private void RegisterBarracks(EntityId barrackId)
{
var newBarracks = new Improbable.Collections.List <EntityId>(hqInfo.Data.barracks);
newBarracks.Add(barrackId);
hqInfo.Send(new HQInfo.Update().SetBarracks(newBarracks));
}
private void OnEnable()
{
bitmap = gameObject.GetComponent <Bitmap>();
zones = GlobalLayerWriter.Data.zones;
//GlobalLayerWriter.ZonesUpdated.Add(HandleZonesUpdate);
}
private void OnRegisterBarracks(Improbable.Entity.Component.ResponseHandle <HQInfo.Commands.RegisterBarracks, RegisterBarracksRequest, Nothing> request)
{
var newBarracks = new Improbable.Collections.List <EntityId>(hqInfo.Data.barracks);
newBarracks.Add(request.Request.entityId);
hqInfo.Send(new HQInfo.Update().SetBarracks(newBarracks));
request.Respond(new Nothing());
}
private Nothing OnRegisterBarracks(RegisterBarracksRequest request, ICommandCallerInfo callerinfo)
{
var newBarracks = new Improbable.Collections.List <EntityId>(hqInfo.Data.barracks);
newBarracks.Add(request.entityId);
hqInfo.Send(new HQInfo.Update().SetBarracks(newBarracks));
return(new Nothing());
}
public static Improbable.Controller.NoFlyZone CreateCustomNoFlyZone(Improbable.Collections.List <Vector3f> vertices)
{
Improbable.Controller.NoFlyZone nfz = new Improbable.Controller.NoFlyZone();
nfz.vertices = vertices;
NoFlyZone.setBoundingBoxCoordinates(ref nfz);
return(nfz);
}
private static int ShowNoFlyZones(Improbable.Collections.List <Improbable.Controller.NoFlyZone> noFlyZones, Dictionary <EntityId, Entity> snapshotEntities, int currentEntityId)
{
foreach (Improbable.Controller.NoFlyZone noFlyZone in noFlyZones)
{
currentEntityId = ShowNoFlyZones(noFlyZone, snapshotEntities, currentEntityId);
}
return(currentEntityId);
}
private static Improbable.Collections.List <DroneInfo> PopulateControllerSlots()
{
Improbable.Collections.List <DroneInfo> droneSlots = new Improbable.Collections.List <DroneInfo>((int)SimulationSettings.MaxDroneCountPerController);
while (droneSlots.Count < droneSlots.Capacity)
{
droneSlots.Add(GenerateDroneInfo());
}
return(droneSlots);
}
private void OnUnregisterBarracks(Improbable.Entity.Component.ResponseHandle <HQInfo.Commands.UnregisterBarracks, UnregisterBarracksRequest, Nothing> request)
{
var barracks = new Improbable.Collections.List <EntityId>(hqInfo.Data.barracks);
if (barracks.Contains(request.Request.entityId))
{
barracks.Remove(request.Request.entityId);
}
hqInfo.Send(new HQInfo.Update().SetBarracks(barracks));
request.Respond(new Nothing());
}
public Improbable.Controller.NoFlyZone GetNoFlyZone()
{
Improbable.Collections.List <Vector3f> positions = new Improbable.Collections.List <Vector3f>();
for (int i = 0; i < nfzNodes.Length; i++)
{
positions.Add(nfzNodes[i].transform.position.ToSpatialVector3f());
}
return(NFZ_Templates.CreateCustomNoFlyZone(positions));
}
private Nothing OnUnregisterBarracks(UnregisterBarracksRequest request, ICommandCallerInfo callerinfo)
{
var barracks = new Improbable.Collections.List <EntityId>(hqInfo.Data.barracks);
if (barracks.Contains(request.entityId))
{
barracks.Remove(request.entityId);
}
hqInfo.Send(new HQInfo.Update().SetBarracks(barracks));
return(new Nothing());
}
public static TimeValueFunction GenerateTypeB(DeliveryType deliveryType)
{
Improbable.Collections.List <bool> steps = new Improbable.Collections.List <bool>(SimulationSettings.TVFSteps);
int numSteps = 2;
