public List <Node> AllTogetherPathfind(ReservationTable resT, Vector3 StartPosition, Vector3 EndPosition)
{
Node LastNode = SilverPathAssess(this_gridClass, StartPosition, EndPosition);
List <Node> Optimalpath1 = RetracePath(this_gridClass, StartPosition, LastNode.WorldPosition);
List <Node> path1 = PathFinding(Optimalpath1, resT, this_tableSize, this_gridClass, StartPosition, EndPosition);
return(path1);
}
public T Select <T>(T type, int primaryKey) where T : new()
{
Type entType = type.GetType();
if (entType == typeof(City))
{
return((T)Convert.ChangeType(CityTable.Select(primaryKey), typeof(T)));
}
if (entType == typeof(Customer))
{
return((T)Convert.ChangeType(CustomerTable.Select(primaryKey), typeof(T)));
}
if (entType == typeof(Distillation))
{
return((T)Convert.ChangeType(DistillationTable.Select(primaryKey), typeof(T)));
}
if (entType == typeof(District))
{
return((T)Convert.ChangeType(DistrictTable.Select(primaryKey), typeof(T)));
}
if (entType == typeof(Material))
{
return((T)Convert.ChangeType(MaterialTable.Select(primaryKey), typeof(T)));
}
if (entType == typeof(Period))
{
return((T)Convert.ChangeType(PeriodTable.Select(primaryKey), typeof(T)));
}
if (entType == typeof(Region))
{
return((T)Convert.ChangeType(RegionTable.Select(primaryKey), typeof(T)));
}
if (entType == typeof(Reservation))
{
return((T)Convert.ChangeType(ReservationTable.Select(primaryKey), typeof(T)));
}
if (entType == typeof(Season))
{
return((T)Convert.ChangeType(SeasonTable.Select(primaryKey), typeof(T)));
}
if (entType == typeof(UserInfo))
{
return((T)Convert.ChangeType(UserInfoTable.Select(primaryKey), typeof(T)));
}
return(default(T));
}
public ICollection <T> SelectAll <T>(T type) where T : new()
{
Type entType = type.GetType();
if (entType == typeof(City))
{
return((ICollection <T>)CityTable.Select());
}
if (entType == typeof(Customer))
{
return((ICollection <T>)CustomerTable.Select());
}
if (entType == typeof(Distillation))
{
return((ICollection <T>)DistillationTable.Select());
}
if (entType == typeof(District))
{
return((ICollection <T>)DistrictTable.Select());
}
if (entType == typeof(Material))
{
return((ICollection <T>)MaterialTable.Select());
}
if (entType == typeof(Period))
{
return((ICollection <T>)PeriodTable.Select());
}
if (entType == typeof(Region))
{
return((ICollection <T>)RegionTable.Select());
}
if (entType == typeof(Reservation))
{
return((ICollection <T>)ReservationTable.Select());
}
if (entType == typeof(Season))
{
return((ICollection <T>)SeasonTable.Select());
}
if (entType == typeof(UserInfo))
{
return((ICollection <T>)UserInfoTable.Select());
}
return(null);
}
public int Insert <T>(T entity)
{
Type type = entity.GetType();
if (type == typeof(City))
{
return(CityTable.Insert(entity as City));
}
if (type == typeof(Customer))
{
return(CustomerTable.Insert(entity as Customer));
}
if (type == typeof(Distillation))
{
return(DistillationTable.Insert(entity as Distillation));
}
if (type == typeof(District))
{
return(DistrictTable.Insert(entity as District));
}
if (type == typeof(Material))
{
return(MaterialTable.Insert(entity as Material));
}
if (type == typeof(Period))
{
return(PeriodTable.Insert(entity as Period));
}
if (type == typeof(Region))
{
return(RegionTable.Insert(entity as Region));
}
if (type == typeof(Reservation))
{
return(ReservationTable.Insert(entity as Reservation));
}
if (type == typeof(Season))
{
return(SeasonTable.Insert(entity as Season));
}
if (type == typeof(UserInfo))
{
return(UserInfoTable.Insert(entity as UserInfo));
}
return(0);
}
/// <summary>
/// constructor
/// </summary>
/// <param name="graph">graph</param>
/// <param name="seed">The seed to use for the randomizer.</param>
/// <param name="logger">The logger to use.</param>
public PASMethod(Graph graph, int seed, PathPlanningCommunicator logger)
: base(graph, seed, logger)
{
if (graph.BackwardEdges == null)
{
graph.GenerateBackwardEgdes();
}
rraStars = new Dictionary <int, ReverseResumableAStar>();
_reservationTable = new ReservationTable(graph, true, true, true);
}
/// <summary>
/// Initializes a new instance of the <see cref="FARMethod"/> class.
