public static void buildUnitRoute(SquareGrid grid, List <Order> GlobalOrders, Truck truck)
{
var orders = new List <Order>();
orders.AddRange(GlobalOrders);
while (orders.Count() > 0)
{
if (Settings.TrafficScore == 0)
{
Truck.adjustTruckSpeed(truck.time);
}
if (truck.status.Equals(Status.Ready))
{
var availableDrones = truck.drones.Where(drone => drone.status.Equals(Status.Available)).ToList();
var routeSheets = selectDronesOrders(availableDrones, orders);
List <Location> truckRoute = new List <Location>();
truckRoute.Add(truck.currentPosition);
foreach (var sheet in routeSheets)
{
sheet.drone.status = Status.Preparing;
truckRoute.Add(sheet.meetingPoint);
}
if (routeSheets.Count() == 0)
{
truckRoute.Add(new Location(orders.First().x, orders.First().y, 0));
}
for (int i = 0; i < truckRoute.Count() - 1; i++)
{
var awaitingDrones = truck.drones.Where(drone => drone.status.Equals(Status.Awaitng) && drone.currentPosition.Equals(truck.currentPosition)).ToList();
Vehicle.compareAndUpdateTime(awaitingDrones, truck);
Drone.retrieveDrones(truck, awaitingDrones);
Truck.doTruckDelivery(ViewModel.groundGrid, truck, truckRoute[i], truckRoute[i + 1]);
//Truck.doTruckDelivery(grid, truck, truckRoute[i], truckRoute[i + 1]);
var deliveredOrder = orders.Find(order => order.x == truckRoute[i + 1].x && order.y == truckRoute[i + 1].y);
orders.Remove(deliveredOrder);
foreach (var sheet in routeSheets)
{
Drone.loadDrones(truck, sheet.drone);
Drone.doDroneDelivery(sheet, grid);
deliveredOrder = orders.Find(order => order.x == sheet.deliveryPoint.x && order.y == sheet.deliveryPoint.y);
orders.Remove(deliveredOrder);
}
routeSheets.Clear();
}
Order.sortOrders(ref orders, truck.currentPosition);
}
}
}
private string doTruck(Location depot, List <Order> truckOrders, Truck truck)
{
if (truckOrders is null)
{
return(string.Empty);
}
if (Settings.TrafficScore != 0)
{
Truck.adjustTruckSpeed();
}
List <List <Location> > truckPaths = new List <List <Location> >();
List <Location> path;
AStarSearch astar = new AStarSearch(groundGrid, depot, new Location(truckOrders.First().x, truckOrders.First().y, 0));
path = astar.ReconstructPath(depot, new Location(truckOrders.First().x, truckOrders.First().y, 0), astar.cameFrom);
truckPaths.Add(path);
truck.currentPosition = new Location(truckOrders.First().x, truckOrders.First().y, 0);
var pathLength = path.Count * BaseConstants.PolygonSize;
var deliveryTime = pathLength / BaseConstants.TruckSpeed + BaseConstants.DropDeliveryTime;
truck.time += deliveryTime;
truck.status = Status.OnMission;
truck.log.Add(new Log(truck.id,
truck.currentPosition,
orders.Where(x => (x.x == truck.currentPosition.x && x.y == truck.currentPosition.y)).First().address,
truck.time,
truck.status,
"Delivery finished"));
for (int i = 0; i < truckOrders.Count - 1; i++)
{
if (Settings.TrafficScore != 0)
{
Truck.adjustTruckSpeed(truck.time);
}
var start = new Location(truckOrders[i].x, truckOrders[i].y, 0);
var deliveryLocation = new Location(truckOrders[i + 1].x, truckOrders[i + 1].y, 0);
astar = new AStarSearch(groundGrid, start, deliveryLocation);
path = astar.ReconstructPath(start, deliveryLocation, astar.cameFrom);
truckPaths.Add(path);
pathLength = path.Count * BaseConstants.PolygonSize;
deliveryTime = pathLength / BaseConstants.TruckSpeed + BaseConstants.DropDeliveryTime;
truck.currentPosition = deliveryLocation;
truck.time += deliveryTime;
truck.status = Status.OnMission;
truck.log.Add(new Log(truck.id,
truck.currentPosition,
orders.Where(x => (x.x == truck.currentPosition.x && x.y == truck.currentPosition.y)).First().address,
truck.time,
truck.status,
"Delivery finished"));
}
//astar = new AStarSearch(groundGrid, new Location(truckOrders.Last().x, truckOrders.Last().y, 0), Depot);
//path = astar.ReconstructPath(new Location(truckOrders.Last().x, truckOrders.Last().y, 0), Depot, astar.cameFrom);
//truckPaths.Add(path);
return(Truck.truckStatusUpdate(truckPaths, TruckTime));
}
/// <summary>
/// Performs delivery depending on wether deliveries are scheduled or not, based on settings value
/// </summary>
/// <param name="truck"></param>
private void performDelivery(Truck truck)
{
if (Settings.TrafficScore != 0)
{
Truck.adjustTruckSpeed();
}
if (!Settings.DeliveryInterval)
{
Order.sortOrders(ref orders, Depot);
var ordersString = string.Empty;
foreach (var o in orders)
{
ordersString += $"{o.address}\t--\t{o.x}.{o.y}\n";
}
FSTSPRouting.buildUnitRoute(grid, orders, truck);
}
else
{
var timeClusteredOrders = new List <List <Order> >();
var intervals = new DeliveryIntervals();
foreach (var interval in intervals.Intervals)
{
var ordersInInterval = orders.Where(x => x.dueTime.Equals(interval.Key)).ToList();
timeClusteredOrders.Add(ordersInInterval);
}
for (int i = 0; i < timeClusteredOrders.Count(); i++)
{
if (truck.time < intervals.Intervals.ToArray()[i].Value.start)
{
truck.status = Status.Idle;
truck.log.Add(new Log(truck.id,
truck.currentPosition,
orders.Where(x => (x.x == truck.currentPosition.x && x.y == truck.currentPosition.y)).First().address,
truck.time,
truck.status,
"success"));
truck.time = intervals.Intervals.ToArray()[i].Value.start;
truck.status = Status.Ready;
foreach (var drone in truck.drones)
{
drone.status = Status.Idle;
drone.log.Add(new Log(drone.id,
drone.currentPosition,
orders.Where(x => (x.x == truck.currentPosition.x && x.y == truck.currentPosition.y)).First().address,
drone.time,
drone.status,
"success"));
drone.time = intervals.Intervals.ToArray()[i].Value.start;
drone.status = Status.Available;
}
}
var timedOrders = timeClusteredOrders.ElementAt(i);
Order.sortOrders(ref timedOrders, truck.currentPosition);
FSTSPRouting.buildUnitRoute(grid, timedOrders, truck);
}
}
}