### A Pluto.jl notebook ###
# v0.19.14

using Markdown
using InteractiveUtils

# This Pluto notebook uses @bind for interactivity. When running this notebook outside of Pluto, the following 'mock version' of @bind gives bound variables a default value (instead of an error).
macro bind(def, element)
    quote
        local iv = try Base.loaded_modules[Base.PkgId(Base.UUID("6e696c72-6542-2067-7265-42206c756150"), "AbstractPlutoDingetjes")].Bonds.initial_value catch; b -> missing; end
        local el = $(esc(element))
        global $(esc(def)) = Core.applicable(Base.get, el) ? Base.get(el) : iv(el)
        el
    end
end

# ╔═╡ 9f93d035-b53d-4853-9f68-85eea15e0f47
using Metaheuristics , TiffImages, LinearAlgebra, Plots, PlutoUI

# ╔═╡ 23dbea72-ba27-4f39-a2b2-d2e24a0fe989
@bind user_output confirm(
	PlutoUI.combine() do bind
		md"""
		# Plánování trasy bezpilotních letounů pomocí evolučních algoritmů
		#### Filip Miloševič
		####
		tento program byl vypracován jako součást bakalářské práce. Kód Nákladové funkce a funkce DistToThread je z převážně přepsaný do Julie z Matlabovského kódu, viz Zdroj
		### Nastavení aplikace:
		 
		###### Nastavení trasy
		Počet bodů trasy: $(bind(NumberField(2:30, default=5)))
		
		###### Kritéria zastavení Algoritmů:
		Čas (v sekundách): $(bind(NumberField(1:999999999999, default=3)))
		
		Počet iterací algoritmů: $(bind(NumberField(1:999999999999, default=1000000))) 

		Počet zavolání nákladové funkce: $(bind(NumberField(1:999999999999, default=1000000))) 

		###### Parametry Algoritmů 
		ABC:  
		
		* N: $(bind(NumberField(1:1000, default=240)))
		
		* Limita (kolikrát algoritmus vyzkouší řešení) $(bind(NumberField(1:100, default=40)))

		PSO:

		* N: $(bind(NumberField(0:1000, default=500)))

		* C1: $(bind(NumberField(0:0.01:3, default=1.7)))

		* C2: $(bind(NumberField(0:0.01:3, default=2.0)))

		* ω: $(bind(NumberField(0:0.01:1, default=0.80)))

		WOA: 
		* N: $(bind(NumberField(0:1000, default=250)))
		 


		###### Stiknutím tlačítka zahájíte optimalizaci:
		"""
	end
)

# ╔═╡ 99d210d6-6b5c-4a37-99a8-0df18dd85043
TableOfContents(title="Obsah")

# ╔═╡ 829093a1-48c0-49dd-8bcb-9a9651cc427a
md"""  Importuje Tiff, ze kterého získáme data o parametrech (výška a velikost) terénu: """

# ╔═╡ 1cdc668a-4893-45fe-946b-cc17b2c05eaa
begin
	n=user_output[1]
	
	time_optINT=user_output[2]
	iter_opt=user_output[3]
	fcalls_opt=user_output[4]
	
	ABC_N=user_output[5]
	ABC_limit=user_output[6]
	
	PSO_N=user_output[7]
	PSO_C1=user_output[8]
	PSO_C2=user_output[9]
	PSO_omega=user_output[10]

	WOA_N=user_output[11]
	
	TiffBase = TiffImages.load("ChrismasTerrain.tif")
	
