/// <summary>
/// Runs de task and lets the robots move.
/// </summary>
/// <param name="robot">Robots object</param>
public void RunTask(Robots robot)
{
//Checks if the given robot is this robot.
if (this.robot == robot)
{
//Calls the methode FollowPath so the robots moves.
robot.FollowPath();
}
}
/// <summary>
/// Checks if a robot is anywhere to be found nearby the door.
/// </summary>
/// <returns>True or false</returns>
public bool check()
{
foreach (Model3D model3d in worldObjects)
{
if (model3d is Robots)
{
Robots robot = (Robots)model3d;
if (robot.x == -35 && (robot.z <= (z + 2.5) && robot.z >= (z - 2.5)))
{
return(true);
}
}
}
return(false);
}
/// <summary>
/// Checks which robot is the closest to the rack and gives the task to the closest robot.
/// </summary>
public void giveTask()
{
if (_Inventory.Tasks.Count != 0)
{
//Sets for every robot the distance to the rack
foreach (Model3D model3d in worldObjects)
{
if (model3d is Robots)
{
Robots robot = (Robots)model3d;
double closestToX = robot.x - _Inventory.Tasks.First().getRack.x;
double closestToZ = robot.z - _Inventory.Tasks.First().getRack.z;
robot.closestTo = Math.Sqrt(Math.Pow(closestToX, 2) + Math.Pow(closestToZ, 2));
}
}
//Checking which robot is the closest
foreach (Model3D model3d in worldObjects)
{
if (model3d is Robots)
{
Robots robot = (Robots)model3d;
if (robot.closestTo < this.closestTo || robot.closestTo == this.closestTo)
{
this.closestTo = robot.closestTo;
destined = robot;
}
}
}
//Is giving the robot the task
if (robotMove == null && destined == this && !_Inventory.Tasks.First().getRack.moving)
{
robotMove = new RobotMove(_Inventory.Tasks.First(), this, Grid);
_Inventory.Tasks.RemoveAt(0);
}
destined = null;
}
}
/// <summary>
/// This methode start the task by the given robot.
/// </summary>
/// <param name="robot"></param>
public void StartTask(Robots robot)
{
if (this.robot == robot)
{
//Checks where the robot is.
robotLocation = grid.GetNodeByCoordinates(robot.x, robot.z);
//If loaded is false, set firstDestination as destination and call the methode robot.InitPaths and sets the values robotlocation and the destination.
if (!loaded)
{
loaded = true;
destination = task.firstDestination;
robot.InitPaths(robotLocation, destination);
}
//If loaded is true than set final destination as destination and call the methode robot.initpaths and sets the values robotlocation and the destination.
else
{
destination = task.finalDestination;
robot.InitPaths(robotLocation, destination);
}
RunTask(robot);
}
}
public bool Update(int tick)
{
for (int i = 0; i < worldObjects.Count; i++)
{
Model3D u = worldObjects[i];
if (u is IUpdatable)
{
bool needsCommand = ((IUpdatable)u).Update(tick);
if (needsCommand)
{
if (u is Robots)
{
Robots robot = (Robots)u;
robot.Update(tick);
}
else if (u is Spaceships)
{
Spaceships spaceship = (Spaceships)u;
spaceship.needsUpdate = true;
// Check if the spaceship is above the building and shipments is not empty
if (Inventory.shipments.Count() > 0 && (spaceship.z <= 8 && spaceship.z >= -8))
{
ReceiveShipment(spaceship);
}
// Check if the warehouse needs to be restocked after the spaceship passed the building
if (spaceship.z < -8)
{
Inventory.CheckStock();
}
// Check if the warehouse has orders
if (Inventory.orders.Count() > 0)
{
checkCoordinateShip = ReceiveCargo(spaceship);
}
// Move the spaceship if the spaceship has any type of orders or has already begun moving
if ((Inventory.orders.Count() > 0 || Inventory.shipments.Count() > 0) || (spaceship.z > -140 ^ spaceship.z == 125))
{
spaceship.moveSpaceship();
}
// If the spaceship has almost reached his destination, you receive your delivery
if (spaceship.z == -139 && spaceship.cargo.Count() > 0)
{
spaceship.cargo.ForEach(x =>
Console.WriteLine("{0} of {1} was delivered to you", x.stock, x.name));
spaceship.cargo.Clear();
}
}
else if (u is Racks)
{
Racks rack = (Racks)u;
rack.moveRack();
if (rack.attr == "deleted")
{
worldObjects.Remove(rack);
Inventory.RemoveRack(rack);
}
}
else if (u is Doors)
{
Doors door = (Doors)u;
door.Update(tick);
}
else if (u is Model3D)
{
Model3D model = (Model3D)u;
//If model type is light then call the methode move of light.
if (model.type == "light")
{
model.Move(model.x, model.y, model.z);
}
//Calls the methode moveEarth and gives model along with it.
moveEarth(model);
}
SendCommandToObservers(new UpdateModel3DCommand(u));
}
}
}
return(true);
}
/// <summary>
/// Sets the object task, robot and grid.
/// </summary>
/// <param name="task">Task object</param>
/// <param name="robot">Robots object</param>
/// <param name="grid">Grid object</param>
public RobotMove(Task task, Robots robot, Grid grid)
{
this.task = task;
this.robot = robot;
this.grid = grid;
}
/// <summary>
/// Lets the rack move along with the robot.
/// </summary>
/// <param name="rack">Racks object</param>
/// <param name="robot">Robots object</param>
public void MovingRack(Racks rack, Robots robot)
{
rack.x = robot.x;
rack.z = robot.z;
}
