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model_driver.c
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935 lines (813 loc) · 56 KB
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//The C driver file for a ROSS model
//This file includes:
// - an initialization function for each LP type
// - a forward event function for each LP type
// - a reverse event function for each LP type
// - a finalization function for each LP type
//Includes
#include "model.h"
#include <time.h>
#include "sqlite3.h"
//Helper Functions
void SWAP (double *a, double *b) {
double tmp = *a;
*a = *b;
*b = tmp;
}
void model_init (state *s, tw_lp *lp) {
int self = lp->gid;
tw_event *e = tw_event_new(0, 1, lp);
message *msg = tw_event_data(e);
msg->type = TAKE_OUT;
msg->contents = tw_rand_unif(lp->rng);
msg->sender = self;
tw_event_send(e);
if (self == 0) {
printf("%s\n", "COMMAND_CENTER is initialized");
} else {
printf("%s ", "CONVEYOR");
printf("%d ", self);
printf("%s\n", " is initialized");
}
}
void model_event (state *s, tw_bf *bf, message *in_msg, tw_lp *lp) {
int self = lp->gid;
*(int *) bf = (int) 0;
SWAP(&(s->value), &(in_msg->contents));
Store.kill_prog = 0;
int ok_take_in = 1;
for (int i = 0; i < MAX_ROBOTS; ++i) {
if (Store.robots[i].kill == 1) {
Store.kill_prog = 1;
ok_take_in = 0;
}
}
if (self == 0 && Store.kill_prog == 0) {
int not_do = 0;
for (int i = 1; i < MAX_ROBOTS + 1; ++i) {
if (Store.used[i] == 1) {
not_do = 1;
}
}
if (not_do == 0) {
glb_time += 1;
if (Store.boxes_to_deliver <= 0) {
for (int i = 1; i < high_border - low_border + 1; ++i) {
if (ok_take_in && Store.cnt_boxes_type[i] < 10) {
Store.boxes_to_deliver = threshold - Store.cnt_boxes_type[i];
Store.type_to_add = i;
//printf("%d %d\n", Store.type_to_add, Store.boxes_to_deliver);
for (int cur_robot = 0; cur_robot < MAX_ROBOTS; ++cur_robot) {
if (Store.robots[i - 1].cur_task != 3 && (Store.robots[cur_robot].cur_task == 1 || Store.boxes_to_deliver >= cur_robot + 1) && Store.robots[cur_robot].cur_task != 2) {
//printf("1");
Store.nt_used[cur_robot + 1] = 1;
Store.used[cur_robot + 1] = 1;
Store.robots[cur_robot].cur_task = 1;
Store.messages[cur_robot].type = TAKE_IN;
if (Store.robots[cur_robot].has_box == -1) {
srand(time(NULL));
Store.robots[cur_robot].goal_cell.id = 46 + (int)(rand() % 2);
}
}
}
//printf("\n");
// printf("%d %d\n", Store.type_to_add, Store.boxes_to_deliver);
fprintf(paleta, "%*d %*d %*s %*d %*d", 6, rec_id, 6, glb_time, 18, "StartDepalletize", 21, palet_type, 12, Store.type_to_add);
fprintf(paleta, "\n");
// palet_type += 1;
rec_id++;
fprintf(f, "%*d %*d startDepalletize %d\n", 6, event_id, 6, glb_time, Store.type_to_add);
fprintf(control_system_log, "%*d %*d startDepalletize %d\n", 6, control_id, 6, glb_time, Store.type_to_add);
control_id += 1;
event_id += 1;
break;
}
}
} else {
//printf("%d\n", Store.boxes_to_deliver);
for (int cur_robot = 0; cur_robot < MAX_ROBOTS; ++cur_robot) {
if (Store.robots[cur_robot].cur_task != 3 && ok_take_in && (Store.robots[cur_robot].cur_task == 1 || Store.boxes_to_deliver >= cur_robot + 1) && Store.robots[cur_robot].cur_task != 2) {
Store.nt_used[cur_robot + 1] = 1;
Store.used[cur_robot + 1] = 1;
Store.robots[cur_robot].cur_task = 1;
Store.messages[cur_robot].type = TAKE_IN;
if (Store.robots[cur_robot].has_box == -1) {
srand(time(NULL));
Store.robots[cur_robot].goal_cell.id = 46 + (int)(rand() % 2);
}
}
}
}
// printf("%d\n", cur_boxes);
for (int process = 1; process < MAX_ROBOTS + 1; ++process) {
if (Store.robots[process - 1].cur_task != 3 && cur_boxes >= 1190 && Store.robots[process - 1].cur_task != 1) {
Store.nt_used[process] = 1;
if (Store.robots[process - 1].col != -1 && Store.robots[process - 1].row != -1) {
Store.robots[process - 1].cur_task = 2;
if (Store.robots[process - 1].row != 7) {
Store.used[process] = 1;
Store.messages[process - 1].type = REVERSE;
} else {
Store.used[process] = 1;
Store.messages[process - 1].type = TAKE_OUT;
}
} else {
if (Check(process)) {
Store.robots[process - 1].cur_task = 2;
find_data(&(Store.db), Store.box_data[process][0]);
Store.robots[process - 1].goal_cell.id = (int)(best_box.column / 10) + 7 + (int)(best_box.column / 50) * 7;
