public static bool IsInMyWay(MachineObject machineObject, AreaToCover areaToCover)
{
string coverlineID = areaToCover.GetLastCoverLine(machineObject.VerticalPosition);
string reciverMachineID = string.Empty;
try
{
reciverMachineID = World.CoverLinesList.Where(a => a.CoverLineID == coverlineID).First().MachineID;
}
catch { }
if (string.IsNullOrEmpty(reciverMachineID))
return false;
Request request = new Communication.Request();
request.RequestType = Communication.Enum.RequestType.CoverLineFinishStatus;
request.SenderMachineID = machineObject.MachineID;
request.ReceiverMachineID = reciverMachineID;
request.CommunicationRequestID = (++World.CommunicationRequestID).ToString();
Response response = request.Send();
if (response.CoverLineFinish.MachineActualCoverLineDirection == World.GetCoverLineByID(machineObject.ActualCoverLineID).CoverLineDirection)
{
Coordinates a;
Coordinates b;
if ((World.CoverDirection == Enumerations.CoverDirection.leftToRight && machineObject.VerticalPosition == Enumerations.VerticalPosition.down)
|| (World.CoverDirection == Enumerations.CoverDirection.rightToLeft && machineObject.VerticalPosition == Enumerations.VerticalPosition.up))
{
a = areaToCover.LeftDown;
b = areaToCover.LeftUp;
}
else if ((World.CoverDirection == Enumerations.CoverDirection.leftToRight && machineObject.VerticalPosition == Enumerations.VerticalPosition.up)
|| (World.CoverDirection == Enumerations.CoverDirection.rightToLeft && machineObject.VerticalPosition == Enumerations.VerticalPosition.down))
{
a = areaToCover.RightDown;
b = areaToCover.RightUp;
}
else
{
//TODO: minor - if coverDirection == both
a = areaToCover.RightDown;
b = areaToCover.RightUp;
}
//if the finishing time of cover line in front of current machine is smaller, then take this cover line
if (response.CoverLineFinish.CoverLineFinishTime < DateTime.Now.AddSeconds(Helpers.Methods.GetCoveringTimeSeconds(a, b, machineObject.CoverSpeed)))
return true;
else
return false;
}
//if the directions are same, machine are going opposite
else
return false;
}
public CoverObject(AreaToCover coverArea, MachineObject machine, Coordinates machinePosition, Coordinates direction)
{
CoverArea = coverArea;
MachineObject = machine;
MachinePosition = machinePosition;
Direction = direction;
}
/// <summary>
/// Use when you want to make a copy of existing AreaToCover
/// </summary>
/// <param name="area"></param>
public AreaToCover(AreaToCover area)
{
CoordinateList = new List<Coordinates>();
foreach (var coordinate in area.CoordinateList)
{
CoordinateList.Add(new Coordinates(coordinate.X, coordinate.Y));
}
AreaToCoverID = World.AreaToCoverIDCounter++.ToString();
}
public Initialization()
{
List<double> polygonAreaLatLong = new List<double>() { 17.67187122670222, 48.32100658917706, 17.67484528773948, 48.32276918841107, 17.6676882146302, 48.32648733112465, 17.66670214849421, 48.32374398467304, 17.66727282922581, 48.32347466588006, 17.66717808563941, 48.32291408299006, 17.67187122670222, 48.32100658917706,};
//MachineObject machine = new MachineObject();
//machine.CoverSpeed = 1;
//machine.Position = new Coordinates(0, 0);
//machine.TransportSpeed = (decimal)3.33;
//machine.TurningRadius = 10;
//machine.WorkingWidth = (decimal)7.4;
//machine = new MachineObject();
//machine.CoverSpeed = 1;
//machine.Position = new Coordinates(0, 0);
//machine.TransportSpeed = (decimal)3.33;
//machine.TurningRadius = 10;
//machine.WorkingWidth = (decimal)7.4;
//Machines.AddMachineToList(machine);
//machine = new MachineObject();
//machine.CoverSpeed = (decimal)1.5;
//machine.Position = new Coordinates(0, 0);
//machine.TransportSpeed = (decimal)3.33;
//machine.TurningRadius = 10;
//machine.WorkingWidth = (decimal)6.6;
//machine = new MachineObject();
//machine.CoverSpeed = (decimal)1.8;
//machine.Position = new Coordinates(0, 0);
//machine.TransportSpeed = (decimal)3.33;
//machine.TurningRadius = 10;
//machine.WorkingWidth = (decimal)6.6;
//Machines.AddMachineToList(machine);