	H = convert(Array{Float32}, TiffBase) #konvertuje Tiff data  na Float
	time_opt= convert(Float64,time_optINT)

	mapsize_x=size(H, 2)
	mapsize_y=size(H,1)
end

# ╔═╡ ec8bea8e-be41-4867-bd01-c9e66a7d9abb
md"""### Souřadnice překážek: """

# ╔═╡ 4e042b9c-49a6-4874-9384-4c70a8bdbad5
begin
	# Překážky
	R1=200
	x1=400
	y1=750
	z1=100

	R2=90
	x2=575
	y2=400
	z2=150
	
	R3=120
	x3=750
	y3=600
	z3=150
	 
	R4=150
	x4=370
	y4=200
	z4=150

	R5=100
	x5=800
	y5=80
	z5=150
		
	threats=[x1 y1 z1 R1;x2 y2 z2 R2;x3 y3 z3 R3;x4 y4 z4 R4;x5 y5 z5 R5]
	threat_num = size(threats, 1)

	
	#meze modelované mapy
	xmin= 1 
	xmax= mapsize_x
	    
	ymin= 1
	ymax= mapsize_y
	    
	zmin = 100
	zmax = 200  #meze modelované mapy
	
	start_location = [200;100;150] #počáteční a koncové souřadnice
	end_location = [800;800;150]

end

# ╔═╡ ba65042c-735d-46e1-9ecc-1206d093e385
md"""  funkce pro zjištění vzdálenosti bodu od hrozby - Využito pro spočítání F2 v CostFunction: """

# ╔═╡ c4ec2138-cf00-48be-8c2a-1b118e328c5f
function DistToThread(x, a, b)
d_ab = norm(a-b)
d_ax = norm(a-x)
d_bx = norm(b-x)
	
	if !(d_ab ≈ 0) #pokud body 'a' a 'b' jsou různé
		   if (dot(a-b,x-b)*dot(b-a,x-a))>=0
        A = [b-a;x-a]
        dist = abs(det(A))/d_ab # Vzorec vzdálenosti bod - přímka     
    else
        dist = min(d_ax, d_bx) 
    end
	else # pokud body 'a' a 'b' jsou stejné
    dist = d_ax
	return dist
end
end

# ╔═╡ 4e7d9e9a-1e7a-4497-8818-d9667c2da072
md"""### Nákladová funkce:"""

# ╔═╡ 1cccafaa-a1a7-44bf-82b2-c9271ed5be3d
function CostFunction(x,y,z)

xs=start_location[1]
ys=start_location[2]
zs=start_location[3]

xf=end_location[1]
yf=end_location[2]
zf=end_location[3]

x_all= [xs x xf]
y_all= [ys y yf]
z_all= [zs z zf]

	
N = size(x_all,2)

 z_abs = zeros(1,N)
    for i = 1:N
        z_abs[i] = z_all[i] + H[Int(round(y_all[i])), Int(round(x_all[i]))] #z_abs (nadmořská výška UAV) = relativní výška UAV + nadmořská výška země
    end

	
## F1 - optimalizace pro co nejkratší vzdálenost
F1=0
for i in 1:N-1
	length_diff=[x_all[i+1]-x_all[i];y_all[i+1]-y_all[i];z_abs[i+1]-z_abs[i]]
	if norm(length_diff) > 400
		F1=F1+norm(length_diff)*2
	elseif norm(length_diff) < 20
		F1=F1+norm(length_diff)*(20-norm(length_diff))
	else
	F1=F1+norm(length_diff)
	end
end

	
#F2 - optimalizace pro bezpečnost (výhýbání překážkám)

global drone_size = 1
global danger_dist = 10 * drone_size

    F2 = 0
    for i = 1:threat_num
        threat = threats[i, :]
        threat_x = threat[1]
        threat_y = threat[2]
        threat_radius = threat[4]
        for j = 1:N - 1
            # Vzdálenost mezi bodem navrhované trasy a nebezpečím
            dist = DistToThread([threat_x threat_y], [x_all[j] y_all[j]], [x_all[j + 1] y_all[j + 1]])
            if dist > (threat_radius + drone_size + danger_dist)  # Mimo nebezpečí
                threat_cost = 0
			elseif dist < (threat_radius + drone_size)  # Colize
                threat_cost = Inf
			else  # Nebezpečná zóna
                threat_cost = (threat_radius + drone_size + danger_dist) - dist
            end
            F2 =F2+ threat_cost
        end
    end
	
