private void DrawWorkspace(object sender, RoutedEventArgs e)
{
WorkspaceDrawer drawer = new WorkspaceDrawer(400, 400, Color.White)
{
WorkspaceSize = new SizeF(1000, 1000),
FrameColor = Color.Gray,
ColorTable = testTable
};
SizeF palletSize = new SizeF(250, 125);
SizeF cartridgeSize = new SizeF(70, 50);
WorkingSpace workingSpace = new WorkingSpace(new Robot(), palletSize, cartridgeSize, 10.0f);
for (int i = 0; i < 8; ++i)
{
workingSpace.GetPalletSlot(i).Pallet = RandPallet(5, 5, 20, 5);
}
for (int i = 0; i < workingSpace.CartridgesSlotsCount; ++i)
{
workingSpace.GetCartridgeSlot(i).Cartridge = new ColorCartridge(NextColor(), 10);
}
workingSpace.GetCartridgeSlot(3).Cartridge = new ColorCartridge(NextColor(), 0);
drawer.Draw(workingSpace, new PointF(200, 200));
UpdateImage(drawer.Drawing);
}
private IAssemblingAction GetNextBlock(Robot robot, WorkingSpace workingSpace)
{
// First non-empty cartridge
for (int i = 0; i < workingSpace.CartridgesSlotsCount; ++i)
{
var slot = workingSpace.GetCartridgeSlot(i);
if (slot.Cartridge != null && slot.Cartridge.CurrentCount > 0)
{
return(new GetBlockAction(robot, slot));
}
}
return(null);
}
private void AssemblyMozaic(object sender, RoutedEventArgs e)
{
SizeF palletSize = new SizeF(125, 125);
SizeF cartridgeSize = new SizeF(70, 50);
Robot robot = new Robot()
{
CatchBlockTime = TimeSpan.FromSeconds(1),
PutBlockTime = TimeSpan.FromSeconds(1.5),
MovementSpeed = 5.0f
};
WorkingSpace workingSpace = new WorkingSpace(robot, palletSize, cartridgeSize, 10.0f);
for (int i = 0; i < 8; ++i)
{
workingSpace.GetPalletSlot(i).Pallet = new Pallet(5, 5, 20, 5);
}
for (int i = 0; i < workingSpace.CartridgesSlotsCount; ++i)
{
workingSpace.GetCartridgeSlot(i).Cartridge = new ColorCartridge(NextColor(), 10);
}
testSequence = new AssemblingSequence()
{
WorkingSpace = workingSpace,
Actions = new List <IAssemblingAction>()
};
WorkspaceDrawer drawer = new WorkspaceDrawer(400, 400, Color.White)
{
WorkspaceSize = new SizeF(1000, 1000),
FrameColor = Color.Gray,
ColorTable = testTable
};
drawer.Draw(testSequence.WorkingSpace, new PointF(200, 200));
UpdateImage(drawer.Drawing);
}
private IAssemblingAction PutNextBlock(Robot robot, WorkingSpace workingSpace)
{
// First non-empty block
for (int i = 0; i < 8; ++i)
{
var slot = workingSpace.GetPalletSlot(i);
if (slot.Pallet != null)
{
for (int r = 0; r < slot.Pallet.BlocksColors.Rows(); ++r)
{
for (int c = 0; c < slot.Pallet.BlocksColors.Cols(); ++c)
{
if (slot.Pallet.BlocksColors[r, c] < 0)
{
return(new PutBlockAction(robot, slot, new System.Drawing.Point(c, r)));
}
}
}
}
}
return(null);
}