/// </summary>
/// <param name="graph">graph</param>
/// <param name="seed">The seed to use for the randomizer.</param>
/// <param name="logger">The logger to use.</param>
public BCPMethod(Graph graph, int seed, PathPlanningCommunicator logger)
: base(graph, seed, logger)
{
if (graph.BackwardEdges == null)
{
graph.GenerateBackwardEgdes();
}
_reservationTable = new ReservationTable(graph, true, true, false);
_biasedCost = new Dictionary <int, Dictionary <int, double> >();
_deadlockHandler = new DeadlockHandler(graph, seed);
}
/// <summary>
/// Initializes a new instance of the <see cref="FARMethod"/> class.
/// </summary>
/// <param name="graph">graph</param>
/// <param name="seed">The seed to use for the randomizer.</param>
/// <param name="logger">The logger to use.</param>
public CBSMethod(Graph graph, int seed, PathPlanningCommunicator logger)
: base(graph, seed, logger)
{
if (graph.BackwardEdges == null)
{
graph.GenerateBackwardEgdes();
}
_reservationTable = new ReservationTable(graph);
_agentReservationTable = new ReservationTable(graph, false, true, false);
_deadlockHandler = new DeadlockHandler(graph, seed);
}
/// <summary>
/// Finds the paths.
/// </summary>
/// <param name="currentTime">The current time.</param>
/// <param name="agents">The agents.</param>
/// <param name="obstacleNodes">The obstacle nodes.</param>
/// <param name="lockedNodes">The locked nodes.</param>
/// <returns></returns>
public List <IndependenceDetection.PlannedPath> FindPaths(List <Agent> agents)
{
//set data
this.Clear(0, -1);
this._agents = agents;
this._stopSearch = false;
//clear data structures
NodeBackpointerId.Clear();
NodeCreatedByAgent.Clear();
NodeStepNode.Clear();
_hValues.Clear();
_gValues.Clear();
_reservationTable = new ReservationTable(_graph, true);
//initiate data structures
var plannedPaths = new List <IndependenceDetection.PlannedPath>();
//create one A* node generator per agent
foreach (var agent in agents)
{
_nodeGenerator[agent.ID].Clear();
}
//add first Node
LastNodeId = 0;
NodeBackpointerId.Add(-1);
NodeCreatedByAgent.Add(null);
NodeStepNode.Add(-1);
_hValues.Add(_agents.Sum(a => _nodeGenerator[a.ID].h(0)));
_gValues.Add(0.0);
_minHValue = _hValues[0];
_minHNode = 0;
_minHTime = 0;
_maxNodeCount = _maxNodeCountPerAgent * agents.Count;
//execute the search
this.Search();
//get the result
foreach (var agent in agents)
{
var plannedPath = new IndependenceDetection.PlannedPath();
plannedPath.Agent = agent;
plannedPath.Path = new Path();
_nodeGenerator[agent.ID].GetPathAndReservations(ref plannedPath.Path, out plannedPath.Reservations);
plannedPaths.Add(plannedPath);
}
return(plannedPaths);
}
/// <summary>
/// constructor
/// </summary>
/// <param name="graph">graph</param>
/// <param name="seed">The seed to use for the randomizer.</param>
/// <param name="logger">The logger to use.</param>
public WHCAvStarMethod(Graph graph, int seed, PathPlanningCommunicator logger)
: base(graph, seed, logger)
{
if (graph.BackwardEdges == null)
{
graph.GenerateBackwardEgdes();
}
rraStars = new Dictionary <int, ReverseResumableAStar>();
_reservationTable = new ReservationTable(graph);
if (UseDeadlockHandler)
{
_deadlockHandler = new DeadlockHandler(graph, seed);
}
}
//---------------------pathfinding----------------------//
public List <Node> PathFinding(List <Node> optimalPath, ReservationTable resT, int tableSize, Grid gridClass, Vector3 StartPosition, Vector3 EndPosition)
{
Node currentNode = gridClass.NodeFromWorldPoint(StartPosition);
Node endNode = gridClass.NodeFromWorldPoint(EndPosition);
currentNode.hCost = GetDistance(currentNode, endNode);
List <Node> realPath = new List <Node>();
for (int time = 0; time < tableSize; time++)
{
if (time > optimalPath.Count - 1)
{
break;
}
//to solve head to head
resT.Reserve(time, currentNode);
//---------------------------------------------------------------
List <Node> notOptimal = new List <Node> ();
