protected TransportRobot GetAdjacentTransporter()
{
int x = _location.X;
int y = _location.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 location in proposedLocations)
{
Byte id = Warehouse.ValueAt(location);
if (id > 9 && Warehouse._Transporters.ContainsKey(id))
{
TransportRobot robot = (TransportRobot)Warehouse._Transporters[id];
if (robot._path.Count == 0 && robot._destination_point.Equals(_destination_point))
{
return(robot);
}
}
}
return(null);
}
private TransportRobot GetAdjacentTransporter()
{
foreach (Point location in _shipPoints)
{
Byte id = Warehouse.ValueAt(location);
if (id > 9 && Warehouse._Transporters.ContainsKey(id))
{
TransportRobot robot = (TransportRobot)Warehouse._Transporters[id];
if (robot._state == robot_state.ship &&
robot._loadedItems.Count > 0 &&
robot._path.Count == 0)
{
return(robot);
}
}
}
return(null);
}
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);
}
protected virtual void MoveToNextTile()
{
SetLocation(_path.Pop());
_actionString += " f";
if (_path.Count > 0)
{
Byte robot_id = Warehouse.ValueAt(_path.Peek());
if (robot_id == 0 || robot_id == 1) // No robot standing at this tile, road is clear
{
return;
}
Robot another_robot = Warehouse._AllMovingRobots[robot_id];
if (IsCollideWith(another_robot))
{
Program.Print(_id + " is collide with " + robot_id + " at " + _path.Peek() + "\n");
if (another_robot._state == robot_state.slot || another_robot._state == robot_state.pick)
{
another_robot.AvoidToLeavePath();
}
}
}
}
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 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";
}
}
}
public bool AvoidToLeavePath()
{
if (_isLoading == true || _isUnloading == true)
{
return(false);
}
Point LeftTile;
Point RightTile;
Point BackTile;
Point FrontTile;
switch (_direction)
{
case Direction.Up:
LeftTile = new Point(_location.X - 1, _location.Y);
RightTile = new Point(_location.X + 1, _location.Y);
BackTile = new Point(_location.X, _location.Y + 1);
FrontTile = new Point(_location.X, _location.Y - 1);
break;
case Direction.Down:
LeftTile = new Point(_location.X + 1, _location.Y);
RightTile = new Point(_location.X - 1, _location.Y);
BackTile = new Point(_location.X, _location.Y - 1);
FrontTile = new Point(_location.X, _location.Y + 1);
break;
case Direction.Left:
LeftTile = new Point(_location.X, _location.Y + 1);
RightTile = new Point(_location.X, _location.Y - 1);
BackTile = new Point(_location.X + 1, _location.Y);
FrontTile = new Point(_location.X - 1, _location.Y);
break;
case Direction.Right:
LeftTile = new Point(_location.X, _location.Y - 1);
RightTile = new Point(_location.X, _location.Y + 1);
BackTile = new Point(_location.X - 1, _location.Y);
FrontTile = new Point(_location.X + 1, _location.Y);
break;
default:
return(false);
}
if (Warehouse.ValueAt(LeftTile) == 0)
{
_path.Push(_location);
_path.Push(LeftTile);
Program.PrintLine(_id + "Move to left side" + _location + LeftTile);
return(true);
}
else if (Warehouse.ValueAt(RightTile) == 0)
{
_path.Push(_location);
_path.Push(RightTile);
Program.PrintLine(_id + "Move to right side" + _location + RightTile);
return(true);
}
else if (Warehouse.ValueAt(BackTile) == 0)
{
_path.Push(_location);
_path.Push(BackTile);
Program.PrintLine(_id + "Move to back side" + _location + BackTile);
return(true);
}
else if (Warehouse.ValueAt(FrontTile) == 0)
{
_path.Push(_location);
_path.Push(FrontTile);
Program.PrintLine(_id + "Move to front side" + _location + FrontTile);
return(true);
}
Program.PrintLine(_id + "can not move");
return(false);
}