for (int i = 0; i < steps.Capacity; i++)
{
steps.Add(i == 4 || i == 9);
}
return(new TimeValueFunction(steps, numSteps, deliveryType));
}
public static bool hasCollidedWithAny(Improbable.Collections.List <Improbable.Controller.NoFlyZone> zones, Vector3f point)
{
foreach (Improbable.Controller.NoFlyZone zone in zones)
{
if (isInPolygon(zone, point))
{
return(true);
}
}
return(false);
}
public static WorkerRequirementSet GetWorkerRequirementSet(Type workerType, params Type[] workerTypes)
{
var workerAttributes = new Improbable.Collections.List <WorkerAttributeSet>();
workerAttributes.Add(WorkerTypeToAttributeSet[workerType]);
foreach (var nextType in workerTypes)
{
workerAttributes.Add(WorkerTypeToAttributeSet[nextType]);
}
return(new WorkerRequirementSet(workerAttributes));
}
public Improbable.Collections.List <Improbable.Vector3f> generatePointToPointPlan(Improbable.Vector3f p1, Improbable.Vector3f p2)
{
if (isPointInNoFlyZone(p2))
{
Debug.LogError("next target is in a NFZ");
return(null); // A plan can not be found
}
int[] coord1 = bitmap.findGridCoordinatesOfPoint(p1);
if (coord1 == null)
{
Debug.LogError("coord1 fail");
return(null);
}
int[] coord2 = bitmap.findGridCoordinatesOfPoint(p2);
if (coord1 == null)
{
Debug.LogError("coord2 fail");
return(null);
}
GridLocation l1 = new GridLocation(coord1[0], coord1[1]);
GridLocation l2 = new GridLocation(coord2[0], coord2[1]);
ASearch = new ThetaStarSearch(true); // Use AStarSearch or ThetaStarSearch here.
float droneHeight = UnityEngine.Random.Range(SimulationSettings.MinimumDroneHeight, SimulationSettings.MaximumDroneHeight);
List <GridLocation> locs = ASearch.run(bitmap, l1, l2);
if (locs == null)
{ // The case that a path could not be found.
Debug.LogError("search fail");
return(null); // Just return empty list.
}
//Debug.LogWarning("NUM VERTICES IN PATH: " + locs.Count);
Improbable.Collections.List <Improbable.Vector3f> result = new Improbable.Collections.List <Improbable.Vector3f>();
result.Add(p1);
foreach (GridLocation l in locs)
{
Improbable.Vector3f convertedLocation = convertLocation(l);
Improbable.Vector3f location = new Improbable.Vector3f(convertedLocation.x, droneHeight, convertedLocation.z);
result.Add(location);
}
result.Add(p2);
return(result);
}
void Scheduler.UpdateDeliveryRequestQueue()
{
Improbable.Collections.List <QueueEntry> queueList = new Improbable.Collections.List <QueueEntry>();
foreach (QueueEntry entry in requestQueue)
{
queueList.Add(entry);
}
DeliveryHandlerWriter.Send(new DeliveryHandler.Update()
.SetRequestQueue(queueList)
.SetPotential(potential)
.SetRejections(rejections)
.SetRejectedValue(rejecValue));
}
private void OnEnable()
{
deliveriesMap = ControllerWriter.Data.deliveriesMap;
droneSlots = ControllerWriter.Data.droneSlots;
completedDeliveries = MetricsWriter.Data.completedDeliveries;
completedRoundTrips = MetricsWriter.Data.completedRoundTrips;
collisionsReported = MetricsWriter.Data.collisionsReported;
failedLaunches = MetricsWriter.Data.failedLaunches;
failedDeliveries = MetricsWriter.Data.failedDeliveries;
failedReturns = MetricsWriter.Data.failedReturns;
unknownRequests = MetricsWriter.Data.unknownRequests;
revenue = MetricsWriter.Data.revenue;
costs = MetricsWriter.Data.costs;
penalties = MetricsWriter.Data.penalties;
avgWaitTime = MetricsWriter.Data.avgWaitTime;
launches = MetricsWriter.Data.launches;
