private IEnumerable <Event> Main()
{
while (true)
{
Priority = _pendingPrio;
Mode = _pendingMode;
switch (Mode)
{
case CraneAgentMode.Idle:
State = CraneAgentState.Waiting;
Utilization?.UpdateTo(0);
_interruptible = true;
yield return(new Event(_world.Environment));
_world.Environment.ActiveProcess.HandleFault();
continue;
case CraneAgentMode.Dodge:
State = CraneAgentState.Moving;
Utilization?.UpdateTo(1);
_interruptible = true;
var moveProcess = _world.Environment.Process(MoveCrane(_dodgePosition, _dodgePosition));
yield return(moveProcess);
if (_world.Environment.ActiveProcess.HandleFault())
{
moveProcess.Interrupt();
_interruptible = false;
yield return(moveProcess);
continue;
}
_pendingMode = CraneAgentMode.Work;
_pendingPrio = null;
break;
case CraneAgentMode.Work:
var workingProcess = _world.Environment.Process(Working());
_interruptible = true;
yield return(workingProcess);
if (_world.Environment.ActiveProcess.HandleFault())
{
workingProcess.Interrupt();
_interruptible = false;
yield return(workingProcess);
continue;
}
break;
default: throw new InvalidOperationException($"Error in CraneAgent, unknown mode: {_pendingMode}.");
}
}
}
public void Cancel()
{
if (_pendingMode == CraneAgentMode.Idle)
{
return;
}
_pendingMode = CraneAgentMode.Idle;
_pendingPrio = null;
if (_interruptible)
{
_mainProcess.Interrupt(); // Cancel will even interrupt a current movement if possible
}
else
{
_world.Environment.Log($"INFO: Crane {Id} to cancel, but cannot be interrupted.");
}
}
public void Resume()
{
if (_pendingMode == CraneAgentMode.Work)
{
return;
}
_pendingMode = CraneAgentMode.Work;
_pendingPrio = null;
if (Mode == CraneAgentMode.Idle && _interruptible)
{
_mainProcess.Interrupt();
}
else
{
_world.Environment.Log($"INFO: Crane {Id} to resume, but not currently idle.");
}
}
public void Dodge(double dodgePosition, double?othersPrio)
{
if (_pendingMode == CraneAgentMode.Dodge)
{
return;
}
_pendingMode = CraneAgentMode.Dodge;
_pendingPrio = (othersPrio + Math.Ceiling((othersPrio ?? 0) + 1e-7)) / 2.0; // propagate priority
_dodgePosition = dodgePosition;
if (State == CraneAgentState.Waiting && _interruptible)
{
_mainProcess.Interrupt(); // Dodge will only interrupt main when it's not doing something else
}
else
{
_world.Environment.Log($"INFO: Crane {Id} to dodge, but not currently waiting.");
}
}
public CraneAgent(IStackingEnvironment world, ICrane crane, IDistribution <double> girderSpeed, IDistribution <double> hoistSpeed, IDistribution <double> manipulationTime)
{
_world = world;
_crane = crane;
GirderSpeed = girderSpeed;
HoistSpeed = hoistSpeed;
ManipulationTime = manipulationTime;
_pendingMode = Mode = CraneAgentMode.Work;
State = CraneAgentState.Waiting;
GoalPosition1 = GoalPosition2 = _crane.GirderPosition;
_targetGirderPosition = _crane.GirderPosition;
_lastUpdate = world.Now;
_mainProcess = world.Environment.Process(Main());
WhenPickupOrDropoffQueue = new List <Event>();
}