public void Deliver(int time)
{
int units = RobotClass.massToUnit(this.load.storageMass, this.load.currentHoldNum);
double mass = this.load.storageMass;
int itemNum = this.load.currentHoldNum;
if (itemNum == 0)
{
FullTest.underway_Queue.Enqueue(new OrderClass(units, 0, 0, 0, 0, time));
}
else if (itemNum == 1)
{
FullTest.underway_Queue.Enqueue(new OrderClass(0, units, 0, 0, 0, time));
}
else if (itemNum == 2)
{
FullTest.underway_Queue.Enqueue(new OrderClass(0, 0, units, 0, 0, time));
}
else if (itemNum == 3)
{
FullTest.underway_Queue.Enqueue(new OrderClass(0, 0, 0, units, 0, time));
}
else if (itemNum == 4)
{
FullTest.underway_Queue.Enqueue(new OrderClass(0, 0, 0, 0, units, time));
}
this.load.item1Load.totalMass = 0.0; this.load.item1Load.units = 0;
this.load.item1Load.totalMass = 0.0; this.load.item1Load.units = 0;
this.load.item1Load.totalMass = 0.0; this.load.item1Load.units = 0;
this.load.item1Load.totalMass = 0.0; this.load.item1Load.units = 0;
this.load.item1Load.totalMass = 0.0; this.load.item1Load.units = 0;
}
public void Unload(int[] cubbard_Co)
{
int units = RobotClass.massToUnit(this.load.storageMass, this.load.currentHoldNum);
double mass = this.load.storageMass;
int itemNum = this.load.currentHoldNum;
int column = cubbard_Co[0];
int subColumn = cubbard_Co[1];
int side = cubbard_Co[2];
int cubbard = cubbard_Co[3];
if (itemNum == 0)
{
FullTest.shelf_Mutex.WaitOne();
FullTest.shelfMass[column, subColumn, side, cubbard] += mass;
//Console.WriteLine("Mass on shelf: {0}", FullTest.shelfMass[column, subColumn, side, cubbard]);
//Console.WriteLine("Co-Ordinates: {0}, {1}, {2}, {3}", column, subColumn, side, cubbard);
FullTest.shelf_Mutex.ReleaseMutex();
FullTest.item1_Mutex.WaitOne();
FullTest.item1Tracker[column, subColumn, side, cubbard].UpdateRecord(units);
FullTest.item1_Mutex.ReleaseMutex();
}
else if (itemNum == 1)
{
FullTest.shelf_Mutex.WaitOne();
FullTest.shelfMass[column, subColumn, side, cubbard] += mass;
FullTest.shelf_Mutex.ReleaseMutex();
FullTest.item2_Mutex.WaitOne();
FullTest.item2Tracker[column, subColumn, side, cubbard].UpdateRecord(units);
FullTest.item2_Mutex.ReleaseMutex();
}
else if (itemNum == 2)
{
FullTest.shelf_Mutex.WaitOne();
FullTest.shelfMass[column, subColumn, side, cubbard] += mass;
FullTest.shelf_Mutex.ReleaseMutex();
FullTest.item3_Mutex.WaitOne();
FullTest.item3Tracker[column, subColumn, side, cubbard].UpdateRecord(units);
FullTest.item3_Mutex.ReleaseMutex();
}
else if (itemNum == 3)
{
FullTest.shelf_Mutex.WaitOne();
FullTest.shelfMass[column, subColumn, side, cubbard] += mass;
FullTest.shelf_Mutex.ReleaseMutex();
FullTest.item4_Mutex.WaitOne();
FullTest.item4Tracker[column, subColumn, side, cubbard].UpdateRecord(units);
FullTest.item4_Mutex.ReleaseMutex();
}
else if (itemNum == 4)
{
FullTest.shelf_Mutex.WaitOne();
FullTest.shelfMass[column, subColumn, side, cubbard] += mass;
FullTest.shelf_Mutex.ReleaseMutex();
FullTest.item5_Mutex.WaitOne();
FullTest.item5Tracker[column, subColumn, side, cubbard].UpdateRecord(units);
FullTest.item5_Mutex.ReleaseMutex();