avgDeliveryTime = MetricsWriter.Data.avgDeliveryTime;
for (int i = 0; i < droneSlots.Count; i++)
{
if (droneSlots[i].occupied)
{
usedSlots++;
}
}
departuresPoint = transform.position.ToCoordinates() + SimulationSettings.ControllerDepartureOffset;
arrivalsPoint = transform.position.ToCoordinates() + SimulationSettings.ControllerArrivalOffset;
ControllerWriter.CommandReceiver.OnRequestNewTarget.RegisterAsyncResponse(HandleTargetRequest);
ControllerWriter.CommandReceiver.OnCollision.RegisterAsyncResponse(HandleCollision);
ControllerWriter.CommandReceiver.OnUnlinkDrone.RegisterAsyncResponse(HandleUnlinkRequest);
globalLayer = gameObject.GetComponent <GridGlobalLayer>();
/* SCHEDULER CHOICE */
scheduler = gameObject.GetComponent <FirstComeFirstServeScheduler>();
//scheduler = gameObject.GetComponent<LeastLostValueScheduler>();
//scheduler = gameObject.GetComponent<ShortestJobFirstScheduler>();
UnityEngine.Random.InitState((int)gameObject.EntityId().Id);
InvokeRepeating("ControllerTick", UnityEngine.Random.Range(0, SimulationSettings.RequestHandlerInterval), SimulationSettings.RequestHandlerInterval);
InvokeRepeating("PrintMetrics", 0, SimulationSettings.ControllerMetricsInterval);
InvokeRepeating("DroneMapPrune", UnityEngine.Random.Range(0, SimulationSettings.DroneMapPruningInterval), SimulationSettings.DroneMapPruningInterval);
}
static ModularData GetModularComponent(DocumentSnapshot[] moduleSnapshots)
{
var installList = new Improbable.Collections.List <int>(moduleSnapshots.Length);
for (int i = 0; i < moduleSnapshots.Length; i++)
{
moduleSnapshots[i].TryGetValue <bool>("equip", out var installed);
if (installed)
{
installList.Add(i);
}
}
return(new ModularData(installList, ShipType.Starter));
}
private static void ProfilingSnapshot()
{
float maxX = 400;
float maxZ = 400;
var snapshotEntities = new Dictionary <EntityId, Entity>();
var currentEntityId = 2; //reserve id 1 for the scheduler
Improbable.Collections.List <Improbable.Controller.NoFlyZone> noFlyZones = new Improbable.Collections.List <Improbable.Controller.NoFlyZone>();
Improbable.Collections.List <ControllerInfo> controllers = new Improbable.Collections.List <ControllerInfo>();
// CONTROLLERS
int firstController = currentEntityId;
EntityId controllerId = new EntityId(currentEntityId++);
Coordinates controllerPos = new Coordinates(100, 0, 100);
controllers.Add(new ControllerInfo(controllerId, controllerPos.ToSpatialVector3f()));
snapshotEntities.Add(
controllerId,
EntityTemplateFactory.CreateControllerTemplate(
controllerPos,
new Vector3f(-maxX, 0, maxZ),
new Vector3f(maxX, 0, -maxZ),
noFlyZones,
PopulateControllerSlots()
));
int lastController = currentEntityId;
// controller placement complete
// ORDER GENERATOR
// find and place order generator
OrderGeneratorBehaviour orderGenerator = FindObjectOfType <OrderGeneratorBehaviour>();
snapshotEntities.Add(
SimulationSettings.OrderGeneratorEntityId,
EntityTemplateFactory.CreateSchedulerTemplate(
new Vector3(0, 0, 0),
firstController,
lastController,
noFlyZones,
controllers
)
);
// end scheduler placement
SnapshotMenu.SaveSnapshot(snapshotEntities, "profiling");
}
public Improbable.Collections.List <Improbable.Vector3f> generatePlan(List <Improbable.Vector3f> waypoints)
{
// If can not plan for all the waypoints,
// this will return null to indicate that the route is unachievable.