Store.robots[process - 1].reserved_channel = best_box.column;
Store.robots[process - 1].col = best_box.column;
Store.robots[process - 1].row = best_box.row;
if (Store.robots[process - 1].row != 7) {
Store.used[process] = 1;
Store.messages[process - 1].type = REVERSE;
} else {
Store.used[process] = 1;
Store.messages[process - 1].type = TAKE_OUT;
}
} else {
if (Store.cur_file > MAX_FILES) {
Store.robots[process - 1].kill = 1;
} else {
if (Store.cur_file != 0) {
fprintf(paleta, "%*d %*d %*s %*s", 6, rec_id, 6, glb_time, 18, "finishPalletize", 21, Store.cur_order);
fprintf(paleta, "\n");
rec_id++;
fprintf(f, "%*d %*d finishPalletize %s", 6, event_id, 6, glb_time, Store.cur_order);
event_id += 1;
}
Init_Commands(&(event_id), &(rec_id), &(glb_time), Store.files[Store.cur_file]);
Store.cur_file += 1;
}
}
}
}
}
for (int i = 1; i < MAX_ROBOTS + 1; ++i) {
if (Store.robots[i - 1].cur_task == -1 && cur_boxes < 1190 && ok_take_in && Store.nt_used[i] == 0) {
if (Store.robots[i - 1].cur_task != 3) {
if (Store.robots[i - 1].cur_cell.id == 44) {
Store.robots[i - 1].goal_cell.id = 4;
} else {
Store.robots[i - 1].goal_cell.id = 44;
}
}
Store.robots[i - 1].cur_task = 3;
Store.used[i] = 1;
Store.messages[i - 1].type = GO;
}
}
Send_Event(1, Store.messages[0].type, lp, &(lp->gid));
}
} else if (Store.kill_prog == 0) {
Store.used[self] = 0;
Store.nt_used[self] = 0;
Store.robots[self - 1].cur_time += 1;
switch (in_msg->type)
{
case TAKE_IN:
if (Store.robots[self - 1].has_box == -1 && Store.robots[self - 1].cur_cell.id == Store.robots[self - 1].goal_cell.id) {
if (Store.robots[self - 1].cur_time == 1) {
add_to_queue(self - 1, Store.robots[self - 1].cur_cell.id + 1);
del_from_queue(self - 1);
Store.robots[self - 1].goal_time = 8;
if (glb_time > 1) {
fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].prev_vertex], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.robots[self - 1].prev_box_type, 4, Store.robots[self - 1].prev_channel, 2, Store.robots[self - 1].prev_tr_id);
event_id += 1;
}
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
event_id += 1;
control_id += 1;
}
if (Store.robots[self - 1].cur_time >= Store.robots[self - 1].goal_time) {
find_data_by_width(&(Store.db), Store.type_to_add);
if (best_box.row == -1 || best_box.column == -1) {
cur_boxes += 1;
if (self - 1 == Store.cells[Store.robots[self - 1].cur_cell.id].queue[0]) {
Store.cells[Store.robots[self - 1].cur_cell.id].queue[0] = -1;
for (int i = 0; i < MAX_ROBOTS - 1; ++i) {
int temp = Store.cells[Store.robots[self - 1].cur_cell.id].queue[i];
Store.cells[Store.robots[self - 1].cur_cell.id].queue[i] = Store.cells[Store.robots[self - 1].cur_cell.id].queue[i + 1];
Store.cells[Store.robots[self - 1].cur_cell.id].queue[i + 1] = temp;
}
}
if (self - 1 == Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0]) {
Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] = -1;
for (int i = 0; i < MAX_ROBOTS - 1; ++i) {
int temp = Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[i];
Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[i] = Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[i + 1];
Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[i + 1] = temp;
}
}
Store.robots[self - 1].cur_time = 0;
Store.robots[self - 1].cur_task = -1;
Store.robots[self - 1].col = -1;
Store.robots[self - 1].row = -1;
Store.robots[self - 1].reserved_channel = -1;
Store.boxes_to_deliver--;
Store.robots[self - 1].tmp_fl = 1;
if (Store.boxes_to_deliver == 0) {
fprintf(paleta, "%*d %*d %*s %*d %*d", 6, rec_id, 6, glb_time, 18, "finishDepalletize", 21, palet_type, 12, Store.type_to_add);
fprintf(paleta, "\n");
palet_type++;
rec_id++;
fprintf(f, "%*d %*d finishDepalletize\n", 6, event_id, 6, glb_time);
// Store.type_to_add = -1;
event_id += 1;
}
if (self == MAX_ROBOTS) {
Send_Event(0, TAKE_IN, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
}
Store.robots[self - 1].col = best_box.column;
Store.robots[self - 1].row = best_box.row;
Store.robots[self - 1].reserved_channel = best_box.column;
if (Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != -1 && Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != self - 1) {
if (self == MAX_ROBOTS) {
