/// <summary>
/// Get an estimate of the future state based on the current state, redirector's action and the path to be followed.
/// ATTENTION: This method is only used for simulation(planning)! A user's actual state is only updated by the tracking system.
/// </summary>
/// <param name="s"></param> the current state of the environment.
/// <param name="a"></param> action to be taken by the redirector.
/// <param name="seg"></param> the path that the user is walking on in the current stage.
public RedirectionManager.State ApplyStateUpdate(RedirectionManager.State state, Action a, Segment seg)
{
RedirectionManager.State newState = new RedirectionManager.State();
if (seg is LineSegment)
{
LineSegment segment = (LineSegment)seg;
Vector2 tangentDir = (segment.endPos - Utilities.FlattenedPos2D(state.pos)).normalized;
Vector2 delta_p = this.redirectionManager.speedReal * this.stageDuration * tangentDir;
// update virtual position and direction
newState.pos = state.pos + Utilities.UnFlatten(delta_p);
newState.dir = state.dir;
// update the real world state according to the action
if (a.type == ActionType.CURVATURE)
{
float s = delta_p.magnitude;
//Debug.Log("s=" + s);
float kr = a.gain; // the curvature gain rou(c)
float ori_0 = Vector2.SignedAngle(Vector2.right, Utilities.FlattenedDir2D(state.dirReal)) * Mathf.Deg2Rad;
//Debug.Log("angle:"+ Vector2.SignedAngle(Vector2.right, Utilities.FlattenedDir2D(state.dirReal))+" ori_0:" + ori_0);
// The new real position depends on user's real orientation
newState.posReal.x = (Mathf.Sin(ori_0 + kr * s) - Mathf.Sin(ori_0)) / kr + state.posReal.x;
newState.posReal.z = (Mathf.Cos(ori_0) - Mathf.Cos(ori_0 + kr * s)) / kr + state.posReal.z;
newState.dirReal = Utilities.UnFlatten(Utilities.RotateVector(Utilities.FlattenedDir2D(state.dirReal), s * kr * Mathf.Rad2Deg));
//Debug.Log("ppp " + newState.posReal);
//Debug.Log("ddd " + newState.dirReal);
}
else if (a.type == ActionType.ZERO)
{
newState.posReal = state.posReal + state.dirReal * this.redirectionManager.speedReal * this.stageDuration;
newState.dirReal = state.dirReal;
}
else if (a.type == ActionType.RESET)
{
newState.posReal = state.posReal - state.dirReal * this.redirectionManager.speedReal * this.stageDuration;
newState.dirReal = -state.dirReal;
}
}
else if (seg is ArcSegment)
{
ArcSegment segment = (ArcSegment)seg;
// update virtual position and direction
float s = this.redirectionManager.speedReal * this.stageDuration;
float ori_v0 = Vector2.SignedAngle(Vector2.right, Utilities.FlattenedDir2D(state.dir)) * Mathf.Deg2Rad;
newState.pos.x = (Mathf.Sin(ori_v0 + s / segment.radius) - Mathf.Sin(ori_v0)) * segment.radius + state.pos.x;
newState.pos.z = (Mathf.Cos(ori_v0) - Mathf.Cos(ori_v0 + s / segment.radius)) / segment.radius + state.pos.z;
newState.dir = Utilities.UnFlatten(Utilities.RotateVector(state.dir, s / segment.radius));
// update the real world state according to the action
float ori_r0 = Vector2.SignedAngle(Vector2.right, Utilities.FlattenedDir2D(state.dirReal)) * Mathf.Deg2Rad;
if (a.type == ActionType.CURVATURE)
{
float kr = 1 / segment.radius + a.gain; // the compound curvature gain 1/r + rou(c)
