public void RemoveRack(Point point)
{
point.AddRack(this.rack);
this._rack.AssignPoint(point);
this._rack = null;
}
public RobotPickupRack(Rack r)
{
this.rack = r;
}
public void RemoveRack(Truck truck)
{
truck.AddRack(this.rack);
this._rack = null;
}
// Hier worden de graph, de truck, de robots en de rekjes neergezet
public World()
{
Point a = new Point(-20, 0, 0);
Point b = new Point(-10, 0, 0);
Point c = new Point(-10, 0, 10);
Point d = new Point(0, 0, 10);
Point e = new Point(10, 0, 10);
Point f = new Point(10, 0, 0);
Point g = new Point(10, 0, -10);
Point h = new Point(0, 0, -10);
Point i = new Point(-10, 0, -10);
Point j = new Point(0, 0, 0);
Point tA = new Point(-20, 0, -50);
Point tB = new Point(-20, 0, 0);
Point tC = new Point(-20, 0, 50);
a.AddNode(b);
b.AddNode(new List <Point>()
{
c, i
});
c.AddNode(d);
d.AddNode(new List <Point>()
{
e, j
});
e.AddNode(f);
f.AddNode(g);
h.AddNode(new List <Point>()
{
i, j, g
});
tB.AddNode(new List <Point>()
{
tA, tB
});
List <Point> pointList = new List <Point>()
{
a, b, c, d, e, f, g, h, i, j
};
pointGraph = new Graph((pointList));
truckGraph = new Graph(new List <Point>()
{
tA, tB, tC
});
Robot robot1 = CreateRobot(a);
Robot robot2 = CreateRobot(a);
Robot robot3 = CreateRobot(a);
Rack rack1 = CreateRack(e);
Rack rack2 = CreateRack(i);
Rack rack3 = CreateRack(j);
Rack rack4 = CreateRack(g);
Rack rack5 = CreateRack(b);
Rack rack6 = CreateRack(c);
Truck t = CreateTruck(tA);
robot1.AddTask(new RobotMove(pointGraph, rack1.point));
robot2.AddTask(new RobotMove(pointGraph, rack2.point));
robot3.AddTask(new RobotMove(pointGraph, rack3.point));
int counter = 3;
foreach (Model3D r in worldObjects)
{
if (r is Robot)
{
((Robot)r).AddTask(new RobotPickUp());
((Robot)r).AddTask(new RobotMove(pointGraph, a));
((Robot)r).AddTask(new RobotDropOff(t));
((Robot)r).AddTask(new RobotPickUp());
((Robot)r).AddTask(new RobotMove(pointGraph, pointList[counter]));
((Robot)r).AddTask(new RobotDropOff(pointList[counter]));
counter++;
((Robot)r).AddTask(new RobotMove(pointGraph, a));
}
}
t.AddTask(new TruckMove(tB));
t.AddTask(new TruckLoad());
t.AddTask(new TruckMove(tC));
t.AddTask(new TruckTeleport(tA));
t.AddTask(new TruckMove(tB));
t.AddTask(new TruckDump(a));
t.AddTask(new TruckMove(tC));
}
public void AddRack(Rack rack)
{
_racks.Add(rack);
rack.AssignPoint(null);
rack.Move(this.x, this.y + 0.2m, this.z);
}
/// <summary>
/// Set rack to robot
/// </summary>
/// <param name="rack"></param>
public void PickupRack(Rack rack)
{
currentRack = rack;
}
public bool Update(int tick)
{
for (int i = worldObjects.Count - 1; i >= 0; i--)
{
if (worldObjects[i] is IUpdatable)
{
bool needsCommand = ((IUpdatable)worldObjects[i]).Update(tick);
if (needsCommand)
{
if (worldObjects[i] is Robot)
{
Robot r = (Robot)worldObjects[i];
// Gives Robot new tasks if possible and needed
if (r.currentNode == homeNode && r.currentRack == null && r.tasks.Count == 0)
{
if (storedRacks.Count >= 25) // Search for rack and place it at the home node
{
int randomRackInt = 0;
Rack randomRack = null;
int randomRackNodeName = 0;
bool checkRack = false;
// Select a random rack
while (!checkRack)
{
randomRackInt = random.Next(storedRacks.Count);
randomRack = storedRacks[randomRackInt];
randomRackNodeName = Convert.ToInt32(randomRack.currentNode.NodeName);
if (randomRackNodeName != Convert.ToInt32(this.homeNode.NodeName))
{
checkRack = true;
}
}
rackPlacedList[randomRackNodeName] = false;
// Ride robot to position, pickup rack and drop at homenode
r.AddTask(new RobotMove(this.dijkstra.GetBestRoute(r.currentNode, randomRack.currentNode).ToArray()));
r.AddTask(new RobotPickupRack(randomRack));
r.AddTask(new RobotMove(this.dijkstra.GetBestRoute(randomRack.currentNode, this.homeNode).ToArray()));
r.AddTask(new RobotDropRack());
randomRack.currentNode.busy = true;
emptyRacks.Add(randomRack);
storedRacks.RemoveAt(storedRacks.IndexOf(randomRack));
}
else if (newRacks.Count > 0) // Pickup rack, drop in storage and return
{
Node placeRackNode = null;
for (int count = 0; count < nodeList.Count; count++) // Get avaible place in storage
{
if (rackPlacedList[count] == false)
{
placeRackNode = nodeList[count];
if (!placeRackNode.busy)
{
rackPlacedList[count] = true;
count = nodeList.Count;
}
}
}
if (placeRackNode != null)
{
// Pickup rack, Ride robot to position and drop rack
r.AddTask(new RobotPickupRack(newRacks[0]));
r.AddTask(new RobotMove(this.dijkstra.GetBestRoute(r.currentNode, placeRackNode).ToArray()));
r.AddTask(new RobotDropRack());
r.AddTask(new RobotMove(this.dijkstra.GetBestRoute(placeRackNode, this.homeNode).ToArray()));
// Update storage
storedRacks.Add(newRacks[0]);
newRacks.RemoveAt(0);
}
}
}
}
else if (worldObjects[i] is Transport)
{
Transport t = (Transport)worldObjects[i];
t.UpdatePosition();
// Transport reached loader
if (t.reachedLoader)
{
// Clear all empty racks
foreach (Rack r in emptyRacks)
{
if (r.currentNode == this.homeNode && r.delete != true)
{
r.delete = true;
r.needsUpdate = true;
}
}
if (!t.createdRacks)
{
t.createdRacks = true;
int generatedRacks = 0;
// Generates random count of racks to be placed in storage
if (storedRacks.Count <= 25)
{
generatedRacks = random.Next(3, 5);
}
else
{
generatedRacks = 0;
}
// Spaw new racks when truck has reached the loader
for (int a = generatedRacks; a > 0; a--)
{
newRacks.Add(CreateRack(homeNode.x + 1, homeNode.y + 0.2, homeNode.z, homeNode));
}
Console.Write("Stored racks: " + storedRacks.Count);
Console.WriteLine(" New racks: " + newRacks.Count);
}
}
}
// Send Model through socket
SendCommandToObservers(new UpdateModel3DCommand(worldObjects[i]));
// Remove object from worldobjects
if (worldObjects[i].delete == true)
{
worldObjects.RemoveAt(i);
}
}
}
}
return(true);
}