特定の座標で 4 つのオブジェクトを並行して移動するには、4 つのバックグラウンド ワーカーを使用する必要があります。つまり、それらを一緒に開始し、一緒に停止します。
50 回ループするループを作成し、ワーカーを開始する必要があるたびに、Do_Work()メソッドを停止して次の反復で再開するようにワーカーが作業を完了した後、ワーカーを呼び出す次のメソッドを作成しました。
public void Genetic_Algorithm(List<int[,]> population)
{
DateTime startT = DateTime.Now.Date;
double[,] FitnessValue = new double[6, 2]; // for all five chromosome we store two Values the Fitness Value and the Fitness Ratio
int[] RouletteWheel = new int[6];
int round = 0;
for (geneticIteration = 0; geneticIteration < 50; geneticIteration++)
{
round = geneticIteration + 1;
// Calculate the fitness Function and the Fitness Ratio
FitnessFunction(population); // Fitness Function
}
MessageBox.Show("Press Again");
}
public void FitnessFunction(List<int[,]> population)
{
extractPath(population, geneticIteration);
auv0Genetic.RunWorkerAsync(); // start obj # 1
auv1Genetic.RunWorkerAsync(); // start obj # 2
auv2Genetic.RunWorkerAsync(); // start obj # 3
auv3Genetic.RunWorkerAsync(); // start obj # 4
}
Do_Work()4 つのバックグラウンド ワーカー用の 4つのメソッドがあります。以下はその 1 つです。
private void auv0Genetic_DoWork(object sender, DoWorkEventArgs e)
{
List<PointF> genetic2DLayerPath1 = new List<PointF>(); // from chromosome 1
List<PointF> genetic2DLayerPath2 = new List<PointF>(); // from chromosome 2
List<PointF> genetic2DLayerPath3 = new List<PointF>(); // from chromosome 3
List<PointF> genetic2DLayerPath4 = new List<PointF>(); // from chromosome 4
List<PointF> genetic2DLayerPath5 = new List<PointF>(); // from chromosome 5
List<PointF> genetic2DLayerPath6 = new List<PointF>(); // from chromosome 6
countNumOfPaths = 0;
float[] xPoints = new float[1];
float[] yPoints = new float[1];
foreach (int[,] arr in pathChromosom1)
{
Point3D pointIn3D = new Point3D(cellsCenters[0, arr[0, 0]], cellsCenters[1, arr[1, 0]], 700);
PointF pointIn2D = Project(pointIn3D); // convert to 2D
genetic2DLayerPath1.Add(pointIn2D);
}
foreach (int[,] arr in pathChromosom2)
{
Point3D pointIn3D = new Point3D(cellsCenters[0, arr[0, 0]], cellsCenters[1, arr[1, 0]], 700);
PointF pointIn2D = Project(pointIn3D); // convert to 2D
genetic2DLayerPath2.Add(pointIn2D);
}
foreach (int[,] arr in pathChromosom3)
{
Point3D pointIn3D = new Point3D(cellsCenters[0, arr[0, 0]], cellsCenters[1, arr[1, 0]], 700);
PointF pointIn2D = Project(pointIn3D); // convert to 2D
genetic2DLayerPath3.Add(pointIn2D);
}
foreach (int[,] arr in pathChromosom4)
{
Point3D pointIn3D = new Point3D(cellsCenters[0, arr[0, 0]], cellsCenters[1, arr[1, 0]], 700);
PointF pointIn2D = Project(pointIn3D); // convert to 2D
genetic2DLayerPath4.Add(pointIn2D);
}
foreach (int[,] arr in pathChromosom5)
{
Point3D pointIn3D = new Point3D(cellsCenters[0, arr[0, 0]], cellsCenters[1, arr[1, 0]], 700);
PointF pointIn2D = Project(pointIn3D); // convert to 2D
genetic2DLayerPath5.Add(pointIn2D);
}
foreach (int[,] arr in pathChromosom6)
{
Point3D pointIn3D = new Point3D(cellsCenters[0, arr[0, 0]], cellsCenters[1, arr[1, 0]], 700);
PointF pointIn2D = Project(pointIn3D); // convert to 2D
genetic2DLayerPath6.Add(pointIn2D);
}
int counter = 0;
for (int i = 0; i < 6; i++)
{
if (i == 0) // first chromosome
{
xPoints = new float[genetic2DLayerPath1.Count()];
