public CraneScheduleStoreGet(SimSharp.Simulation environment, ICraneAgent agent)
: base(environment)
{
Time = environment.Now;
Owner = environment.ActiveProcess;
Agent = agent;
}
private bool PotentialCausingCollision(ICraneAgent other)
{
if (GoalPosition1 < _crane.GirderPosition && other.GetGirderPosition() < GetGirderPosition())
{
// crane may cause collision with other in two cases
if (other.GoalPosition1 <= other.GetGirderPosition())
{
// 0 .... <-other .... <-crane .... MAX
return(other.GetGirderPosition() + other.Width / 2 > Math.Min(Math.Min(GoalPosition1, GoalPosition2), TargetPosition) - Width / 2);
}
else
{
// 0 .... other-> .... <-crane .... MAX
return(Math.Max(Math.Max(other.GoalPosition1, other.GoalPosition2), other.TargetPosition) + other.Width / 2 > Math.Min(Math.Min(GoalPosition1, GoalPosition2), TargetPosition) - Width / 2);
}
}
else if (GoalPosition1 > _crane.GirderPosition && other.GetGirderPosition() > GetGirderPosition())
{
// crane may cause collision with other in two cases
if (other.GoalPosition1 >= other.GetGirderPosition())
{
// 0 .... crane-> .... other-> .... MAX
return(other.GetGirderPosition() - other.Width / 2 < Math.Max(Math.Max(GoalPosition1, GoalPosition2), TargetPosition) + Width / 2);
}
else
{
// 0 .... crane-> .... <-other .... MAX
return(Math.Min(Math.Min(other.GoalPosition1, other.GoalPosition2), other.TargetPosition) - other.Width / 2 < Math.Max(Math.Max(GoalPosition1, GoalPosition2), TargetPosition) + Width / 2);
}
}
return(false);
}
public virtual CraneScheduleStoreGet Get(ICraneAgent agent)
{
var get = new CraneScheduleStoreGet(Environment.Environment, agent);
GetQueue.AddLast(get);
TriggerGet();
return(get);
}
protected virtual void DoRequest(ZoneRequest request)
{
if (!Users.Any(x => IsOverlap(x, request)))
{
// there is no other ZoC request overlapping
var cranesInZoC = World.CraneAgents.Where(x =>
IsOverlap(Math.Min(x.GetGirderPosition(), x.TargetPosition), Math.Max(x.GetGirderPosition(), x.TargetPosition),
request.LowerPosition, request.HigherPosition)).ToList();
if (cranesInZoC.Count == 0)
{
// there is no crane within the ZoC
Users.Add(request);
request.Succeed();
}
else
{
if (cranesInZoC.All(x => x.State == CraneAgentState.Waiting))
{
// all cranes within the requested ZoC are waiting -> dodge them if possible
// to calculate this, we compute how much space is available left of the ZoC and how much is available right of the ZoC
var zocLeft = Users.Where(x => x.HigherPosition <= request.LowerPosition).MaxItems(x => x.HigherPosition).FirstOrDefault();
var zocRight = Users.Where(x => x.LowerPosition >= request.HigherPosition).MaxItems(x => - x.LowerPosition).FirstOrDefault();
var cranesLeft = World.CraneAgents.Where(x => x.GetGirderPosition() > (zocLeft?.LowerPosition ?? 0) && x.GetGirderPosition() <= request.LowerPosition).Sum(x => x.Width);
var cranesRight = World.CraneAgents.Where(x => x.GetGirderPosition() < (zocRight?.HigherPosition ?? World.Width) && x.GetGirderPosition() >= request.HigherPosition).Sum(x => x.Width);
var spaceLeftOfZoC = request.LowerPosition - (zocLeft?.HigherPosition ?? 0) - cranesLeft;
var spaceRightOfZoC = (zocRight?.LowerPosition ?? World.Width) - request.HigherPosition - cranesRight;
if (IsEnoughSpaceForDodge(cranesInZoC, spaceLeftOfZoC, spaceRightOfZoC))
{
var sumWidth = cranesInZoC.Sum(x => x.Width);
ICraneAgent goLeft = null, goRight = null;
foreach (var c in cranesInZoC.OrderBy(x => x.GetGirderPosition()))
{
if (sumWidth <= spaceRightOfZoC)
{
// we can either go left or right
if (c.GetGirderPosition() - request.LowerPosition > request.HigherPosition - c.GetGirderPosition())
{
// going right is shorter from this crane onward
goRight = c;
break;
}
} // not enough space to accomodate all remaining cranes on the right -> this has to go left
sumWidth -= c.Width;
goLeft = c;
}
// the goLeft and goRight crane will dodge all others to move out of the way
goLeft?.Dodge(request.LowerPosition - goLeft.Width / 2, 0);
goRight?.Dodge(request.HigherPosition + goRight.Width / 2, 0);
}
}
}
}
}
public virtual double GetClosestToTarget(ICraneAgent agent, double to)
{
var pos = agent.GetGirderPosition();
foreach (var u in Users)
{
if (IsOverlap(u.LowerPosition, u.HigherPosition, Math.Min(pos, to), Math.Max(pos, to)))
{
if (u.LowerPosition < pos && pos < u.HigherPosition)
{
World.Environment.Log($"WARNING: Crane {agent.Id} at position {pos} is within blocked zone [{u.LowerPosition}; {u.HigherPosition}] -> should not be!");
return(pos);
}
to = to > pos ? u.LowerPosition : u.HigherPosition;
}
}
return(to);
}
private bool IsExecutable(ICraneMoveEvent move, ICraneAgent agent)
{
if (move.Predecessors > 0 || move.ReleaseTime > _world.Now)
{
return(false);
}
if (!agent.CanReach(move.PickupGirderPosition) || !agent.CanReach(move.DropoffGirderPosition))
{
return(false);
}
if (_world.CraneAgents.Any(other => other != agent &&
other.State != CraneAgentState.Waiting &&
((other.GetGirderPosition() < agent.GetGirderPosition() && (Math.Max(other.GoalPosition1, other.GoalPosition2) + other.Width / 2 > Math.Min(move.PickupGirderPosition, move.DropoffGirderPosition) - agent.Width / 2)) ||
(other.GetGirderPosition() > agent.GetGirderPosition() && (Math.Min(other.GoalPosition1, other.GoalPosition2) - other.Width / 2 < Math.Max(move.PickupGirderPosition, move.DropoffGirderPosition) + agent.Width / 2)))))
{
return(false);
}
return(true);
}
public virtual bool HasMovesWaiting(ICraneAgent agent)
{
return(Schedule.TaskSequence.Any(x => x.craneId == agent.Id));
}