#F3 - optimalizace pro bezpečnost výškovou (abychom nenarazili do země)
# - z, zmin a zmax jsou počítány od země 
    F3 = 0;
    for i=1:n        
        if z[i] < 0   # náraz do země 
            F3_node = Inf
        else
            F3_node = abs(z[i] - (zmax + zmin)/2) 
        end
        
        F3 = F3 + F3_node
    end
##F4
	    F4 = 0
    turning_max = 45
    climb_max = 45
    for i = 1:N-2 

        # Projection of line segments to Oxy ~ (x,y,0)
        for j = i:-1:1
			global segment1_proj = (-)([x_all[j+1]; y_all[j+1]; 0], [x_all[j]; y_all[j]; 0])
		# segement1_proj=[x(j+1),y(j+1),0]-[x(j),y(j),0]
				
			
			if !((count(!iszero, segment1_proj)) ≈ 0) #spočítá počet nenul ve segemnt1_proj, pokud všechny jsou nulové --> break

				break
		end
	end

for j = i:N-2
           global segment2_proj = [x_all[j+2]; y_all[j+2]; 0] - [x_all[j+1]; y_all[j+1]; 0]

				
	
             if !((count(!iszero, segment2_proj)) ≈ 0)
                 break;
             end
        end

        climb_angle1 = (atan(z_abs[i+1] - z_abs[i],norm(segment1_proj)))*180/pi
        climb_angle2 = (atan(z_abs[i+2] - z_abs[i+1],norm(segment2_proj)))*180/pi

	 turning_angle = (atan(norm(cross(segment1_proj,segment2_proj)),dot(segment1_proj,segment2_proj)))*180/pi
	 
	

#spočítá F4
 if abs(turning_angle) > turning_max
            F4 = F4 + abs(turning_angle)
        end 
 if abs(climb_angle2 - climb_angle1) > climb_max
            F4 = F4 + abs(climb_angle2 - climb_angle1)
        end
	
	  
 end

    ##################################
    # Váhový koeficient
    b1 = 5
    b2 = 1
    b3 = 10
    b4 = 1
    # celková cena
   global cost = b1*F1 + b2*F2 + b3*F3 + b4*F4
    return cost 

			end

# ╔═╡ b7311e1b-3a12-42bf-8f20-688e11bd0192
md"""### Meze:"""

# ╔═╡ 20e6cff4-1a38-44c6-9cbe-f567f15be90d
begin
	boundsx=[xmin*ones(n) xmax*ones(n)]'
	boundsy=[ymin*ones(n) ymax*ones(n)]'
	boundsz=[zmin*ones(n) zmax*ones(n)]'
	
	bounds=hcat(boundsx,boundsy,boundsz)
end

# ╔═╡ 385a9ef9-aaa8-4f41-a45d-a88f76698baf
md"""### Inicializační funkce:"""

# ╔═╡ 7244fd2d-c2ed-4c3a-abce-3f3cfad77428
function Initialize(var)

	
	x=var[1:n]'
	y=var[n+1:n*2]'
	z=var[(2*n)+1:n*3]'
	
	CostFunction(x,y,z)
	
	return cost
	
end

# ╔═╡ 0240b9e7-06c6-4069-9160-58ea69d20789
md"""### Algoritmy:"""

# ╔═╡ fabcd801-fccc-462a-b582-ec352940479a
begin
	resultABC=optimize(Initialize,bounds,ABC(N=ABC_N,limit=ABC_limit, options=Options(iterations=iter_opt, time_limit=time_opt,f_calls_limit=fcalls_opt,store_convergence = true) ))

end

# ╔═╡ b3711300-0530-4586-8e1f-d0fd4ea521e2
begin
	resultPSO=optimize(Initialize,bounds,PSO(N=PSO_N,C1=PSO_C1,C2=PSO_C2, ω=PSO_omega,options=Options(iterations=iter_opt, time_limit=time_opt,f_calls_limit=fcalls_opt,store_convergence = true) ))

