public int[][] Agent_Restore(int[][] World_Data, Agente wobot, double Lambda_Exp)
{
Random Uniform_Distribution = new Random();
Distribution Builder = new Distribution();
World_Data[wobot.Ypos][wobot.Xpos] = 0;// LÍNEA IMPORTANTÍSIMA
int Xcord, Ycord, orientation = 0;
Xcord = Uniform_Distribution.Next(40); //El 21 y el 40 son los índices de la matrix del mundo.
Ycord = Uniform_Distribution.Next(21);
orientation = Uniform_Distribution.Next(4);
while (World_Data[Ycord][Xcord] != 0)
{
Xcord = Uniform_Distribution.Next(40);
Ycord = Uniform_Distribution.Next(21);
orientation = Uniform_Distribution.Next(4);
}
wobot.Old_Xpos = 0;
wobot.Old_Ypos = 0;
wobot.prev_signal_intensity = 0;
wobot.Xpos = Xcord;
wobot.Ypos = Ycord;
wobot.orientation = orientation;
wobot.get_neighborhood(World_Data, wobot.Xpos, wobot.Ypos);
wobot.get_signal_intensity(wobot.cobertura, World_Data, wobot.Xpos, wobot.Ypos);
wobot.Time_of_reaction = Builder.nextExponential(Lambda_Exp);
switch (orientation)
{
case (0):
World_Data[Ycord][Xcord] = 4;
break;
case (1):
World_Data[Ycord][Xcord] = 5;
break;
case (2):
World_Data[Ycord][Xcord] = 6;
break;
case (3):
World_Data[Ycord][Xcord] = 7;
break;
}
wobot.Clock_sense = false;
wobot.Clock_inverse = false;
return(World_Data);
}
public int[][] Build_Wobots(int[][] World_Data, int Cant, int cobertura)
{
Agent_list = new Agente[Cant]; //Leyenda (orientation):
int orientation = 0;
Random Uniform_Distribution = new Random(); //0- A_Arriba.
Distribution Builder = new Distribution(); //1- A_Abajo.
int Xcord, Ycord = 0; //2- A_Izquierda.
for (int i = 1; i <= Cant; i++) //3- A_Derecha.
{
Xcord = Uniform_Distribution.Next(40); //El 23 y el 43 son los índices de la matrix del mundo.
Ycord = Uniform_Distribution.Next(21);
while (World_Data[Ycord][Xcord] != 0)
{
Xcord = Uniform_Distribution.Next(40);
Ycord = Uniform_Distribution.Next(21);
orientation = Uniform_Distribution.Next(4);
}
Agent_list[i - 1] = new Agente(Xcord, Ycord, i, cobertura, orientation);
switch (orientation)
{
case (0):
World_Data[Ycord][Xcord] = 4;
break;
case (1):
World_Data[Ycord][Xcord] = 5;
break;
case (2):
World_Data[Ycord][Xcord] = 6;
break;
case (3):
World_Data[Ycord][Xcord] = 7;
break;
}
}
return(World_Data);
}
public int[][] turn_down(int[][] World_Data, Agente wobot, double Lambda_Exp)
{
Distribution dist = new Distribution();
//wobot.orientation = 2;
World_Data[wobot.Ypos][wobot.Xpos] = 5;
wobot.Time_of_reaction = dist.nextExponential(Lambda_Exp);
switch (wobot.orientation)
{
case (2): //Agente orientado hacia la izquierda
wobot.Clock_sense = true;
wobot.Clock_inverse = false;
wobot.orientation = 1;
break;
case (3): //Agente orientado hacia la derecha
wobot.Clock_sense = false;
wobot.Clock_inverse = true;
wobot.orientation = 1;
break;
}
return(World_Data);
}
public int[][] turn_rigth(int[][] World_Data, Agente wobot, double Lambda_Exp)
{
Distribution dist = new Distribution();
//wobot.orientation = 3;
World_Data[wobot.Ypos][wobot.Xpos] = 7;
wobot.Time_of_reaction = dist.nextExponential(Lambda_Exp);
switch (wobot.orientation)
{
case (0): //Agente orientado hacia arriba
wobot.Clock_sense = true;
wobot.Clock_inverse = false;
wobot.orientation = 3;
break;
case (1): //Agente orientado hacia abajo
wobot.Clock_sense = false;
wobot.Clock_inverse = true;
wobot.orientation = 3;
break;
}
return(World_Data);
}
public int[][] move_down(int[][] World_Data, Evento[] Event_List, Agente wobot, bool push_trast, double Lambda_Exp, double Lambda_Huecos)
{
Distribution dist = new Distribution();
Random Uniform_Distribution = new Random();
int Hole_X_Pos, Hole_Y_Pos = 0;
if (push_trast == true)
{
if (World_Data[wobot.Ypos + 2][wobot.Xpos] == 0)//Mover el traste a casilla vacía.
