private void SetPathDetails(PathDetails oldpath)
{
try
{
if (!SystemArgs.Request.PathDetailsExist(Order.PathDetails))
{
SystemArgs.Request.InsertPathDetails(Order.PathDetails);
}
Order.PathDetails = SystemArgs.Request.GetPathDetails(Order.PathDetails);
SystemArgs.Request.SetPathDetailsAllOrder(Order);
if (SystemArgs.Request.CheckedNeedRemovePathDetails(oldpath))
{
SystemArgs.Request.DeletePathDetails(oldpath);
}
var updateOrders = SystemArgs.Orders.FindAll(p => p.Number == Order.Number);
foreach (var order in updateOrders)
{
order.PathDetails = Order.PathDetails;
}
}
catch (Exception Ex)
{
throw new Exception(Ex.Message, Ex);
}
}
/// <summary>
/// check ray against all other servos and entities
/// </summary>
/// <param name="originalServo"></param>
/// <param name="path"></param>
/// <returns></returns>
private bool CheckIfClear(Servo originalServo, ref PathDetails path)
{
//create ray using servo + next destination
foreach (Entity entity in _entities)
{
if (!entity.Equals(originalServo))
{
path.BlockedMain |= entity.Intersection(path.MainRay, ref path.MainNear);
path.BlockedSide0 |= entity.Intersection(path.SideRay0, ref path.SideNear0);
path.BlockedSide1 |= entity.Intersection(path.SideRay1, ref path.SideNear1);
}
}
foreach (Person person in _people)
{
path.BlockedMain |= person.Intersection(path.MainRay, ref path.MainNear);
path.BlockedSide0 |= person.Intersection(path.SideRay0, ref path.SideNear0);
path.BlockedSide1 |= person.Intersection(path.SideRay1, ref path.SideNear1);
}
//Debug
_worldGrid.DrawCircleAt(path.Offset0, 0.1f, (Colors.DarkSlateGray));
_worldGrid.DrawCircleAt(path.Offset1, 0.1f, (Colors.Red));
_worldGrid.DrawCircleAt(path.Origin, 0.1f, (Colors.Fuchsia));
bool isBlocked = path.BlockedMain || path.BlockedSide0 || path.BlockedSide1;
return(!isBlocked);
}
/// <summary>
/// check whether the servos have pending waypoints
/// and try to go to those waypoints
/// </summary>
private void CheckServos()
{
foreach (Servo servo in _servos)
{
DrawServo(servo);
DrawWaypoints(servo);
// Console.WriteLine(servo.Name);
// Console.WriteLine(servo.Waypoints.Count);
if (servo.Waypoints.Count > 0)
{
PathDetails pathDetails = new PathDetails(servo, servo.Waypoints.Peek());
// Console.WriteLine(servo.Name);
if (CheckIfClear(servo, ref pathDetails))
{
//if clear move servo by some episilon
//check if near humans:
bool isClose = false;
for (int i = 0; i < _people.Count; i++)
{
float distance = Vector2.Distance(servo.Position, _people[i].Position);
if (distance < _people[i].Radius + _servoPersonDistance)
{
isClose = true;
}
}
double speed = isClose ? 0.5 : 1;
servo.MoveTo(pathDetails.MainRay.GetHit(_moveEpisilon), speed);
}
else
{
//TODO: else create new node orthogonal to the blockage
}
}
}
}
private void ChangePathDetailsDWG_B_Click(object sender, EventArgs e)
{
try
{
if (Order.PathDetails.PathDWG == PathDetailsDWG_TB.Text)
{
FolderBrowserDialog dialog = new FolderBrowserDialog();
if (dialog.ShowDialog() == DialogResult.OK)
{
PathDetails oldpath = Order.PathDetails;
string ModelPath = dialog.SelectedPath;
if (ModelPath.Substring(0, 2) != @"\\")
{
using (var managementObject = new ManagementObject())
{
managementObject.Path = new ManagementPath($"Win32_LogicalDisk='{ModelPath.Substring(0, 2)}'");
var driveType = (DriveType)(uint)managementObject["DriveType"];
var networkPath = Convert.ToString(managementObject["ProviderName"]);