foreach (Node neighbour in gridClass.GetNeighbors(currentNode))
{
neighbour.hCost = GetDistance(neighbour, endNode);
if (!resT.CheckReserve(time, neighbour) && optimalPath [time] == (neighbour))
{
currentNode = neighbour;
notOptimal = new List <Node> ();
break;
}
else if (!resT.CheckReserve(time, neighbour))
{
notOptimal.Add(neighbour);
}
}
if (notOptimal.Count > 0)
{
Node subOptimal = BestNodeFromList(notOptimal, gridClass);
if (currentNode.hCost > subOptimal.hCost)
{
currentNode = subOptimal;
}
}
realPath.Add(currentNode);
//reserve
resT.Reserve(time, currentNode);
}
return(realPath);
// return optimalPath;
}
static void Main(string[] args)
{
//Configuration.SetDbConnection(
// DataLayerNetCore.DBType.XmlDatabase,
// @"C:\Users\Vojtěch\Source\Repos\VIS_projekt\Aplikace\DistilleryDbLib\WebApp\DistXml.xml");
DBFactory.configuredDbType = DBType.SqlServer;
DBFactory.configuredConnectionString = @"data source = dbsys.cs.vsb.cz\STUDENT; initial catalog = mor0146; user id = mor0146; password = Wt0pEzMOWp";
var list = ReservationTable.Select();
var one = ReservationTable.Select(1);
//Console.WriteLine(one.District);
}
public async Task <IActionResult> TablesCreate(int tableId, int reservationId)
{
try
{
var rt = new ReservationTable {
TableId = tableId, ReservationId = reservationId
};
_context.ReservationTables.Add(rt);
await _context.SaveChangesAsync();
return(RedirectToAction(nameof(Tables), new { id = reservationId }));
}
catch (Exception)
{
return(RedirectToAction(nameof(Tables), new { id = reservationId }));
}
}
private void POST_Create_Reservation()
{
//TO-DO fix validation for input fields
if (!UserAgent.IsAuthenticated)
{
return;
}
if (UserAgent.Account.Contact.MissingData())
{
return;
}
Reservation res = ReservationTable.CreateReservation(UserAgent.Account.Id, restaurant, DateTime.Parse(fromdate + " " + fromtime), DateTime.Parse(tilldate + " " + tilltime), guestsamount);
NotificationTable.CreateNotification(UserAgent.Account.Id, AccountTable.RetrieveAccountByCompanyID(restaurant).Id, res.Id, 2);
}
/// <summary>
/// Initializes the reservation table.
/// </summary>
private void _initReservationTable()
{
_reservationTable = new ReservationTable(PathFinder.Graph, true);
//lasy initialization reservations
_reservations = new Dictionary <BotNormal, List <ReservationTable.Interval> >();
foreach (BotNormal bot in Instance.Bots)
{
if (bot.CurrentWaypoint == null)
{
bot.CurrentWaypoint = bot.Instance.WaypointGraph.GetClosestWaypoint(bot.Instance.Compound.BotCurrentTier[bot], bot.X, bot.Y);
}
_reservations.Add(bot, new List <ReservationTable.Interval>());
_reservations[bot].Add(new ReservationTable.Interval(_waypointIds[bot.CurrentWaypoint], 0, double.PositiveInfinity));
_reservationTable.Add(_reservations[bot][0]);
}
}
/// <summary>
/// Initializes a new instance of the <see cref="SpaceTimeAStar"/> class.
/// </summary>
public SpaceTimeAStar(Graph graph, double lengthOfAWaitStep, double lengthOfAWindow, ReservationTable reservationTable, Agent agent, ReverseResumableAStar rraStar, bool tieBreaking = true)
: base(0, -1)
{
this._graph = graph;
this._lengthOfAWaitStep = lengthOfAWaitStep;
this._lengthOfAWindow = lengthOfAWindow;
this._reservationTable = reservationTable;
this._agent = agent;
this._RRAStar = rraStar;
this._tieBreaking = tieBreaking;
//built mappings
NodeTime = new List <double>();
NodeBackpointerId = new List <int>();
NodeBackpointerLastStopId = new List <int>();
NodeBackpointerEdge = new List <Edge>();
NodeTimeTemp = new List <double>();
NodeBackpointerIdTemp = new List <int>();
NodeBackpointerLastTurnIdTemp = new List <int>();
NodeBackpointerEdgeTemp = new List <Edge>();
StartAngle = Graph.RadToDegree(agent.OrientationAtNextNode);
NodeTime.Add(agent.ArrivalTimeAtNextNode);
NodeBackpointerId.Add(-1);
NodeBackpointerLastStopId.Add(0);
NodeBackpointerEdge.Add(null);
_numNodeId++;
_init = true;
//the node 0 has no assigned value yet.