Improbable.Collections.List <Improbable.Vector3f> result = new Improbable.Collections.List <Improbable.Vector3f>();
for (int i = 1; i < waypoints.Count; i++)
{
Improbable.Collections.List <Improbable.Vector3f> planSection = generatePointToPointPlan(waypoints[i - 1], waypoints[i]);
if (planSection == null || planSection.Count < 2)
{
return(null); // Return null to indicate a plan is unachievable.
}
result.AddRange(planSection);
}
return(result);
}
static async Task <ModuleResources> GetModuleResources(DocumentReference moduleRef)
{
var resourceQuery = await moduleRef.Collection(ResourceCollection).GetSnapshotAsync();
var resourceSnapshots = resourceQuery.Documents;
var list = new Improbable.Collections.List <ResourceInfo>(resourceQuery.Count);
for (int i = 0; i < resourceQuery.Count; i++)
{
var resourceSnapshot = resourceSnapshots[i];
var resource = resourceSnapshot.ConvertTo <Resource>();
list.Add(new ResourceInfo(resourceSnapshot.Id, resource.Type, resource.Quantity));
}
return(new ModuleResources(list));
}
private TimeValueFunction GenerateRandomTVF()
{
Improbable.Collections.List <bool> steps = new Improbable.Collections.List <bool>(SimulationSettings.TVFSteps);
int numSteps = 0;
for (int i = 0; i < steps.Capacity; i++)
{
if (UnityEngine.Random.Range(0f, 1f) < 0.5f)
{
steps.Add(true);
++numSteps;
}
else
{
steps.Add(false);
}
}
return(new TimeValueFunction(steps, numSteps, GenerateDeliveryType()));
}
const string workerType = "life"; //Layer name not workerType?
static int Main(string[] arguments)
{
Console.WriteLine(String.Format("Generating snapshot file {0}", snapshotPath));
Assembly.Load("GeneratedCode");
// https://docs.improbable.io/reference/13.3/csharpsdk/using/snapshots
// Construct a SnapshotOutputStream to write a snapshot to a file at the string path.
SnapshotOutputStream sos = new SnapshotOutputStream(snapshotPath);
var id = 0;
var maxRowCount = 50; //dimensionsInWorldUnits z is 100
var maxColumnCount = 50; //dimensionsInWorldUnits x is 100
// TODO: Update to account for center being at (0.0)
//Create a grid of entities
for (double y = 0; y < maxRowCount; y++) //Starts at 0
{
for (double x = 0; x < maxColumnCount; x++) //starts at 0
{
id++; //starts at 1
var entityId = new EntityId(id);
Improbable.Collections.List <EntityId> nList = getNeighbors(x, maxColumnCount, y, maxRowCount, id);
bool currIsAlive = RandomBool();
bool prevIsAlive = RandomBool();
var entity = createEntity(workerType, x, y, currIsAlive, 0, prevIsAlive, 0, nList);
var error = sos.WriteEntity(entityId, entity);
if (error.HasValue)
{
throw new System.SystemException("error saving: " + error.Value);
}
}
}
// Writes the end of snapshot header and releases the resources of the SnapshotOutputStream.
