public Stacker_Port_ForkIn(MissionType missionType, string conveyorName, Direction_ Direction_) : base(conveyorName, Direction_)
{
if (missionType.Equals(MissionType.ProdIn) || missionType.Equals(MissionType.BackIn) || missionType.Equals(MissionType.PalletIn) || missionType.Equals(MissionType.AddPallet))
{
SetPos(GetBackPos(conveyorName), GetFrontPos(conveyorName));
}
else if (missionType.Equals(MissionType.ProdOut) || missionType.Equals(MissionType.PalletOut) || missionType.Equals(MissionType.GetPallet))
{
SetPos(GetBackPos(conveyorName), GetFrontPos(conveyorName));
}
SetSpeed();
}
//Function calculates the distance in meters from current location (lat lon)
float Haversine(ref float lastLatitude, ref float lastLontitude, ref float bearing, ref float x, ref float y)
{
float newLatitude = 0;
float newLontitude = 0;
x = 0; y = 0;
//Get coordinates from GPS/given route:
GetCoordinates(ref newLatitude, ref newLontitude, IsSimMode, ref route_index);
//Check if location has changed:
CheckLocationChanged(newLatitude, lastLatitude, newLontitude, lastLontitude);
Location curr_loc = new Location();
curr_loc.lat = lastLatitude;
curr_loc.lng = lastLontitude;
Location next_loc = new Location();
next_loc.lat = newLatitude;
next_loc.lng = newLontitude;
Direction_ Direction = new Direction_();
//Calculate the direction and distance:
GetDirection(ref curr_loc, ref next_loc, ref Direction);
x = Direction.x;
y = Direction.y;
if (LocationChanged())
{
//If location changed, updated the bearing:
bearing = Direction.bearing;
approx_bearing = bearing;
}
else //Assume the same bearing as before:
{
bearing = approx_bearing;
}
lastLatitude = newLatitude;
lastLontitude = newLontitude;
return(Direction.distance);
}
//Get direction from pt. of origin to target :
//distance[km] and bearing[deg from north] from pt of origin to target location:
void GetDirection(ref Location Location_source,
ref Location Location_target, ref Direction_ DirToTarget)
{
float lat2 = (float)Location_target.lat;
float lat1 = (float)Location_source.lat;
float lon2 = (float)Location_target.lng;
float lon1 = (float)Location_source.lng;
float R = EARTH_RADIUS; // metres
float φ1 = lat1 * Mathf.Deg2Rad;
float φ2 = lat2 * Mathf.Deg2Rad;
float λ1 = lon1 * Mathf.Deg2Rad;
float λ2 = lon2 * Mathf.Deg2Rad;
float Δφ = (lat2 - lat1) * Mathf.Deg2Rad;
float Δλ = (lon2 - lon1) * Mathf.Deg2Rad;
float a = Mathf.Sin(Δφ / 2) * Mathf.Sin(Δφ / 2) +
Mathf.Cos(φ1) * Mathf.Cos(φ2) *
Mathf.Sin(Δλ / 2) * Mathf.Sin(Δλ / 2);
float c = 2 * Mathf.Atan2(Mathf.Sqrt(a), Mathf.Sqrt(1 - a));
float d = R * c;
DirToTarget.distance = d;//distance in km
//Calculate the bearing:
//where φ1, λ1 is the start point, φ2,λ2 the end point(Δλ is the difference in longitude)
float y = Mathf.Sin(λ2 - λ1) * Mathf.Cos(φ2);
float x = Mathf.Cos(φ1) * Mathf.Sin(φ2) -
Mathf.Sin(φ1) * Mathf.Cos(φ2) * Mathf.Cos(λ2 - λ1);
float brng = Mathf.Atan2(y, x) * Mathf.Rad2Deg;
DirToTarget.bearing = brng; //bearing in [deg]
DirToTarget.x = x * R; //[x in km]
DirToTarget.y = y * R; //[y in km]
}
public Conveyor_V(MissionType missionType, string conveyorName, Direction_ Direction_) : base(conveyorName, Direction_)
{
try
{
SetSpeed();
if (missionType.Equals(MissionType.ProdIn) || missionType.Equals(MissionType.BackIn) || missionType.Equals(MissionType.PalletIn) || missionType.Equals(MissionType.AddPallet))
{
SetPos(GetBackPos(conveyorName), GetFrontPos(conveyorName));
}
else if (missionType.Equals(MissionType.ProdOut) || missionType.Equals(MissionType.PalletOut) || missionType.Equals(MissionType.GetPallet))
{
SetPos(GetFrontPos(conveyorName), GetBackPos(conveyorName));
}
else
{
throw new Exception("Conveyor_V has exception: Undefined MissionType");
}
}
catch (Exception ex)
{
throw new Exception(ex.ToString());
}
}
public static Conveyor GetConveyor(string conveyorName, MissionType missionType, string startShelfNo, string endShelfNo, Direction_ Direction_, ModelPosition modelPosition)
{
Conveyor conveyor = null;
switch (Direction_)
{
case Direction_.Roadway:
conveyor = new Stacker_RoadWay(missionType, conveyorName, startShelfNo, endShelfNo, modelPosition, Direction_);
break;
}
return(conveyor);
}
public Stacker_ShelfOut(MissionType missionType, string conveyorName, string shelfNo, ModelPosition modelPosition, Direction_ direction) : base(conveyorName, direction)
{
SetPos(modelPosition.GetShelfPos(shelfNo), modelPosition.GetShelfLinePos(shelfNo));
SetSpeed();
}
