protected virtual void TriggerRelease(Event @event = null)
{
while (ReleaseQueue.Count > 0)
{
var release = ReleaseQueue.Peek();
if (release.Request.IsAlive)
{
if (!RequestQueue.Remove(release.Request))
{
throw new InvalidOperationException("Failed to cancel a request.");
}
BreakOffTime?.Add(Environment.ToDouble(Environment.Now - release.Request.Time));
release.Succeed();
ReleaseQueue.Dequeue();
}
else
{
DoRelease(release);
if (release.IsTriggered)
{
ReleaseQueue.Dequeue();
TriggerWhenAny();
TriggerWhenFull();
TriggerWhenChange();
}
else
{
break;
}
}
}
Utilization?.UpdateTo(InUse / (double)Capacity);
WIP?.UpdateTo(InUse + RequestQueue.Count);
QueueLength?.UpdateTo(RequestQueue.Count);
}
protected virtual void TriggerGet(Event @event = null)
{
var current = GetQueue.First;
while (current != null)
{
var get = current.Value;
DoGet(get);
if (get.IsTriggered)
{
var next = current.Next;
GetQueue.Remove(current);
current = next;
TriggerWhenEmpty();
TriggerWhenChange();
}
else
{
current = current.Next;
}
if (Items.Count == 0)
{
break;
}
}
Utilization?.UpdateTo(Count / (double)Capacity);
WIP?.UpdateTo(Count + PutQueue.Count + GetQueue.Count);
GetQueueLength?.UpdateTo(GetQueue.Count);
}
protected virtual void TriggerRequest(Event @event = null)
{
var current = RequestQueue.First;
while (current != null)
{
var request = current.Value;
DoRequest(request);
if (request.IsTriggered)
{
var next = current.Next;
RequestQueue.Remove(current);
current = next;
TriggerWhenEmpty();
TriggerWhenChange();
}
else
{
current = current.Next;
}
if (Resources.Count == 0)
{
break;
}
}
Utilization?.UpdateTo(InUse / (double)Capacity);
WIP?.UpdateTo(InUse + RequestQueue.Count);
QueueLength?.UpdateTo(RequestQueue.Count);
}
private IEnumerable <Event> Main()
{
while (true)
{
Priority = _pendingPrio;
Mode = _pendingMode;
switch (Mode)
{
case CraneAgentMode.Idle:
State = CraneAgentState.Waiting;
Utilization?.UpdateTo(0);
_interruptible = true;
yield return(new Event(_world.Environment));
_world.Environment.ActiveProcess.HandleFault();
continue;
case CraneAgentMode.Dodge:
State = CraneAgentState.Moving;
Utilization?.UpdateTo(1);
_interruptible = true;
var moveProcess = _world.Environment.Process(MoveCrane(_dodgePosition, _dodgePosition));
yield return(moveProcess);
if (_world.Environment.ActiveProcess.HandleFault())
{
moveProcess.Interrupt();
_interruptible = false;
yield return(moveProcess);
continue;
}
_pendingMode = CraneAgentMode.Work;
_pendingPrio = null;
break;
case CraneAgentMode.Work:
var workingProcess = _world.Environment.Process(Working());
_interruptible = true;
yield return(workingProcess);
if (_world.Environment.ActiveProcess.HandleFault())
{
workingProcess.Interrupt();
_interruptible = false;
yield return(workingProcess);
continue;
}
break;
default: throw new InvalidOperationException($"Error in CraneAgent, unknown mode: {_pendingMode}.");
}
}
}
protected virtual void TriggerGet(Event @event = null)
{
while (GetQueue.Count > 0)
{
var get = GetQueue.Peek();
DoGet(get);
if (get.IsTriggered)
{
GetQueue.Dequeue();
TriggerWhenEmpty();
TriggerWhenChange();
}
else
{
break;
}
}
Utilization?.UpdateTo(Count / (double)Capacity);
WIP?.UpdateTo(Count + PutQueue.Count + GetQueue.Count);
GetQueueLength?.UpdateTo(GetQueue.Count);
}
protected virtual void TriggerRequest(Event @event = null)
{
while (RequestQueue.Count > 0)
{
var request = RequestQueue.First.Value;
DoRequest(request);
if (request.IsTriggered)
{
