private PalletRack CreatePalletRack(double x, double y, double z)
{
PalletRack rack = new PalletRack(x, y, z, 0, 0, 0);
worldObjects.Add(rack);
return rack;
}
public override bool Update(int tick)
{
if (tasks != null)
{
if (tasks.First().TaskComplete(this))
{
tasks.RemoveAt(0);
if (currentPath != null && isEnd(this))
{
this.rack.Move(this.x + 1000, this.y, this.z);
this.rack = null;
this.Move(this.x, this.y, this.z + 90);
currentPath = Pathfinding.Listnodes(currentNode, "Y" + this._name, Pathfinding.listOfNodes, this.path);
this.AddTask(new TruckMove(currentPath));
}
if (tasks.Count == 0)
{
tasks = null;
}
else
{
tasks.First().StartTask(this);
}
}
}
if (this.rack != null)
{
this.rack.Move(this.x, this.y + 1, this.z + 1.5);
if (tasks == null)
{
currentPath.Clear();
this.currentPath = Pathfinding.Listnodes(currentNode, "Z" + this._name, Pathfinding.listOfNodes, this.path);
tasks = new List <ITruckTask>();
this.AddTask(new TruckMove(this.currentPath));
}
}
if (this.currentPath != null && this.currentPath.Count != 0)
{
this._x = Math.Round(this._x, 1);
this._z = Math.Round(this._z, 1);
if (this._x < currentPath[0].GetX())
{
this.Move(this.x + 0.1, this.y, this.z);
}
else if (this._x > currentPath[0].GetX())
{
this.Move(this.x - 0.1, this.y, this.z);
}
else if (this._z < currentPath[0].GetZ())
{
this.Move(this.x, this.y, this.z + 0.1);
}
else if (this._z > currentPath[0].GetZ())
{
this.Move(this.x, this.y, this.z - 0.1);
}
else
{
this.currentNode = currentPath[0].GetName();
currentPath.RemoveAt(0);
}
}
return(base.Update(tick));
}
/// <summary>
/// Het updaten van de robot (nieuwe tasks, overgeven van een pallet aan de verbonden truck als die wacht bij het laaddok, positie etc.)
/// </summary>
/// <param name="tick">hoe vaak</param>
/// <returns></returns>
public override bool Update(int tick)
{
if (tasks != null)
{
if (tasks.First().TaskComplete(this))
{
tasks.RemoveAt(0);
if (currentPath != null && this.isHome() && this._truck.isHome(this._truck))
{
this.GiveRack();
if (i < 4)
{
this.currentPath.Clear();
this.currentPath = Pathfinding.Listnodes("A", NextRack(this, i), Pathfinding.listOfNodes, this.path);
this.AddTask(new RobotMove(this.currentPath));
i++;
}
}
if (tasks.Count == 0)
{
tasks = null;
}
else
{
tasks.First().StartTask(this);
}
}
}
if (tasks == null && currentPath != null && this.isHome() && this._truck.isHome(this._truck) && this.rack != null)
{
tasks = new List <IRobotTask>();
this.GiveRack();
if (i < 4)
{
this.currentPath.Clear();
this.currentPath = Pathfinding.Listnodes("A", NextRack(this, i), Pathfinding.listOfNodes, this.path);
this.AddTask(new RobotMove(this.currentPath));
i++;
}
else
{
tasks = null;
}
}
if (this.currentPath != null && this.currentPath.Count != 0)
{
this._x = Math.Round(this._x, 1);
this._z = Math.Round(this._z, 1);
//bewegen
if (currentPath[0].HasRack() && rack == null && currentPath.Count == 1)
{
if (this._x == currentPath[0].GetX() && this._z == currentPath[0].GetZ())
{
this.rack = currentPath[0].GetRack();
this.rack.Move(this.x, this.y + 1.4, this.z);
this.currentNode = currentPath[0].GetName();
currentPath[0].SetRack(null);
currentPath.Clear();
this.currentPath = Pathfinding.Listnodes(currentNode, "J", Pathfinding.listOfNodes, this.path);
if (tasks == null)
{
tasks = new List <IRobotTask>();
this.AddTask(new RobotMove(this.currentPath));
}
}
}
if (rack != null)
{
this.rack.Move(this.x, this.y + 1.4, this.z);
}
if (this._x < currentPath[0].GetX())
{
this.Move(this.x + 0.1, this.y, this.z);
}
else if (this._x > currentPath[0].GetX())
{
this.Move(this.x - 0.1, this.y, this.z);
}
else if (this._z < currentPath[0].GetZ())
{
this.Move(this.x, this.y, this.z + 0.1);
}
else if (this._z > currentPath[0].GetZ())
{
this.Move(this.x, this.y, this.z - 0.1);
}
else
{
currentPath.RemoveAt(0);
}
}
return(base.Update(tick));
}
public void GetRack(PalletRack p)
{
this.rack = p;
}
private void GiveRack()
{
this._truck.GetRack(this.rack);
this.rack = null;
}