Send_Event(0, TAKE_IN, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
}
Store.robots[self - 1].tmp_fl = 1;
Store.robots[self - 1].cur_time = 0;
Store.robots[self - 1].has_box = 1;
Store.robots[self - 1].goal_cell.id = (((Store.robots[self - 1].col / 50) + 1) * 12) + (4 - ((Store.robots[self - 1].col - 50 * (Store.robots[self - 1].col / 50)) / 10)) + 1;
fprintf(f, "%*d %*d %*d movebox2bot %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.type_to_add, 4, 0, 2, GeTrIdFromBot(Store.robots[self - 1].cur_cell.id));
fprintf(control_system_log, "%*d %*d %*d movebox2bot %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.type_to_add, 4, 0, 2, GeTrIdFromBot(Store.robots[self - 1].cur_cell.id));
event_id += 1;
control_id += 1;
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.type_to_add, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
Store.robots[self - 1].prev_box_type = Store.type_to_add;
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
Store.robots[self - 1].prev_vertex = Store.robots[self - 1].cur_cell.id;
del_from_queue(self - 1);
Store.robots[self - 1].cur_cell.id += 1;
//event_id += 1;
}
} else if (Store.robots[self - 1].has_box == 1 && Store.robots[self - 1].cur_cell.id == Store.robots[self - 1].goal_cell.id) {
Store.robots[self - 1].goal_time = 8;
if (Store.robots[self - 1].cur_time == 1) {
add_to_queue(self - 1, Store.robots[self - 1].cur_cell.id + 1);
del_from_queue(self - 1);
if (glb_time > 1) {
fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].prev_vertex], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.robots[self - 1].prev_box_type, 4, Store.robots[self - 1].prev_channel, 2, Store.robots[self - 1].prev_tr_id);
event_id += 1;
}
fprintf(f,"%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.type_to_add, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log,"%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.type_to_add, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
event_id += 1;
control_id += 1;
}
if (Store.robots[self - 1].cur_time >= Store.robots[self - 1].goal_time) {
if (Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != -1 && Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != self - 1) {
if (self == MAX_ROBOTS) {
Send_Event(0, TAKE_IN, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
}
Store.robots[self - 1].tmp_fl = 1;
Store.robots[self - 1].cur_time = 0;
Add_Box(&(Store.db), Store.type_to_add, self);
Store.boxes_to_deliver--;
cur_boxes += 1;
fprintf(f, "%*d %*d %*d movebox2channel %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.type_to_add, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d movebox2channel %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.type_to_add, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
event_id += 1;
control_id += 1;
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
Store.robots[self - 1].prev_box_type = 0;
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
Store.robots[self - 1].prev_vertex = Store.robots[self - 1].cur_cell.id;
//event_id += 1;
Store.robots[self - 1].reserved_channel = -1;
Store.robots[self - 1].has_box = -1;
Store.robots[self - 1].col = -1;
Store.robots[self - 1].row = -1;
Store.robots[self - 1].cur_task = -1;
if (Store.boxes_to_deliver == 0) {
fprintf(paleta, "%*d %*d %*s %*d %*d", 6, rec_id, 6, glb_time, 18, "finishDepalletize", 21, palet_type, 12, Store.type_to_add);
fprintf(paleta, "\n");
rec_id++;
palet_type++;
fprintf(f, "%*d %*d finishDepalletize\n", 6, event_id, 6, glb_time);
// Store.type_to_add = -1;
event_id += 1;
}
del_from_queue(self - 1);
Store.robots[self - 1].cur_cell.id += 1;
}
} else {
int next_vert = next_vertex(Store.robots[self - 1].cur_cell.id, Store.robots[self - 1].goal_cell.id);
if (Store.direction_graph[Store.robots[self - 1].cur_cell.id] != -1 && Store.direction_graph[next_vert] != -1) { // если оба стыка
Store.robots[self - 1].goal_time = 3;
} else if (Store.direction_graph[Store.robots[self - 1].cur_cell.id] != -1 && (next_vert == 0 || next_vert == 43)) { // если стык и конечная
Store.robots[self - 1].goal_time = 3;
} else if (Store.robots[self - 1].cur_cell.id == 0) { // если в начале (паллета на загрузку)
Store.robots[self - 1].goal_time = 3;