Q.ChangeKey(Open[0], h(0));
if (_tieBreaking)
{
_tieBreakingTimes = new double[graph.NodeCount];
for (var i = 0; i < _tieBreakingTimes.Length; i++)
{
_tieBreakingTimes[i] = -1.0;
}
}
}
/// <summary>
/// Initializes a new instance of the <see cref="FARMethod"/> class.
/// </summary>
/// <param name="graph">graph</param>
/// <param name="seed">The seed to use for the randomizer.</param>
/// <param name="logger">The logger to use.</param>
public FARMethod(Graph graph, int seed, EvadingStrategy evadingStragety, PathPlanningCommunicator logger)
: base(graph, seed, logger)
{
_evadingStragety = evadingStragety;
if (graph.BackwardEdges == null)
{
graph.GenerateBackwardEgdes();
}
_waitFor = new Dictionary <int, int>();
_reservationTable = new ReservationTable(graph, false, true, false);
_rraStar = new Dictionary <int, ReverseResumableAStar>();
_moveTime = new Dictionary <int, double>();
_waitTime = new Dictionary <int, double>();
_es2evadedFrom = new Dictionary <int, HashSet <int> >();
if (UseDeadlockHandler)
{
_deadlockHandler = new DeadlockHandler(graph, seed);
}
}
/// <summary>
/// Randoms the hop.
/// </summary>
/// <param name="agent">The agent.</param>
/// <param name="reservationTable">The reservation table.</param>
/// <param name="currentTime">The current time.</param>
/// <param name="finalReservation">if set to <c>true</c> [final reservation].</param>
/// <param name="insertReservation">if set to <c>true</c> [insert reservation].</param>
/// <returns></returns>
public bool RandomHop(Agent agent, ReservationTable reservationTable = null, double currentTime = 0.0, bool finalReservation = false, bool insertReservation = false)
{
//try to find a free hop
var possibleEdges = new List <Edge>(_graph.Edges[agent.NextNode]);
shuffle <Edge>(possibleEdges);
foreach (var edge in possibleEdges.Where(e => !e.ToNodeInfo.IsLocked && (agent.CanGoThroughObstacles || !e.ToNodeInfo.IsObstacle)))
{
//create intervals
if (reservationTable != null)
{
var intervals = reservationTable.CreateIntervals(currentTime, currentTime, 0, agent.Physics, agent.NextNode, edge.To, finalReservation);
//check if a reservation is possible
if (reservationTable.IntersectionFree(intervals))
{
if (insertReservation)
{
reservationTable.Add(intervals);
}
//create a path
agent.Path.Clear();
agent.Path.AddLast(edge.To, true, _rnd.NextDouble() * LengthOfAWaitStep);
return(true);
}
}
else
{
//create a path
agent.Path.Clear();
agent.Path.AddLast(edge.To, true, _rnd.NextDouble() * LengthOfAWaitStep);
return(true);
}
}
return(false);
}
/// <summary>
/// constructor
/// </summary>
/// <param name="graph">graph</param>
/// <param name="seed">The seed to use for the randomizer.</param>
/// <param name="logger">The logger to use.</param>
public WHCAnStarMethod(Graph graph, int seed, List <int> agentIds, List <int> startIds, PathPlanningCommunicator logger)
: base(graph, seed, logger)
{
if (graph.BackwardEdges == null)
{
graph.GenerateBackwardEgdes();
}
rraStars = new Dictionary <int, ReverseResumableAStar>();
_reservationTable = new ReservationTable(graph, true, false, false);
_calculatedReservations = new Dictionary <int, List <ReservationTable.Interval> >();
for (var i = 0; i < agentIds.Count; i++)
{
_calculatedReservations.Add(agentIds[i], new List <ReservationTable.Interval>(new ReservationTable.Interval[] { new ReservationTable.Interval(startIds[i], 0, double.PositiveInfinity) }));
_reservationTable.Add(_calculatedReservations[agentIds[i]]);
}
if (UseDeadlockHandler)
{
_deadlockHandler = new DeadlockHandler(graph, seed);
}
}
void Start()
{
//set up
//tableSize = 20;
gridClass = new Grid();
gridClass.CreateGrid();
pathFindAlg = new SilverPathfinding(gridClass, tableSize);
rT = new ReservationTable(gridClass, tableSize);
rT.FirstSet();
agents = new List <Agent>();
children = new Dictionary <Transform, Vector3> ();
foreach (Transform child in transform)
{
Agent temp = new Agent(child);
temp.SetTarget(child.GetComponent <StudentBehaviour>().targetPostion);
agents.Add(temp);
}
oldChildCount = transform.childCount;
currentMove = 0;
stepRate = 0.1f;
nextStepTime = 0f;
}
/// <summary>
/// Gets the reservations and path.
