fix: agent being stuck in the middle of the board, agent configuration

src/main.js

@@ -8,6 +8,4 @@ window.addEventListener('DOMContentLoaded', () => document.fonts.ready.then(() =
   const grid = new Grid(gridCanvas);
   const agent = new Agent(agentCanvas);
   const products = new Products(productsCanvas);
-
-  window.products = products;
 }));

src/modules/agent.js

@@ -3,19 +3,14 @@ class Agent extends AgentController {
     super(canvas);
 
     const cycle = async () => {
-
-      // await this.takeFromStore(Product.RANDOM_FROM_REGISTRY(), Math.floor(Math.random() * 40) + 10);
-      // const randomPlace = Grid.instance.randomPlace();
-      // await this.deliver(randomPlace.x, randomPlace.y);
-      const jobRequest = window.products.getJobRequest();
+      const jobRequest = Products.instance.getJobRequest();
       if (jobRequest) {
-        console.log(jobRequest);
         const requiredAmount = 50 - jobRequest.amount;
         await this.takeFromStore(jobRequest.product, requiredAmount);
         await this.deliver(jobRequest.x, jobRequest.y);
       }
       
-      await waitFor(2000);
+      await waitFor(AgentWaitTime);
       cycle();
     };
 
@@ -39,7 +34,8 @@ class Agent extends AgentController {
    */
   async deliver(x, y) {
     await this.moveTo(x, y);
-    window.products.exchange(x, y, this.ownedProduct, 50);
+    await waitFor(AgentWaitTime);
+    Products.instance.exchange(x, y, this.ownedProduct, 50);
     this.ownedProductAmount = 0;
     this.ownedProduct = Product.REGISTRY.empty;
   }
@@ -50,7 +46,7 @@ class Agent extends AgentController {
    */
   async takeFromStore(product, amount) {
     await this.moveTo(9, 8);
-    await waitFor(1000);
+    await waitFor(AgentWaitTime);
     this.ownedProductAmount = amount;
     this.ownedProduct = product;
   }

src/modules/agentController.js

@@ -18,8 +18,8 @@ class AgentController {
     // Pozycja i poruszanie się
     this.position = { x: 6, y: 0 };
     this.rotation = { z: 0 };
-    this.speed = 30;
-    this.rotationSpeed = 2;
+    this.speed = 90 - AgentMoveSpeed;
+    this.rotationSpeed = 90 / ( 90 - AgentRotationSpeed);
     this.update();
   }
 
@@ -64,6 +64,8 @@ class AgentController {
           } else {
             cycle();
           }
+        } else {
+          resolve();
         }
       }
 
@@ -156,7 +158,7 @@ class AgentController {
 
         this.rotation = { z: clampRotation(oldZRotation + (this.rotationSpeed * sign)) };
 
-        if (Math.abs(oldZRotation - newZRotation) < 1) {
+        if (Math.abs(oldZRotation - newZRotation) < 5) {
           resolve();
           this.rotation = { z: clampRotation(newZRotation) }
         } else {

src/modules/configuration.js

@@ -5,3 +5,7 @@ const StorageCenterLocation = { x: 7, y: 8, w: UnitsInGroupCount, h: 1 }
 
 const UnitsCount = ((ColumnsOfGroupsCount * RowsOfGroupsCount) * UnitsInGroupCount 
   - StorageCenterLocation.w * StorageCenterLocation.h)
+
+const AgentMoveSpeed = 20 /* 1 - slowest, 89 - fastest */
+const AgentRotationSpeed = 20 /* 1 - slowest, 89 - fastest */
+const AgentWaitTime = 500 /* in miliseconds */

src/modules/pathfinding.js

@@ -16,7 +16,6 @@ class Pathfinding {
     return Pathfinding.graphSearch({ state }, { state: expectedState }) 
   }
 
-
   static graphSearch(node, expectedNode, fringe = [], explored = []) {
     fringe.push(node);
 
@@ -34,13 +33,16 @@ class Pathfinding {
       explored.push(elem);
 
       for (const successor of this.successor(elem)) {
-        if (explored.every(n => !Pathfinding.reached(n.state, successor.state))) {
+        if (!Pathfinding.isNodeInArr(successor, explored) && !Pathfinding.isNodeInArr(successor, fringe)) {
           fringe.push(successor);
         }
       }
     }
   }
 
+  static isNodeInArr(node, arr) {
+    return !arr.every(n => !Pathfinding.reached(n.state, node.state))
+  }
 
   static successor(node) {
     const list = [];