public Stacker_RoadWay(MissionType missionType, string conveyorName, string startShelfNo, string endShelfNo, ModelPosition modelPosition, Direction_ Direction_) : base(conveyorName, Direction_)
{
SetPos(modelPosition.GetShelfLinePos(startShelfNo), modelPosition.GetShelfLinePos(endShelfNo));
SetSpeed();
}
public Stacker_RoadWay(MissionType missionType, string conveyorName, string shelfNo, ModelPosition modelPosition, Direction_ Direction_) : base(conveyorName, Direction_)
{
if (missionType.Equals(MissionType.ProdIn) || missionType.Equals(MissionType.BackIn) || missionType.Equals(MissionType.PalletIn))
{
SetPos(GetLeftBottomPos(conveyorName), modelPosition.GetShelfLinePos(shelfNo));
}
else if (missionType.Equals(MissionType.ProdOut) || missionType.Equals(MissionType.PalletOut) || missionType.Equals(MissionType.GetPallet))
{
SetPos(modelPosition.GetShelfLinePos(shelfNo), GetLeftBottomPos(conveyorName));
}
SetSpeed();
}
public Stacker_Port(MissionType missionType, string conveyorName, Direction_ Direction_) : base(conveyorName, Direction_)
{
SetPos(GetBackPos(conveyorName), GetFrontPos(conveyorName));
SetSpeed();
}
public static Conveyor GetConveyor(string conveyorName, MissionType missionType, string shelfNo, Direction_ Direction, ModelPosition modelPosition)
{
Conveyor conveyor = null;
switch (Direction)
{
case Direction_.Vertical:
conveyor = new Conveyor_V(missionType, conveyorName, Direction);
break;
case Direction_.Horizontal:
conveyor = new Conveyor_H(missionType, conveyorName, Direction);
break;
case Direction_.Roadway:
conveyor = new Stacker_RoadWay(missionType, conveyorName, shelfNo, modelPosition, Direction);
break;
case Direction_.PortIn:
conveyor = new Stacker_Port(missionType, conveyorName, Direction);
break;
case Direction_.PortOut:
conveyor = new Stacker_Port(missionType, conveyorName, Direction);
break;
case Direction_.ShelfOut:
conveyor = new Stacker_ShelfOut(missionType, conveyorName, shelfNo, modelPosition, Direction);
break;
case Direction_.ShelfIn:
conveyor = new Stacker_ShelfIn(missionType, conveyorName, shelfNo, modelPosition, Direction);
break;
}
return(conveyor);
}
protected List <IMission> missions = new List <IMission>();//观察者列表 任务观察 输送带
public Conveyor(string name, Direction_ Direction)
{
this.Name = name;
this.Direction = Direction;
}
// Initialization of the Player:
void Start()
{
//Location of our home:
//wpt lat = "32.09834" lon = "34.97702"
//Location of Safta miriam:
//< wpt lat = "32.09363" lon = "34.88043" >
//IsSimMode = false;
//Start locations services:
Input.location.Start();
//Set initial location:
GetCoordinates(ref latitude, ref longitude, IsSimMode, ref route_index);
delta_loc_time_changed = 0; // reset the accumulative delta time
//var result = GetClosestAttraction(latitude, longitude);
//Initialize the current attraction:
Closest_attraction = new Attraction();
Closest_attraction.valid = false;
DirectionToTarget = new Direction_();
//Set the initial state of the camera:
SetLocVRObj(0, 0, "Player1");
SetLocVRObj(0, 0, "MainCamera");
//Create home:
Location home_loc = new Location();
home_loc.lat = 32.09834; home_loc.lng = 34.97702;
//GetDirection(ref home_loc, ref home_loc, ref DirectionToTarget);
//StartCoroutine(CreateAttractionInVR(0, 0, "Home"));
SetLocVRObj(0, 0, "Home");
//Create Safta home:
Location tmp_loc = new Location();
tmp_loc.lat = 32.09363; tmp_loc.lng = 34.88043;
GetDirection(ref home_loc, ref tmp_loc, ref DirectionToTarget);
SetLocVRObj(DirectionToTarget.x, DirectionToTarget.y, "Safta");
//StartCoroutine(CreateAttractionInVR(DirectionToTarget.x, DirectionToTarget.y, "Safta"));
//Create Sagive coodinates:
//wpt lat = "32.09881" lon = "34.97494" >
tmp_loc.lat = 32.09881; tmp_loc.lng = 34.97494;
GetDirection(ref home_loc, ref tmp_loc, ref DirectionToTarget);
//StartCoroutine(CreateAttractionInVR(DirectionToTarget.x, DirectionToTarget.y, "Grass"));
SetLocVRObj(DirectionToTarget.x, DirectionToTarget.y, "Grass");
//Get closest attraction:
//GetClosestAttraction(latitude, longitude, ref Closest_attraction);
StartCoroutine(GetClosestAttraction(latitude, longitude));
GetClosestAttraction(latitude, longitude);
CurrentLoc.lat = latitude; CurrentLoc.lng = longitude;
if (Closest_attraction.valid)
{
//Get direction to target:
GetDirection(ref CurrentLoc, ref Closest_attraction.location, ref DirectionToTarget);
StartCoroutine(CreateAttractionInVR(DirectionToTarget.x, DirectionToTarget.y, "Billboard110"));
//CreateAttractionInVR(DirectionToTarget.x, DirectionToTarget.y);
}
}