/// </summary>
/// <param name="startTime">The start time.</param>
/// <param name="path">The path.</param>
/// <param name="reservations">The reservations.</param>
public void getReservationsAndPath(double startTime, ref Path path, out List <ReservationTable.Interval> reservations)
{
//helper for calculation
var intervallBuilderHelper = new ReservationTable(_graph);
//output variables
reservations = new List <ReservationTable.Interval>();
//get the sequence of edges from the start to the goal node
var edgesPath = new List <Edge>();
var currentNode = GoalNode;
while (_backpointerEdge[currentNode] != null)
{
edgesPath.Add(_backpointerEdge[currentNode]);
currentNode = _backpointerEdge[currentNode].From;
}
edgesPath.Reverse(); //the path was created backwards, so we have to turn it know
//to from the start to the end and create the intervals
var currentTime = startTime;
var currentAngle = _startAngle;
for (int edgeNo = 0; edgeNo < edgesPath.Count;)
{
var checkPointNodes = new List <int>();
var checkPointDistances = new List <double>();
//start node for hop
checkPointNodes.Add(edgesPath[edgeNo].From);
checkPointDistances.Add(0);
//skip to an edge that points in a different direction
var currentDistance = 0.0;
while (edgeNo < edgesPath.Count && edgesPath[edgeNo].Angle == currentAngle)
{
currentDistance += edgesPath[edgeNo].Distance;
checkPointNodes.Add(edgesPath[edgeNo].To);
checkPointDistances.Add(currentDistance);
edgeNo++;
}
//add checkpoint node to the past. Leave the last one out, because the check point nodes overlap in
//every iteration. Example:
// 1. Iteration: 1 - 2 - 3 (turn)
// 2. Iteration: 3 - 4 - 5 (turn) ...
for (int i = 0; i < checkPointNodes.Count - 1; i++)
{
path.AddLast(checkPointNodes[i], (i == 0), 0.0);
}
//add reservations for driving among the nodes
if (checkPointNodes.Count > 1)
{
//add reservations
List <double> checkPointTimes = null;
_physics.getTimeNeededToMove(0.0, currentTime, currentDistance, checkPointDistances, out checkPointTimes);
reservations.AddRange(intervallBuilderHelper.CreateIntervals(checkPointTimes[0], checkPointNodes, checkPointTimes, false));
//move time forward
currentTime = checkPointTimes[checkPointTimes.Count - 1];
}
//add reservation for turning ahead the next node
if (edgeNo < edgesPath.Count)
{
var timeNeededToTurn = _physics.getTimeNeededToTurn(Graph.DegreeToRad(currentAngle), Graph.DegreeToRad(edgesPath[edgeNo].Angle));
currentAngle = edgesPath[edgeNo].Angle;
//create reservation for turn
reservations.Add(new ReservationTable.Interval(edgesPath[edgeNo].From, currentTime, currentTime + timeNeededToTurn));
currentTime += timeNeededToTurn;
}
}
//add destination
path.AddLast(GoalNode, true, 0.0);
}
private void POST_Confirm_Reservation()
{
ReservationTable.UpdateReservationStatus(long.Parse(Request.Form["ResID"]), ReservationStatus.ACCEPTED);
NotificationTable.CreateNotification(UserAgent.Account.Id, long.Parse(Request.Form["CustomerID"]), long.Parse(Request.Form["ResID"]), 1);
}
private void POST_Decline_Reservation()
{
ReservationTable.UpdateReservationStatus(long.Parse(Request.Form["ResID"]), ReservationStatus.DECLINED);
NotificationTable.CreateNotification(UserAgent.Account.Id, long.Parse(Request.Form["CustomerIDCancel"]), long.Parse(Request.Form["ResIDCancel"]), 0);
}
/// <summary>
/// Find the path for all the agents.
