public static Pathfinder <IDefinitionNodeNetwork, IPathfindNodeNetwork, IPath> Create(PathfindaxManager manager, int threads, bool succesTrue = true)
{
return(manager.CreatePathfinder(Substitute.For <IDefinitionNodeNetwork>(), Substitute.For <IPathFindAlgorithm <IPathfindNodeNetwork, IPath> >(), (definitionNodeNetwork, algorithm, cache) =>
{
var nodeGrid = Substitute.For <IPathfindNodeNetwork>();
var nodeArray = new[] { new DefinitionNode(), };
algorithm.FindPath(null, null).ReturnsForAnyArgs(x =>
{
if (succesTrue)
{
return new WaypointPath(nodeArray, new[] { 0 }, new Transformer(new Vector2(1, 1)));
}
else
{
return null;
}
});
algorithm.ValidatePath(null, null, null).ReturnsForAnyArgs(x =>
{
return true;
});
return PathfinderFactory.CreateRequestProcesser(nodeGrid, algorithm, cache);
}, Substitute.For <ICache <IPathRequest, IPath> >(), threads));
}
// Method to create commands for the drone to execute
private DroneCommandProcessor createCommands(QualityCheck qc)
{
// Get productLocation to take picture from
ProductLocation pl = qc.ProductLocation;
// Initiate CommandProcessor
_droneCommandProcessor = new DroneCommandProcessor();
// Get Graph datastructure in pathfinder generated from selected warehouse
IPathfinderFactory pathfinderFactory = new PathfinderFactory();
Pathfinder pathfinder = pathfinderFactory.GetPathfinderFromWarehouse(pl.District.Warehouse);
// Initiate start position (start position is drone start location)
Position startNode = new Position(pl.District.Warehouse.StartNode.X, pl.District.Warehouse.StartNode.Y);
// Get path to take from startposition to nearest graphnode for the Productlocation by using dijkstra algoritm
LinkedList <Position> path = pathfinder.GetPath(startNode, this.giveEndPosition(pl));
// save path to qualitycheck for webpage view
List <Position> path2 = pathfinder.GetPathList(startNode, this.giveEndPosition(pl));
var s = JsonConvert.SerializeObject(path2, Formatting.Indented,
new JsonSerializerSettings
{
ReferenceLoopHandling = ReferenceLoopHandling.Ignore
});
qc.JSONPath = s;
_db.Entry(qc).State = EntityState.Modified;
_db.SaveChanges();
// add start / takeoff command to the droneCommandProcessor
_droneCommandProcessor.AddCommand(new Command {
name = "Start"
});
// add commands to the droneCommandProcessor from path, this generates the commands needed to move to the nearest graphnode to the productlocation
IMovementCommandFactory mFactory = new MovementCommandFactory();
_droneCommandProcessor.AddListCommand(mFactory.GetMovementCommands(path));
// add commands to move from the nearest graphnode to the position in front of the productlocation
IDistrictCommandFactory dFactory = new DistrictCommandFactory();
_droneCommandProcessor.AddListCommand(dFactory.GetCommands(giveEndPosition(pl), pl));
// add command to take picture, this also needs the current quality check id, needed for saving the pictures to the correct location
_droneCommandProcessor.AddCommand(new Command {
name = "TakePicture", value = qc.Id
});
// add command to land the drone
_droneCommandProcessor.AddCommand(new Command {
name = "Land"
});
return(_droneCommandProcessor);
}
public override IPathfinder <IDefinitionNodeNetwork, IPathfindNodeNetwork <AstarNode>, NodePath> CreatePathfinder()
{
var definitionNodeNetwork = GetDefinitionNodeNetwork();
if (definitionNodeNetwork == null)
{
throw new NoDefinitionNodeNetworkException();
}
return(PathfinderFactory.CreateAstarPathfinder(PathfindaxDualityCorePlugin.PathfindaxManager, definitionNodeNetwork, MaxClearance, AmountOfThreads));
}
public override IPathfinder <DefinitionNodeGrid, DijkstraNodeGrid, PotentialField> CreatePathfinder()
{
var definitionNodeNetwork = GetDefinitionNodeNetwork();
if (definitionNodeNetwork == null)
{
throw new NoDefinitionNodeNetworkException();
}
return(PathfinderFactory.CreatePotentialFieldPathfinder(PathfindaxDualityCorePlugin.PathfindaxManager, definitionNodeNetwork, MaxClearance, MaxCachedFlowFields, AmountOfThreads));
}
public static Pathfinder <IDefinitionNodeNetwork, IPathfindNodeNetwork, IPath> Create(PathfindaxManager manager, int threads, bool succesTrue = true)
{
return(manager.CreatePathfinder(Substitute.For <IDefinitionNodeNetwork>(), Substitute.For <IPathFindAlgorithm <IPathfindNodeNetwork, IPath> >(), (definitionNodeNetwork, algorithm) =>
{
var nodeGrid = Substitute.For <IPathfindNodeNetwork>();
var nodeArray = new[] { new DefinitionNode(), };
algorithm.FindPath(null, null, out var _).ReturnsForAnyArgs(x =>
{
x[2] = succesTrue;
return new NodePath(nodeArray, new[] { 0 }, new Transformer(new Vector2(1, 1)));
});
return PathfinderFactory.CreateRequestProcesser(nodeGrid, algorithm);
}, threads));
}
public override IPathfinder <DefinitionNodeGrid, DijkstraNodeGrid, PotentialField> CreatePathfinder()
{
try
{
var definitionNodeNetwork = GetDefinitionNodeNetwork();
if (definitionNodeNetwork == null)
{
throw new NoDefinitionNodeNetworkException();
}
return(PathfinderFactory.CreatePotentialFieldPathfinder(PathfindaxDualityCorePlugin.PathfindaxManager, definitionNodeNetwork, MaxClearance, MaxCachedFlowFields, AmountOfThreads));
}
catch (Exception e)
{
Logs.Game.WriteError($"Could not generate the definitionnode network. Returning a dummy pathfinder that does nothing. The following error occurred: {LogFormat.Exception(e)}.");
return(new DummyPathfinder <DefinitionNodeGrid, DijkstraNodeGrid, PotentialField>());
}
}
/// <summary>
/// Called by UI element. Finds and calls the current pathfinding algorithm if a start and end node are both present.
/// </summary>
public void VisualisePath()
{
if (startNode != null && endNode != null) // If there is a start AND end node...
{
if (pathfinder == null) // If there is no pathfinder reference...
{
pathfinder = PathfinderFactory.GetPathfinder();
}
pathfinder.FindPath(startNode.position, endNode.position);
}
else // Otherwise...
{
grid.StopAllCoroutines();
grid.UpdateNodeColours();
}
}