end

# ╔═╡ 191119bd-4a07-4281-a725-da4b7025fc8f
begin
	resultWOA=optimize(Initialize,bounds,WOA(N=WOA_N, options=Options(iterations=iter_opt, time_limit=time_opt,f_calls_limit=fcalls_opt,store_convergence = true) ))

end

# ╔═╡ 06356b00-9cf0-45b0-a884-485a0bf05575
begin
solABC_all=minimizer(resultABC)
	
solABC_x=[start_location[1]; solABC_all[1:n]; end_location[1]]
solABC_y=[start_location[2]; solABC_all[n+1:n*2]; end_location[2]]
solABC_z=[start_location[3]; solABC_all[(2*n)+1:n*3]; end_location[3]]
end

# ╔═╡ 46e9b892-1f73-449a-aa46-40dcdd226da8
begin
	solPSO_all=minimizer(resultPSO)
		
	solPSO_x=[start_location[1]; solPSO_all[1:n]; end_location[1]]
	solPSO_y=[start_location[2]; solPSO_all[n+1:n*2]; end_location[2]]
	solPSO_z=[start_location[3]; solPSO_all[(2*n)+1:n*3]; end_location[3]]
	
end

# ╔═╡ 7027d571-12ef-4bde-9e3c-bde8a595d2a1
begin
	solWOA_all=minimizer(resultWOA)
		
	solWOA_x=[start_location[1]; solWOA_all[1:n]; end_location[1]]
	solWOA_y=[start_location[2]; solWOA_all[n+1:n*2]; end_location[2]]
	solWOA_z=[start_location[3]; solWOA_all[(2*n)+1:n*3]; end_location[3]]
end

# ╔═╡ 8a8c3deb-a4df-4b85-a697-4c5af55ec77e
md"""### Graf trasy: """

# ╔═╡ 0aac025f-29ed-4b8b-8a6d-ff7a91648ba8
begin
	scatter(threats[1:threat_num,1],threats[1:threat_num,2],markersize=(threats[1:threat_num,4].+drone_size.+danger_dist),color=:white,label="zóna nebezpečí",xlim=(0,mapsize_x),ylim=(0,mapsize_y),size=(mapsize_x,mapsize_y))
	scatter!(threats[1:threat_num,1],threats[1:threat_num,2],markersize=(threats[1:threat_num,4].+drone_size),color=:white,label=false)
	scatter!(threats[1:threat_num,1],threats[1:threat_num,2],markersize=threats[1:threat_num,4],color=:blue,label="Překážky",xlabel="X",ylabel="Y",title="výsledek",legend=true)

	scatter!(solABC_x,solABC_y,color=:black,label=false)
	plot!(solABC_x,solABC_y,label="ABC",color=:black)

	scatter!(solPSO_x,solPSO_y,color=:green,label=false)
	plot!(solPSO_x,solPSO_y,label="PSO",color=:green)

	scatter!(solWOA_x,solWOA_y,color=:red,label=false)
	plot!(solWOA_x,solWOA_y,label="WOA",color=:red)

	

end

# ╔═╡ 4ed7c235-a8f5-4687-85ed-3a6a18a9e4c2
md"""### Graf výšky: """

# ╔═╡ e5a4a8f6-fdeb-4bb0-a41b-6a80d9c4845c
begin
	local x_axis=(1:n+2)
	plot(x_axis,solABC_z, label="ABC",color=:black)
	plot!(x_axis,solPSO_z, label="PSO",color=:green)
	plot!(x_axis,solWOA_z, label="WOA",color=:red)
end

# ╔═╡ e8928a6c-4dd3-48cf-a298-c40dca95d45b
md" optimize používá 1x30 (respektive 1x3*n) vektor, ten je v Initialize rozdělen na x,y,z. Ty jsou použity v CostFunction."

