/// <summary>
/// Deliver the shelf
/// </summary>
/// <param name="robot">Robot</param>
public void StartTask(ShelfTransporters robot)
{
if (Math.Round(robot.x, 1) == 16 && Math.Round(robot.z, 1) == -2.4)
{
shelf.Move(shelf.x, 1000, shelf.z);
}
else
{
shelf.Move(shelf.x, 0, shelf.z);
}
robot.RemoveShelf();
}
/// <summary>
/// methode die de wereld opzet
/// </summary>
public World()
{
WorldManager.AddNodes();
Robot r0 = CreateRobot(0, 0, 0);
Robot r1 = CreateRobot(0, 0, 0);
Robot r2 = CreateRobot(0, 0, 0);
Robot r3 = CreateRobot(0, 0, 0);
Vrachtwagen = CreateLorry(0, 0, 0);
r0.Move(2, 2, 1);
r1.Move(2, 2, 2);
r2.Move(2, 2, 3);
r3.Move(2, 2, 4);
Vrachtwagen.Move(0, 0, -2);
foreach (var punt in WorldManager.Points())
{
if (punt.Id.Length == 1)
{
Shelf s = CreateShelf(0, 0, 0);
punt.Shelf = s;
WorldManager.AddShelf(punt);
s.Move(punt.X, 0, punt.Z);
punt.ShelfStatus = true;
}
if (punt.Id.Length == 4)
{
punt.ShelfStatus = false;
}
}
}
/// <summary>
/// Restock the shelves
/// </summary>
/// <param name="train">Train that brings the shelves</param>
private void ShelfRestock(Train train)
{
ShelfTransporters forklift = forklifts.Find(x => x.Status() == false);
Shelf shelf = shelfs.First(x => x.Status() == false && Math.Round(x.x, 1) == 16 && Math.Round(x.z, 1) == -2.4 && Math.Round(x.y, 1) == 1000);
Node node = g.GetNodes().First(x => x.name.Contains("Res") && x.shelf == null);
if (forklift != null && shelf != null && node != null)
{
forklift.Move(18, 0, 31);
shelf.Move(18, 0, 31);
forklift.AddShelf(shelf);
forklift.AddTask(new ForkliftPickUp(shelf));
forklift.AddTask(new ForkliftMove(g.Shortest_Path("Forklift", node.name)));
forklift.AddTask(new ForkliftDeliver(node, shelf));
forklift.AddTask(new ForkliftMove(g.Shortest_Path(node.name, "Forklift")));
forklift.AddTask(new ForkliftReset());
forklift.UpdateStatus();
train.itemRemove();
node.shelf = shelf;
ShelfReplace.Add(node);
}
}
/// <summary>
/// Starts the delivery task
/// </summary>
/// <param name="forklift">The forklift that needs to deliver the shelf</param>
public void StartTask(ShelfTransporters forklift)
{
node.shelf = shelf;
shelf.Move(shelf.x, 0, shelf.z);
forklift.RemoveShelf();
}
public override bool Update(int tick, int tickCount)
{
if (tasks.Count == 0 && !moving)
{
status = "idle";
}
else if (tasks.Count > 0 && !moving)
{
if (tasks[0] is MoveTask)
{
MoveTask Task = tasks[0] as MoveTask;
MoveTo(Task.getinfo());
CurrentPos = Task.getinfo();
if (Task.getinfo() == 'α')
{
status = "Omw to dock";
}
else
{
status = "Omw to " + Task.getinfo();
}
moving = true;
}
else if (tasks[0] is DropShelf)
{
DropShelf Task = tasks[0] as DropShelf;
shelf.Move(Task.getinfo()[0], 0, Task.getinfo()[1]);
shelf = null;
tasks.RemoveAt(0);
}
else if (tasks[0] is PickupShelf)
{
PickupShelf Task = tasks[0] as PickupShelf;
shelf = Task.getinfo();
shelf.Move(_x, 0.3, _z);
tasks.RemoveAt(0);
}
}
if (PathToDestNodes.Count > 0 && moving)
{
if (_x < PathToDestNodes[0].x)
{
//move right
_rY = Math.PI / 2;
_x += 0.125;
}
else if (_x > PathToDestNodes[0].x)
{
//move left
_rY = -Math.PI / 2;
_x -= 0.125;
}
else if (_z < PathToDestNodes[0].z)
{
//move up
_rY = 0;
_z += 0.125;