yPoints = new float[genetic2DLayerPath1.Count()];
auv[0].auvDepth = 700;
foreach(PointF p in genetic2DLayerPath1)
{
xPoints[counter] = p.X;
yPoints[counter] = p.Y;
counter++;
}
counter = 0;
}
if (i == 1) // second chromosome
{
xPoints = new float[genetic2DLayerPath2.Count()];
yPoints = new float[genetic2DLayerPath2.Count()];
auv[0].auvDepth = 700;
foreach (PointF p in genetic2DLayerPath2)
{
xPoints[counter] = p.X;
yPoints[counter] = p.Y;
counter++;
}
counter = 0;
}
if (i == 2) // third chromosome
{
xPoints = new float[genetic2DLayerPath3.Count()];
yPoints = new float[genetic2DLayerPath3.Count()];
auv[0].auvDepth = 700;
foreach (PointF p in genetic2DLayerPath3)
{
xPoints[counter] = p.X;
yPoints[counter] = p.Y;
counter++;
}
counter = 0;
}
if (i == 3) // fourth chromosome
{
xPoints = new float[genetic2DLayerPath4.Count()];
yPoints = new float[genetic2DLayerPath4.Count()];
auv[0].auvDepth = 700;
foreach (PointF p in genetic2DLayerPath4)
{
xPoints[counter] = p.X;
yPoints[counter] = p.Y;
counter++;
}
counter = 0;
}
if (i == 4) // fifth chromosome
{
xPoints = new float[genetic2DLayerPath5.Count()];
yPoints = new float[genetic2DLayerPath5.Count()];
auv[0].auvDepth = 700;
foreach (PointF p in genetic2DLayerPath5)
{
xPoints[counter] = p.X;
yPoints[counter] = p.Y;
counter++;
}
counter = 0;
}
if (i == 5) // sixth chromosome
{
xPoints = new float[genetic2DLayerPath6.Count()];
yPoints = new float[genetic2DLayerPath6.Count()];
auv[0].auvDepth = 700;
foreach (PointF p in genetic2DLayerPath6)
{
xPoints[counter] = p.X;
yPoints[counter] = p.Y;
counter++;
}
counter = 0;
}
counter = 0;
while (countNumOfPaths != 2)
{
Thread.Sleep(900); // assume that it represents the speed of the AUV which is in our case = 3 m/s as each meter equal to 300 seconds in thread.sleep()
if (auv0Genetic.CancellationPending)
{
e.Cancel = true;
return;
}
if (forward)
{
if (counter == xPoints.Length - 1)
{
backward = true;
forward = false;
countNumOfPaths++;
}
else
{
auv[0].auvX = xPoints[counter];
auv[0].auvY = yPoints[counter];
counter++;
}
}
if (backward)
{
if (counter == 0)
{
backward = false;
forward = true;
countNumOfPaths++;
}
else
{
auv[0].auvX = xPoints[counter];
auv[0].auvY = yPoints[counter];
counter--;
}
}
//////////////////////// Draw ///////////////////////////
iSetupDisplay = 0;
if (iSetupDisplay != -1)
{
iSetupDisplay += 10;
if (iSetupDisplay >= topology.Width)
iSetupDisplay = -1;
topology.Refresh();
}
/////////////////////////////////////////////////////////
}
}
}
問題は、ワーカーが 1 回しか実行されず、次のエラーで実行が停止したことです。
この BackgroundWorker は現在ビジーで、複数のタスクを同時に実行できません。
注: 毎回新しいバックグラウンド ワーカーを作成しようとしましたが、正しく機能せず、50x4 バックグラウンド ワーカーを宣言したため、実行が応答しなくなりました!!.
バックグラウンド ワーカーは次のように登録されます。
private System.ComponentModel.BackgroundWorker auv0Genetic;
private System.ComponentModel.BackgroundWorker auv1Genetic;
private System.ComponentModel.BackgroundWorker auv2Genetic;
private System.ComponentModel.BackgroundWorker auv3Genetic;
this.auv0Genetic = new System.ComponentModel.BackgroundWorker();
this.auv1Genetic = new System.ComponentModel.BackgroundWorker();
this.auv2Genetic = new System.ComponentModel.BackgroundWorker();
this.auv3Genetic = new System.ComponentModel.BackgroundWorker();