x - x) + abs(des_y - y)
    print("理论距离", theory_total)
    for key in AGV_PLAN.keys():
        print("AGV", key)
        for j in AGV_PLAN[key]:
            print(switch_to_xy(j))
    safedistance=13
    MAX_ITERATION=2
    kwargs = {
        'SAFEDISTANCE': safedistance,
        'MAX_BACK_TIMES': 10,
        'im_step': 5,
        'im_self2other': 10,
        'MAX_ITER': [30, 30, 50],
        'DISPLAY': [0, 0],
        'version': 1,
    }
    total_step = 0
    total_cut = 0
    total_avoid = 0
    total_invalid=0
    total_time = 0
    total_finish = MAX_ITERATION
    item_step_set = []
    item_time_set = []
    for i in range(MAX_ITERATION):
        item_step, item_cut, item_avoid,item_invalid, finish = model(MAP, AGV_PLAN, **kwargs)
        if finish[0] == 0:
            item_time_set.append(finish[1])
            item_step_set.append(item_step)
            total_time += finish[1]
            total_step += item_step
            total_cut += item_cut
            total_avoid += item_avoid
            total_invalid+=item_invalid
        else:
            total_finish -= 1
    variance_step = 0
    for i in range(len(item_step_set)):
        variance_step += pow((item_step_set[i] - total_step / total_finish), 2)
    variance_time = 0
    for i in range(len(item_time_set)):
        variance_time += pow((item_time_set[i] - total_time / total_finish), 2)
    print('-------------------------------')
    print("安全距离", kwargs['SAFEDISTANCE'])
    print("求解速度", total_time / total_finish)
    print("解集质量", int(total_step / total_finish))
    print("每轮实验平均无效选择次数",total_invalid/total_finish)
    print("所有AGV平均干扰次数", total_cut / total_finish)
    print("所有AGV平均避让次数", total_avoid / total_finish)
    print("求解速度标准差", pow(variance_time / total_finish, 0.5))
    print("解集质量标准差", pow(variance_step / total_finish, 0.5))
    print("实验次数", total_finish)
    print('-------------------------------')

def MainControl():
    Special_structure = [[[[2, 8], 1, 1, 1], [[2, 11], 1, 1, 1], [[2, 14], 1, 1, 1]], [], [[[2, 1], 3, 2, 3]],
                     [[[10, 9], 9, 9, 4], [[10, 11], 9, 1, 0, 3, 3, 0], [[12, 9], 1, 9, 3, 0, 2, 0]],
                     [[[6, 6], 1, 3, 5], [[6, 12], 2, 2, 5], [[8, 19], 2, 1, 5], [[11, 4], 1, 3, 5], [[11, 4], 4, 1, 5],
                      [[15, 19], 1, 2, 5]]]  # 设置了6个白值，分别对应车道，出口卸货台，入口装货台，AGV停止区，货架，障碍物，通过2维矩阵和色块着色来绘制地图
    MAP=initial_map(Special_structure)
    AGV_PLAN = initial_agvplan(5, MAP,seed=3)
    theory_total=0
    for key in AGV_PLAN.keys():
        for i in range(len(AGV_PLAN[key])-1):
            [des_x,des_y]=switch_to_xy(AGV_PLAN[key][i+1])
            [x,y]=switch_to_xy(AGV_PLAN[key][i])
            if (x!=des_x)&(y!=des_y):
                theory_total+=abs(des_x - x) + abs(des_y - y)+1
            else:
                theory_total+=abs(des_x - x) + abs(des_y - y)
    print("理论距离",theory_total)
    MAX_ITERATION=5
    print("--------------------新版本----------------------")
    experiment_time=[]
    experiment_step=[]
    for m in range(11):
        if m==0:
            safedistance=0
        elif 0<m<9:
            safedistance=1+(m-1)*4
        elif m==9:
            safedistance=1+(m-2)*4+8
        else:
            safedistance=40
        # safedistance=m
        kwargs = {
            'SAFEDISTANCE': safedistance,
            'MAX_BACK_TIMES': 10,
            'im_step': 5,
            'im_self2other': 10,
            'MAX_ITER': [30, 30, 50],
            'DISPLAY': [0, 0],
            'version': 1,
        }
        total_step=0
        total_cut=0
        total_avoid=0
        total_invalid=0
        total_time=0
        total_finish=MAX_ITERATION
        item_step_set=[]
        item_time_set=[]
        for i in range(MAX_ITERATION):
            item_step, item_cut, item_avoid, item_invalid, finish = model(MAP, AGV_PLAN, **kwargs)
            if finish[0]==0:
                item_time_set.append(finish[1])
                item_step_set.append(item_step)
                total_time+=finish[1]
                total_step+=item_step
                total_cut+=item_cut
                total_avoid+=item_avoid
                total_invalid+=item_invalid
            else:
                total_finish-=1
        variance_step = 0
        for i in range(len(item_step_set)):
            variance_step += pow((item_step_set[i] - total_step / total_finish), 2)
        variance_time = 0
        for i in range(len(item_time_set)):
            variance_time += pow((item_time_set[i] - total_time / total_finish), 2)
        experiment_step.append(int(total_step/total_finish))
        experiment_time.append(total_time/total_finish)
        print('-------------------------------')
        print("安全距离",kwargs['SAFEDISTANCE'])
        print("求解速度",total_time/total_finish)
        print("解集质量",int(total_step/total_finish))
        print("每轮实验平均无效选择次数", total_invalid / total_finish)
        print("所有AGV平均干扰次数", total_cut / total_finish)
        print("所有AGV平均避让次数", total_avoid / total_finish)
        print("求解速度标准差", pow(variance_time/total_finish, 0.5))
        print("解集质量标准差", pow(variance_step/total_finish, 0.5))
        print("实验次数",total_finish)
        print('-------------------------------')
        wb=openpyxl.load_workbook('ex.xlsx')
        sh=wb['ex1']
        sh.cell(row=m+1,column=1).value=total_invalid / total_finish
        sh.cell(row=m + 1, column=2).value = total_avoid / total_finish
        sh.cell(row=m + 1, column=3).value=total_invalid / total_finish+total_avoid / total_finish
        sh.cell(row=m + 1, column=4).value = int(total_step/total_finish)
        wb.save('ex.xlsx')

    max_step=max(experiment_step)
    min_step=min(experiment_step)
    max_time=max(experiment_time)
    min_time=min(experiment_time)
    experiment_step=np.array(experiment_step)
    experiment_time=np.array(experiment_time)
    epsilon=pow(10,-8)
    experiment_step=np.ones(experiment_step.shape)-(experiment_step-min_step)/(max_step-min_step)+epsilon
    experiment_time = np.ones(experiment_time.shape) - (experiment_time - min_time) / (max_time - min_time) + epsilon
    for m in range(11):
        if m==0:
            safedistance=0
        elif 0<m<9:
            safedistance=1+(m-1)*4
        elif m==9:
            safedistance=1+(m-2)*4+8
        else:
            safedistance=40
        print("实验编号",m,'-----安全距离-----',safedistance,"-----综合评分-----",F1score(experiment_step[m],experiment_time[m]))
MainControl()
# singleControl()