/// <summary>
/// Enqueues an MultiPointGather task.
/// </summary>
/// <param name="movableStation">The bot that shall execute the task.</param>
/// <param name="order">The station at which the task will be executed.</param>
protected void EnqueueMultiPointGather(MovableStation station, DummyOrder order)
{
MultiPointGatherTask task = new MultiPointGatherTask(Instance, station, order);
task.Prepare();
if (_taskQueues[station] != null)
{
_taskQueues[station].Cancel();
}
_taskQueues[station] = task;
_lastTaskEnqueued[station] = task;
}
/// <summary>
/// Gets the next task for the specified bot.
/// </summary>
/// <param name="bot">The bot to get a task for.</param>
protected override void GetNextTask(Bot bot)
{
MovableStation station = null;
if (bot is MovableStation)
{
station = bot as MovableStation;
DummyOrder order = station.AssignedOrders.FirstOrDefault() as DummyOrder;
if (order != null)
{
EnqueueMultiPointGather(station, order);
}
}
else
{
return;
}
}
/// <summary>
/// Creates a bot with the given characteristics.
/// </summary>
/// <param name="id">The ID of the bot.</param>
/// <param name="tier">The initial position (tier).</param>
/// <param name="x">The initial position (x-coordinate).</param>
/// <param name="y">The initial position (y-coordinate).</param>
/// <param name="radius">The radius of the bot.</param>
/// <param name="orientation">The initial orientation.</param>
/// <param name="podTransferTime">The time for picking up and setting down a pod.</param>
/// <param name="maxAcceleration">The maximal acceleration in m/s^2.</param>
/// <param name="maxDeceleration">The maximal deceleration in m/s^2.</param>
/// <param name="maxVelocity">The maximal velocity in m/s.</param>
/// <param name="turnSpeed">The time it takes the bot to take a full turn in s.</param>
/// <param name="collisionPenaltyTime">The penalty time for a collision in s.</param>
/// <returns>The newly created bot.</returns>
public Bot CreateBot(int id, Tier tier, double x, double y, double radius, double orientation, double podTransferTime, double maxAcceleration, double maxDeceleration, double maxVelocity, double turnSpeed, double collisionPenaltyTime, bool createMovableStation = false)
{
// Consider override values
if (SettingConfig.OverrideConfig != null && SettingConfig.OverrideConfig.OverrideBotPodTransferTime)
{
podTransferTime = SettingConfig.OverrideConfig.OverrideBotPodTransferTimeValue;
}
if (SettingConfig.OverrideConfig != null && SettingConfig.OverrideConfig.OverrideBotMaxAcceleration)
{
maxAcceleration = SettingConfig.OverrideConfig.OverrideBotMaxAccelerationValue;
}
if (SettingConfig.OverrideConfig != null && SettingConfig.OverrideConfig.OverrideBotMaxDeceleration)
{
maxDeceleration = SettingConfig.OverrideConfig.OverrideBotMaxDecelerationValue;
}
if (SettingConfig.OverrideConfig != null && SettingConfig.OverrideConfig.OverrideBotMaxVelocity)
{
maxVelocity = SettingConfig.OverrideConfig.OverrideBotMaxVelocityValue;
}
if (SettingConfig.OverrideConfig != null && SettingConfig.OverrideConfig.OverrideBotTurnSpeed)
{
turnSpeed = SettingConfig.OverrideConfig.OverrideBotTurnSpeedValue;
}
// Init
Bot bot = null;
MovableStation ms = null;
if (createMovableStation)
{
ms = new MovableStation(id, this, radius, maxAcceleration, maxDeceleration, maxVelocity, turnSpeed, collisionPenaltyTime, x, y);
bot = ms;
}
else
{
switch (ControllerConfig.PathPlanningConfig.GetMethodType())
{
case PathPlanningMethodType.Simple:
bot = new BotHazard(this, ControllerConfig.PathPlanningConfig as SimplePathPlanningConfiguration);
break;
case PathPlanningMethodType.Dummy:
case PathPlanningMethodType.WHCAvStar:
case PathPlanningMethodType.WHCAnStar:
case PathPlanningMethodType.FAR:
case PathPlanningMethodType.BCP:
case PathPlanningMethodType.OD_ID:
case PathPlanningMethodType.CBS:
case PathPlanningMethodType.PAS:
bot = new BotNormal(id, this, radius, podTransferTime, maxAcceleration, maxDeceleration, maxVelocity, turnSpeed, collisionPenaltyTime, x, y);
break;
default: throw new ArgumentException("Unknown path planning engine: " + ControllerConfig.PathPlanningConfig.GetMethodType());
}
}
// Set values
bot.ID = id;
bot.Tier = tier;
bot.Instance = this;
bot.Radius = radius;
bot.X = x;
bot.Y = y;
bot.PodTransferTime = podTransferTime;
bot.MaxAcceleration = maxAcceleration;
bot.MaxDeceleration = maxDeceleration;
bot.MaxVelocity = maxVelocity;
bot.TurnSpeed = turnSpeed;
bot.CollisionPenaltyTime = collisionPenaltyTime;
bot.Orientation = orientation;
if (bot is BotHazard)
{
((BotHazard)bot).EvadeDistance = 2.3 * radius;
((BotHazard)bot).SetTargetOrientation(orientation);
}
// Add bot
if (ms != null)
{
ms.Capacity = 1000;
Bots.Add(ms);
//bot was referencing only bot-part of movable station and those values were updated
MovableStations.Add(ms);
}
else
{
Bots.Add(bot);
}
tier.AddBot(bot);
_idToBots[bot.ID] = bot;
// Determine volatile ID
int volatileID = 0;
while (_volatileBotIDs.Contains(volatileID))
{
volatileID++;
}
bot.VolatileID = volatileID;
_volatileBotIDs.Add(bot.VolatileID);
// Return it
return(bot);
}