/// </summary>
/// <param name="currentTime">The current Time.</param>
/// <param name="agents">agents</param>
/// <param name="obstacleNodes">The way points of the obstacles.</param>
/// <param name="lockedNodes"></param>
/// <param name="nextReoptimization">The next re-optimization time.</param>
/// <param name="communicator">The communicator used for communication with the corresponding instance.</param>
public void FindPaths(double currentTime, List <Agent> agents, double runtimeLimit, PathPlanningCommunicator communicator)
{
if (agents.Count == 0)
{
return;
}
var stopwatch = new Stopwatch();
stopwatch.Restart();
//0: init low level solver
LowLevSolver.Init(currentTime, agents);
//1: assign each agent to a singleton group
var agentGroups = new Dictionary <int, List <Agent> >(agents.ToDictionary(a => a.ID, a => new List <Agent>(new Agent[] { a })));
var groundIdAssigments = new Dictionary <int, int>(agents.ToDictionary(a => a.ID, a => a.ID));
//2: plan a path for each group
var plannedPath = new Dictionary <int, List <PlannedPath> >(agentGroups.ToDictionary(ag => ag.Key, ag => LowLevSolver.FindPaths(ag.Value)));
var reservationTable = new ReservationTable(_graph, true, true, false);
//set fixed blockage
var fixedBlockage = AgentInfoExtractor.getStartBlockage(agents, currentTime);
foreach (var agent in fixedBlockage.Keys)
{
foreach (var interval in fixedBlockage[agent])
{
reservationTable.Add(interval, agent.ID);
}
}
//3: repeat
while (agentGroups.Count > 1)
{
reservationTable.Clear();
//4: simulate execution of all paths until a conflict occurs
int conflictAgent1 = -1;
int conflictGroup1 = -1;
int conflictAgent2 = -1;
int conflictGroup2 = -1;
int conflictNode;
var foundConflict = false;
foreach (var groupId in agentGroups.Keys)
{
for (var agentIndex = 0; agentIndex < agentGroups[groupId].Count && !foundConflict; agentIndex++)
{
foundConflict = !reservationTable.IntersectionFree(plannedPath[groupId][agentIndex].Reservations, out conflictNode, out conflictAgent1);
if (foundConflict)
{
//remember the conflict agent
conflictAgent2 = plannedPath[groupId][agentIndex].Agent.ID;
conflictGroup2 = groupId;
conflictGroup1 = groundIdAssigments[conflictAgent1];
if (conflictGroup1 == conflictGroup2)
{
foundConflict = false;
}
}
else
{
//just add intervals
reservationTable.Add(plannedPath[groupId][agentIndex].Reservations, plannedPath[groupId][agentIndex].Agent.ID);
}
}
}
if (stopwatch.ElapsedMilliseconds / 1000.0 > runtimeLimit * 0.9)
{
communicator.SignalTimeout();
break;
}
if (foundConflict)
{
//5: merge two conflicting groups into a single group
//merge
agentGroups[conflictGroup1].AddRange(agentGroups[conflictGroup2]);
//delete old group
agentGroups.Remove(conflictGroup2);
plannedPath.Remove(conflictGroup2);
//reset Assignment
for (int agentIndex = 0; agentIndex < agentGroups[conflictGroup1].Count; agentIndex++)
{
groundIdAssigments[agentGroups[conflictGroup1][agentIndex].ID] = conflictGroup1;
}
//6: cooperatively plan new group
plannedPath[conflictGroup1] = LowLevSolver.FindPaths(agentGroups[conflictGroup1]);
}
else
{
//7: until no conflicts occur
break;
}
}
//8: solution ← paths of all groups combined
foreach (var groupId in agentGroups.Keys)
{
for (var agentIndex = 0; agentIndex < agentGroups[groupId].Count; agentIndex++)
{
agentGroups[groupId][agentIndex].Path = plannedPath[groupId][agentIndex].Path;//9: return solution
if (agentGroups[groupId][agentIndex].Path.Count <= 1)
{
_deadlockHandler.RandomHop(agentGroups[groupId][agentIndex]);
}
}
}
}
/// <summary>
/// Constructs a new instance
/// </summary>
/// <param name="owner">superordinate statistics object</param>
/// <param name="fu">hardware functional unit instance</param>
/// <param name="reservation">reservation table</param>
internal FUStatistics(AllocationStatistics owner, Component fu, ReservationTable reservation)
{
Owner = owner;
FU = fu;
Reservation = reservation;
}
/// <summary>
/// Generates the wait node.