}
else if (_z > PathToDestNodes[0].z)
{
//move down
_rY = Math.PI;
_z -= 0.125;
}
if (shelf != null)
{
shelf.Move(_x, 0.3, _z);
}
if (x == PathToDestNodes[0].x && z == PathToDestNodes[0].z)
{
PathToDestNodes.RemoveAt(0);
if (PathToDestNodes.Count == 0)
{
tasks.RemoveAt(0);
moving = false;
}
}
}
return(true);
}
private void MoveShelf(Robot r, Shelf s, double x, double y, double z)
{
s.Move(r.x, s.y, r.z);
s.needsUpdate = true;
}
/// <summary>
/// Move the ShelfTransporter over his path
/// </summary>
/// <param name="path">Path that the ShelfTransporter should take</param>
public void MoveOverPath(List <Node> path)
{
double deltaX;
double deltaZ;
if (path.Count() != 0)
{
if (path.First().x == Math.Round(this.x, 1) && path.First().z == Math.Round(this.z, 1))
{
path.RemoveAt(0);
}
deltaX = path.First().x - this.x; //waar hij naar toe moet - waar hij is
deltaZ = path.First().z - this.z; //waar hij naar toe moet - waar hij is
if (path.First().x > Math.Round(this.x))
{
this.Rotate(this.rotationX, this.rotationY - this.rotationY + (Math.PI / 2), this.rotationZ);
if (shelf != null)
{
shelf.Rotate(rotationX, rotationY - rotationY + (Math.PI / 2), rotationZ);
}
}
else if (path.First().x < Math.Round(this.x))
{
this.Rotate(this.rotationX, this.rotationY - this.rotationY - (Math.PI / 2), this.rotationZ);
if (shelf != null)
{
shelf.Rotate(rotationX, rotationY - rotationY - (Math.PI / 2), rotationZ);
}
}
else if (path.First().z > Math.Round(this.z))
{
this.Rotate(this.rotationX, this.rotationY - this.rotationY, this.rotationZ);
if (shelf != null)
{
shelf.Rotate(rotationX, rotationY - rotationY, rotationZ);
}
}
else if (path.First().z < Math.Round(this.z))
{
this.Rotate(this.rotationX, this.rotationY - this.rotationY + Math.PI, this.rotationZ);
if (shelf != null)
{
shelf.Rotate(rotationX, rotationY - rotationY + Math.PI, rotationZ);
}
}
if (Math.Round(deltaX, 1) > 0) // als deltaX positief is gaat hij vooruit
{
this.Move(this.x + 0.20, this.y, this.z);
if (shelf != null)
{
shelf.Move(this.x, shelf.y, this.z);
}
deltaX -= 0.20; //deltaX -= speed * tick/1000
}
else if (Math.Round(deltaX, 1) < 0) // als deltaX negatief is gaat hij actheruit
{
this.Move(this.x - 0.20, this.y, this.z);
if (shelf != null)
{
shelf.Move(this.x, shelf.y, this.z);
}
deltaX += 0.20;
}
if (Math.Round(deltaZ, 1) > 0) // als deltaY positief is dan gaat hij vooruit
{
this.Move(this.x, this.y, this.z + 0.20);
if (shelf != null)
{
shelf.Move(this.x, shelf.y, this.z);
}
deltaZ -= 0.20;
}
else if (Math.Round(deltaZ, 1) < 0) // als deltaY negatief is dan gaat hij achteruit
{
this.Move(this.x, this.y, this.z - 0.20);
if (shelf != null)
{
shelf.Move(this.x, shelf.y, this.z);
}
deltaZ += 0.20;
}
}
}
/// <summary>
/// Pick up the shelf
/// </summary>
/// <param name="robot">Robot</param>
public void StartTask(ShelfTransporters robot)
{
node.shelf = null;
shelf.Move(shelf.x, shelf.y + 0.3, shelf.z);
robot.AddShelf(shelf);
}
/// <summary>
/// Forklift pick up the shelf
/// </summary>
/// <param name="forklift">Forklift</param>
public void StartTask(ShelfTransporters forklift)
{
shelf.Move(shelf.x, shelf.y + 0.3, shelf.z);
forklift.AddShelf(shelf);
}