public static PathPlanner getInstance()
{
PathPlanner instance = new PathPlanner();
if (instance == null)
{
instance = new PathPlanner();
}
return(instance);
}
public void eventArrived(Event ev)
{
//time to return to the Drone Station
PathPlanner pathPlanner = PathPlanner.getInstance();
double calculatedTime;
double eventLat = ev.getCoordinates().Item1;
double eventLng = ev.getCoordinates().Item2;
double[] weather = ev.getWeather();
bool[] b_weather = ev.get_b_weather();
DroneStation station = ev.getStation();
int droneIndex = ev.getDroneIndex();
Drone drone = station.drones[droneIndex];
double stationLat = station.stationLat;
double stationLng = station.stationLng;
calculatedTime = pathPlanner.calcTravelTime(eventLat, eventLng, stationLat, stationLng, maxSpeed, weather);
//time when drone reach the station
DateTime droneArrivalTime = ev.getOccuredDate().AddSeconds(calculatedTime);
//battery consumption
DroneStationFinder f = new DroneStationFinder(ev);
double distance = f.getDistanceFromRecentEvent(stationLat, stationLng);
drone.fly(distance);
//event of arriving
Event.eventType type = Event.eventType.E_STATION_ARRIVAL;
Event e = new Event(eventLat, eventLng, droneArrivalTime, droneArrivalTime, type);
e.setStationDroneIdx(station, droneIndex);
eventSet.Add(e, e);
}
public void eventOccured(Event ev)
{
Tuple <double, double> coordinates = ev.getCoordinates();
DateTime occuredTime = ev.getOccuredDate();
double[] weather = ev.getWeather();
bool[] b_weather = ev.get_b_weather();
ev.setResult(Event.eventResult.FAILURE);
// temp, rain, wind, snow, sight, light
if (w_temp_high < weather[0] || weather[0] < w_temp_low || (weather[0] < 0 && !p_subzero))
{
ev.setReason(Event.failReason.WEAHTER);
ev.setWthFailRsn(0);
}
if (b_weather[1] && (!p_rain || w_rain < weather[1]))
{
ev.setReason(Event.failReason.WEAHTER);
ev.setWthFailRsn(1);
}
if (w_winds < weather[2])
{
ev.setReason(Event.failReason.WEAHTER);
ev.setWthFailRsn(2);
}
if (b_weather[3] && (!p_snow || weather[4] > w_snow))
{
ev.setReason(Event.failReason.WEAHTER);
ev.setWthFailRsn(3);
}
if (weather[5] < w_sight && weather[5] > 0)
{
ev.setReason(Event.failReason.WEAHTER);
ev.setWthFailRsn(4);
}
if (b_weather[2] && !p_light)
{
ev.setReason(Event.failReason.WEAHTER);
ev.setWthFailRsn(5);
}
if (ev.getReason() == Event.failReason.WEAHTER)
{
return;
}
//find stations and drone
DroneStationFinder finder = new DroneStationFinder(ev);
Tuple <string, int> stationDroneIdx = finder.findAvailableDrone();
if (stationDroneIdx.Item1.Length == 0)
{
return;
}
DroneStation s = stationDict[stationDroneIdx.Item1];
Drone drone = s.drones[stationDroneIdx.Item2];
double distance = finder.getDistanceFromRecentEvent(s.stationLat, s.stationLng);
//calculate time
PathPlanner pathPlanner = PathPlanner.getInstance();
double calculatedTime;
calculatedTime = pathPlanner.calcTravelTime(s.stationLat, s.stationLng, coordinates.Item1, coordinates.Item2, maxSpeed, weather);
DateTime droneArrivalTime = ev.getOccuredDate().AddSeconds(calculatedTime);
ev.setDroneDate(droneArrivalTime);
ev.setResult(Event.eventResult.SUCCESS);
ev.setStationDroneIdx(s, stationDroneIdx.Item2);
//battery consumption
drone.fly(distance);
drone.setStatus(Drone.droneType.D_FLYING);
//declare coming event
Event.eventType type = Event.eventType.E_EVENT_ARRIVAL;
Event e = new Event(coordinates.Item1, coordinates.Item2, droneArrivalTime, droneArrivalTime, type, ev.getAddress(), weather, b_weather);
e.setStationDroneIdx(s, stationDroneIdx.Item2);
eventSet.Add(e, e);
}
