private Truck CreateTruck(double x, double y, double z, string name)
{
Truck truck = new Truck(x, y, z, 0, Math.PI, 0, name);
worldObjects.Add(truck);
return truck;
}
public void RemoveRack(Truck truck)
{
truck.AddRack(this.rack);
this._rack = null;
}
private Robot CreateRobot(double x, double y, double z, char name, Truck t) {
Robot r = new Robot(x, y, z, 0, 0, 0, name, t);
worldObjects.Add(r);
return r;
}
/// <summary>
/// constructor voor de world
/// </summary>
public World() {
//vul de lijst met alle nodes
Pathfinding.FillList();
LoadingBay bay = CreateLoadingBay(20, 20, 20);
//Maak objecten aan
Pathfinding.listOfNodes[5].SetRack(CreatePalletRack(15, 1.4, 10));
Pathfinding.listOfNodes[6].SetRack(CreatePalletRack(15, 1.4, 11.5));
Pathfinding.listOfNodes[7].SetRack(CreatePalletRack(15, 1.4, 13));
Pathfinding.listOfNodes[8].SetRack(CreatePalletRack(15, 1.4, 14.5));
Pathfinding.listOfNodes[9].SetRack(CreatePalletRack(10, 1.4, 10));
Pathfinding.listOfNodes[10].SetRack(CreatePalletRack(10, 1.4, 11.5));
Pathfinding.listOfNodes[11].SetRack(CreatePalletRack(10, 1.4, 13));
Pathfinding.listOfNodes[12].SetRack(CreatePalletRack(10, 1.4, 14.5));
Pathfinding.listOfNodes[13].SetRack(CreatePalletRack(5, 1.4, 10));
Pathfinding.listOfNodes[14].SetRack(CreatePalletRack(5, 1.4, 11.5));
Pathfinding.listOfNodes[15].SetRack(CreatePalletRack(5, 1.4, 13));
Pathfinding.listOfNodes[16].SetRack(CreatePalletRack(5, 1.4, 14.5));
Truck t1 = CreateTruck(33, 0.23, 60, "1");
Truck t2 = CreateTruck(35, 0.23, 60, "2");
Truck t3 = CreateTruck(37, 0.23, 60, "3");
Robot r1 = CreateRobot(28, 0.15, 13.5, 'C', t1);
Robot r2 = CreateRobot(28, 0.15, 13.5, 'D', t2);
Robot r3 = CreateRobot(28, 0.15, 13.5, 'E', t3);
//Pad voor de Truck
Pathfinding.PathTruck = Pathfinding.Listnodes("X1", "Y1", Pathfinding.listOfNodes, Pathfinding.PathTruck);
t1.AddTask(new TruckMove(Pathfinding.StartTruck1));
t1.AddTask(new TruckMove(Pathfinding.PathTruck));
Pathfinding.PathTruck = new List<Node>();
Pathfinding.PathTruck = Pathfinding.Listnodes("X2", "Y2", Pathfinding.listOfNodes, Pathfinding.PathTruck);
t2.AddTask(new TruckMove(Pathfinding.StartTruck2));
t2.AddTask(new TruckMove(Pathfinding.PathTruck));
Pathfinding.PathTruck = new List<Node>();
Pathfinding.PathTruck = Pathfinding.Listnodes("X3", "Y3", Pathfinding.listOfNodes, Pathfinding.PathTruck);
t3.AddTask(new TruckMove(Pathfinding.StartTruck3));
t3.AddTask(new TruckMove(Pathfinding.PathTruck));
//Pad voor de robot
Pathfinding.PathRobot = Pathfinding.Listnodes("A", "C4", Pathfinding.listOfNodes, Pathfinding.PathRobot);
r1.AddTask(new RobotMove(Pathfinding.StartRobot));
r1.AddTask(new RobotMove(Pathfinding.PathRobot));
Pathfinding.PathRobot = new List<Node>();
Pathfinding.PathRobot = Pathfinding.Listnodes("A", "D4", Pathfinding.listOfNodes, Pathfinding.PathRobot);
r2.AddTask(new RobotMove(Pathfinding.StartRobot));
r2.AddTask(new RobotMove(Pathfinding.PathRobot));
Pathfinding.PathRobot = new List<Node>();
Pathfinding.PathRobot = Pathfinding.Listnodes("A", "E4", Pathfinding.listOfNodes, Pathfinding.PathRobot);
r3.AddTask(new RobotMove(Pathfinding.StartRobot));
r3.AddTask(new RobotMove(Pathfinding.PathRobot));
}
// 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 override bool Tick()
{
switch (_state)
{
case TaskState.Init:
_truck = _targetEntity.CreateTruck(Constants.TruckSpawn.X, Constants.TruckSpawn.Y, Constants.TruckSpawn.Z, 0f, 0f, 0f, 0);
_truck.SetTarget(Constants.TruckStop);
this._state = TaskState.WaitTruckArrival;
break;
case TaskState.WaitTruckArrival:
if (!_truck.IsAtTarget)
{
break;
}
var occupied = _targetEntity.ObjectsOfType <StoragePlot>().SelectMany(plot => plot.OccupiedCargoSlots).ToList();
_slotsToUnload = new Queue <CargoSlot>(occupied.Take(Math.Min(Math.Min(occupied.Count(), _truck.FreeCargoSlots.Count), amount)));
_robotTasks = new List <RobotLoadTruckTask>();
this._state = TaskState.WaitTruckLoaded;
break;
case TaskState.WaitTruckLoaded:
_truck.setDoorOpen(true);
