public override bool Reroute()
{
switch (_state)
{
case robot_state.pick:
case robot_state.slot:
if (_path.Count == 0)
{
Program.Print(_id + "do not reroute \n");
return(false);
}
Program.Print(_id + "pick slot reroute to " + _destination_point + "\n");
_path = AStarPathfinding.FindPath(_location, _destination_point, out _noPath);
return(true);
case robot_state.returning:
if (_path.Count == 0)
{
Program.Print(_id + "do not reroute \n");
return(false);
}
Program.Print(_id + "return reroute to " + _destination_point + "\n");
_path = AStarPathfinding.FindPath(_location, _chargingPoint, out _noPath);
return(true);
default:
Program.Print(_id + "do not reroute \n");
return(false);
}
}
public override bool Reroute()
{
if (_isLoading == true || _isUnloading == true)
{
return(false);
}
switch (_state)
{
case robot_state.pick:
case robot_state.slot:
_path = AStarPathfinding.FindPath(_location, _destination_point, out _noPath);
if (_path.Count > 0)
{
return(true);
}
return(false);
case robot_state.ship:
if (_path.Count == 0)
{
return(false);
}
else
{
Program.Print(_id + "ship reroute to " + _destination_point + "\n");
PrepareToShip();
return(true);
}
case robot_state.receive:
if (_path.Count == 0)
{
return(false);
}
else
{
Program.Print(_id + "recieve reroute to " + _destination_point + "\n");
PrepareToReceive();
return(true);
}
case robot_state.returning:
if (_path.Count == 0)
{
return(false);
}
else
{
Program.Print(_id + "return reroute to " + _chargingPoint + "\n");
_path = AStarPathfinding.FindPath(_location, _chargingPoint, out _noPath);
return(true);
}
default:
Program.Print("Reroute: Unkown state");
return(false);
}
}
public override void PrepareToReturn()
{
if (_state != robot_state.returning && _state != robot_state.free && _pickingTime == 0)
{
_path = AStarPathfinding.FindPath(_location, _chargingPoint, out _noPath, true);
_state = robot_state.returning;
_destination_point = _chargingPoint;
}
}
public virtual void PrepareToSlot(Point pickup_point, Rack rack, int quantity)
{
_path = AStarPathfinding.FindPath(_location, pickup_point, out _noPath, true);
_state = robot_state.slot;
_order._rack = rack;
_order._quantity = quantity;
_destination_point = pickup_point;
}
public void PrepareToShip()
{
Product product = Warehouse._DicItems[_loadedItems.Peek()];
ShippingRobot shipper = (ShippingRobot)Warehouse._Shippers[product._shipperID];
_destination_point = shipper.GetShipPoint();
_path = AStarPathfinding.FindPath(_location, _destination_point, out _noPath, true);
_state = robot_state.ship;
}
public virtual void ResumeActivityLastDay()
{
if (_backUpState != robot_state.free)
{
_state = _backUpState;
_backUpState = robot_state.free;
_path = AStarPathfinding.FindPath(_location, _destination_point, out _noPath);
Program.Print("Resume: " + _id + " " + _backUpState + " " + _destination_point + "\n");
}
}
public virtual void PrepareToPick(Point pickup_point, Rack rack, string product_id, int quantity)
{
_path = AStarPathfinding.FindPath(_location, pickup_point, out _noPath, true);
_state = robot_state.pick;
_order._rack = rack;
_order._productID = product_id;
_order._quantity = quantity;
_destination_point = pickup_point;
}
public override void ForceReturnChargingPoint()
{
if (_state != robot_state.returning && _state != robot_state.free && _pickingTime == 0)
{
Program.Print("Force return " + _id + " " + _state + " " + _destination_point + "\n");
_path = AStarPathfinding.FindPath(_location, _chargingPoint, out _noPath, true);
if (_noPath == true)
{
return;
}
_backUpState = _state;
_state = robot_state.returning;
}
}
public void FinishShipping()
{
_loadedItems.Dequeue();
_isUnloading = false;
if (_loadedItems.Count == 0) // finish shipping
{
if (_order._quantity == 0) // no more item to pick, return to charging point
{
PrepareToReturn();
}
else
{
_state = robot_state.pick; // return to rack and continue loading item to ship
_destination_point = _order._rack.GetPickUpPoint();
_path = AStarPathfinding.FindPath(_location, _destination_point, out _noPath);
}
}
}
public bool LeavePathForPicker()
{
int x = _destination_point.X;
int y = _destination_point.Y;
var proposedLocations = new List <Point>()
{
new Point(x - 1, y),
new Point(x + 1, y),
new Point(x, y - 1),
new Point(x, y + 1),
};