RequestQueue.RemoveFirst();
TriggerWhenEmpty();
TriggerWhenChange();
}
else
{
break;
}
}
Utilization?.UpdateTo(InUse / (double)Capacity);
WIP?.UpdateTo(InUse + RequestQueue.Count);
QueueLength?.UpdateTo(RequestQueue.Count);
}
protected virtual void TriggerPickup(Event @event = null)
{
while (PickupQueue.Count > 0)
{
var get = PickupQueue.First.Value;
DoPickup(get);
if (get.IsTriggered)
{
PickupQueue.RemoveFirst();
TriggerWhenEmpty();
TriggerWhenChange();
}
else
{
break;
}
}
Utilization?.UpdateTo(Location.Height / (double)Location.MaxHeight);
WIP?.UpdateTo(Location.Height + DropoffQueue.Count + PickupQueue.Count);
PickupQueueLength?.UpdateTo(PickupQueue.Count);
}
protected virtual void TriggerPut(Event @event = null)
{
while (PutQueue.Count > 0)
{
var put = PutQueue.Peek();
DoPut(put);
if (put.IsTriggered)
{
PutQueue.Dequeue();
TriggerWhenNew();
TriggerWhenAny();
TriggerWhenFull();
TriggerWhenChange();
}
else
{
break;
}
}
Utilization?.UpdateTo(Count / (double)Capacity);
WIP?.UpdateTo(Count + PutQueue.Count + GetQueue.Count);
PutQueueLength?.UpdateTo(PutQueue.Count);
}
protected virtual void TriggerDropoff(Event @event = null)
{
while (DropoffQueue.Count > 0)
{
var put = DropoffQueue.First.Value;
DoDropoff(put);
if (put.IsTriggered)
{
DropoffQueue.RemoveFirst();
TriggerWhenNew();
TriggerWhenAny();
TriggerWhenFull();
TriggerWhenChange();
}
else
{
break;
}
}
Utilization?.UpdateTo(Location.Height / (double)Location.MaxHeight);
WIP?.UpdateTo(Location.Height + DropoffQueue.Count + PickupQueue.Count);
DropoffQueueLength?.UpdateTo(DropoffQueue.Count);
}
private IEnumerable <Event> MoveCrane(double targetPosition, double goalPos2)
{
UpdatePosition();
GoalPosition1 = targetPosition;
GoalPosition2 = goalPos2;
var speed = GirderSpeed.GetValue();
while (Math.Abs(targetPosition - _crane.GirderPosition) > 0.01)
{
var collider = targetPosition != _crane.GirderPosition ? GetPotentialCollider() : null;
_targetGirderPosition = _crane.GirderPosition;
if (collider == null)
{
_targetGirderPosition = _world.ZoneControl.GetClosestToTarget(this, targetPosition);
// CASE 1: No collision expected, move to target
var sftDist = _crane.Width / 2;
if (_crane.GirderPosition < _targetGirderPosition)
{
sftDist = -sftDist;
}
var stackHeight = _world.HeightBetween(_crane.GirderPosition + sftDist, targetPosition - sftDist);
if (_crane.HoistLevel < stackHeight + 1)
{
yield return(_world.Environment.Process(MoveHoist(stackHeight + 1)));
}
_girderSpeed = _targetGirderPosition < _crane.GirderPosition ? -speed : speed;
var timeout = _world.Environment.Timeout(TimeSpan.FromSeconds(Math.Abs(_targetGirderPosition - _crane.GirderPosition) / Math.Abs(_girderSpeed)));
timeout.AddCallback(_ => { UpdatePosition(); _girderSpeed = 0; _crane.GirderPosition = _targetGirderPosition; });
yield return(timeout & _world.ReactionTime());
_world.ZoneControl.MoveUpdate();
}
else
{
// CASE 2: Avoid potential collision
if (collider.State == CraneAgentState.Waiting)
{
// CASE 2a: collider is idleing, tell it to dodge
var dodgePoint = targetPosition < _crane.GirderPosition ? Math.Min(targetPosition, GoalPosition2) - Width / 2 - collider.Width / 2
: Math.Max(targetPosition, GoalPosition2) + Width / 2 + collider.Width / 2;
if (collider.Mode == CraneAgentMode.Idle)
{
Utilization?.UpdateTo(0);
yield return(_world.ReactionTime());
Utilization?.UpdateTo(1);
}
else
{
collider.Dodge(dodgePoint, Priority);
