public void FinishReceiving()
{
string item = _expectedReceiveItems.Dequeue();
_loadedItems.Enqueue(item);
_isLoading = false;
if (_expectedReceiveItems.Count == 0)
{
Rack rack = Warehouse.FindRackToSlot(_loadedItems.Peek(), _loadedItems.Count);
if (rack == null)
{
Program.Print("Racks are full");
return;
}
PrepareToSlot(rack.GetPickUpPoint(), rack, _loadedItems.Count);
Robot picker = Warehouse.FindPickerToPick(rack);
if (picker == null)
{
Program.Print("can not find picker"); // bug here. or we increase number of picker?
return;
}
picker.PrepareToSlot(rack.GetPickUpPoint(), rack, _loadedItems.Count);
}
}
public static bool AvoidTrafficJam(Rack rack)
{
Point pick_point = rack.GetPickUpPoint();
foreach (Robot robot in _AllMovingRobots.Values)
{
if (robot._state != robot_state.free)
{
if (rack._direction == Direction.Left ||
rack._direction == Direction.Right ||
rack._direction == Direction.Fix)
{
if (pick_point.X == robot._destination_point.X || pick_point.X == robot._location.X)
{
return(false);
}
}
else
{
if (pick_point.Y == robot._destination_point.Y || pick_point.Y == robot._location.Y)
{
return(false);
}
}
}
}
//Program.Print("\n" + rack.GetPickUpPoint() + " avoid ");
//foreach (Robot robot in _AllMovingRobots.Values)
// if (robot._state != robot_state.free)
// Program.Print(" " + robot._location + robot._destination_point);
return(true);
}
public static Rack FindRackToSlot(String product_id, int quantity)
{
Product product_info = _DicItems[product_id];
MaxStorage max_storage_info = _DicMaxStorage[product_info._productType];
Rack result = null;
if (product_info._storageType.Equals("fold"))
{
int start = rnd.Next(_generalRackList.Count);
// Find empty spot in the racks which contain product
for (int i = 0; i < _generalRackList.Count; i++)
{
int pos = (i + start) % _generalRackList.Count;
Rack rack = _generalRackList[pos];
// Find rack with the same product type and the same shipper.
if (rack._productType.Equals(product_info._productType) &&
(rack._shipperID == product_info._shipperID) &&
rack.IsEnoughSpaceToSlot(quantity) && AvoidTrafficJam(rack))
{
result = rack;
break;
}
}
// If can't find empty spot from rack with product, get a new empty rack
if (result == null && _generalEmptyRacksList.Count > 0)
{
foreach (Rack emptyrack in _generalEmptyRacksList)
{
if (AvoidTrafficJam(emptyrack))
{
result = emptyrack;
_generalEmptyRacksList.Remove(result);
break;
}
}
}
}
else
{
int start = rnd.Next(_hangerRackList.Count);
// Find empty spot in the racks which contain product
for (int i = 0; i < _hangerRackList.Count; i++)
{
int pos = (i + start) % _hangerRackList.Count;
Rack rack = _hangerRackList[pos];
// Find rack with the same shipper.
if (rack._shipperID == product_info._shipperID &&
rack.IsEnoughSpaceToSlot(quantity) && AvoidTrafficJam(rack))
{
result = rack;
}
}
if (result == null && _hangerEmptyRackList.Count > 0)
{
foreach (Rack emptyrack in _hangerEmptyRackList)
{
if (AvoidTrafficJam(emptyrack))
{
result = emptyrack;
_hangerEmptyRackList.Remove(result);
break;
}
}
}
}
if (result != null)
{
result._expectedSlotQuantity += quantity;
if (result.isEmpty())
{
result._shipperID = product_info._shipperID;
result.SetMaxStorage(max_storage_info);
if (result._storageType.Equals("fold"))
{
_generalRackList.Add(result);
result._productType = product_info._productType;
}
else
{
_hangerRackList.Add(result);
}
}
}
Program.Print("\nFind rack to slot: " + result._storageType + " " + result.GetPickUpPoint() + " " + result._num_items + "\n");
return(result);
}
public void Pick(List <string> input)
{
for (int i = 1; i < input.Count; i += 2) // Add new order into the list
{
Order new_order = new Order(input[i], int.Parse(input[i + 1]));
Order existing_order = _PickOrders.FirstOrDefault(x => x._productID.Equals(new_order._productID));
if (existing_order != null)
{
existing_order._quantity += new_order._quantity;
}
else
{
_PickOrders.Add(new_order);
}
}
if (_time == 0 && _day != 0) // resume the activity of previous day
{
foreach (Robot robot in _AllMovingRobots.Values)
{
robot.ResumeActivityLastDay();
}
}
if (_time < 714)
{
while (_PickOrders.Count > 0)
{
Order order = FindOrderToHandle();
int NumItemInRack = 0;
// Find rack contains order product
Rack rack = FindRackToPick(order, out NumItemInRack);
if (rack == null)
{
Program.PrintLine("Can not find rack contain the product");
_PickOrders.Remove(order);
continue;
}
// Get the pickup point of rack
Point pickup_point = rack.GetPickUpPoint();
// Find picking robot which is free and near rack
Robot picker = FindPickerToPick(rack);
if (picker == null) // All pickers are busy
{
//Program.Print("All pickers are busy");
return;
}
TransportRobot transporter = FindTransporterToPick(rack._location);
if (transporter == null) // All transporters are busy
{
//Program.Print("All transporters are busy");
return;
}
rack._expectedPickQuantity = (order._quantity > NumItemInRack) ? NumItemInRack : order._quantity;
order._quantity -= rack._expectedPickQuantity;
if (order._quantity <= 0) // Get enought quantity, remove order from the list of orders
{
_PickOrders.Remove(order);
}
picker.PrepareToPick(pickup_point, rack, order._productID, rack._expectedPickQuantity);
transporter.PrepareToPick(pickup_point, rack, order._productID, rack._expectedPickQuantity);
Program.Print("Handle pick " + order._productID + " " + rack._expectedPickQuantity);
}
}
//else
//{
// foreach (Robot robot in _AllMovingRobots.Values)
// {
// robot.ForceReturnChargingPoint();
// }
//}
}