ModelPath = networkPath + ModelPath.Remove(0, 2);
}
}
ModelPath = ModelPath.Replace("tekla-fs", "10.0.7.249");
Order.PathDetails = new PathDetails {
DateCreate = DateTime.Now, PathDWG = ModelPath, PathPDF = Order.PathDetails.PathPDF, PathDXF = Order.PathDetails.PathDXF
};
SetPathDetails(oldpath);
PathDetailsDWG_TB.Text = ModelPath;
MessageBox.Show("Путь успешно изменен!", "Информация", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
else
{
if (!Directory.Exists(PathDetailsDWG_TB.Text))
{
throw new Exception("Не найдена папка");
}
PathDetails oldpath = Order.PathDetails;
string ModelPath = PathDetailsDWG_TB.Text;
if (ModelPath.Substring(0, 2) != @"\\")
{
using (var managementObject = new ManagementObject())
{
managementObject.Path = new ManagementPath($"Win32_LogicalDisk='{ModelPath.Substring(0, 2)}'");
var driveType = (DriveType)(uint)managementObject["DriveType"];
var networkPath = Convert.ToString(managementObject["ProviderName"]);
ModelPath = networkPath + ModelPath.Remove(0, 2);
}
}
ModelPath = ModelPath.Replace("tekla-fs", "10.0.7.249");
Order.PathDetails = new PathDetails {
DateCreate = DateTime.Now, PathDWG = ModelPath, PathPDF = Order.PathDetails.PathPDF, PathDXF = Order.PathDetails.PathDXF
};
SetPathDetails(oldpath);
PathDetailsDWG_TB.Text = ModelPath;
MessageBox.Show("Путь успешно изменен!", "Информация", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
catch (Exception E)
{
SystemArgs.PrintLog(E.ToString());
MessageBox.Show(E.Message, "Ошибка", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
public PathDetails CalculatePath(GridOccupant wielder, Vector2Int direction, Grid.Grid grid)
{
PathDetails path = new PathDetails
{
Travelled = new List <Grid.Grid.Node>(),
IsLastNodeTarget = false
};
var normalised = direction.CardinalNormalise();
var magnitude = projectile.Range;
var node = new Grid.Grid.Node();
for (int i = 1; i <= magnitude; i++)
{
if (grid.TryGetNodeAt(wielder.Position + i * normalised, ref node))
{
path.Travelled.Add(node);
// if we have hit something that has a type then weve eiher hit something we cant move though
// or weve hit our target
if (node.Occupants.Any(it => it.Type != null))
{
path.IsLastNodeTarget = node.Occupants.Any(it => it.Type != null && TargetTypes.Contains(it.Type));
break;
}
// todo(chris) add back in when we implement penetration
// else
// {
// var targetOccupants = node.Occupants.Where(it => TargetTypes.Contains(it.Type));
//
// var gridOccupants = targetOccupants as GridOccupant[] ?? targetOccupants.ToArray();
//
// // occupant isnt a target so cant go through
// if (gridOccupants.Length == 0)
// {
// break;
// }
//
// path.Hits.Add(node);
//
// var penetrating = gridOccupants.Where(occupant => projectile.PenitrationTags.Contains(occupant.Type));
//
// var penetratingArray = penetrating as GridOccupant[] ?? penetrating.ToArray();
//
// // cant penetrate target to this will be as far as we go
// if (penetratingArray.Length == 0)
// {
// break;
// }
//
// // if we cant penetrate all then we are done
// if (remainingDepth <= penetratingArray.Length)
// {
// break;
// }
//
// // continue;
// }
}
else
{
break;
}
}
if (path.IsLastNodeTarget && path.Travelled.Count == 0)
{
path = new PathDetails
{
Travelled = new List <Grid.Grid.Node>(),
IsLastNodeTarget = false
};
}
else
{
path.Travelled.RemoveAt(0);
}
return(path);
}
