private void CreateCart(params Route[] routes)
{
// compute the transitive closure of the routes
routes =
routes.SelectMany(
route =>
Closure(route.Robot1, robot => { return(routes.Where(r => r.Robot1 == robot).Select(r => r.Robot2)); })
.Select(target => new Route(route.Robot1, target))).ToArray();
// make sure we don't have duplicate routes
routes = routes.Distinct(new RouteComparer()).ToArray();
// for efficiency (less faults), remove reflexive routes
routes = routes.Where(route => route.Robot1 != route.Robot2).ToArray();
var cart = new Cart(routes[0].Robot1, routes);
var agent = new CartAgent(cart);
Carts.Add(cart);
CartAgents.Add(agent);
cart.SetNames(Carts.Count - 1);
agent.Name = $"C{Carts.Count - 1}";
agent.ConfigurationUpdateFailed.Name = agent.Name + ".ConfigUpdateFailed";
foreach (var route in routes)
{
Agent.Connect(from: RobotAgents.Single(a => route.Robot1 == a.Robot), to: agent);
Agent.Connect(from: agent, to: RobotAgents.Single(a => route.Robot2 == a.Robot));
#if !ENABLE_F2 // error F2: routes are bidirectional
Agent.Connect(from: RobotAgents.Single(a => route.Robot2 == a.Robot), to: agent);
Agent.Connect(from: agent, to: RobotAgents.Single(a => route.Robot1 == a.Robot));
#endif
}
}
private void CreateRobot(params Capability[] capabilities)
{
var robot = new Robot(capabilities.OfType <ProcessCapability>().ToArray());
var agent = new RobotAgent(capabilities, robot);
Robots.Add(robot);
RobotAgents.Add(agent);
robot.SetNames(Robots.Count - 1);
agent.Name = $"R{Robots.Count - 1}";
agent.ConfigurationUpdateFailed.Name = agent.Name + ".ConfigUpdateFailed";
}
public void CreateObserverController <T>()
where T : ObserverController
{
ObserverController = (ObserverController)Activator.CreateInstance(typeof(T), RobotAgents.Cast <Agent>().Concat(CartAgents), Tasks);
}