_targetGirderPosition = _world.ZoneControl.GetClosestToTarget(this, targetPosition < _crane.GirderPosition
? collider.GetGirderPosition() + collider.Width / 2 + Width / 2
: collider.GetGirderPosition() - collider.Width / 2 - Width / 2);
var sftDist = _crane.Width / 2;
if (_crane.GirderPosition < _targetGirderPosition)
{
sftDist = -sftDist;
}
var stackHeight = _world.HeightBetween(_crane.GirderPosition + sftDist, targetPosition - sftDist);
if (_crane.HoistLevel < stackHeight + 1)
{
yield return(_world.Environment.Process(MoveHoist(stackHeight + 1)));
}
_girderSpeed = _targetGirderPosition < _crane.GirderPosition ? -speed : speed;
var timeout = _world.Environment.Timeout(TimeSpan.FromSeconds(Math.Abs(_targetGirderPosition - _crane.GirderPosition) / Math.Abs(_girderSpeed)));
timeout.AddCallback(_ => { UpdatePosition(); _girderSpeed = 0; _crane.GirderPosition = _targetGirderPosition; });
yield return(timeout & _world.ReactionTime());
_world.ZoneControl.MoveUpdate();
}
}
else
{
// Case 2b: The collider is moving or servicing
// Calculate the point at which a collision would occur, either the other's current position or its target position
var collisionPoint = targetPosition < _crane.GirderPosition ? Math.Max(collider.GetGirderPosition(), collider.TargetPosition) + collider.Width / 2 + Width / 2
: Math.Min(collider.GetGirderPosition(), collider.TargetPosition) - collider.Width / 2 - Width / 2;
var dodgePoint = targetPosition < _crane.GirderPosition ? Math.Max(Math.Max(Math.Max(collider.GetGirderPosition(), collider.GoalPosition1), collider.GoalPosition2), collider.TargetPosition) + collider.Width / 2 + Width / 2
: Math.Min(Math.Min(Math.Min(collider.GetGirderPosition(), collider.GoalPosition1), collider.GoalPosition2), collider.TargetPosition) - collider.Width / 2 - Width / 2;
if (Priority > collider.Priority)
{
var tgt = _crane.GirderPosition < collider.GetGirderPosition() ? Math.Min(dodgePoint, targetPosition) - 1e-7: Math.Max(dodgePoint, targetPosition) + 1e-7;
if (Math.Abs(tgt - _crane.GirderPosition) > 1e-5)
{
var oldPrio = Priority;
// to propagate priority onto dodgers e.g. 4 -> 4.5 -> 4.75 -> 4.875
// this is necessary so that a dodger is able to cause further cranes to dodge
Priority = (collider.Priority + Math.Ceiling((collider.Priority ?? 0) + 1e-7)) / 2.0;
if (Math.Abs(_crane.GirderPosition - tgt) < 1e-5)
{
Utilization?.UpdateTo(0);
yield return(_world.ReactionTime());
Utilization?.UpdateTo(1);
}
else
{
yield return(_world.AtLeastReactionTime(MoveCrane(tgt, tgt)));
}
GoalPosition1 = targetPosition;
GoalPosition2 = goalPos2;
Priority = oldPrio;
}
else
{
Utilization?.UpdateTo(0);
yield return(_world.ReactionTime());
Utilization?.UpdateTo(1);
}
}
else
{
_targetGirderPosition = _world.ZoneControl.GetClosestToTarget(this, _crane.GirderPosition < collider.GetGirderPosition()
? Math.Min(targetPosition, collisionPoint)
: Math.Max(targetPosition, collisionPoint));
var sftDist = _crane.Width / 2;
if (_crane.GirderPosition < _targetGirderPosition)
{
sftDist = -sftDist;
}
var stackHeight = _world.HeightBetween(_crane.GirderPosition + sftDist, targetPosition - sftDist);
if (_crane.HoistLevel < stackHeight + 1)
{
yield return(_world.Environment.Process(MoveHoist(stackHeight + 1)));
}
_girderSpeed = _targetGirderPosition < _crane.GirderPosition ? -speed : speed;
var timeout = _world.Environment.Timeout(TimeSpan.FromSeconds(Math.Abs(_targetGirderPosition - _crane.GirderPosition) / Math.Abs(_girderSpeed)));
