private DeicingCar SearchFreeCar()
{
//При поиске свободной машины блокируем поиск для других потоков
lock (locker)
{
DeicingCar car = cars.Values.FirstOrDefault(car => car.Status == Status.Free);
//если не нашли свободную машину, начинаем поиск заново
while (car == null)
{
source.CreateToken().Sleep(15);
car = cars.Values.FirstOrDefault(car => car.Status == Status.Free);
}
//иначе прерываем движение на стоянку и ставим статус busy
car.Status = Status.Busy;
if (carTasks.ContainsKey(car.DeicingCarID))
{
if (tokens.TryGetValue(car.DeicingCarID, out var cancellationToken))
{
cancellationToken.Cancel();
Task task = carTasks[car.DeicingCarID];
task.Wait();
carTasks.Remove(car.DeicingCarID, out task);
}
}
return(car);
}
}
private void FillCollections()
{
for (int i = 0; i < countOfCars; i++)
{
DeicingCar car = new DeicingCar(i);
cars.TryAdd(car.DeicingCarID, car);
}
}
// ответ
private void GoPath(GoToVertexAction action, DeicingCar deicingCar, int destinationVertex)
{
var path = map.FindShortcut(deicingCar.LocationVertex, destinationVertex);
Console.WriteLine($"{deicingCar.DeicingCarID} поедет из {path[0]} в {path[path.Count - 1]}");
for (int i = 0; i < path.Count - 1; i++)
{
action(deicingCar, path[i + 1]);
}
}
private void SendVisualizationMessage(DeicingCar deicingCar, int DestinationVertex, int speed)
{
mqClient.Send <VisualizationMessage>(queueToVisualizer, new VisualizationMessage()
{
ObjectId = deicingCar.DeicingCarID,
DestinationVertex = DestinationVertex,
Speed = speed,
StartVertex = deicingCar.LocationVertex,
Type = Component.Deicing
});
}
private void MakeAMove(DeicingCar deicingCar, int DestinationVertex) //just move to vertex
{
double position = 0;
int distance = map.Graph.GetWeightBetweenNearVerties(deicingCar.LocationVertex, DestinationVertex);
SendVisualizationMessage(deicingCar, DestinationVertex, DeicingCar.Speed);
source.CreateToken().Sleep(distance * 1000 / DeicingCar.Speed);
SendVisualizationMessage(deicingCar, DestinationVertex, 0);
deicingCar.LocationVertex = DestinationVertex;
deicingCar.MotionPermitted = false;
}
private void GoToVertexAlone(DeicingCar deicingCar, int DestinationVertex)
{
WaitForMotionPermission(deicingCar, DestinationVertex);
int StartVertex = deicingCar.LocationVertex;
MakeAMove(deicingCar, DestinationVertex);
mqClient.Send <MotionPermissionRequest>(queueToGroundMotion, //free edge
new MotionPermissionRequest()
{
Action = MotionAction.Free,
DestinationVertex = DestinationVertex,
Component = Component.Deicing,
ObjectId = deicingCar.DeicingCarID,
StartVertex = StartVertex
});
}
private void GoPathHome(DeicingCar deicingCar, int destinationVertex,
CancellationTokenSource cancellationToken)
{
var path = map.FindShortcut(deicingCar.LocationVertex, destinationVertex);
Console.WriteLine($"{deicingCar.DeicingCarID} поедет домой из {path[0]} в {path[path.Count - 1]}");
deicingCar.Status = Status.Free;
for (int i = 0; i < path.Count - 1; i++)
{
if (cancellationToken.IsCancellationRequested)
{
break;
}
GoToVertexAlone(deicingCar, path[i + 1]);
}
}
private void WaitForMotionPermission(DeicingCar deicingCar, int DestinationVertex)
{
Console.WriteLine($"{deicingCar.DeicingCarID} ждёт разрешения передвинуться в {DestinationVertex}");
mqClient.Send <MotionPermissionRequest>(queueToGroundMotion, //permission request
new MotionPermissionRequest()
{
Action = MotionAction.Occupy,
Component = Component.Deicing,
DestinationVertex = DestinationVertex,
ObjectId = deicingCar.DeicingCarID,
StartVertex = deicingCar.LocationVertex
});
while (!deicingCar.MotionPermitted) //check if deicingcar can go
{
source.CreateToken().Sleep(5);
}
}
private void MessageFromGroundService()
{
mqClient.SubscribeTo <ServiceCommand>(queueFromGroundService, (sc) =>
{
Console.WriteLine(DateTime.Now + " " + Component.Deicing + " Получил сообщение от СНО");
DeicingCar car = SearchFreeCar();
Console.WriteLine($"нашли свободную машину {car.DeicingCarID}");
Task t = new Task(() =>
{
//приехать к самолёту
GoPath(GoToVertexAlone, car, sc.PlaneLocationVertex);
Console.WriteLine($"{DateTime.Now} {car.DeicingCarID} приехала к самолёту");
//чистим самолёт от льда
WorkWithPlane(sc.PlaneId);
Console.WriteLine($"{DateTime.Now} {car.DeicingCarID} почистила самолёт");
ServiceCompletionMessage deicingCompletion = new ServiceCompletionMessage()
{
PlaneId = sc.PlaneId,
Component = Component.Deicing
};
mqClient.Send <ServiceCompletionMessage>(queueToGroundService, deicingCompletion);
Console.WriteLine($"{DateTime.Now} {car.DeicingCarID} отправила сообщение СНО");
var source = new CancellationTokenSource(); //adds token and remove it after went home/new cmd
tokens.TryAdd(car.DeicingCarID, source);
//уезжаем на стоянку
GoPathHome(car, RandomHomeVertex.GetHomeVertex(), tokens[car.DeicingCarID]);
if (!tokens[car.DeicingCarID].IsCancellationRequested) //если не было отмены пути домой
{
Console.WriteLine($"{DateTime.Now} {car.DeicingCarID} приехала домой");
}
tokens.Remove(car.DeicingCarID, out source);
});
carTasks.TryAdd(car.DeicingCarID, t);
t.Start();
});
}
