private void setGridCell(int x, int z, GridType value)
{
int index = z * GridWidth + x;
if (Grid.ContainsKey(index))
{
Grid.Remove(index);
}
Grid.Add(index, value);
}
void HandleTargetRequest(Improbable.Entity.Component.ResponseHandle <Controller.Commands.RequestNewTarget, TargetRequest, TargetResponse> handle)
{
DeliveryInfo deliveryInfo;
if (deliveriesMap.TryGetValue(handle.Request.droneId, out deliveryInfo))
{
//Debug.LogWarning("is final waypoint?");
//final waypoint, figure out if it's back at controller or only just delivered
if (deliveryInfo.nextWaypoint < deliveryInfo.waypoints.Count)
{
handle.Respond(new TargetResponse(deliveryInfo.waypoints[deliveryInfo.nextWaypoint], TargetResponseCode.SUCCESS));
IncrementNextWaypoint(handle.Request.droneId, handle.Request.energyUsed);
}
else
{
if (deliveryInfo.returning)
{
UnsuccessfulTargetRequest(handle, TargetResponseCode.JOURNEY_COMPLETE);
DestroyDrone(handle.Request.droneId, deliveryInfo.slot);
MetricsWriter.Send(new ControllerMetrics.Update()
.SetCompletedRoundTrips(++completedRoundTrips)
.SetCosts(costs));
UpdateDroneSlotsAndMap();
}
else
{
RegisterCompletedDelivery(deliveryInfo);
MetricsWriter.Send(new ControllerMetrics.Update()
.SetCompletedDeliveries(completedDeliveries)
.SetAvgDeliveryTime(avgDeliveryTime)
.SetRevenue(revenue));
deliveryInfo.returning = true;
deliveryInfo.waypoints.Reverse();
Vector3f arrivalsGridPoint = globalLayer.GetClosestVector3fOnGrid(deliveryInfo.waypoints[0]);
arrivalsGridPoint.y = deliveryInfo.waypoints[2].y;
deliveryInfo.waypoints[1] = arrivalsGridPoint;
deliveryInfo.nextWaypoint = 2;
deliveryInfo.latestCheckinTime
= Time.time
+ (SimulationSettings.DroneETAConstant
* Vector3.Distance(
deliveryInfo.waypoints[0].ToUnityVector(),
deliveryInfo.waypoints[1].ToUnityVector())
/ SimulationSettings.MaxDroneSpeed);
deliveriesMap.Remove(handle.Request.droneId);
deliveriesMap.Add(handle.Request.droneId, deliveryInfo);
DroneInfo droneInfo = droneSlots[deliveryInfo.slot];
droneInfo.energyUsed = handle.Request.energyUsed;
droneSlots[deliveryInfo.slot] = droneInfo;
UpdateDroneSlotsAndMap();
//ignore 0 because that's the point that we've just reached
//saved as 2, but sending 1 back to drone - only 1 spatial update instead of 2 now
handle.Respond(new TargetResponse(deliveryInfo.waypoints[1], TargetResponseCode.SUCCESS));
}
}
}
else
{
UnsuccessfulTargetRequest(handle, TargetResponseCode.WRONG_CONTROLLER);
}
}