public void DoWork()
{
Thread.Sleep(2000);
Random rnd = new Random();
double[] oldPosition = _driver.Position;
double oldX = oldPosition[0];
double oldY = oldPosition[1];
double mulX = 1;
double mulY = 1;
if ((rnd.Next() % 2) == 0)
{
mulX *= -1;
}
if ((rnd.Next() % 2) == 0)
{
mulY *= -1;
}
int counterMax = 10;
int counter = 0;
double nextX = 0;
double nextY = 0;
MapHolderBuilder mhb = new MapHolderBuilder(_map.WorldProperties);
MapHolder update = null;
while(true){
if (counter <= 0)
{
SimulatedWorldPosition swp = _map.WorldProperties.convertRealToSimulatedPositions(new RealWorldPosition(oldX, oldY));
_agentEnviroment.AgentLOG(this, "Request map: [" + swp.x + ";" + swp.y + "]");
_map.requestMapView(swp.x - 50, swp.y -200, 100, 500);
counter = counterMax;
}
counter--;
if (_driver.Status == DriverStatus.Processing)
{
_agentEnviroment.AgentLOG(this, "Sleep(" + nextX + ";" + nextY + ")");
Thread.Sleep(2000);
}
else
{
double[] currentPosution = _driver.Position;
if (oldX != currentPosution[0] || oldY != currentPosution[1])
{
update = mhb.buildUpdate(oldX, oldY,
currentPosution[0], currentPosution[1], 0.6);
_agentEnviroment.AgentLOG(this, "-------------Send map update path: (" + oldX + ";" +
oldY + ") => (" + currentPosution[0] + ";" + currentPosution[1] + ")");
}else{
_agentEnviroment.AgentLOG(this, "--------------No movement");
update = null;
}
if (_driver.Status != DriverStatus.Done)
{
//Robot had found an obsitcle - changing course
if (update != null)
{
int xToCover = 0;
int yToCover = 0;
double directionX = _driver.Direction.X;
double directionY = _driver.Direction.Y;
double alfa = 0;
if (directionX != 0)
{
alfa = (Math.Atan(Math.Tan(directionY / directionX)) * 180) / Math.PI;
if (directionX < 0)
{
alfa += 180;
}
if (alfa < 0)
{
alfa += 360;
}
}
else
{
if (directionY > 0)
{
alfa = 90;
}
else
{
alfa = 270;
}
}
_agentEnviroment.AgentLOG(this, "My directions: [" + directionX + ";" + directionY + "], a = " + alfa);
if ( (0.0 <= alfa && alfa <= 45) || (315 <= alfa && alfa <= 360))
{
xToCover = update.SizeX - 1;
}
else if (135 <= alfa && alfa <= 225)
{
xToCover = 0;
}
else
{
xToCover = -1;
}
if (45 <= alfa && alfa <= 135)
{
yToCover = update.SizeY - 1;
}
else if (225 <= alfa && alfa <= 315)
{
yToCover = 0;
}
else
{
yToCover = -1;
}
if (xToCover != -1)
{
for (int i = 0; i < update.SizeY; i++)
{
if (update.Map[xToCover, i] != Map.UNKNOWN_MAP_STATE)
{
update.Map[xToCover, i] = Int32.MaxValue;
}
}
}
if (yToCover != -1)
{
for (int i = 0; i < update.SizeX; i++)
{
if (update.Map[i, yToCover] != Map.UNKNOWN_MAP_STATE)
{
update.Map[i, yToCover] = Int32.MaxValue;
}
}
}
}
//TODO: Update map
_agentEnviroment.AgentLOG(this, "------------Status: " + _driver.Status);
if ((rnd.Next() % 2) == 0)
{
mulX *= -1;
}
if ((rnd.Next() % 2) == 0)
{
mulY *= -1;
}
}
if (update != null)
{
_map.pushMapUpdate(update);
}
//determining new point to goto
oldPosition = _driver.Position;
if (_driver.Status != DriverStatus.Done)
{
oldX = oldPosition[0];
oldY = oldPosition[1];
}
nextX = rnd.NextDouble() * 0.4 * mulX + oldPosition[0] + 0.3;
nextY = rnd.NextDouble() * 0.4 * mulY + oldPosition[1] + 0.3;
_agentEnviroment.AgentLOG(this, "------------GOTO: (" + nextX + ";" + nextY +")");
//moving
_driver.CommandGoTo(nextX,nextY);
Thread.Sleep(4000);
}
}
}
public MapFactory(WorldProperties wp)
{
this._wp = wp;
this._mhb = new MapHolderBuilder(wp);
}