List<Coordinates> coordinatesList = new List<Coordinates>();
//coordinatesList.Add(new Coordinates(0, 0));
//coordinatesList.Add(new Coordinates(100, 0));
//coordinatesList.Add(new Coordinates(50, 50));
//Coordinates for Krizovany: 60.38657388264
//coordinatesList.Add(new Coordinates((decimal)127.2397627,0));
//coordinatesList.Add(new Coordinates((decimal)419.7334444,0));
//coordinatesList.Add(new Coordinates((decimal)298.567374, (decimal)659.4758929));
//coordinatesList.Add(new Coordinates(45, (decimal)444.2060641));
//coordinatesList.Add(new Coordinates(40, (decimal)409.2714597));
//coordinatesList.Add(new Coordinates(0, (decimal)375.7627803));
//coordinatesList.Add(new Coordinates((decimal)57.24240453, (decimal)52.85539337));
//coordinatesList.Add(new Coordinates((decimal)344.9208035,0));
//coordinatesList.Add(new Coordinates((decimal)344.9208035, (decimal)670.5));
//coordinatesList.Add(new Coordinates((decimal)56.62729036, (decimal)504.6097819));
//coordinatesList.Add(new Coordinates((decimal)45.39670844, (decimal)471.1538316));
//coordinatesList.Add(new Coordinates(0, (decimal)445.425045));
//Horenicka Horka
coordinatesList.Add(new Coordinates((decimal)41.9216369, 0));
coordinatesList.Add(new Coordinates((decimal)156.9923198, (decimal)15.38859396));
coordinatesList.Add(new Coordinates((decimal)233.0452109, (decimal)174.7612497));
coordinatesList.Add(new Coordinates((decimal)341.6539338, (decimal)331.6318502));
coordinatesList.Add(new Coordinates((decimal)406.1837036, (decimal)517.4414539));
coordinatesList.Add(new Coordinates((decimal)418.1232184, (decimal)595.8130295));
coordinatesList.Add(new Coordinates((decimal)310.1985024, (decimal)576.7681963));
coordinatesList.Add(new Coordinates((decimal)276.7277039, (decimal)874.9837989));
coordinatesList.Add(new Coordinates((decimal)41.9216369, (decimal)936.7125686));
coordinatesList.Add(new Coordinates((decimal)14.81192476, (decimal)480.4148294));
coordinatesList.Add(new Coordinates(0, (decimal)230.1323951));
//AreaToCover area = new AreaToCover(new Coordinates(100, 100));
AreaToCover area = new AreaToCover(coordinatesList);
World.AreasToCover = new List<AreaToCover>();
World.AreasToCover.Add(area);
World.CoverLinesList = new List<CoverLine>();
}
/// <summary>
/// Orders List<AreaToCover> from the best to the worst due to machine position.
/// </summary>
/// <param name="machinePositionToCoverArea"></param>
/// <returns></returns>
private List<AreaToCover> OrderAreasToCoverByMachinePosition(int machinePositionToCoverArea)
{
AreaToCover[] tempAreaToCover = new AreaToCover[World.AreasToCover.Count];
World.AreasToCover.CopyTo(tempAreaToCover);
var tempAreaToCoverList = tempAreaToCover.ToList();
if (machinePositionToCoverArea > 1 && machinePositionToCoverArea < 4)
tempAreaToCoverList.Reverse();
return tempAreaToCoverList;
}
private CoverLine DivideCoverArea(Enumerations.MachinePositionToCoverArea machinePosition, string areaToCoverID)
{
//TODO:critical - DivideCoverArea;
List<string> machinesWithMeIDs = World.GetMachinesToBeOnTheSameCoverArea(areaToCoverID);
decimal width = this.CalculateWidthToDivide(machinesWithMeIDs);
CoverLine coverLine;
AreaToCover oldArea = World.GetAreaByID(areaToCoverID);
AreaToCover newArea = new AreaToCover(oldArea);
World.AreasToCover.Add(newArea);
if ((int)machinePosition > 2 && World.CoverDirection == Enumerations.CoverDirection.leftToRight)
{
coverLine = World.GetAreaByID(areaToCoverID).GetLineFromLeft(width, WorkingWidth);
oldArea.SetAsDividedLeft(coverLine, WorkingWidth);
newArea.SetAsDividedRight(coverLine, WorkingWidth);
}
else if ((int)machinePosition < 3 && World.CoverDirection == Enumerations.CoverDirection.rightToLeft)
{
coverLine = World.GetAreaByID(areaToCoverID).GetLineFromRight(width, WorkingWidth);
}
else
throw new Exception("Should not divide!");
coverLine.IsDivide = true;
coverLine.CoverLinePosition = Enumerations.CoverLinePosition.inner;
coverLine.AreaToCoverID = areaToCoverID;
return coverLine;
}