} else if (Store.robots[self - 1].cur_cell.id == 1) { // если в начале (паллета на загрузку)
Store.robots[self - 1].goal_time = 4;
} else {
Store.robots[self - 1].goal_time = 6;
}
if (Store.robots[self - 1].cur_time == 1) {
add_to_queue(self - 1, next_vert);
del_from_queue(self - 1);
if (glb_time > 1) {
fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].prev_vertex], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.robots[self - 1].prev_box_type, 4, Store.robots[self - 1].prev_channel, 2, Store.robots[self - 1].prev_tr_id);
event_id += 1;
}
if (Store.robots[self - 1].has_box == 1) {
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, Store.type_to_add, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, Store.type_to_add, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
} else {
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
}
event_id += 1;
control_id += 1;
}
if (Store.robots[self - 1].cur_time >= Store.robots[self - 1].goal_time) {
if (Store.cells[next_vert].queue[0] != -1 && Store.cells[next_vert].queue[0] != self - 1) {
if (self == MAX_ROBOTS) {
Send_Event(0, TAKE_IN, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
}
Store.robots[self - 1].tmp_fl = 1;
Store.robots[self - 1].cur_time = 0;
if (Store.robots[self - 1].has_box == 1) {
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, Store.type_to_add, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
Store.robots[self - 1].prev_box_type = Store.type_to_add;
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
} else {
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
Store.robots[self - 1].prev_box_type = 0;
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
}
Store.robots[self - 1].prev_vertex = Store.robots[self - 1].cur_cell.id;
//event_id += 1;
del_from_queue(self - 1);
Store.robots[self - 1].cur_cell.id = next_vert;
}
}
if (self == MAX_ROBOTS) {
Send_Event(0, TAKE_IN, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
case TAKE_OUT:
if (Store.robots[self - 1].has_box == -1 && Store.robots[self - 1].cur_cell.id == Store.robots[self - 1].goal_cell.id) {
Store.robots[self - 1].goal_time = 8;
if (Store.robots[self - 1].cur_time == 1) {
add_to_queue(self - 1, Store.robots[self - 1].cur_cell.id + 1);
del_from_queue(self - 1);
if (glb_time > 1) {
fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].prev_vertex], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.robots[self - 1].prev_box_type, 4, Store.robots[self - 1].prev_channel, 2, Store.robots[self - 1].prev_tr_id);
event_id += 1;
}
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
event_id += 1;
control_id += 1;
}
if (Store.robots[self - 1].cur_time >= Store.robots[self - 1].goal_time) {
if (Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != -1 && Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != self - 1) {
if (self == MAX_ROBOTS) {
Send_Event(0, TAKE_OUT, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
}
Store.robots[self - 1].tmp_fl = 1;
Store.robots[self - 1].cur_time = 0;
Remove_Boxes(&(Store.db), Store.box_data[self][0], &(glb_time), &(event_id), self);
Store.robots[self - 1].cur_box = Store.box_data[self][0];
fprintf(f, "%*d %*d %*d movebox2bot %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.box_data[self][0], 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d movebox2bot %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.box_data[self][0], 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
event_id += 1;
control_id += 1;
Store.box_data[self][1] = 0;
Store.robots[self - 1].has_box = 1;
Store.robots[self - 1].reserved_channel = -1;
srand(time(NULL));
Store.robots[self - 1].goal_cell.id = (int)(rand() % 3);
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.box_data[self][0], 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
Store.robots[self - 1].prev_box_type = Store.box_data[self][0];
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
Store.robots[self - 1].prev_vertex = Store.robots[self - 1].cur_cell.id;
//event_id += 1;
del_from_queue(self - 1);
Store.robots[self - 1].cur_cell.id += 1;
}
} else if (Store.robots[self - 1].has_box == 1 && Store.robots[self - 1].cur_cell.id == Store.robots[self - 1].goal_cell.id) {