// The new real position depends on user's real orientation
newState.posReal.x = (Mathf.Sin(ori_r0 + kr * s) - Mathf.Sin(ori_r0)) / kr + state.posReal.x;
newState.posReal.z = (Mathf.Cos(ori_r0) - Mathf.Cos(ori_r0 + kr * s)) / kr + state.posReal.z;
newState.dirReal = Utilities.UnFlatten(Utilities.RotateVector(state.dirReal, s * kr));
}
else if (a.type == ActionType.ZERO)
{
newState.posReal.x = (Mathf.Sin(ori_r0 + s / segment.radius) - Mathf.Sin(ori_r0)) * segment.radius + state.posReal.x;
newState.posReal.z = (Mathf.Cos(ori_r0) - Mathf.Cos(ori_r0 + s / segment.radius)) / segment.radius + state.posReal.z;
newState.dirReal = Utilities.UnFlatten(Utilities.RotateVector(state.dirReal, s / segment.radius));
}
else if (a.type == ActionType.RESET)
{
ori_r0 = Vector2.SignedAngle(Vector2.right, Utilities.FlattenedDir2D(-state.dirReal)) * Mathf.Deg2Rad;
newState.posReal.x = (Mathf.Sin(ori_r0 + s / segment.radius) - Mathf.Sin(ori_r0)) * segment.radius + state.posReal.x;
newState.posReal.z = (Mathf.Cos(ori_r0) - Mathf.Cos(ori_r0 + s / segment.radius)) / segment.radius + state.posReal.z;
newState.dirReal = Utilities.UnFlatten(Utilities.RotateVector(-state.dirReal, s / segment.radius));
}
}
else if (seg is RotationSegment)
{
RotationSegment segment = (RotationSegment)seg;
// update virtual position and direction
newState.pos = state.pos;
float rotatedAngle = this.redirectionManager.angularSpeedReal * this.stageDuration * Mathf.Sign(segment.angle);
newState.dir = Utilities.RotateVector(state.dir, rotatedAngle);
if (a.type == ActionType.ROTATION)
{
newState.posReal = state.posReal;
rotatedAngle = rotatedAngle * a.gain;
newState.dirReal = Utilities.RotateVector(state.dirReal, rotatedAngle);
}
else if (a.type == ActionType.ZERO)
{
newState.posReal = state.posReal;
newState.dirReal = Utilities.RotateVector(state.dirReal, rotatedAngle);
}
}
return(newState);
}
public void TestGenericShift()
{
// regular work week with holidays and breaks
schedule = new WorkSchedule("Regular 40 hour work week", "9 to 5");
// holidays
NonWorkingPeriod memorialDay = schedule.CreateNonWorkingPeriod("MEMORIAL DAY", "Memorial day", new LocalDateTime(2016, 5, 30, 0, 0, 0),
Duration.FromHours(24));
schedule.CreateNonWorkingPeriod("INDEPENDENCE DAY", "Independence day", new LocalDateTime(2016, 7, 4, 0, 0, 0),
Duration.FromHours(24));
schedule.CreateNonWorkingPeriod("LABOR DAY", "Labor day", new LocalDateTime(2016, 9, 5, 0, 0, 0),
Duration.FromHours(24));
schedule.CreateNonWorkingPeriod("THANKSGIVING", "Thanksgiving day and day after",
new LocalDateTime(2016, 11, 24, 0, 0, 0), Duration.FromHours(48));
schedule.CreateNonWorkingPeriod("CHRISTMAS SHUTDOWN", "Christmas week scheduled maintenance",
new LocalDateTime(2016, 12, 25, 0, 30, 0), Duration.FromHours(168));
// each shift duration
Duration shiftDuration = Duration.FromHours(8);
LocalTime shift1Start = new LocalTime(7, 0, 0);
LocalTime shift2Start = new LocalTime(15, 0, 0);
// shift 1
Shift shift1 = schedule.CreateShift("Shift1", "Shift #1", shift1Start, shiftDuration);
// breaks
shift1.CreateBreak("10AM", "10 am break", new LocalTime(10, 0, 0), Duration.FromMinutes(15));
shift1.CreateBreak("LUNCH", "lunch", new LocalTime(12, 0, 0), Duration.FromHours(1));