/// </summary>
/// <param name="parent">The parent.</param>
/// <returns></returns>
public Tuple <int, List <ReservationTable.Interval>, List <Collision> > GenerateWaitNode(int parent, ReservationTable reservationTable)
{
List <Collision> collisions;
reservationTable.IntersectionFree(NodeTo2D(parent), NodeTime[parent], NodeTime[parent] + _lengthOfAWaitStep, out collisions);
//add successor
var waitNode = Tuple.Create(_numNodeId, new List <ReservationTable.Interval>(new[] { new ReservationTable.Interval(NodeTo2D(parent), NodeTime[parent], NodeTime[parent] + _lengthOfAWaitStep) }), collisions);
NodeTime.Add(NodeTime[parent] + _lengthOfAWaitStep);
NodeBackpointerId.Add(parent);
NodeBackpointerLastStopId.Add(_numNodeId);
NodeBackpointerEdge.Add(null);
_numNodeId++;
return(waitNode);
}
/// <summary>
/// Gets the actions.
/// </summary>
/// <param name="node">The node.</param>
/// <returns>actions</returns>
public List <Tuple <int, List <ReservationTable.Interval>, List <Collision> > > GetActions(int n, int prio, ReservationTable reservationTable)
{
var successors = new List <Tuple <int, List <ReservationTable.Interval>, List <Collision> > >();
List <int> checkPointNodes = new List <int>();
List <double> checkPointDistances = new List <double>();
List <double> checkPointTimes;
List <Collision> collisions;
//wait successor
reservationTable.IntersectionFree(NodeTo2D(n), NodeTime[n], NodeTime[n] + _lengthOfAWaitStep, out collisions);
if (collisions == null || collisions.All(c => c.priority < prio || c.agentId == _agent.ID))
{
//add successor
successors.Add(Tuple.Create(_numNodeId, new List <ReservationTable.Interval>(new[] { new ReservationTable.Interval(NodeTo2D(n), NodeTime[n], NodeTime[n] + _lengthOfAWaitStep) }), collisions));
NodeTime.Add(NodeTime[n] + _lengthOfAWaitStep);
NodeBackpointerId.Add(n);
NodeBackpointerLastStopId.Add(_numNodeId);
NodeBackpointerEdge.Add(null);
_numNodeId++;
}
//current angle
short lastStopAngleAfterTurn = GetLastStopAngleAfterTurn(n);
//for each direction
foreach (var direction in _graph.Edges[NodeTo2D(n)])
{
//clear temporary data structures
NodeTimeTemp.Clear();
NodeBackpointerIdTemp.Clear();
NodeBackpointerLastTurnIdTemp.Clear();
NodeBackpointerEdgeTemp.Clear();
//initiate checkpoints
checkPointTimes = null;
checkPointNodes.Clear();
checkPointDistances.Clear();
//Our aim is to calculate the distance for a hop.
//A hop is defined as follows: The longest distance between two nodes, where no turn is necessary.
//The end of the hop is "node". In this method we search for the start ("lastTurnNode") and calculate the g as follows:
//g(node) = time needed to get to "lastTurnNode" + time needed to turn + time needed to get to node
//angle i had before my current angle: lastTurnAngle
//my current angle: thisAngle
//the angle i want to go to: direction.Angle
int lastStopId = NodeBackpointerLastStopId[n];
if (direction.Angle != lastStopAngleAfterTurn)
{
//we turn at n
lastStopId = n;
checkPointDistances.Add(0.0);
checkPointNodes.Add(NodeTo2D(n));
}
else
{
//get the intermediate checkpoints
AddCheckPointDistances(lastStopId, n, checkPointNodes, checkPointDistances);
}
//time needed to get to the target orientation
//last stop angle after turn of the last stop <=> last stop angle before turn
short lastStopAngleBeforeTurn = GetLastStopAngleAfterTurn(lastStopId);
double timeToTurn = _agent.Physics.getTimeNeededToTurn(Graph.DegreeToRad(lastStopAngleBeforeTurn), Graph.DegreeToRad(direction.Angle));
//check if there is enough free time to rotate in the direction
/*
* if (timeToTurn > 0)
* {
* reservationTable.IntersectionFree(NodeTo2D(lastStopId), NodeTime[lastStopId], NodeTime[lastStopId] + timeToTurn, out collisions);
* if (collisions != null && collisions.All(c => c.priority >= prio && c.agentId != _agent.ID))
* continue;
* }
*
* => Do it later
*
*/
//generate successors
var currentNode = NodeTo2D(n);
var agentAngle = direction.Angle;
var backpointerNode = n;
//get drive distance
