/// <summary>
/// Convert current weather respone to Wheather Entity
/// and update city value with Zipcode if the response is from zipcode
/// </summary>
/// <param name="weather"></param>
/// <param name="inputValue"></param>
/// <param name="isCity"></param>
/// <returns></returns>
public WeatherEntity GetWeatherData(CurrentWeather weather, string inputValue, bool isCity)
{
try
{
return(new WeatherEntity(
isCity ? weather.Name : string.Concat(weather.Name, Hiphen, inputValue),
Utililty.UnixTimeStampToDateTime(weather.Dt),
(int)weather.Main.Temp,
(int)weather.Main.Humidity,
(int)weather.Wind.Speed,
weather.Weather.FirstOrDefault().Description,
(int)weather.Weather.FirstOrDefault().Id
));
}
catch (Exception)
{
throw;
}
}
public void Next(Platform platform)
{
platform.Measure();
platform.Communicate();
// init breadCumbers stack if it is null (fix serialization)
if (trajectory == null)
{
trajectory = new Stack <Pose>();
}
// init commandSequence stack if it is null (fix serialization)
if (commandSequence == null)
{
commandSequence = new Stack <Pose>();
}
this.NextInit(platform);
// if robot is stopped then return
if (platform.IsStopped)
{
return;
}
// if the map is discovered we are done
if (platform.Map.IsDiscovered(platform))
{
platform.Stop();
return;
}
Pose nextPose = null;
if (!(platform.ControlPolicy is ReplayPolicy))
{
// get the next pose and decide whether a replan is needed
bool isReplan = false;
if ((commandSequence != null) && (commandSequence.Count > 0))
{
nextPose = commandSequence.Pop();
// ok, on the next step, there is another guy, plan the track again
if (platform.ObservedPlatforms.Find(pt => nextPose.Equals(pt.Pose)) != null)
{
isReplan = true;
}
// ok, next step would be a wall, let's plan the track again
if (platform.Map.MapMatrix[nextPose.X, nextPose.Y] >= platform.OccupiedThreshold)
{
isReplan = true;
}
// if the goal is not changed, then keep the track
// this is good, if needed time to plan the way back from an abonden area
if ((bestFronterier != null) && (platform.Map.MapMatrix[bestFronterier.X, bestFronterier.Y] != prevFronterierValue))
{
isReplan = true;
}
}
else
{
isReplan = true;
}
//isReplan = true;
// *** need to replan
if (isReplan)
{
// this is the search radius around the platform
// if it is -1, then look for the first fronterier and don't worry about the manuevers
int rad = (int)((double)platform.FieldOfViewRadius * 1.5);
ReplanLocal(platform, rad);
// get the next pose, if it is available
if (commandSequence.Count > 0)
{
nextPose = commandSequence.Pop();
solutionType = SolutionType.LocalPlanner;
}
if ((nextPose == null) || (commandSequence.Count == 0))
{
ReplanGlobal(platform);
if (commandSequence.Count > 0)
{
nextPose = commandSequence.Pop();
solutionType = SolutionType.GlobalPlanner;
}
}
}
}
else
{
nextPose = commandSequence.Pop();
}
// *** need to replan
if ((platform.ControlPolicy is ReplayPolicy) || ((nextPose != null) && (platform.Map.MapMatrix[nextPose.X, nextPose.Y] < platform.OccupiedThreshold) && ((platform.ObservedPlatforms.Find(pt => nextPose.Equals(pt.Pose)) == null))))
{
// maintain breadcumbers
prevPose = new Pose(nextPose.X, nextPose.Y, nextPose.Heading);
// do action
double dx = nextPose.X - platform.Pose.X;
double dy = nextPose.Y - platform.Pose.Y;
int goalAlpha = Utililty.ConvertAngleTo360(Math.Atan2(dy, dx) / Math.PI * 180);
// choose the angle that is closer to the target heading
int dalpha1 = Utililty.ConvertAngleTo360(goalAlpha - platform.Pose.Heading);
int dalpha2 = Utililty.ConvertAngleTo360((platform.Pose.Heading - goalAlpha) + 360.0);
double dalpha = Math.Abs(dalpha1) < Math.Abs(dalpha2) ? dalpha1 : -dalpha2;
if (dalpha == 0)
{
if (bestFronterier != null)
{
prevFronterierValue = platform.Map.MapMatrix[bestFronterier.X, bestFronterier.Y];
}
trajectory.Push(nextPose);
platform.Move((int)dx, (int)dy);
}
else // rotatation is needed, let's rotate
{
double rot = Math.Sign(dalpha) * 45;
platform.Rotate(rot);
commandSequence.Push(nextPose);
}
hasFeasablePath = true;
}
else
{
platform.SendLog("No feasible solution");
hasFeasablePath = false;
commandSequence.Clear();
}
}
