void Robot01BlockCode::sendLinkTrainMessages(P2PNetworkInterface *sender) {
if (possibleMotions && !possibleMotions->empty()) {
Capability *firstCondition = possibleMotions->back()->capa;
motionVector = firstCondition->getMotionVector(0,1);
nextMotionVector = firstCondition->getMotionVector(1);
// si ce n'est pas une queue de train, on propage au suivant
stringstream info;
info.str("");
info << "FirstCondifition :"<< firstCondition->isHead << ":" << firstCondition->isEnd << firstCondition->name;
scheduler->trace(info.str(),hostBlock->blockId,DARKORANGE);
PointRel3D pos;
if (firstCondition->isEnd) {
pos = *firstCondition->linkPrevPos;
P2PNetworkInterface *p2p = robotBlock->getP2PNetworkInterfaceByRelPos(
Cell3DPosition(pos.x,pos.y,pos.z));
AckTrainMessage *message = new AckTrainMessage(currentTrainGain>0);
scheduler->schedule(new NetworkInterfaceEnqueueOutgoingEvent(scheduler->now() + COM_DELAY, message,p2p));
stringstream info;
info.str("");
info << "send AckTrainMessage("<< int(currentTrainGain>0) << ") to " << p2p->connectedInterface->hostBlock->blockId;
scheduler->trace(info.str(),hostBlock->blockId,GREEN);
trainNext = NULL;
trainPrevious = currentTrainGain>0?p2p->connectedInterface:NULL;
robotBlock->setPrevNext(trainPrevious,trainNext);
} else {
pos = *firstCondition->linkNextPos;
P2PNetworkInterface *p2p = robotBlock->getP2PNetworkInterfaceByRelPos(
Cell3DPosition(pos.x,pos.y,pos.z));
// si c'est la tête du train on envoie la nouvelle position
// sinon on transmet celle recue
TrainMessage *message;
stringstream info;
if (sender==NULL) {
PointRel3D pos;
pos.x = robotBlock->position[0]+motionVector.x;
pos.y = robotBlock->position[1]+motionVector.y;
pos.z = robotBlock->position[2]+motionVector.z;
info.str("");
info << "send TrainMessage("<<pos<<",1) to " << p2p->connectedInterface->hostBlock->blockId;
message = new TrainMessage(pos,1);
} else {
message = new TrainMessage(currentTrainGoal,currentTrainGain+2*possibleMotions->back()->gain);
info.str("");
info << "send TrainMessage("<<currentTrainGoal<<","<<currentTrainGain+2*possibleMotions->back()->gain<<") to " << p2p->connectedInterface->hostBlock->blockId;
}
scheduler->schedule(new NetworkInterfaceEnqueueOutgoingEvent(scheduler->now() + COM_DELAY, message, p2p));
scheduler->trace(info.str(),hostBlock->blockId,GREEN);
trainNext = p2p->connectedInterface;
robotBlock->setPrevNext(trainPrevious,trainNext);
}
} else if (sender) {
AckTrainMessage *message = new AckTrainMessage(false);
scheduler->schedule(new NetworkInterfaceEnqueueOutgoingEvent(scheduler->now() + COM_DELAY, message,sender));
stringstream info;
info.str("");
info << "send AckTrainMessage(false) to " << sender->connectedInterface->hostBlock->blockId;
scheduler->trace(info.str(),hostBlock->blockId,GREEN);
trainNext = NULL;
trainPrevious = NULL;
robotBlock->setPrevNext(trainPrevious,trainNext);
}
}