var driveDistance = checkPointDistances[checkPointDistances.Count - 1];
var foundNext = true;
var pathFree = false;
//try to find the first node in this direction, which path is free
while (foundNext && !pathFree)
{
foundNext = false;
//search for next edges in same direction
foreach (var edge in _graph.Edges[currentNode])
{
if (Math.Abs(edge.Angle - agentAngle) < 2)
{
//skip blocked edges
if (edge.ToNodeInfo.IsLocked || (!_agent.CanGoThroughObstacles && edge.ToNodeInfo.IsObstacle))
{
//blocked
foundNext = false;
break;
}
//cumulate
driveDistance += edge.Distance;
//add checkpoint
checkPointDistances.Add(driveDistance);
checkPointNodes.Add(edge.To);
//check whether it is intersection free
var timeToMove = _agent.Physics.getTimeNeededToMove(0f, NodeTime[lastStopId] + timeToTurn, driveDistance, checkPointDistances, out checkPointTimes);
//add time needed to turn
if (checkPointTimes.Count > 0)
{
checkPointTimes[0] -= timeToTurn;
}
//check if driving action is collision free
reservationTable.IntersectionFree(checkPointNodes, checkPointTimes, false, out collisions);
pathFree = collisions == null || collisions.All(c => c.priority < prio || c.agentId == _agent.ID);
//add node to temp => will be added, if a valid successor will be found
NodeTimeTemp.Add(NodeTime[lastStopId] + timeToTurn + timeToMove);
NodeBackpointerIdTemp.Add(backpointerNode);
NodeBackpointerLastTurnIdTemp.Add(lastStopId);
NodeBackpointerEdgeTemp.Add(edge);
if (pathFree)
{
//treat only the last one as successor
successors.Add(Tuple.Create(_numNodeId + NodeTimeTemp.Count - 1, reservationTable.CreateIntervals(NodeTime[lastStopId], checkPointNodes, checkPointTimes, false), collisions));
_numNodeId += NodeTimeTemp.Count;
//add temporary successors
NodeTime.AddRange(NodeTimeTemp);
NodeBackpointerId.AddRange(NodeBackpointerIdTemp);
NodeBackpointerLastStopId.AddRange(NodeBackpointerLastTurnIdTemp);
NodeBackpointerEdge.AddRange(NodeBackpointerEdgeTemp);
}
backpointerNode = _numNodeId + NodeTimeTemp.Count - 1;
currentNode = edge.To;
foundNext = true;
break;
}
}
}
}
return(successors);
}
private void POST_Delete_Reservation()
{
ReservationTable.DeleteReservation(long.Parse(Request.Form["ResID"]));
}
public async Task AddReservation(ReservationTable reservation)
{
await _context.ReservationTables.AddAsync(reservation);
await _context.SaveChangesAsync();
}
public AStar(ReservationTable rTable, Grid grid)
{
this.rTable = rTable;
this.grid = grid;
}
void Awake()
{
rTable = new ReservationTable();
//MapLoader mapLoader = new MapLoader (new Vector2(20, 20), 0.5f);
//mapData = mapLoader.LoadMap ("A", "startPos", "endPos");
if (map == 1)
{
mapLoader = new MapLoader(new Vector2(11, 11), 0.5f);
mapData = mapLoader.LoadMap("discObst1/discObst1",
"discObst1/discObst1StartPos",
"discObst1/discObst1GoalPos",
"discObst1/discObst1CustomerPos");
}
if (map == 2)
{
mapLoader = new MapLoader(new Vector2(20, 20), 0.5f);
mapData = mapLoader.LoadMap("discObst2/discObst2",
"discObst2/discObst2StartPos",
"discObst2/discObst2GoalPos",
"discObst2/discObst2CustomerPos");
}
if (map == 3)
{
mapLoader = new MapLoader(new Vector2(11, 11), 0.5f);
mapData = mapLoader.LoadMap("discObst1/exam/discObst1",
"discObst1/exam/discObst1StartPos",
"discObst1/exam/discObst1GoalPos",
"discObst1/exam/discObst1CustomerPos");
}
if (map == 4)
{
mapLoader = new MapLoader(new Vector2(20, 20), 0.5f);
mapData = mapLoader.LoadMap("discObst2/exam/discObst2",
"discObst2/exam/discObst2StartPos",
"discObst2/exam/discObst2GoalPos",
"discObst2/exam/discObst2CustomerPos");
}
nodeDiameter = mapData.nodeRadius * 2;
gridWorldSize = mapData.gridWorldSize;
// #nodes that can fit into the x-space
gridSizeX = Mathf.RoundToInt(gridWorldSize.x / nodeDiameter);
gridSizeY = Mathf.RoundToInt(gridWorldSize.y / nodeDiameter);
CreateGrid();
for (int i = 0; i < gridSizeX; i++)
{
for (int j = 0; j < gridSizeY; j++)
{
if (neighbourhood == 4)
{
FillNeighbourhood4(grid[i, j]);
}
}
}
foreach (Node node in grid)
{
}
}