Store.robots[self - 1].goal_time = 8;
if (Store.robots[self - 1].cur_time == 1) {
add_to_queue(self - 1, Store.robots[self - 1].cur_cell.id + 1);
del_from_queue(self - 1);
if (glb_time > 1) {
fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].prev_vertex], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.robots[self - 1].prev_box_type, 4, Store.robots[self - 1].prev_channel, 2, Store.robots[self - 1].prev_tr_id);
event_id += 1;
}
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.box_data[self][0], 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.box_data[self][0], 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
event_id += 1;
control_id += 1;
}
if (Store.robots[self - 1].cur_time >= Store.robots[self - 1].goal_time) {
if (Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != -1 && Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != self - 1) {
if (self == MAX_ROBOTS) {
Send_Event(0, TAKE_OUT, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
}
Store.robots[self - 1].tmp_fl = 1;
Store.robots[self - 1].cur_time = 0;
Store.robots[self - 1].has_box = -1;
Store.robots[self - 1].row = -1;
Store.robots[self - 1].col = -1;
Store.robots[self - 1].cur_task = -1;
fprintf(f, "%*d %*d %*d movebox2tr %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.box_data[self][0], 4, 0, 2, GeTrIdFromBot(Store.robots[self - 1].cur_cell.id));
fprintf(control_system_log, "%*d %*d %*d movebox2tr %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.box_data[self][0], 4, 0, 2, GeTrIdFromBot(Store.robots[self - 1].cur_cell.id));
event_id += 1;
control_id += 1;
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
Store.robots[self - 1].prev_box_type = 0;
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
Store.robots[self - 1].prev_vertex = Store.robots[self - 1].cur_cell.id;
//event_id += 1;
del_from_queue(self - 1);
Store.robots[self - 1].cur_cell.id += 1;
}
} else {
int next_vert = next_vertex(Store.robots[self - 1].cur_cell.id, Store.robots[self - 1].goal_cell.id);
if (Store.direction_graph[Store.robots[self - 1].cur_cell.id] != -1 && Store.direction_graph[next_vert] != -1) { // если оба стыка
Store.robots[self - 1].goal_time = 3;
} else if (Store.direction_graph[Store.robots[self - 1].cur_cell.id] != -1 && (next_vert == 0 || next_vert == 43)) { // если стык и конечная
Store.robots[self - 1].goal_time = 3;
} else if (Store.robots[self - 1].cur_cell.id == 0) { // если в начале (паллета на загрузку)
Store.robots[self - 1].goal_time = 3;
} else if (Store.robots[self - 1].cur_cell.id == 1) { // если в начале (паллета на загрузку)
Store.robots[self - 1].goal_time = 4;
} else {
Store.robots[self - 1].goal_time = 6;
}
if (Store.robots[self - 1].cur_time == 1) {
add_to_queue(self - 1, next_vert);
del_from_queue(self - 1);
if (glb_time > 1) {
fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].prev_vertex], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.robots[self - 1].prev_box_type, 4, Store.robots[self - 1].prev_channel, 2, Store.robots[self - 1].prev_tr_id);
event_id += 1;
}
if (Store.robots[self - 1].has_box == 1) {
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, Store.box_data[self][0], 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, Store.box_data[self][0], 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
} else {
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
}
event_id += 1;
control_id += 1;
}
if (Store.robots[self - 1].cur_time >= Store.robots[self - 1].goal_time) {
if (Store.cells[next_vert].queue[0] != -1 && Store.cells[next_vert].queue[0] != self - 1) {
if (self == MAX_ROBOTS) {
Send_Event(0, TAKE_IN, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
}
Store.robots[self - 1].tmp_fl = 1;
Store.robots[self - 1].cur_time = 0;
if (Store.robots[self - 1].has_box == 1) {
Store.robots[self - 1].prev_box_type = Store.box_data[self][0];
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, Store.box_data[self][0], 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
} else {
Store.robots[self - 1].prev_box_type = 0;
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
}
