Small change to the zones handling to work also with _waiting

robocup-logistics · Dec 11, 2023 · 363d0a4 · 363d0a4
1 parent 0dfe7cf
commit 363d0a4
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Showing 4 changed files with 30 additions and 2 deletions.
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -4,7 +4,7 @@ name: Docker Container Build
 
 on:
   push:
-    branches: [ "master"]
+    branches: [ "master", "mqtt-test"]
   pull_request:
     branches: [ "master" ]
 

diff --git a/.github/workflows/dotnet.yml b/.github/workflows/dotnet.yml
@@ -5,7 +5,7 @@ name: .NET build and test
 
 on:
   push:
-    branches: [ "master", "dominik_wip" ]
+    branches: [ "master", "mqtt-test"]
   pull_request:
     branches: [ "master" ]
 

diff --git a/Simulator/Utility/ZonesManager.cs b/Simulator/Utility/ZonesManager.cs
@@ -95,6 +95,10 @@ public Zone GetWaypoint(string target, string machinepoint = "")
                     result = (Zone)Enum.Parse(typeof(Zone), target.Replace("_", "").Substring(0, 5));
                 else
                     result = (Zone)Enum.Parse(typeof(Zone), target.Replace("_", "").Substring(0, 4));*/
+                if(target.Contains("C_Z") || target.Contains("M_Z"))
+                {
+                    target = target.Substring(0, 5);
+                }
                 result = (Zone)Enum.Parse(typeof(Zone), target.Replace("_", ""));
                 MyLogger.Log("Is a Zone Waypoint!");
             }

diff --git a/Simulatortests/ZonesTests.cs b/Simulatortests/ZonesTests.cs
@@ -188,5 +188,29 @@ public void PathPlaningFieldCyan()
             _mpsManager.StopAllMachines();
             robot.RobotStop();
         }
+        [TestMethod]
+        public void PathPlanningWaitingZoneGrips()
+        {
+            _configurations = new Configurations();
+            _configurations.AddConfig(new RobotConfig("TestBot", jersey, team, "Test"));
+            _configurations.AddConfig(TeamConfig);
+            _mpsManager = new MpsManager(_configurations, false);
+            _robotManager = new RobotManager(_configurations, _mpsManager);
+            _zonesManager = ZonesManager.GetInstance();
+            var initialZone = _zonesManager.GetZone(Zone.CZ11);
+            var robot = _robotManager.Robots[0];
+            robot.SetZone(initialZone);
+            Assert.AreEqual(robot.GetZone().ZoneId, initialZone.ZoneId);
+            var targetZone = _zonesManager.GetZone(Zone.CZ12);
+            var task = new AgentTask();
+            task.Move = new Move()
+            {
+                Waypoint = "C_Z12_waiting"
+            };
+            robot.SetAgentTasks(task);
+            Thread.Sleep(1 * _configurations.RobotMoveZoneDuration + 1300);
+            Assert.AreEqual(robot.GetZone().ZoneId, targetZone.ZoneId);
+            robot.RobotStop();
+        }
     }
 }