List <Robot> idleRobots = _targetEntity.ObjectsOfType <Robot>().Where((r) => r.IsStandBy).ToList();
List <CargoSlot> availableStorageSlots = _truck.FreeCargoSlots;
availableStorageSlots.Reverse();
if (idleRobots.Count == 0 || availableStorageSlots.Count == 0)
{
break;
}
if (_slotsToUnload.Count != 0)
{
RobotLoadTruckTask rt = new RobotLoadTruckTask(idleRobots[0], _truck, _slotsToUnload.Dequeue().ReleaseCargo(), availableStorageSlots[0]);
idleRobots[0].AssignTask(rt);
_robotTasks.Add(rt);
}
if (_slotsToUnload.Count == 0)
{
_state = TaskState.WaitCargoTasksFinished;
}
break;
case TaskState.WaitCargoTasksFinished:
if (!_robotTasks.All((task) => task.IsFinished))
{
break;
}
_truck.SetTarget(Constants.TruckDespawn);
_state = TaskState.WaitTruckExit;
_truck.setDoorOpen(false);
break;
case TaskState.WaitTruckExit:
if (!_truck.IsAtTarget)
{
break;
}
_truck.Destroy();
_state = TaskState.Finished;
break;
case TaskState.Finished:
this._isFinished = true;
break;
}
return(base.Tick());
}
/// <summary>
/// constructor van een robot
/// </summary>
/// <param name="x">xPos</param>
/// <param name="y">yPos</param>
/// <param name="z">zPos</param>
/// <param name="rotationX">xRot</param>
/// <param name="rotationY">yRot</param>
/// <param name="rotationZ">zRot</param>
/// <param name="name">naam van het object</param>
/// <param name="truck">welke truck is gekoppeld aan deze robot</param>
public Robot(double x, double y, double z, double rotationX, double rotationY, double rotationZ, char name, Truck truck)
{
type = "robot";
guid = Guid.NewGuid();
_x = x;
_y = y;
_z = z;
_rX = rotationX;
_rY = rotationY;
_rZ = rotationZ;
_name = name;
_truck = truck;
}
public void Update()
{
Truck truck = (Truck)world.worldObjects[4];
Robot robot1 = (Robot)world.worldObjects[0];
Robot robot2 = (Robot)world.worldObjects[1];
Robot robot3 = (Robot)world.worldObjects[2];
Robot robot4 = (Robot)world.worldObjects[3];
if (truck.truckHere == true)
{
robot1.ChangeTruckHere(true);
robot2.ChangeTruckHere(true);
robot3.ChangeTruckHere(true);
robot4.ChangeTruckHere(true);
}
if (robot1.robotReady == true)
{
Package package1 = (Package)world.worldObjects[28 + cycles];
MovePackage(robot1, package1, robot1.x, robot1.y, robot1.z);
robot1.ChangePackage(package1);
robot1.ChangeRobotReady(false);
robot1.ChangeRobotLoaded(true);
ReadySetGo++;
}
if (robot2.robotReady == true)
{
Package package2 = (Package)world.worldObjects[29 + cycles];
MovePackage(robot2, package2, robot2.x, robot2.y, robot2.z);
robot2.ChangePackage(package2);
robot2.ChangeRobotReady(false);
robot2.ChangeRobotLoaded(true);
ReadySetGo++;
}
if (robot3.robotReady == true)
{
Package package3 = (Package)world.worldObjects[30 + cycles];
MovePackage(robot3, package3, robot3.x, robot3.y, robot3.z);
robot3.ChangePackage(package3);
robot3.ChangeRobotReady(false);
robot3.ChangeRobotLoaded(true);
ReadySetGo++;
}
if (robot4.robotReady == true)
{
Package package4 = (Package)world.worldObjects[31 + cycles];
MovePackage(robot4, package4, robot4.x, robot4.y, robot4.z);
robot4.ChangePackage(package4);
robot4.ChangeRobotReady(false);
robot4.ChangeRobotLoaded(true);
ReadySetGo++;
}
if (robot1.robotDropped)
{
world.RobotGoesBack(robot1, robot1.target, "A");
}
if (robot2.robotDropped)
{
world.RobotGoesBack(robot2, robot2.target, "null1");
}
if (robot3.robotDropped)
{
world.RobotGoesBack(robot3, robot3.target, "null2");
}
if (robot4.robotDropped)
{
world.RobotGoesBack(robot4, robot4.target, "null3");
}
if (ReadySetGo == 4)
{
truck.ChangeTruckEmpty(true);
robot1.ChangeRobotDone(false);
robot2.ChangeRobotDone(false);
robot3.ChangeRobotDone(false);
robot4.ChangeRobotDone(false);
ReadySetGo++;
world.TruckHere();
}
if (robot1.robotReset && robot2.robotReset && robot3.robotReset &&
robot4.robotReset)
{
ReadySetGo = 0;
cycles += 4;
robot1.RESET();
robot2.RESET();
robot3.RESET();
robot4.RESET();
truck.RESET();
}
}
/// <summary>
/// sets the truck
/// </summary>
/// <param name="truck">Truck</param>
public void SetTruck(Truck truck)
{
this.truck = truck;
}