foreach (Point newgoal in proposedLocations)
{
if (Warehouse.ValueAt(newgoal) == 0)
{
Program.PrintLine(_id + "pick or slot reroute to " + newgoal);
_path = AStarPathfinding.FindPath(_location, newgoal, out _noPath);
return(true);
}
}
return(false);
}
public override void GenerateAction(int sec)
{
if (sec == 0)
{
_actionString = _id.ToString(); // add id at sec 0
if (_noPath)
{
Program.Print("Refind path from " + _location + " to " + _destination_point + "\n");
_path = AStarPathfinding.FindPath(_location, _destination_point, out _noPath);
}
}
if (_noPath)
{
_actionString += " n";
return;
}
if (_state == robot_state.free) // no action
{
_actionString += " n";
}
else if (_path.Count > 0) // moving
{
if (Rotate() == true)
{
return;
}
Byte robot_id = Warehouse.ValueAt(_path.Peek());
if (robot_id == 0 || robot_id == 1) // No robot standing at this tile, road is clear
{
MoveToNextTile();
}
else // new location is obstructed
{
_actionString += " n";
Robot another_robot = Warehouse._AllMovingRobots[robot_id];
if (another_robot._path.Count == 0)// anther robot is stopping
{
Program.Print(_id + " is obstructed by " + robot_id + another_robot._state + " at " + _path.Peek() + "\n");
if (Warehouse._Transporters.ContainsKey(another_robot._id) && _destination_point.Equals(another_robot._destination_point))
{
TransportRobot robot = (TransportRobot)another_robot;
robot.LeavePathForPicker();
return;
}
if (another_robot._state == robot_state.slot || another_robot._state == robot_state.pick)
{
another_robot.AvoidToLeavePath();
}
}
else if (IsCollideWith(another_robot))
{
Program.Print(_id + "" + _location + "collide with " + robot_id + _path.Peek() + "\n");
if (another_robot._state == robot_state.slot || another_robot._state == robot_state.pick)
{
if (another_robot.AvoidToLeavePath() == false)
{
this.AvoidToLeavePath();
}
}
else
{
AvoidToLeavePath();
}
}
}
}
else // we arrive at the destination
{
if (_state == robot_state.returning) // robot return to charging point
{
if (Rotate(Direction.Up) == false) // rotate to upward position
{
_state = robot_state.free;
_actionString += " n";
}
}
else if (_state == robot_state.pick && _order._quantity > 0)
{
Pick(sec);
}
else if (_state == robot_state.slot && _order._quantity > 0)
{
Slot(sec);
}
}
}
public void PrepareToReceive()
{
_destination_point = Warehouse._Receiver.GetReceivePoint();
_path = AStarPathfinding.FindPath(_location, _destination_point, out _noPath, true);
_state = robot_state.receive;
}
public override void GenerateAction(int sec)
{
if (sec == 0)
{
_actionString = _id.ToString(); // add id at sec 0
if (_noPath)
{
Program.Print("Refind path from " + _location + " to " + _destination_point + "\n");
_path = AStarPathfinding.FindPath(_location, _destination_point, out _noPath);
}
}
if (_noPath)
{
_actionString += " n";
return;
}
// when picking, stop 1 tile before the pickup point
if (_path.Count == 1 &&
_path.Peek().Equals(_destination_point) &&
(_state == robot_state.pick || _state == robot_state.slot))
{
_path.Pop();
}
if (_state == robot_state.free) // no action
{
_actionString += " n";
}
else if (_path.Count > 0) // moving
{
Byte robot_id = Warehouse.ValueAt(_path.Peek());
if (robot_id == 0 || robot_id == 1) // No robot standing at this tile, road is clear
{
if (Rotate() == true)
{
return;
}
MoveToNextTile();
}
else // new location is obstructed
{
_actionString += " n";
Robot another_robot = Warehouse._AllMovingRobots[robot_id];
if (another_robot._path.Count == 0)
{
Program.Print(_id + " is obstructed by " + robot_id + another_robot._state + " at " + _path.Peek() + "\n");
if (another_robot._state == robot_state.slot || another_robot._state == robot_state.pick)
{
another_robot.AvoidToLeavePath();
}
}
else if (IsCollideWith(another_robot))
{
Program.Print(_id + "" + _location + "collide with " + robot_id + _path.Peek() + "\n");
if (another_robot._state == robot_state.slot || another_robot._state == robot_state.pick)
{
if (another_robot.AvoidToLeavePath() == false)
{
this.AvoidToLeavePath();
}
}
else
{
AvoidToLeavePath();
}
}
}
}
else // we arrive at the destination
{
if (_state == robot_state.returning)
{
if (Rotate(Direction.Up) == false)
{
_state = robot_state.free;
_actionString += " n";
}
}
else
{
_actionString += " n";
}
}
}