{
World_Data[wobot.Ypos][wobot.Xpos] = 0;
World_Data[wobot.Ypos + 1][wobot.Xpos] = 9;
World_Data[wobot.Ypos + 2][wobot.Xpos] = 1;
//wobot.prev_signal_intensity = wobot.signal_intensity;
wobot.Old_Xpos = wobot.Xpos;
wobot.Old_Ypos = wobot.Ypos;
wobot.Ypos += 1; // wobot.Ypos = wobot.Ypos - 1;
wobot.get_neighborhood(World_Data, wobot.Xpos, wobot.Ypos);
wobot.get_signal_intensity(wobot.cobertura, World_Data, wobot.Xpos, wobot.Ypos);
wobot.Time_of_reaction = dist.nextExponential(Lambda_Exp);
}
else
{
if (World_Data[wobot.Ypos + 2][wobot.Xpos] == 2)//Mover el traste al hueco.
{
World_Data[wobot.Ypos][wobot.Xpos] = 0;
World_Data[wobot.Ypos + 1][wobot.Xpos] = 4;
//World_Data[wobot.Ypos + 2][wobot.Xpos] = 0;
//Tratamiento de huecos
Hole_X_Pos = Uniform_Distribution.Next(41);
Hole_Y_Pos = Uniform_Distribution.Next(22);
while (World_Data[Hole_Y_Pos][Hole_X_Pos] != 0)
{
Hole_X_Pos = Uniform_Distribution.Next(41);
Hole_Y_Pos = Uniform_Distribution.Next(22);
}
//Aquí asigno el entero 20 para luego localizarlo en el form y poder pintar el hueco.
World_Data[Hole_Y_Pos][Hole_X_Pos] = 20;
//Actualizar las coordenadas del objeto hueco de Event_List.
Hole_Restore(World_Data, Event_List, wobot.Xpos, wobot.Ypos + 2, Lambda_Huecos);
World_Data[wobot.Ypos + 2][wobot.Xpos] = 0;
///////////////////////////////////////////////
wobot.Old_Xpos = wobot.Xpos;
wobot.Old_Ypos = wobot.Ypos;
wobot.Ypos += 1; // wobot.Ypos = wobot.Ypos - 1;
wobot.get_neighborhood(World_Data, wobot.Xpos, wobot.Ypos);
wobot.get_signal_intensity(wobot.cobertura, World_Data, wobot.Xpos, wobot.Ypos);
wobot.Time_of_reaction = dist.nextExponential(Lambda_Exp);
}
}
}
else //Mover el agente a la próxima casilla vacía de abajo.
{
//if (World_Data[wobot.Ypos + 1][wobot.Xpos] != 0) return World_Data;
World_Data[wobot.Ypos][wobot.Xpos] = 0;
World_Data[wobot.Ypos + 1][wobot.Xpos] = 4;
wobot.Old_Xpos = wobot.Xpos;
wobot.Old_Ypos = wobot.Ypos;
wobot.Ypos += 1;
wobot.get_neighborhood(World_Data, wobot.Xpos, wobot.Ypos);
wobot.get_signal_intensity(wobot.cobertura, World_Data, wobot.Xpos, wobot.Ypos);
wobot.Time_of_reaction = dist.nextExponential(Lambda_Exp);
}
wobot.Clock_sense = false;
wobot.Clock_inverse = false;
return(World_Data);
}