sos.Dispose();
return(0);
}
void HandleDeliveryRequest(QueueEntry entry)
{
DeliveryRequest request = entry.request;
DeliveryInfo deliveryInfo;
Vector2 random;
deliveryInfo.timestamp = entry.timestamp;
deliveryInfo.packageInfo = request.packageInfo;
deliveryInfo.timeValueFunction = request.timeValueFunction;
deliveryInfo.slot = GetNextSlot();
if (deliveryInfo.slot < 0)
{
Debug.LogError("Something's gone terribly wrong with the slot mechanics.");
}
random = UnityEngine.Random.insideUnitCircle * SimulationSettings.DronePadRadius;
Vector3f departurePoint = departuresPoint.ToSpatialVector3f() + new Vector3f(random.x, 0, random.y);
random = UnityEngine.Random.insideUnitCircle * SimulationSettings.DronePadRadius;
Vector3f arrivalPoint = arrivalsPoint.ToSpatialVector3f() + new Vector3f(random.x, 0, random.y);
//Debug.LogWarning("point to point plan");
//for new flight plan
deliveryInfo.nextWaypoint = 1;
deliveryInfo.returning = false;
Improbable.Collections.List <Improbable.Vector3f> plan = globalLayer.generatePointToPointPlan(
departurePoint,
request.destination);
//Debug.LogWarning("null check");
if (plan == null || plan.Count < 2)
{
// let scheduler know that this job can't be done
DroneDeploymentFailure();
return;
}
deliveryInfo.waypoints = plan;
//0th index only useful as last point in return journey
//so make sure 0th index == last location in journey == arrivalsPoint
deliveryInfo.waypoints[0] = arrivalPoint;
deliveryInfo.latestCheckinTime
= Time.time
+ (SimulationSettings.DroneETAConstant
* Vector3.Distance(
departurePoint.ToUnityVector(),
deliveryInfo.waypoints[1].ToUnityVector())
/ SimulationSettings.MaxDroneSpeed);
//create drone
//if successful, add to droneMap
//if failure, tell scheduler job couldn't be done
var droneTemplate = EntityTemplateFactory.CreateDroneTemplate(
departurePoint.ToCoordinates(),
deliveryInfo.waypoints[deliveryInfo.nextWaypoint],
gameObject.EntityId(),
request.packageInfo.weight + PayloadGenerator.GetPackagingWeight(request.packageInfo.type),
SimulationSettings.MaxDroneSpeed);
SpatialOS.Commands.CreateEntity(PositionWriter, droneTemplate)
.OnSuccess((response) => DroneDeploymentSuccess(response.CreatedEntityId, deliveryInfo))
.OnFailure((response) => DroneDeploymentFailure());
}
private static Improbable.Collections.List <EntityId> getNeighbors(double x, int maxColumnCount, double y, int maxRowCount, int id)
{
Improbable.Collections.List <EntityId> neighbors = new Improbable.Collections.List <EntityId>();
int maxX = maxColumnCount - 1;
int maxY = maxRowCount - 1;
long nId;
//Top-Left
if ((x > 0) & (y < maxY))
{
nId = (long)((y + 1) * maxColumnCount + ((x + 1) - 1));
neighbors.Add(new EntityId(nId));
}
//Top
if (y < maxY)
{
nId = (long)((y + 1) * maxColumnCount + (x + 1));
neighbors.Add(new EntityId(nId));
}
//Top-Right
if ((y < maxY) & (x < maxX))
{
nId = (long)((y + 1) * maxColumnCount + (x + 2));
neighbors.Add(new EntityId(nId));
}
//Right
if (x < maxX)
{
neighbors.Add(new EntityId(id + 1));
}
//Bottom-Right
if ((x < maxX) & (y > 0))
{
nId = (long)((y - 1) * maxColumnCount + (x + 1 + 1));
neighbors.Add(new EntityId(nId));
}
//Bottom
if (y > 0)
{
nId = (long)((y - 1) * maxColumnCount + (x + 1));
neighbors.Add(new EntityId(nId));
}
//Bottom-Left
if ((y > 0) & (x > 0))
{
nId = (long)((y - 1) * maxColumnCount + ((x + 1) - 1));
neighbors.Add(new EntityId(nId));
}
//Left
if (x > 0)
{
neighbors.Add(new EntityId(id - 1));
}
return(neighbors);
}
private static Entity createEntity(string workerType, double X, double Y, bool currentAlive, UInt64 currentSequenceId, bool previousAlive, UInt64 previousSequenceId, Improbable.Collections.List <EntityId> neighborsList)
{
var entity = new Entity();
//const string entityType = "Cell";
string entityType = "Cell";
if (currentAlive)
{
entityType = "Cell_Alive";
}
else
{
entityType = "Cell_Dead";
}
// Defines worker attribute requirements for workers that can read a component.
