public static List <Location> simpleRoute(SquareGrid grid, Location start, Location finish)
{
List <Location> path = new List <Location>();
AStarSearch astar = new AStarSearch(grid, start, finish);
path = astar.ReconstructPath(start, finish, astar.cameFrom);
return(path);
}
private void generateSpace(int areaSize)
{
grid = new SquareGrid(areaSize, areaSize, BaseConstants.areaHeight);
GridGeneration.fillGrid(grid, areaSize, BaseConstants.areaHeight);
groundGrid = new SquareGrid(areaSize, areaSize, 1);
groundGrid.walls = grid.walls.Where(location => location.z == 0).ToHashSet();
outputTextBox.Text += $"Space of {areaSize * BaseConstants.PolygonSize / 1000} km2 ({areaSize * areaSize * BaseConstants.areaHeight} polygons) generated successfully\n";
}
private void buttonTSPtruck_Click(object sender, EventArgs e)
{
var areaSize = Int16.Parse(areaSizeUpDown.Value.ToString()) * 1000 / BaseConstants.PolygonSize; //sets size in nodes
Depot = new Location(areaSize / 2, areaSize / 2, 0);
generateSpace(areaSize, 1);
groundGrid = grid;
var orders = generateOrders(areaSize);
doTruck(orders);
}
public static void buildUnitRoute(SquareGrid grid, List <Order> orders, Truck truck)
{
while (orders.Count() > 0)
{
if (truck.status.Equals(Status.Ready))
{
var availableDrones = truck.drones.Where(drone => drone.status.Equals(Status.Available)).ToList();
var routeSheets = selectDronesOrders(availableDrones, orders); //TODO: рассмотри кейс, когда их ноль. Сейчас грузовик никуда не поедет.
List <Location> truckRoute = new List <Location>();
truckRoute.Add(truck.currentPosition);
foreach (var sheet in routeSheets)
{
sheet.drone.status = Status.Prepairing;
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(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);
}
}
}
public static void doTruckDelivery(SquareGrid grid, Truck truck, Location start, Location deliveryLocation)
{
truck.status = Status.OnMission;
var path = simpleRoute(grid, start, deliveryLocation);
var pathLength = path.Count * BaseConstants.PolygonSize;
var deliveryTime = pathLength / BaseConstants.TruckSpeed + BaseConstants.DropDeliveryTime;
truck.time += deliveryTime;
truck.status = Status.Ready;
truck.log += $"\nTruck finished delivery to {deliveryLocation} at {deliveryTime.ToString(@"hh\:mm\:ss\")}";
truck.currentPosition = deliveryLocation;
var availableDrones = truck.drones.Where(x => x.status.Equals(Status.Available)).ToList();
foreach (var drone in availableDrones)
{
drone.currentPosition = truck.currentPosition;
}
}
public static List <Order> generateOrders(SquareGrid grid, Location Depot, int ordersCount, int areaSize)
{
Random rnd = new Random();
List <Order> ordersList = new List <Order>();
while (ordersCount > 0)
{
var x = rnd.Next(areaSize);
var y = rnd.Next(areaSize);
var isWall = true;
while (isWall)
{
if (grid.walls.Contains(new Location(x, y, 0)))
{
x = rnd.Next(areaSize);
y = rnd.Next(areaSize);
}
else
{
isWall = false;
}
}
var distanceFromDepot = Math.Sqrt(Math.Pow((x - Depot.x), 2.0) + Math.Pow((y - Depot.y), 2.0)) * BaseConstants.PolygonSize / 1000;
bool isDroneFriendly = false;
if (rnd.Next(2) == 0)
{
if (distanceFromDepot < BaseConstants.DroneRange)
{
isDroneFriendly = true;
}
}
ordersList.Add(new Order(x, y,
isDroneFriendly,