# ╔═╡ c2d02bc3-aa7d-4bff-b940-5ca00f17105c
md"""### Graf konvergence: """

# ╔═╡ 82f7a063-9117-430b-a7a2-9ca8f5f9b447
begin
f_callsABC, best_f_valueABC = convergence(resultABC)
f_callsPSO, best_f_valuePSO = convergence(resultPSO)
f_callsWOA, best_f_valueWOA = convergence(resultWOA)

plot(xlabel="zavolání nákladové funkce", ylabel="hodnota nákladové funkce", title="Konvergence")
plot!(f_callsABC, best_f_valueABC, label="ABC", color=:black)
plot!(f_callsPSO, best_f_valuePSO, label="PSO", color=:green)
plot!(f_callsWOA, best_f_valueWOA, label="WOA", color=:red)
	
end

# ╔═╡ 0e9b595c-da83-4535-84cf-2d6168819cd8
md"""### Zdroj: 
PHUNG, Manh Duong a Quang Phuc HA. Safety-enhanced UAV path planning with spherical vector-based particle swarm optimization. Applied Soft Computing. 2021, 2021(107), 15. ISSN 1568-4946. Dostupné z: doi:107376

"""

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[[deps.fzf_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "868e669ccb12ba16eaf50cb2957ee2ff61261c56"
uuid = "214eeab7-80f7-51ab-84ad-2988db7cef09"
version = "0.29.0+0"

[[deps.libaom_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "3a2ea60308f0996d26f1e5354e10c24e9ef905d4"
uuid = "a4ae2306-e953-59d6-aa16-d00cac43593b"
version = "3.4.0+0"

[[deps.libass_jll]]
deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
git-tree-sha1 = "5982a94fcba20f02f42ace44b9894ee2b140fe47"
uuid = "0ac62f75-1d6f-5e53-bd7c-93b484bb37c0"
version = "0.15.1+0"

[[deps.libblastrampoline_jll]]
deps = ["Artifacts", "Libdl", "OpenBLAS_jll"]
uuid = "8e850b90-86db-534c-a0d3-1478176c7d93"
version = "5.1.1+0"

[[deps.libfdk_aac_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "daacc84a041563f965be61859a36e17c4e4fcd55"
uuid = "f638f0a6-7fb0-5443-88ba-1cc74229b280"
version = "2.0.2+0"

[[deps.libpng_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
git-tree-sha1 = "94d180a6d2b5e55e447e2d27a29ed04fe79eb30c"
uuid = "b53b4c65-9356-5827-b1ea-8c7a1a84506f"
version = "1.6.38+0"

[[deps.libvorbis_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Ogg_jll", "Pkg"]
git-tree-sha1 = "b910cb81ef3fe6e78bf6acee440bda86fd6ae00c"
uuid = "f27f6e37-5d2b-51aa-960f-b287f2bc3b7a"
version = "1.3.7+1"

[[deps.nghttp2_jll]]
deps = ["Artifacts", "Libdl"]
uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
version = "1.48.0+0"

[[deps.p7zip_jll]]
deps = ["Artifacts", "Libdl"]
uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0"
version = "17.4.0+0"

[[deps.x264_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "4fea590b89e6ec504593146bf8b988b2c00922b2"
uuid = "1270edf5-f2f9-52d2-97e9-ab00b5d0237a"
version = "2021.5.5+0"

[[deps.x265_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "ee567a171cce03570d77ad3a43e90218e38937a9"
uuid = "dfaa095f-4041-5dcd-9319-2fabd8486b76"
version = "3.5.0+0"

[[deps.xkbcommon_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Wayland_jll", "Wayland_protocols_jll", "Xorg_libxcb_jll", "Xorg_xkeyboard_config_jll"]
git-tree-sha1 = "9ebfc140cc56e8c2156a15ceac2f0302e327ac0a"
uuid = "d8fb68d0-12a3-5cfd-a85a-d49703b185fd"
version = "1.4.1+0"
"""

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