// workers with an attribute of "client" OR workerType will have read access
var readRequirementSet = new WorkerRequirementSet(
new Improbable.Collections.List <WorkerAttributeSet>
{
new WorkerAttributeSet(new Improbable.Collections.List <string> {
workerType
})
//new WorkerAttributeSet(new Improbable.Collections.List<string> {"client"}),
});
// Defines worker attribute requirements for workers that can write to a component.
// workers with an attribute of workerType will have write access
var workerWriteRequirementSet = new WorkerRequirementSet(
new Improbable.Collections.List <WorkerAttributeSet>
{
new WorkerAttributeSet(new Improbable.Collections.List <string> {
workerType
}),
});
var writeAcl = new Improbable.Collections.Map <uint, WorkerRequirementSet>
{
{ EntityAcl.ComponentId, workerWriteRequirementSet },
{ Position.ComponentId, workerWriteRequirementSet },
{ Metadata.ComponentId, workerWriteRequirementSet },
{ Life.ComponentId, workerWriteRequirementSet }
};
entity.Add(new EntityAcl.Data(readRequirementSet, writeAcl));
// Needed for the entity to be persisted in snapshots.
entity.Add(new Persistence.Data());
entity.Add(new Metadata.Data(entityType)); //Can use metadata to do color setting for visualization in inspector
entity.Add(new Position.Data(new Coordinates(X, 0, Y)));
entity.Add(new Life.Data(currentAlive, currentSequenceId, previousAlive, previousSequenceId));
entity.Add(new Neighbors.Data(neighborsList));
return(entity);
}
private static void LondonLarge()
{
float maxX = SimulationSettings.maxX; //routable width is 31500m
float maxZ = SimulationSettings.maxZ; //routable height is 14000m
var snapshotEntities = new Dictionary <EntityId, Entity>();
var currentEntityId = 2; //reserve id 1 for the scheduler
Improbable.Collections.List <Improbable.Controller.NoFlyZone> noFlyZones = new Improbable.Collections.List <Improbable.Controller.NoFlyZone>();
Improbable.Collections.List <ControllerInfo> controllers = new Improbable.Collections.List <ControllerInfo>();
// NO FLY ZONES
// start creating no fly zones from the editor
NFZScript[] noFlyZoneScripts = FindObjectsOfType <NFZScript>();
foreach (NFZScript noFlyZoneScript in noFlyZoneScripts)
{
noFlyZones.Add(noFlyZoneScript.GetNoFlyZone());
}
// end creation of no fly zones
// CONTROLLERS
// start placing controllers
int firstController = currentEntityId;
ControllerBehaviour[] controllerScripts = FindObjectsOfType <ControllerBehaviour>();
foreach (ControllerBehaviour controllerScript in controllerScripts)
{
EntityId controllerId = new EntityId(currentEntityId++);
Coordinates controllerPos = controllerScript.gameObject.transform.position.ToCoordinates();
controllers.Add(new ControllerInfo(controllerId, controllerPos.ToSpatialVector3f()));
snapshotEntities.Add(
controllerId,
EntityTemplateFactory.CreateControllerTemplate(
controllerPos,
new Vector3f(-maxX, 0, maxZ),
new Vector3f(maxX, 0, -maxZ),
noFlyZones,
PopulateControllerSlots()
));
}
int lastController = currentEntityId;
// controller placement complete
// make nfz nodes show up on the inspector map
//currentEntityId = ShowNoFlyZones(noFlyZones, snapshotEntities, currentEntityId);
// ORDER GENERATOR
// find and place order generator
OrderGeneratorBehaviour orderGenerator = FindObjectOfType <OrderGeneratorBehaviour>();
snapshotEntities.Add(
SimulationSettings.OrderGeneratorEntityId,
EntityTemplateFactory.CreateSchedulerTemplate(
orderGenerator.gameObject.transform.position,
firstController,
lastController,
noFlyZones,
controllers
)
);
// end scheduler placement
SnapshotMenu.SaveSnapshot(snapshotEntities, "london_large");
}
