private Rek CreateRek(double x, double y, double z)
{
Rek rek = new Rek(x, y, z, 0, 0, 0);
worldObjects.Add(rek);
return(rek);
}
public Storage(Node n, double x, double y, double z, World currentworld)
{
DropoffNode = n;
position_x = x;
position_y = y;
position_z = z;
this.w = currentworld;
// Have the Storage element start off with a random number of Rek's
Random r = new Random();
int q = r.Next(1, 5);
x_size = 25;
z_size = 5;
for (int i = 0; i < q; i++)
{
Rek newrek = new Rek((i * 2.5) + position_x, 0, position_z + 2.5, 0, 0, 0);
newrek.readyforpickup = false;
// If i have spare time later, edit this to give it a random position in the list/ array
Stored.Add(newrek);
}
RenderRekken();
}
/*public void AddRek(Rek r)
* {
* r.readyforpickup = false;
* for (int i = 0; i < Stored.Count; i++)
* {
* if (Stored[i] == null)
* {
* Stored[i] = r;
* r.Move((i * 2.5) + position_x, 0, position_z + 2.5);
* }
* }
* }*/
public void AddRek(Rek r)
{
r.readyforpickup = false;
Stored.Add(r);
r.Move((Stored.Count * 2.5) + position_x, 0, position_z + 2.5);
}
/// <summary>
/// Storage area to store barrels
/// </summary>
/// <param name="n">The node the robot ahs to reach to drop off it's load. </param>
/// <param name="x_size">Horizontal size</param>
/// <param name="z_size">Vertical size</param>
/// <param name="x_position">position</param>
/// <param name="y_position">position</param>
/// <param name="z_position">position</param>
/// <param name="currentworld">A reference to the current world object</param>
public Storage(Node n, double x_size, double z_size, double x_position, double y_position, double z_position, World currentworld)
{
DropoffNode = n;
position_x = x_position;
position_y = y_position;
position_z = z_position;
this.x_size = x_size;
this.z_size = z_size;
Max_Barrels = Convert.ToInt64(Math.Floor(x_size / 2.5));
this.w = currentworld;
// Have the Storage element start off with a random number of Rek's
Random r = new Random();
int q = r.Next(1, 3);
for (int i = 0; i < q; i++)
{
Rek newrek = new Rek((i * 1.5) + position_x, 0, position_z + 2.5, 0, 0, 0);
newrek.readyforpickup = false;
// If i have spare time later, edit this to give it a random position in the list/ array
Stored.Add(newrek);
}
RenderRekken();
}
int AtLoadingDock()
{
Rek cargo = this.Unload();
this.CarriedRek = null;
this._world.TrainArrived(this, cargo);
this._state = TreiState.AT_LOADING_DOCK;
return(0);
}
/// <summary>
///Tell the robot to pick up a specific Rek
/// </summary>
public void PickupRek(Rek k)
{
if (k.readyforpickup == true)
{
carriedRek = k;
// carriedRek.Move(this.x+30, this.y+30, this.z);
}
else
{
Console.WriteLine("Tried to pickup unready Rek");
}
}
/// <summary>
/// Accept a Rek from a robot, and store it
/// </summary>
/// <param name="r">rek to be stored</param>
public void AddRek(Rek r)
{
r.readyforpickup = false;
for (int i = 0; i < 10; i++)
{
if (Stored.ElementAtOrDefault(i) == null)
{
r.Move((i * 1.5) + position_x, 0, position_z + 2.5);
Stored.Add(r);
return;
}
}
}
/// <summary>
/// Gets called when the robot reaches it's destination
/// </summary>
public void DropOffRek(Node DropOffAt)
{
// Check if the robot is actually carrying a Rek
if (carriedRek != null)
{
// Loop over all the storagespots, find the matching spot
for (int i = 0; i < w.StorageSpots.Count; i++)
{
if (DropOffAt == w.StorageSpots[i].DropoffNode)
{
// Spot matches. Check if the spot isnt full by now. If so, redirect it to a different spot
if (w.StorageSpots[i].IsFull())
{
// Search for a storage area with an empty spot
foreach (var item in w.StorageSpots)
{
if (!item.IsFull())
{
// Create new route, send the robot to a not-full storage area.