}
this.load.item1Load.totalMass = 0.0; this.load.item1Load.units = 0;
this.load.item1Load.totalMass = 0.0; this.load.item1Load.units = 0;
this.load.item1Load.totalMass = 0.0; this.load.item1Load.units = 0;
this.load.item1Load.totalMass = 0.0; this.load.item1Load.units = 0;
this.load.item1Load.totalMass = 0.0; this.load.item1Load.units = 0;
}
static void Main(string[] args)
{
for (int a = 0; a < length; a++)
{
for (int b = 0; b < width; b++)
{
layout[b, a] = 'o';
}
}
//for (int i = 0; i < numberOfRobots; i++)
// {
// layout[0, i] = 'x';
// }
Mutex[] robotManager = new Mutex[numberOfRobots];
for (int i = 0; i < numberOfRobots; i++)
{
robotManager[i] = new Mutex();
}
LayoutPrint(layoutReadWrite);
int[] r1Start = new int[] { 0, 1 };
int[] r1StartObj = new int[] { 0, 0 };
RobotClass rob1 = new RobotClass(1, r1Start, r1StartObj, 0, boundaries, layoutReadWrite);
rob1.ObjectiveStep(r1StartObj, 0, layoutReadWrite);
int[] fullLoopTest = new int[] { 0, 2 };
rob1.ObjectiveStep(fullLoopTest, 0, layoutReadWrite);
fullLoopTest = new int[] { 0, 0 };
rob1.ObjectiveStep(fullLoopTest, 0, layoutReadWrite);
Task rob1Task = Task.Run(() =>
{
for (int i = boundaryLeft + 1; i < (boundaryRight + 1); i++)
{
int[] fullLoopTest1 = new int[] { i, ((i % 3) + 1) };
Task robot1 = Task.Run(() => rob1.ObjectiveStep(fullLoopTest1, 0, layoutReadWrite));
robot1.Wait();
fullLoopTest1 = new int[] { i, 4 };
robot1 = Task.Run(() => rob1.ObjectiveStep(fullLoopTest1, 0, layoutReadWrite));
robot1.Wait();
fullLoopTest1 = new int[] { 0, 0 };
robot1 = Task.Run(() => rob1.ObjectiveStep(fullLoopTest1, 0, layoutReadWrite));
robot1.Wait();
}
});
Task rob2Task = Task.Run(() =>
{
int[] r2Start = new int[] { 0, 1 };
int[] r2StartObj = new int[] { 0, 0 };
RobotClass rob2 = new RobotClass(2, r2Start, r2StartObj, 0, boundaries, layoutReadWrite);
rob2.ObjectiveStep(r2StartObj, 0, layoutReadWrite);
for (int k = boundaryLeft + 1; k < (boundaryRight + 1); k++)
{
int[] fullLoopTest2 = new int[] { k, ((k % 3) + 1) };
Task robot2 = Task.Run(() => rob2.ObjectiveStep(fullLoopTest2, 0, layoutReadWrite));
robot2.Wait();
fullLoopTest2 = new int[] { k, 4 };
robot2 = Task.Run(() => rob2.ObjectiveStep(fullLoopTest2, 0, layoutReadWrite));
robot2.Wait();
if (k != 1)
{
fullLoopTest2 = new int[] { 0, 0 };
robot2 = Task.Run(() => rob2.ObjectiveStep(fullLoopTest2, 0, layoutReadWrite));
robot2.Wait();
}
else
{
fullLoopTest2 = new int[] { 0, 1 };
robot2 = Task.Run(() => rob2.ObjectiveStep(fullLoopTest2, 0, layoutReadWrite));
robot2.Wait();
}
}
});
while ((!rob2Task.IsCompleted) || (!rob1Task.IsCompleted))
{
if (rob1Task.IsCompleted)
{
int[] fullLoopTest1 = new int[] { 0, 1 };
Task robot1 = Task.Run(() => rob1.ObjectiveStep(fullLoopTest1, 0, layoutReadWrite));
robot1.Wait();
if (!rob2Task.IsCompleted)
{
fullLoopTest1 = new int[] { 0, 0 };
robot1 = Task.Run(() => rob1.ObjectiveStep(fullLoopTest1, 0, layoutReadWrite));
robot1.Wait();
}
}
}
rob2Task.Wait();
rob1Task.Wait();
Console.WriteLine("\nFinished.");
LayoutPrint(layoutReadWrite);
Console.WriteLine("\n\n\n\n\n");
}
