/// <summary>
/// wanneer het magazijn moet worden hervuld wordt deze methode aangeroepen
/// deze methode geeft ook alle taken aan alle robots
/// </summary>
public void FillStorage()
{
foreach (Node n in Punten)
{
if (n.Id.Length == 4)
{
n.Shelf = NotAssignedShelfs[0];
NotAssignedShelfs[0].Move(n.X, 0, n.Z);
NotAssignedShelfs.RemoveAt(0);
n.ShelfStatus = true;
}
}
foreach (Robot r in RobotList)
{
if (r.TaskCount() == 0)
{
Node AvailableDockNode = null;
AvailableDockNode = Punten.FirstOrDefault(i => i.Id.Length == 4 && i.ShelfStatus == true);
AvailableDockNode.ShelfStatus = false;
List <Node> RobotRouteHeenweg = Nodes.Shortest_path("HA", AvailableDockNode.Id);
RobotMove move = new RobotMove(RobotRouteHeenweg);
r.AddTask(move);
RobotPickUp pickup = new RobotPickUp(AvailableDockNode);
r.AddTask(pickup);
List <Node> RobotStoreShelf = Nodes.Shortest_path(AvailableDockNode.Id, "HB");
RobotMove storeshelf = new RobotMove(RobotStoreShelf);
r.AddTask(storeshelf);
Node EmptyShelfNode = null;
EmptyShelfNode = Punten.FirstOrDefault(i => i.Id.Length == 1 && i.ShelfStatus == false);
EmptyShelfNode.ShelfStatus = true;
List <Node> RobotRouteTerugweg = Nodes.Shortest_path("HB", EmptyShelfNode.Id);
RobotMove terugweg = new RobotMove(RobotRouteTerugweg);
r.AddTask(terugweg);
RobotDropDown dropdown = new RobotDropDown(EmptyShelfNode);
r.AddTask(dropdown);
ShelfList.Add(EmptyShelfNode);
List <Node> RobotRouteStartPositie = Nodes.Shortest_path(EmptyShelfNode.Id, "HA");
RobotMove startpositie = new RobotMove(RobotRouteStartPositie);
r.AddTask(startpositie);
move.StartTask(r);
r.RobotBusy = true;
}
}
}
/// <summary>
/// geeft alle taken aan alle robots in de wereld
/// </summary>
public void AssignRobot()
{
foreach (Robot r in RobotList)
{
if (r.TaskCount() == 0)
{
Random rnd = new Random();
int ShelfListStatus = 0;
ShelfListStatus = ShelfList.Count(i => i.ShelfStatus == true);
int random = rnd.Next(0, ShelfListStatus - 1);
Node punt1 = ShelfList[random];
punt1.ShelfStatus = false;
NotAssignedShelfs.Add(punt1.Shelf);
ShelfList.RemoveAt(random);
List <Node> RobotRouteHeenweg = Nodes.Shortest_path("HA", punt1.Id);
RobotMove move = new RobotMove(RobotRouteHeenweg);
r.AddTask(move);
RobotPickUp pickup = new RobotPickUp(punt1);
r.AddTask(pickup);
//Robot is naar de shelf positie gestuurd en pakt deze shelf op.
punt1.ShelfStatus = false;
//Zorgt ervoor dat bij de volgende itteratie de robot niet naar dezelfde shelf gestuurd kan worden.
List <Node> RobotRouteTerugweg = Nodes.Shortest_path(punt1.Id, "HB");
RobotMove terugweg = new RobotMove(RobotRouteTerugweg);
r.AddTask(terugweg);
Node AvailableDockNode = null;
AvailableDockNode = Punten.FirstOrDefault(i => i.Id.Length == 4 && i.ShelfStatus == false);
AvailableDockNode.ShelfStatus = true;
List <Node> RobotStoreShelf = Nodes.Shortest_path("HB", AvailableDockNode.Id);
RobotMove storeshelf = new RobotMove(RobotStoreShelf);
r.AddTask(storeshelf);
RobotDropDown dropdown = new RobotDropDown(AvailableDockNode);
r.AddTask(dropdown);
List <Node> RobotRouteStartPositie = Nodes.Shortest_path(AvailableDockNode.Id, "HA");
RobotMove startpositie = new RobotMove(RobotRouteStartPositie);
r.AddTask(startpositie);
move.StartTask(r);
r.RobotBusy = true;
VullenStorage = false;
}
}
}
/// <summary>
/// Checks which robot is the closest to the rack and gives the task to the closest robot.
/// </summary>
public void giveTask()
{
if (_Inventory.Tasks.Count != 0)
{
//Sets for every robot the distance to the rack
foreach (Model3D model3d in worldObjects)
{
if (model3d is Robots)
{
Robots robot = (Robots)model3d;
double closestToX = robot.x - _Inventory.Tasks.First().getRack.x;
double closestToZ = robot.z - _Inventory.Tasks.First().getRack.z;
robot.closestTo = Math.Sqrt(Math.Pow(closestToX, 2) + Math.Pow(closestToZ, 2));
}
}
//Checking which robot is the closest
foreach (Model3D model3d in worldObjects)
{
if (model3d is Robots)
{
Robots robot = (Robots)model3d;
if (robot.closestTo < this.closestTo || robot.closestTo == this.closestTo)
{
this.closestTo = robot.closestTo;
destined = robot;
}
}
}
//Is giving the robot the task
if (robotMove == null && destined == this && !_Inventory.Tasks.First().getRack.moving)
{
robotMove = new RobotMove(_Inventory.Tasks.First(), this, Grid);
_Inventory.Tasks.RemoveAt(0);
}
destined = null;
}
}
/// <summary>
/// Overrides the methode Update from the class Model3D.
/// </summary>
/// <param name="tick">Over how many milliseconds it has to check itself</param>
/// <returns>true or false</returns>
public override bool Update(int tick)
{
giveTask();
if (robotMove != null)
{
if (robotMove.TaskComplete(this))
{
Console.WriteLine("override bool update");
robotMove = null;
return(false);
}
else if (!robotMove.TaskComplete(this))
{
robotMove.StartTask(this);
}
return(true);
}
else
{
return(false);
}
}
private void SetTasks()
{
IRobotTask rt = new RobotMove();
}