public void handleMessage(CommMessage msg)
{
//for foraging
if (msg.text == "resource_request")
{
if (untouchedResources.Count > 0)
{
location = untouchedResources[0];
robotResourceMap[msg.senderId] = location;
satellite.directMessage(msg.senderId, "resource_location\t" + "" + location);
aboutToBeTouchedResources.Add(location);
untouchedResources.Remove(location);
}
else
{
return_to_base = robotPositions[msg.senderId];
satellite.directMessage(msg.senderId, "go_to_base\t" + "" + return_to_base);
}
}
if (msg.text == "resource_home_request")
{
RH_location = resourceDestenation();
satellite.directMessage(msg.senderId, "resource_home\t" + "" + RH_location);
}
if (msg.text == "resource_delivered")
{
Vector2 resourceLocation = robotResourceMap[msg.senderId];
//remove resource from pending
aboutToBeTouchedResources.Remove(resourceLocation);
//add resource to touchedResources
touchedResources.Add(resourceLocation);
if (untouchedResources.Count > 0)
{
location = untouchedResources[0];
robotResourceMap[msg.senderId] = location;
satellite.directMessage(msg.senderId, "resource_location\t" + "" + location);
aboutToBeTouchedResources.Add(location);
untouchedResources.Remove(location);
}
else
{
return_to_base = robotPositions[msg.senderId];
satellite.directMessage(msg.senderId, "go_to_base\t" + "" + return_to_base);
}
}
// when untouchedResources and aboutToBeTouchedResources are empty, satellite will exit the foraging state
if (untouchedResources == null && aboutToBeTouchedResources == null)
{
foraging = false;
}
}
public bool handleMessage(CommMessage msg)
{
bool handled = false;
if (msg.text.StartsWith("construction"))
{
string[] lines = msg.text.Split('\n');
if (lines[1] == "request_task")
{
handled = true;
if (structureLayers.Count > 0 && resourceOrigins.Count > 0)
{
List <Vector2> constructionPerimeter = structureLayers.Peek().constructionPerimeter;
Vector2 resourceOrigin = resourceOrigins.Dequeue();
Vector2 resourcePlacement = structureLayers.Peek().resourcePlacements.Dequeue();
--totalRequiredResources;
if (structureLayers.Peek().resourcePlacements.Count == 0)
{
structureLayers.Dequeue();
}
bool lastTask = structureLayers.Count == 0 || resourceOrigins.Count == 0 || totalRequiredResources < mainScript.getNumRobots();
satellite.directMessage(msg.senderId,
new MessageConstructionTask(resourceOrigin,
constructionPerimeter,
resourcePlacement,
lastTask).ToString());
}
else
{
satellite.directMessage(msg.senderId, "construction/finished");
}
}
}
return(handled);
}
public bool handleMessage(CommMessage msg)
{
bool handled = false;
if (msg.text.StartsWith("build"))
{
string[] lines = msg.text.Split('\n');
if (lines[1] == "request_task")
{
handled = true;
if (totalRequiredResources > 0)
{
if (resourceOrigins.Count > 0)
{
--totalRequiredResources;
++robotsInResourceCache;
bool lastTask = totalRequiredResources < mainScript.getNumRobots();
satellite.directMessage(msg.senderId,
new MessageBuildTask(resourceOrigins.Dequeue(),
resourcePlacements.Dequeue(),
lastTask).ToString());
}
else // must generate more resources
{
Log.w(LogTag.SATELLITE, "adding to pending requests");
pendingRequests.Enqueue(msg);
}
}
else
{
satellite.directMessage(msg.senderId, "build/finished");
}
}
else if (lines[1] == "left_cache")
{
--robotsInResourceCache;
if (pendingRequests.Count > 0 && robotsInResourceCache == 0)
{
// place more resources in cache and refresh resourceOrigins
resourceOrigins = new Queue <Vector2>(mainScript.refillResourceCache());
while (pendingRequests.Count > 0)
{
--totalRequiredResources;
++robotsInResourceCache;
CommMessage requestMessage = pendingRequests.Dequeue();
bool lastTask = totalRequiredResources < mainScript.getNumRobots();
satellite.directMessage(requestMessage.senderId,
new MessageBuildTask(resourceOrigins.Dequeue(),
resourcePlacements.Dequeue(),
lastTask).ToString());
}
}
}
}
return(handled);
}