Store.robots[self - 1].prev_vertex = Store.robots[self - 1].cur_cell.id;
//event_id += 1;
del_from_queue(self - 1);
Store.robots[self - 1].cur_cell.id = next_vert;
}
}
if (self == MAX_ROBOTS) {
Send_Event(0, TAKE_OUT, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
case REVERSE:
if (Store.robots[self - 1].has_box == -1 && Store.robots[self - 1].cur_cell.id == Store.robots[self - 1].goal_cell.id) {
Store.robots[self - 1].goal_time = 8;
if (Store.robots[self - 1].cur_time == 1) {
add_to_queue(self - 1, Store.robots[self - 1].cur_cell.id + 1);
del_from_queue(self - 1);
if (glb_time > 1) {
fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].prev_vertex], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.robots[self - 1].prev_box_type, 4, Store.robots[self - 1].prev_channel, 2, Store.robots[self - 1].prev_tr_id);
event_id += 1;
}
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
event_id += 1;
control_id += 1;
}
if (Store.robots[self - 1].cur_time >= Store.robots[self - 1].goal_time) {
if (Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != -1 && Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != self - 1) {
if (self == MAX_ROBOTS) {
Send_Event(0, REVERSE, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
}
Store.robots[self - 1].tmp_fl = 1;
Store.robots[self - 1].cur_time = 0;
Store.robots[self - 1].low_SKU = Store.conveyor[Store.robots[self - 1].col].boxes[7].SKU;
Remove_Boxes(&(Store.db), Store.robots[self - 1].low_SKU, &(glb_time), &(event_id), self);
Store.robots[self - 1].cur_box = Store.robots[self - 1].low_SKU;
fprintf(f, "%*d %*d %*d movebox2bot %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.robots[self - 1].low_SKU, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d movebox2bot %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.robots[self - 1].low_SKU, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
event_id += 1;
control_id += 1;
Store.robots[self - 1].has_box = 1;
Store.robots[self - 1].goal_cell.id = (((Store.robots[self - 1].col / 50) + 1) * 12) + (4 - ((Store.robots[self - 1].col - 50 * (Store.robots[self - 1].col / 50)) / 10)) + 1;
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.robots[self - 1].low_SKU, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
Store.robots[self - 1].prev_box_type = Store.robots[self - 1].low_SKU;
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
Store.robots[self - 1].prev_vertex = Store.robots[self - 1].cur_cell.id;
del_from_queue(self - 1);
Store.robots[self - 1].cur_cell.id += 1;
//event_id += 1;
}
} else if (Store.robots[self - 1].has_box == 1 && Store.robots[self - 1].cur_cell.id == Store.robots[self - 1].goal_cell.id) {
Store.robots[self - 1].goal_time = 8;
if (Store.robots[self - 1].cur_time == 1) {
add_to_queue(self - 1, Store.robots[self - 1].cur_cell.id + 1);
del_from_queue(self - 1);
if (glb_time > 1) {
fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].prev_vertex], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.robots[self - 1].prev_box_type, 4, Store.robots[self - 1].prev_channel, 2, Store.robots[self - 1].prev_tr_id);
event_id += 1;
}
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.robots[self - 1].low_SKU, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.robots[self - 1].low_SKU, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
event_id += 1;
control_id += 1;
}
if (Store.robots[self - 1].cur_time >= Store.robots[self - 1].goal_time) {
if (Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != -1 && Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != self - 1) {
if (self == MAX_ROBOTS) {
Send_Event(0, REVERSE, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
}
Store.robots[self - 1].tmp_fl = 1;
Store.robots[self - 1].cur_time = 0;
int row_to_add = 0;
while (Store.conveyor[Store.robots[self - 1].col].boxes[row_to_add].SKU == -1) {
row_to_add += 1;
}
row_to_add -= 1;
int save = Store.robots[self - 1].row;
Store.robots[self - 1].row = row_to_add;
// Print_Channel(Store.robots[self - 1].col, f);
Add_Box(&(Store.db), Store.robots[self - 1].low_SKU, self);
