void GoToVertexWithAirplane(FollowMeCar followme, int DestinationVertex)
{
Console.WriteLine($"FollowMe {followme.FollowMeId} is waiting for motion permission in " +
$"vertex {followme.LocationVertex} to go to vertex {DestinationVertex}");
WaitForMotionPermission(followme, DestinationVertex);
Console.WriteLine($"FollowMe {followme.FollowMeId} got permission to go to {DestinationVertex}");
var StartVertex = followme.LocationVertex;
MqClient.Send <FollowMeCommand>(queuesTo[Component.Airplane], new FollowMeCommand()
{
FollowMeId = followme.FollowMeId,
DestinationVertex = DestinationVertex,
PlaneId = followme.PlaneId
});
MakeAMove(followme, DestinationVertex);
Console.WriteLine($"FollowMe {followme.FollowMeId} is in vertex {DestinationVertex}");
Console.WriteLine($"FollowMe {followme.FollowMeId} is waiting for airplane " +
$"{followme.PlaneId} in {followme.LocationVertex}");
while (!followme.GotAirplaneResponse) //wait for airplane response
{
source.CreateToken().Sleep(10);
}
Console.WriteLine($"FollowMe {followme.FollowMeId} got airplane {followme.PlaneId} response staying in {followme.LocationVertex}");
MqClient.Send <MotionPermissionRequest>(queuesTo[Component.GroundMotion], //free edge
new MotionPermissionRequest()
{
Action = MotionAction.Free,
DestinationVertex = DestinationVertex,
Component = Component.FollowMe,
ObjectId = followme.FollowMeId,
StartVertex = StartVertex
});
followme.GotAirplaneResponse = false;
}
Task TransferAirplane(FollowMeCar followme, AirplaneTransferCommand cmd)
{
return(new Task(() =>
{
GoPath(GoToVertexAlone, followme, cmd.PlaneLocationVertex);
GoPath(GoToVertexWithAirplane, followme, cmd.DestinationVertex);
MqClient.Send <ServiceCompletionMessage>(queuesTo[Component.GroundService], new ServiceCompletionMessage()
{
Component = Component.FollowMe,
PlaneId = followme.PlaneId
});
SendToLogs("Completed transfering airplane ID " + cmd.PlaneId);
Console.WriteLine($"FollowMe {followme.FollowMeId} completed transfering airplane ID "
+ cmd.PlaneId);
followme.Status = Status.Free;
Console.WriteLine($"FollowMe {followme.FollowMeId} is free now and going home");
var source = new CancellationTokenSource(); //adds token and remove it after went home/new cmd
tokens.TryAdd(followme.FollowMeId, source);
GoPathHome(followme, GetHomeVertex(), source.Token);
if (source.Token.IsCancellationRequested)
{
Console.WriteLine($"FollowMe {followme.FollowMeId} is going on new task");
}
else
{
Console.WriteLine($"FollowMe {followme.FollowMeId} is in garage now");
}
tokens.Remove(followme.FollowMeId, out source);
}));
}
void FillCollections()
{
for (int i = 0; i < countCars; i++)
{
var followme = new FollowMeCar(i);
followme.LocationVertex = GetHomeVertex();
cars.TryAdd(followme.FollowMeId, followme);
}
}
void GoPath(GoToVertexAction action, FollowMeCar followme, int destinationVertex)
{
var path = map.FindShortcut(followme.LocationVertex, destinationVertex);
for (int i = 0; i < path.Count - 1; i++)
{
action(followme, path[i + 1]);
}
}
void MakeAMove(FollowMeCar followme, int DestinationVertex) //just move to vertex
{
int distance = map.Graph.GetWeightBetweenNearVerties(followme.LocationVertex, DestinationVertex);
SendVisualizationMessage(followme, DestinationVertex, FollowMeCar.Speed);
source.CreateToken().Sleep(distance * 1000 / FollowMeCar.Speed);
SendVisualizationMessage(followme, DestinationVertex, 0);
followme.LocationVertex = DestinationVertex;
followme.MotionPermitted = false;
}
void SendVisualizationMessage(FollowMeCar followme, int DestinationVertex, int speed)
{
MqClient.Send <VisualizationMessage>(queuesTo[Component.Visualizer], new VisualizationMessage()
{
ObjectId = followme.FollowMeId,
DestinationVertex = DestinationVertex,
Speed = speed,
StartVertex = followme.LocationVertex,
Type = Component.FollowMe
});
}
void GoPathHome(FollowMeCar followme, int destinationVertex,
CancellationToken cancellationToken)
{
var path = map.FindShortcut(followme.LocationVertex, destinationVertex);
for (int i = 0; i < path.Count - 1; i++)
{
if (cancellationToken.IsCancellationRequested)
{
break;
}
GoToVertexAlone(followme, path[i + 1]);
}
}
void WaitForMotionPermission(FollowMeCar followme, int DestinationVertex)
{
MqClient.Send <MotionPermissionRequest>(queuesTo[Component.GroundMotion], //permission request
new MotionPermissionRequest()
{
Action = MotionAction.Occupy,
Component = Component.FollowMe,
DestinationVertex = DestinationVertex,
ObjectId = followme.FollowMeId,
StartVertex = followme.LocationVertex
});
while (!followme.MotionPermitted) //check if followme can go
{
source.CreateToken().Sleep(10);
}
}
void GoToVertexAlone(FollowMeCar followme, int DestinationVertex)
{
Console.WriteLine($"FollowMe {followme.FollowMeId} is waiting for motion permission in " +
$"vertex {followme.LocationVertex} to go to vertex {DestinationVertex}");
WaitForMotionPermission(followme, DestinationVertex);
Console.WriteLine($"FollowMe {followme.FollowMeId} got permission to go to {DestinationVertex}");
var startVertex = followme.LocationVertex;
MakeAMove(followme, DestinationVertex);
Console.WriteLine($"FollowMe {followme.FollowMeId} is in vertex {DestinationVertex}");
MqClient.Send <MotionPermissionRequest>(queuesTo[Component.GroundMotion], //free edge
new MotionPermissionRequest()
{
Action = MotionAction.Free,
DestinationVertex = DestinationVertex,
Component = Component.FollowMe,
ObjectId = followme.FollowMeId,
StartVertex = startVertex
});
}
void Subscribe()
{
MqClient.SubscribeTo <NewTimeSpeedFactor>(queuesFrom[Component.TimeService], mes => //timespeed
{
timeFactor = mes.Factor;
source.TimeFactor = timeFactor;
});
MqClient.SubscribeTo <AirplaneTransferCommand>(queuesFrom[Component.GroundService], cmd => //groundservice
GotTransferRequest(cmd).Start());
MqClient.SubscribeTo <MotionPermissionResponse>(queuesFrom[Component.GroundMotion], response => //groundmotion
cars[response.ObjectId].MotionPermitted = true);
MqClient.SubscribeTo <ArrivalConfirmation>(queuesFrom[Component.Airplane], mes => //airpane
{
FollowMeCar followme = null;
followme = cars[mes.FollowMeId];
if (followme.PlaneId == mes.PlaneId)
{
followme.GotAirplaneResponse = true;
}
});
}