shift1.CreateBreak("2PM", "2 pm break", new LocalTime(14, 0, 0), Duration.FromMinutes(15));
// shift 2
Shift shift2 = schedule.CreateShift("Shift2", "Shift #2", shift2Start, shiftDuration);
// shift 1, 5 days ON, 2 OFF
Rotation rotation1 = new Rotation("Shift1", "Shift1");
rotation1.AddSegment(shift1, 5, 2);
// shift 2, 5 days ON, 2 OFF
Rotation rotation2 = new Rotation("Shift2", "Shift2");
rotation2.AddSegment(shift2, 5, 2);
LocalDate startRotation = new LocalDate(2016, 1, 1);
Team team1 = schedule.CreateTeam("Team1", "Team #1", rotation1, startRotation);
Team team2 = schedule.CreateTeam("Team2", "Team #2", rotation2, startRotation);
// same day
LocalDateTime from = startRotation.PlusDays(7).At(shift1Start);
LocalDateTime to;
Duration totalWorking = Duration.Zero;
// 21 days, team1
Duration d = Duration.Zero;
for (int i = 0; i < 21; i++)
{
to = from.PlusDays(i);
totalWorking = team1.CalculateWorkingTime(from, to);
int dir = team1.GetDayInRotation(to.Date);
Assert.IsTrue(totalWorking.Equals(d));
TimePeriod period = rotation1.GetPeriods()[dir - 1];
if (period is Shift)
{
d = d.Plus(shiftDuration);
}
}
Duration totalSchedule = totalWorking;
// 21 days, team2
from = startRotation.PlusDays(7).At(shift2Start);
d = Duration.Zero;
for (int i = 0; i < 21; i++)
{
to = from.PlusDays(i);
totalWorking = team2.CalculateWorkingTime(from, to);
int dir = team2.GetDayInRotation(to.Date);
Assert.IsTrue(totalWorking.Equals(d));
if (rotation1.GetPeriods()[dir - 1] is Shift)
{
d = d.Plus(shiftDuration);
}
}
totalSchedule = totalSchedule.Plus(totalWorking);
Duration scheduleDuration = schedule.CalculateWorkingTime(from, from.PlusDays(21));
Duration nonWorkingDuration = schedule.CalculateNonWorkingTime(from, from.PlusDays(21));
Assert.IsTrue(scheduleDuration.Plus(nonWorkingDuration).Equals(totalSchedule));
// breaks
Duration allBreaks = Duration.FromMinutes(90);
Assert.IsTrue(shift1.CalculateBreakTime().Equals(allBreaks));
// misc
WorkSchedule schedule2 = new WorkSchedule();
Shift shift3 = new Shift();
shift3.Name = "Shift3";
Assert.IsTrue(shift3.WorkSchedule == null);
Assert.IsTrue(shift3.CompareTo(shift3) == 0);
Team team3 = new Team();
Assert.IsTrue(team3.WorkSchedule == null);
RotationSegment segment = new RotationSegment();
segment.Sequence = 1;
segment.StartingShift = shift2;
segment.DaysOn = 5;
segment.DaysOff = 2;
Assert.IsTrue(segment.Rotation == null);
Rotation rotation3 = new Rotation();
rotation3.Name = "Rotation3";
Assert.IsTrue(rotation3.CompareTo(rotation3) == 0);
Assert.IsTrue(rotation3.RotationSegments.Count == 0);
NonWorkingPeriod nwp = new NonWorkingPeriod();
Assert.IsTrue(nwp.WorkSchedule == null);
Assert.IsTrue(team1.WorkSchedule.Equals(schedule));
Assert.IsTrue(!team1.IsDayOff(startRotation));
Assert.IsTrue(team1.CompareTo(team1) == 0);
team3.Rotation = rotation1;
Assert.IsTrue(!memorialDay.IsInPeriod(new LocalDate(2016, 1, 1)));
runBaseTest(schedule, Duration.FromHours(40), Duration.FromDays(7), new LocalDate(2016, 1, 1));
}
public RotationCommand(Orientation rotationAxis, RotationSegment segment, int turnovers = 1)
{
RotationAxis = rotationAxis;
Segment = segment;
Turnovers = turnovers % 4;
}