fprintf(f, "%*d %*d %*d movebox2channel %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.robots[self - 1].low_SKU, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d movebox2channel %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, Store.robots[self - 1].low_SKU, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
event_id += 1;
control_id += 1;
//Print_Channel(Store.robots[self - 1].col, f);
Store.robots[self - 1].low_SKU = -1;
Store.robots[self - 1].row = save + 1;
Store.robots[self - 1].has_box = -1;
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
Store.robots[self - 1].prev_box_type = 0;
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
Store.robots[self - 1].prev_vertex = Store.robots[self - 1].cur_cell.id;
del_from_queue(self - 1);
Store.robots[self - 1].cur_cell.id += 1;
//event_id += 1;
}
} else {
int next_vert = next_vertex(Store.robots[self - 1].cur_cell.id, Store.robots[self - 1].goal_cell.id);
if (Store.direction_graph[Store.robots[self - 1].cur_cell.id] != -1 && Store.direction_graph[next_vert] != -1) { // если оба стыка
Store.robots[self - 1].goal_time = 3;
} else if (Store.direction_graph[Store.robots[self - 1].cur_cell.id] != -1 && (next_vert == 0 || next_vert == 43)) { // если стык и конечная
Store.robots[self - 1].goal_time = 3;
} else if (Store.robots[self - 1].cur_cell.id == 0) { // если в начале (паллета на загрузку)
Store.robots[self - 1].goal_time = 3;
} else if (Store.robots[self - 1].cur_cell.id == 1) { // если в начале (паллета на загрузку)
Store.robots[self - 1].goal_time = 4;
} else {
Store.robots[self - 1].goal_time = 6;
}
if (Store.robots[self - 1].cur_time == 1) {
if (glb_time > 1) {
fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].prev_vertex], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.robots[self - 1].prev_box_type, 4, Store.robots[self - 1].prev_channel, 2, Store.robots[self - 1].prev_tr_id);
event_id += 1;
}
add_to_queue(self - 1, next_vert);
del_from_queue(self - 1);
if (Store.robots[self - 1].has_box == 1) {
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, Store.robots[self - 1].low_SKU, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, Store.robots[self - 1].low_SKU, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
} else {
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4,Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4,Store.robots[self - 1].col % 10 + 1, 2, 0);
}
event_id += 1;
control_id += 1;
}
if (Store.robots[self - 1].cur_time >= Store.robots[self - 1].goal_time) {
if (Store.cells[next_vert].queue[0] != -1 && Store.cells[next_vert].queue[0] != self - 1) {
if (self == MAX_ROBOTS) {
Send_Event(0, TAKE_IN, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
}
Store.robots[self - 1].tmp_fl = 1;
Store.robots[self - 1].cur_time = 0;
if (Store.robots[self - 1].has_box == 1) {
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, Store.robots[self - 1].low_SKU, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
//event_id += 1;
Store.robots[self - 1].prev_box_type = Store.robots[self - 1].low_SKU;
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
} else {
Store.robots[self - 1].prev_box_type = 0;
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
//event_id += 1;
}
Store.robots[self - 1].prev_vertex = Store.robots[self - 1].cur_cell.id;
del_from_queue(self - 1);
Store.robots[self - 1].cur_cell.id = next_vert;
}
}
if (self == MAX_ROBOTS) {
Send_Event(0, REVERSE, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
case GO:
if (cur_boxes >= 1190) {
break;
}
if (Store.robots[self - 1].cur_cell.id == Store.robots[self - 1].goal_cell.id) {
if (Store.robots[self - 1].cur_time == 1) {
Store.robots[self - 1].goal_time = 6;
add_to_queue(self - 1, Store.robots[self - 1].cur_cell.id + 1);
del_from_queue(self - 1);
if (glb_time > 1) {
fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].prev_vertex], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.robots[self - 1].prev_box_type, 4, Store.robots[self - 1].prev_channel, 2, Store.robots[self - 1].prev_tr_id);
event_id += 1;
}
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
event_id += 1;
control_id += 1;
}
if (Store.robots[self - 1].cur_time >= Store.robots[self - 1].goal_time) {
