bugfix

addToConf.m

@@ -55,7 +55,7 @@
         % parallel with all the targets until the end of conf
         endOflastNonParallelableTarget = confTimes(find(currConf == oldConfSize),2);
         for t=oldConfSize:-1:1
-            if (missionLink(targetID,t) > 0)
+            if (missionLink(targetID,find(currConf == t)) == 1)
                 if (t == 1) 
                     endOflastNonParallelableTarget = confTimes(find(currConf == t),1);
                 else

findRealConfParralel.m

@@ -0,0 +1,43 @@
+function[RealConf] = findRealConfParralel(sortedTargetsData,currRealConf,tempConf,confTimes,currConfSize,takeoffTime,finishTime,speed,numTargets,v)
+
+    ID_COL          =1;
+    VAL_COL         =3;
+    DURATION_COL    =6;
+
+    % if curr realConf is full, return it
+    if (currConfSize == size(currRealConf,1))
+        RealConf = currRealConf;
+        return;
+    end
+
+    % find the next candidate, or return an empty conf to signal that no
+    % one was found
+    for (i = 1:size(sortedTargetsData,1))
+
+        currID = sortedTargetsData(i,ID_COL);
+        currWasScheduled = currRealConf(currRealConf(:,ID_COL) == currID,:);
+        % if this one is already in the conf, skip it
+        if (size(currWasScheduled,1) == 0) 
+            % check if can schedule it next
+            duration    = sortedTargetsData(i,DURATION_COL);
+            [success,confNew,confTimesNew] = addToConf(tempConf,confTimes,currID,takeoffTime,finishTime,speed,currConfSize);
+
+            if (success)
+                % add this row, and call the recursive function again
+                tempCurrRealConf = currRealConf;
+                val              = sortedTargetsData(i,VAL_COL);
+                val              = 8 - val;
+                tempCurrRealConf(currConfSize + 1,:) = [currID,confTimesNew(currID,1),confTimesNew(currID,2),val];
+                % recursive call
+                foundConf       = findRealConfParralel(sortedTargetsData,tempCurrRealConf,confNew,confTimesNew,currConfSize + 1,takeoffTime,finishTime,speed,numTargets,v);
+                % if found conf is not good, continue, else - return it
+                if (size(foundConf,1) > 0 )
+                    RealConf = foundConf;
+                    return
+                end
+            end
+        end
+    end
+    % if we got here - there is no feasible conf, return an empty matrix
+    RealConf = zeros(0,0);
+end

getRealConf.m

@@ -33,7 +33,12 @@
     end
     % output => col1 = targetID, col2 = start time, col3 = end time col4 =
     % val
-    realConf = findRealConf(sortedTargetsData,zeros(confSize,4),0,takeoffTime,takeoffTime + flightTime,1,speed,v);
+    % realConf = findRealConf(sortedTargetsData,zeros(confSize,4),0,takeoffTime,takeoffTime + flightTime,1,speed,v);
+    numTargets = size(targetsData,1);
+    confTimes = zeros(numTargets,2);
+    tempConf   = zeros(numTargets,1);
+    realConf = findRealConfParralel(sortedTargetsData,zeros(confSize,4),tempConf,confTimes,0           ,takeoffTime,takeoffTime + flightTime,speed,numTargets,v);
+              %findRealConfParralel(sortedTargetsData,currRealConf     ,tempConf,confTimes,currConfSize,takeoffTime,finishTime              ,speed,numTargets,v)
 end