public void Move(int id, CellLocation dst)
{
var item = ItemDatabase.Instance().GetItem(id);
if (item.Moving)
{
Console.WriteLine("MOVE: item is already moving, ignoring request");
return;
}
ForkLoader current = item.Place.Rack == Side.Left ? LeftForkLoader : RightForkLoader;
current.EnqueueUnloadRequest(new UnloadRequest(id, dst.Rack == Side.Left? Item.Destination.Left : Item.Destination.Right, dst));
}
public void Unload(int id)
{
// TODO: cancel movement
var item = ItemDatabase.Instance().GetItem(id);
if (item.Moving)
{
item.PendingForOut = true;
Console.WriteLine("UNLOAD: Item is moving: scheduling unload");
}
else if (item.Dest == Item.Destination.Out)
{
Console.WriteLine("UNLOAD: Already unloaded");
}
else
{
ForkLoader current = item.Place.Rack == Side.Left ? LeftForkLoader : RightForkLoader;
current.EnqueueUnloadRequest(new UnloadRequest(id, Item.Destination.Out));
Console.WriteLine("UNLOAD: Item is *not* moving: unloading now");
}
}
public StorageController()
{
M.reset.Value = true;
MemoryMap.Instance.Update();
Thread.Sleep(32);
M.reset.Value = false;
// M.pause.Value = false;
// M.run.Value = true;
MemoryMap.Instance.Update();
Thread.Sleep(32);
LeftForkLoader = new ForkLoader(M.targetPositionA, M.forksLeftA, M.forksRightA, M.liftA, M.movingXA,
M.movingZA,
M.atLeftA, M.atRightA, M.atMiddleA, RLeftLoad, RLeftUnload, Side.Left);
RightForkLoader = new ForkLoader(M.targetPositionB, M.forksLeftB, M.forksRightB, M.liftB, M.movingXB,
M.movingZB,
M.atLeftB, M.atRightB, M.atMiddleB, RRightLoad, RRightUnload, Side.Right);
Updater = new Task(() =>
{
Console.WriteLine("Updater Started");
while (true)
{
Thread.Sleep(8);
MemoryMap.Instance.Update();
}
});
Updater.Start();
Console.WriteLine("After Updater");
JTopLeft = new Junction(M.csA)
.SetInputs(new JunctionInput(RLeftUnload, M.ctAp))
.SetOutputs(new JunctionOutput(RLeftToRight, M.ctAp), new JunctionOutput(RDown, M.ctAR))
.SetRoutingTable(new Dictionary <Item.Destination, int>
{
{ Item.Destination.Right, 0 }, { Item.Destination.Out, 1 }, { Item.Destination.Left, 1 }
})
.Start();
JTopRight = new Junction(M.csB)
.SetInputs(new JunctionInput(RUp, M.ctBL), new JunctionInput(RLeftToRight, M.ctBp))
.SetOutputs(new JunctionOutput(RRightLoad, M.ctBp))
.SetRoutingTable(new Dictionary <Item.Destination, int>()
{
{ Item.Destination.Right, 0 }
})
.Start();
JLeft = new DoubleJunction(M.cs1A, M.cs1, M.ct1AR, M.ct1L, M.ct1AL, M.ct1R)
.SetTopInputs(new JunctionInput(RLeftBackward, M.ct1Ap))
.SetBottomInputs(new JunctionInput(RInput, M.ct1p))
.SetTopOutputs(new JunctionOutput(RLeftLoad, M.ct1AR))
.SetBottomOutputs(new JunctionOutput(RLeftForward, M.ct1p))
.SetRoutingTable(new Dictionary <Item.Destination, int>()
{
{ Item.Destination.Left, 0 },
{ Item.Destination.Right, 1 },
{ Item.Destination.Out, 1 }
})
.Start();
JMiddleLeft = new DoubleJunction(M.cs2A, M.cs2, M.ct2AR, M.ct2L, M.ct2AL, M.ct2R)
.SetTopInputs(new JunctionInput(RDown, M.ct2AL), new JunctionInput(RMiddleBackward, M.ct2Ap))
.SetBottomInputs(new JunctionInput(RLeftForward, M.ct2p))
.SetTopOutputs(new JunctionOutput(RLeftBackward, M.ct2Ap))
.SetBottomOutputs(new JunctionOutput(RMiddleForward, M.ct2p))
.SetRoutingTable(new Dictionary <Item.Destination, int>()
{
{ Item.Destination.Left, 0 },
{ Item.Destination.Right, 1 },
{ Item.Destination.Out, 1 }
})
.Start();
JMiddleRight = new DoubleJunction(M.cs3B, M.cs3, M.ct3BR, M.ct3L, M.ct3BL, M.ct3R)
.SetTopInputs(new JunctionInput(RRightBackward, M.ct3Bp))
.SetBottomInputs(new JunctionInput(RMiddleForward, M.ct3p))
.SetTopOutputs(new JunctionOutput(RUp, M.ct3BR), new JunctionOutput(RMiddleBackward, M.ct3Bp))
.SetBottomOutputs(new JunctionOutput(RRightForward, M.ct3p))
.SetRoutingTable(new Dictionary <Item.Destination, int>()
{
{ Item.Destination.Left, 1 },
{ Item.Destination.Right, 0 },
{ Item.Destination.Out, 2 }
})
.Start();
JRight = new DoubleJunction(M.cs4B, M.cs4, M.ct4BR, M.ct4L, M.ct4BL, M.ct4R)
.SetTopInputs(new JunctionInput(RRightUnload, M.ct4BL))
.SetBottomInputs(new JunctionInput(RRightForward, M.ct4p))
.SetTopOutputs(new JunctionOutput(RRightBackward, M.ct4Bp))
.SetBottomOutputs(new JunctionOutput(ROutput, M.ct4p))
.SetRoutingTable(new Dictionary <Item.Destination, int>()
{
{ Item.Destination.Left, 0 },
{ Item.Destination.Right, 0 },
{ Item.Destination.Out, 1 }
})
.Start();
LeftForkLoader.Start();
RightForkLoader.Start();
}