this.route.Clear();
List <char> Route = w.d.shortest_path(DropOffAt.name, item.DropoffNode.name);
List <char> DepotRoute = w.d.shortest_path(item.DropoffNode.name, 'B');
Route.Reverse();
DepotRoute.Reverse();
Route.AddRange(DepotRoute);
this.SetRoute(Route, item.DropoffNode.name);
position = -1;
destinationreached = false;
isMoving = false;
return;
// List<char> Route = d.shortest_path(start, end);
// List<char> Terugweg = d.shortest_path(end, start);
// Route.Reverse();
// Terugweg.Reverse();
// Route.AddRange(Terugweg);
// return Route;
}
}
}
w.StorageSpots[i].AddRek(carriedRek);
carriedRek = null;
}
}
}
}
public Trein(double x, double y, double z, double rotationX, double rotationY, double rotationZ, World w)
{
this.type = "trein";
this.guid = Guid.NewGuid();
this._world = w;
this._x = x;
this._y = y;
this._z = z;
this._rX = rotationX;
this._rY = rotationY;
this._rZ = rotationZ;
this.CarriedRek = this._world.CreateRek(this.x, this.y, this.z);
_state = TreiState.TRAIN_INCOMMING;
}
/// <summary>
/// Gets called when the robot reaches it's destination
/// </summary>
public void DropOffRek(Node DropOffAt)
{
// Check if the robot is actually carrying a Rek
if (carriedRek != null)
{
// Loop over all the storagespots, find the matching spot
for (int i = 0; i < w.StorageSpots.Count; i++)
{
if (DropOffAt == w.StorageSpots[i].DropoffNode)
{
w.StorageSpots[i].AddRek(carriedRek);
carriedRek = null;
break;
}
}
// Drop off or something
}
}
/// <summary>
///Tell the robot to pick up a nearby Rek
/// </summary>
public void PickupRek()
{
// Check if the robot is at the depot
if (atPickupPoint)
{
foreach (var item in w.worldObjects)
{
if (item is Rek)
{
Rek q = (Rek)item;
if (q.readyforpickup == true)
{
carriedRek = q;
// carriedRek.Move(this.x+30, this.y+30, this.z);
}
}
}
}
}
//
public void CommandPickup(Rek k, bool atTrain, Robot _r)
{
// Tell a robot to come pick up an item
_r.idle = false;
_r.rekToCarry = k;
if (atTrain)
{
//Als B magazijn is en A trein
// Move k (rekToCarry van de robot) van trein(A) naar magazijn(B)
_r.SetRoute(GenerateRoute('A', 'B'), 'B');
}
else
{
//Als B magazijn is en A trein
// Move k (rekToCarry van de robot) van magazijn(B) naar trein(A)
_r.SetRoute(GenerateRoute('B', 'A'), 'A');
}
//r.PickupRek();
}
public World()
{
// Create the graph, and create the nodes the robot can move to
d = new Dijkstra();
InitialNodes();
// Create the four storage area's
Storage storage1 = new Storage(NodeList[6], 10, 5, 3, 0, 5, this);
Storage storage2 = new Storage(NodeList[8], 10, 5, 3, 0, 12.5, this);
Storage storage3 = new Storage(NodeList[10], 35, 5, 20, 0, 5, this);
Storage storage4 = new Storage(NodeList[12], 10, 5, 3, 0, 22.5, this);
StorageSpots.Add(storage1);
StorageSpots.Add(storage2);
StorageSpots.Add(storage3);
StorageSpots.Add(storage4);
//Create the train
t = SpawnTruck(-20, 0, 0);
//a few Rek's for testing purposes
Rek q = CreateRek(12, 0, 0);
Rek w = CreateRek(15, 0, 0);
Rek z = CreateRek(18, 0, 0);
Rek a = CreateRek(18, 0, 0);
Rek b = CreateRek(18, 0, 0);
Rek c = CreateRek(18, 0, 0);
// Create the robots
r = CreateRobot(12, 0, 0);
walle = CreateRobot(15, 0, 0);
irongiant = CreateRobot(18, 0, 0);
robotlist.Add(r);
robotlist.Add(walle);
robotlist.Add(irongiant);
// Each time this function is called, tells a single robot to pick up a Rek. There are three robots
CommandPickup();
CommandPickup();
CommandPickup();
}
/// <summary>
///Tell the robot to pick up a nearby Rek
/// </summary>
public bool PickupRek()
{
// Check if the robot is at the depot. Obsolete?
if (atPickupPoint)
{
foreach (var item in w.worldObjects)
{
if (item is Rek)
{
Rek q = (Rek)item;
if (q.readyforpickup == true)
{
q.readyforpickup = false;
carriedRek = q;
return(true);
}
}
}
}
return(false);
}
public void TrainArrived(Trein _t, Rek cargo)
{
//Word aangeroepen wanneer een trein (_t) bij het loading dock is
cargo.readyforpickup = true;
//Loop door robots en laat een idle robot de cargo ophalen
foreach (Robot r in this.robots)
{
if (r.idle)
{
CommandPickup(cargo, true, r);
r.idle = false;
break;
}
}
//Loop door robots een laat een idle robot een rek uit de storage naar de trein brengen
foreach (Robot r in this.robots)
{
foreach (Storage s in this.StorageSpots)
{
for (int i = 0; i < s.Stored.Count; i++)
{
Rek rek = s.Stored[i];
if (r.idle)
{
s.Stored.Remove(rek);
rek.readyforpickup = true;
r.trainToLoad = _t;
CommandPickup(rek, false, r);
r.idle = false;
}
}
}
}
}
// Word aangeroepen door een robot
public void Load(Rek cargo)
{
this.CarriedRek = cargo;
}
/// <summary>
/// Main loop
/// </summary>
public void Main()
{
// If idle, dont do anything
if (idle)
{
return;
}
if (route != null && route.Count > position)
{
this.MoveTo(route[position]);
// Check if the robot has reached a node
if (this.x == route[position].x && this.y == route[position].y && this.z == route[position].z)
{
//Check if the robot is at it's destination
if (this.x == TargetNode.x && this.y == TargetNode.y && this.z == TargetNode.z)
{
if (carriedRek != null)
{
if (this.trainToLoad != null)
{
this.trainToLoad.Load(carriedRek);
this.carriedRek = null;
this.trainToLoad = null;
}
else
{
DropOffRek(TargetNode);
}
}
else
{
PickupRek(rekToCarry);
}
}
// Else,check if this is the last stop
else if (route[route.Count - 1] == route[position])
{
if (carriedRek != null)
{
if (this.trainToLoad != null)
{
this.trainToLoad.Load(carriedRek);
this.carriedRek = null;
this.trainToLoad = null;
idle = true;
}
else
{
DropOffRek(route[position]);
}
}
idle = true;
return;
}
position++;
this.isMoving = false;
}
}
}