rnd.Next(100, 6000)));
ordersCount--;
}
return(ordersList);
}
public static string[] DrawGrid(SquareGrid grid, AStarSearch astar, Location start, Location goal)
{
string[] output = new string[4];
// Печать массива cameFrom
for (int z = 0; z < 4; z++)
{
for (var y = 0; y < 41; y++)
{
for (var x = 0; x < 41; x++)
{
Location id = new Location(x, y, z);
Location ptr = id;
if (!astar.cameFrom.TryGetValue(id, out ptr))
{
ptr = id;
}
if (start.x == x && start.y == y && start.z == z) /*Console.Write("\u2191 ");*/ x {
++; output[z] += "S";
}
if (goal.x == x && goal.y == y && goal.z == z) /*Console.Write("\u2191 ");*/ x {
++; output[z] += "F";
}
if (grid.walls.Contains(id)) /*Console.Write("##");*/ output {
public static void doDroneDelivery(FSTSPRouting.droneRouteSheet routeSheet, SquareGrid grid)
{
List <Location> path = new List <Location>();
//routeSheet.drone.time += BaseConstants.DroneLoadTime;
routeSheet.drone.status = Status.OnMission;
path.AddRange(simpleRoute(grid, routeSheet.start, routeSheet.deliveryPoint));
var pathLength = path.Count * BaseConstants.PolygonSize;
var deliveryTime = pathLength / BaseConstants.DroneSpeed + BaseConstants.DropDeliveryTime;
routeSheet.drone.currentPosition = routeSheet.deliveryPoint;
routeSheet.drone.time += deliveryTime;
routeSheet.drone.log += $"\nDrone finished delivery to {routeSheet.deliveryPoint} at {deliveryTime.ToString(@"hh\:mm\:ss\")}";
path.Clear();
path.AddRange(simpleRoute(grid, routeSheet.deliveryPoint, routeSheet.meetingPoint));
pathLength = path.Count * BaseConstants.PolygonSize;
deliveryTime = pathLength / BaseConstants.DroneSpeed;
routeSheet.drone.currentPosition = routeSheet.meetingPoint;
routeSheet.drone.time += deliveryTime;
routeSheet.drone.log += $"\nDrone arrived to meeting point: {routeSheet.deliveryPoint} at {deliveryTime.ToString(@"hh\:mm\:ss\")}";
routeSheet.drone.status = Status.Awaitng;
}
private void generateSpace(int areaSize, int areaHeight)
{
grid = new SquareGrid(areaSize, areaSize, areaHeight);
GridGeneration.fillGrid(grid, areaSize, areaHeight);
outputTextBox.Text += $"Space of {areaSize * BaseConstants.PolygonSize / 1000} km2 ({areaSize * areaSize} polygons) generated successfully\n";
}
public static void fillGrid(SquareGrid grid, int areaSize, int areaHeight)
{
bool[,,] obstacles = new bool[areaSize, areaSize, areaHeight];
Random rnd = new Random();
int threshold = 65;
for (int x = 0; x < areaSize; x++)
{
for (int y = 0; y < areaSize; y++)
{
obstacles[x, y, 0] = true;
}
}
for (int x = 0; x < areaSize; x++)
{
if (rnd.Next(100) > threshold)
{
for (int y = 0; y < areaSize; y++)
{
obstacles[x, y, 0] = false;
}
}
}
for (int y = 0; y < areaSize; y++)
{
if (rnd.Next(100) > threshold)
{
for (int x = 0; x < areaSize; x++)
{
obstacles[x, y, 0] = false;
}
}
}
for (int x = 0; x < areaSize; x++)
{
for (int y = 0; y < areaSize; y++)
{
if (obstacles[x, y, 0])
{
grid.walls.Add(new Location(x, y, 0));
}
}
}
for (int z = 1; z < areaHeight; z++)
{
for (int x = 0; x < areaSize; x++)
{
for (int y = 0; y < areaSize; y++)
{
if ((rnd.Next(100) > threshold || rnd.Next(100) > 20) && obstacles[x, y, z - 1])
{
obstacles[x, y, z] = true;
grid.walls.Add(new Location(x, y, z));
}
else
{
obstacles[x, y, z] = false;
}
}
}
threshold -= 5;
}
}