timeout.AddCallback(_ => { UpdatePosition(); _girderSpeed = 0; _crane.GirderPosition = _targetGirderPosition; });
yield return(timeout & _world.ReactionTime());
_world.ZoneControl.MoveUpdate();
}
}
}
UpdatePosition();
}
StopCrane();
}
private IEnumerable <Event> Working()
{
State = CraneAgentState.Waiting;
Utilization?.UpdateTo(0);
Priority = null;
var next = _world.CraneScheduleStore.Get(this);
_interruptible = true;
yield return(next);
if (_world.Environment.ActiveProcess.HandleFault())
{
_world.CraneScheduleStore.CancelWaiting(next);
yield break;
}
var move = next.Move;
if (move.Amount < 0)
{
_world.Environment.Log($"Crane {Id}: Moving {move.Amount} number of blocks is not possible -> ignore.");
yield break;
}
if (move.Type == MoveType.PickupAndDropoff && move.Amount > _crane.Capacity)
{
_world.Environment.Log($"Cannot {move.Type} {move.Amount} block(s). Crane carries {_crane.Load.Size} of {_crane.Capacity} blocks.");
yield break;
}
if (move.Type == MoveType.PickupAndDropoff && move.Amount == 0 && _crane.Load.Size == 0)
{
_world.Environment.Log($"Crane {Id} should dropoff its current load at {move.PickupLocation}, but does not carry any blocks -> ignore.");
yield break;
}
if (move.ReleaseTime > _world.Now)
{
// TODO: Throw, ignore, log, wait, ... !?
yield return(_world.Environment.Timeout(move.ReleaseTime - _world.Now));
if (_world.Environment.ActiveProcess.HandleFault())
{
yield break;
}
}
Priority = move.Id;
State = CraneAgentState.Moving;
Utilization?.UpdateTo(1);
GoalPosition1 = move.PickupGirderPosition;
if (move.Amount > 0)
{
GoalPosition2 = move.DropoffGirderPosition;
}
else
{
GoalPosition2 = GoalPosition1;
}
Process doMove;
yield return(doMove = _world.Environment.Process(MoveCrane(move.PickupGirderPosition, move.DropoffGirderPosition)));
if (_world.Environment.ActiveProcess.HandleFault())
{
doMove.Interrupt();
yield break;
}
if (move.Type == MoveType.MoveToPickup)
{
move.Finished.Succeed();
yield break;
}
var pickupLoc = _world.LocationResources.Single(x => x.Id == move.PickupLocation);
if (pickupLoc.Height + _crane.Load.Size < move.Amount) // any load will first be dropped when picking up blocks
{
_world.Environment.Log($"Cannot pickup {move.Amount} blocks from {move.PickupLocation}, only {pickupLoc.Height} blocks there.");
move.Finished.Fail();
yield break;
}
State = CraneAgentState.Picking;
_interruptible = false;
yield return(_world.Environment.Process(MoveHoist(pickupLoc.Height)));
yield return(_world.Environment.Process(DoPickupDropoff(pickupLoc, move.Amount)));
yield return(_world.Environment.Process(MoveHoist(_world.Height - _crane.Capacity)));
if (move.Amount > 0)
{
State = CraneAgentState.Moving;
yield return(doMove = _world.Environment.Process(MoveCrane(move.DropoffGirderPosition, move.DropoffGirderPosition)));
var dropoffLoc = _world.LocationResources.Single(x => x.Id == move.DropoffLocation);
if (dropoffLoc.FreeHeight < move.Amount)
{
_world.Environment.Log($"Cannot drop off {move.Amount} blocks at {move.DropoffLocation}, only {dropoffLoc.FreeHeight} free space.");
move.Finished.Fail();
_interruptible = true;
yield break;
}
State = CraneAgentState.Dropping;
yield return(_world.Environment.Process(MoveHoist(dropoffLoc.Height)));
yield return(_world.Environment.Process(DoPickupDropoff(dropoffLoc, 0)));
}
move.Finished.Succeed();
if (move.RaiseHoistAfterService)
{
yield return(_world.Environment.Process(MoveHoist(_world.Height - _crane.Capacity)));
}
_interruptible = true;
}