private Reef CheckReefs(Coordinate closestObjCoord, IInheritanceTreeCollection <Geometry> MapObjects, Coordinate nextCoord)
{
var reefs = MapObjects.GetAll <Reef>();
var subLine = new LineSegment(Coordinate, nextCoord);
foreach (Reef reef in reefs)
{
var reefLine = new LineSegment(reef.Coordinates[0], reef.Coordinates[1]);
Coordinate coordinate = reefLine.Intersection(subLine);
if (coordinate != null)
{
Console.WriteLine($"rX1 = {reefLine.P0.X}; rY1 = {reefLine.P0.Y}");
Console.WriteLine($"rX2 = {reefLine.P1.X}; rY2 = {reefLine.P1.Y}");
Console.WriteLine($"X1 = {coordinate.X}; Y1 = {coordinate.Y}");
Console.WriteLine($"X2 = {nextCoord.X}; Y2 = {nextCoord.Y}");
Console.WriteLine($"interX = {coordinate.X}; interY = {coordinate.Y}");
return(reef);
}
}
return(null);
}
public ModulesLibrary(string osmFilePath, IInheritanceTreeCollection <Geometry> mapObjects)
{
var assemblies = new List <Assembly>();
foreach (var file in Directory.EnumerateFiles(Constants.ModulesDirectoryPath, "*.dll"))
{
try
{
assemblies.Add(AssemblyLoadContext.Default.LoadFromAssemblyPath(Path.GetFullPath(file)));
}
catch (Exception exception)
{
Console.WriteLine($"DLL {file} can't be loaded. Exception:\n{exception}");
}
}
var moduleTypesToOrder = assemblies
.SelectMany(a => a.GetExportedTypes())
.Where(type => type.IsSubclassOf(typeof(OSMLSModule)))
.ToDictionary(type => type, type =>
{
var initializationOrderAttribute = (CustomInitializationOrderAttribute)type
.GetCustomAttributes(typeof(CustomInitializationOrderAttribute), false)
.FirstOrDefault();
var initializationOrder = (initializationOrderAttribute ?? new CustomInitializationOrderAttribute()).InitializationOrder;
return(initializationOrder);
}
);
Console.WriteLine(moduleTypesToOrder.Count == 0 ? "No modules found." : "Starting modules initialization in order.");
foreach (var type in moduleTypesToOrder.OrderBy(x => x.Value).Select(x => x.Key))
{
// Writes initialization order.
Console.WriteLine($"{moduleTypesToOrder[type]}: {type.Name} initialization started.");
try
{
var moduleInstance = (OSMLSModule)Activator.CreateInstance(type);
moduleInstance.Initialize(osmFilePath, Modules, mapObjects);
Modules[type] = moduleInstance;
}
catch (Exception exception)
{
Console.WriteLine($"Module {type.Name} can't be loaded. Exception:\n{exception}");
}
}
}
private IntrestingObj FindClosestObj(IInheritanceTreeCollection <Geometry> MapObjects)
{
var objects = MapObjects.GetAll <IntrestingObj>();
IntrestingObj closest = objects[0];
foreach (IntrestingObj obj in objects)
{
if (obj.Distance(this) < closest.Distance(this))
{
closest = obj;
}
}
return(closest);
}
public void Initialize(string osmFilePath, Dictionary <Type, OSMLSModule> modules, IInheritanceTreeCollection <Geometry> mapObjects)
{
lock (_initializationLock)
{
if (_isInitialized)
{
throw new InvalidOperationException("Module already initialized.");
}
OsmFilePath = osmFilePath;
_allModules = modules;
MapObjects = mapObjects;
Initialize();
_isInitialized = true;
}
}
public void MoveToObj(IInheritanceTreeCollection <Geometry> MapObjects)
{
IntrestingObj closestObj = FindClosestObj(MapObjects);
if (IsStuck == 1)
{
Console.WriteLine("Я застрял, пытаюсь найти край рифа");
IsStuck = 2;
Coordinate reefDownLeftCoordinate = StuckedReef.Coordinates[1];
if (FindRelativeCoords(reefDownLeftCoordinate).Y < 0)
{
Y = StuckedReef.Coordinates[0].Y + 50000;
}
else
{
Y = reefDownLeftCoordinate.Y - 50000;
}
}
else if (IsStuck == 2)
{
Console.WriteLine("Край нашёл, теперь обхожу");
IsStuck = 0;
Coordinate reefDownLeftCoordinate = StuckedReef.Coordinates[1];
if (FindRelativeCoords(reefDownLeftCoordinate).X < 0)
{
X = StuckedReef.Coordinates[0].X - 22000;
}
else
{
X = reefDownLeftCoordinate.X + 22000;
}
StuckedReef = null;
}
else
{
if (closestObj.Distance(this) <= Speed / 5)
{
if (WaitingTime == 0)
{
X = closestObj.Coordinate.X;
Y = closestObj.Coordinate.Y;
}
else if (WaitingTime == 10)
{
MapObjects.Remove(closestObj);
WaitingTime = 0;
}
WaitingTime++;
}
Coordinate relativeCoord = FindRelativeCoords(closestObj.Coordinate);
double curSpeedX = Math.Abs(relativeCoord.X) > Speed ? Speed : Speed / 5;
double curSpeedY = Math.Abs(relativeCoord.Y) > Speed ? Speed : Speed / 5;
double nextX = X + curSpeedX * Math.Sign(relativeCoord.X);
double nextY = Y + curSpeedY * Math.Sign(relativeCoord.Y);
var nextCoord = new Coordinate(nextX, nextY);
Reef stuckedReef = CheckReefs(relativeCoord, MapObjects, nextCoord);
if (stuckedReef == null)
{
X += curSpeedX * Math.Sign(relativeCoord.X);
Y += curSpeedY * Math.Sign(relativeCoord.Y);
}
else
{
IsStuck = 1;
StuckedReef = stuckedReef;
}
}
}