if (Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != -1 && Store.cells[Store.robots[self - 1].cur_cell.id + 1].queue[0] != self - 1) {
if (self == MAX_ROBOTS) {
Send_Event(0, GO, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
}
Store.robots[self - 1].tmp_fl = 1;
Store.robots[self - 1].cur_time = 0;
Store.robots[self - 1].cur_task = -1;
//fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id + 1], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
Store.robots[self - 1].prev_box_type = 0;
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
Store.robots[self - 1].prev_vertex = Store.robots[self - 1].cur_cell.id;
del_from_queue(self - 1);
Store.robots[self - 1].cur_cell.id += 1;
//event_id += 1;
}
} else {
int next_vert = next_vertex(Store.robots[self - 1].cur_cell.id, Store.robots[self - 1].goal_cell.id);
if (Store.direction_graph[Store.robots[self - 1].cur_cell.id] != -1 && Store.direction_graph[next_vert] != -1) { // если оба стыка
Store.robots[self - 1].goal_time = 3;
} else if (Store.direction_graph[Store.robots[self - 1].cur_cell.id] != -1 && (next_vert == 0 || next_vert == 43)) { // если стык и конечная
Store.robots[self - 1].goal_time = 3;
} else if (Store.robots[self - 1].cur_cell.id == 0) { // если в начале (паллета на загрузку)
Store.robots[self - 1].goal_time = 3;
} else if (Store.robots[self - 1].cur_cell.id == 1) { // если в начале (паллета на загрузку)
Store.robots[self - 1].goal_time = 4;
} else {
Store.robots[self - 1].goal_time = 6;
}
if (Store.robots[self - 1].cur_time == 1) {
add_to_queue(self - 1, next_vert);
del_from_queue(self - 1);
if (glb_time > 1) {
fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].prev_vertex], 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.robots[self - 1].prev_box_type, 4, Store.robots[self - 1].prev_channel, 2, Store.robots[self - 1].prev_tr_id);
event_id += 1;
}
if (Store.robots[self - 1].has_box == 1) {
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
} else {
fprintf(f, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
fprintf(control_system_log, "%*d %*d %*d startMotion %*s %*s %*d %*d %*d\n", 6, control_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
}
control_id += 1;
event_id += 1;
}
if (Store.robots[self - 1].cur_time >= Store.robots[self - 1].goal_time) {
if (Store.cells[next_vert].queue[0] != -1 && Store.cells[next_vert].queue[0] != self - 1) {
if (self == MAX_ROBOTS) {
Send_Event(0, GO, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
}
Store.robots[self - 1].tmp_fl = 1;
Store.robots[self - 1].cur_time = 0;
// if (Store.robots[self - 1].has_box == 1) {
// Store.robots[self - 1].prev_box_type = 0;
// Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
// Store.robots[self - 1].prev_tr_id = 0;
// // fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
// // event_id += 1;
// } else {
// Store.robots[self - 1].prev_box_type = 0;
// Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
// Store.robots[self - 1].prev_tr_id = 0;
// // fprintf(f, "%*d %*d %*d finishMotion %*s %*s %*d %*d %*d\n", 6, event_id, 6, glb_time, 4, self, 4, Store.vertexes[Store.robots[self - 1].cur_cell.id], 4, Store.vertexes[next_vert], 4, 0, 4, Store.robots[self - 1].col % 10 + 1, 2, 0);
// // event_id += 1;
// }
Store.robots[self - 1].prev_box_type = 0;
Store.robots[self - 1].prev_channel = Store.robots[self - 1].col % 10 + 1;
Store.robots[self - 1].prev_tr_id = 0;
Store.robots[self - 1].prev_vertex = Store.robots[self - 1].cur_cell.id;
del_from_queue(self - 1);
Store.robots[self - 1].cur_cell.id = next_vert;
}
}
if (self == MAX_ROBOTS) {
Send_Event(0, GO, lp, &(lp->gid));
} else {
Send_Event(self + 1, Store.messages[self].type, lp, &(lp->gid));
}
break;
default:
printf("\n%s\n", "No message");
break;
}
}
}
//Reverse Event Handler
void model_event_reverse (state *s, tw_bf *bf, message *in_msg, tw_lp *lp) {
return;
}
//report any final statistics for this LP
void model_final (state *s, tw_lp *lp) {
if (lp->gid == 0) {
write_csv("Store.csv", Store.db);
fprintf(paleta, "%*d %*d %*s %*s", 6, rec_id, 6, glb_time, 18, "finishPalletize", 22, Store.cur_order);
fprintf(paleta, "\n");
rec_id++;
fprintf(f, "%*d %*d finishPalletize %s", 6, event_id, 6, glb_time, Store.cur_order);
}
return;
}