/// <summary>
/// Finds the best delivery task for the specified pod.
/// Sets <code>bestDeliveryRequest</code> to null if none found, otherwise <code>bestDeliveryRequest</code> and <code>bestTimeForDeliveryRequest</code> are initialized.
/// </summary>
/// <param name="bot">The bot to consider.</param>
/// <param name="pod">Pod to take.</param>
/// <param name="podLocation">Current location of the pod.</param>
/// <param name="bestExtractTask">The best extract task set by this method.</param>
/// <param name="bestTimeForExtract">The time of the best extract set by this method.</param>
void GetBestTaskForPod(Bot bot, Pod pod, Waypoint podLocation,
out ExtractRequest bestExtractTask, out double bestTimeForExtract)
{
bestExtractTask = null;
bestTimeForExtract = 0.0;
bestExtractTask = null;
if (pod == null || podLocation == null)
{
return;
}
bestTimeForExtract = double.PositiveInfinity;
// Check all tasks
foreach (var delivery in Instance.ResourceManager.AvailableAndAssignedExtractRequests)
{
// If it has the item
if (pod.IsContained(delivery.Item))
{
// See how long it would take to get to the output-station
// Choose the worst of delivering or waiting
Waypoint sw = delivery.Station.Waypoint;
double time = Math.Max(Estimators.EstimateTravelTimeEuclid(bot, podLocation, sw), Estimators.EstimateOutputStationWaitTime(bot, sw));
// If it's the best, then use it
if (time < bestTimeForExtract)
{
bestExtractTask = delivery;
bestTimeForExtract = time;
}
}
}
}
/// <summary>
/// Based on the current situation, the bot needs to get an item, but doesn't have it.
/// This function reserves the item the pod should pick up. Returns the pod that should be used, null if it's carying a pod and the current pod won't work (too full).
/// </summary>
/// <param name="bot">The bot to consider.</param>
/// <param name="bestRequest">The best request to use for the best pickup task.</param>
/// <param name="bestStation">The station to use for the best pickup task.</param>
/// <param name="bestPod">The pod to use for the best pickup task.</param>
public void ReserveBestItemToPickUp(Bot bot, out InsertRequest bestRequest, out Pod bestPod, out InputStation bestStation)
{
bestPod = null;
bestStation = null;
bestRequest = null;
// If have a pod currently
if (bot.Pod != null)
{
Pod pod = bot.Pod;
// Current pod works, so find closest input station and best task
double closestInputStationTime = double.PositiveInfinity;
// Check all tasks
foreach (var storeTask in Instance.ResourceManager.AvailableStoreRequests)
{
// See how long it would take to get to this input station
// Choose the worst of delivering or waiting
Waypoint sw = storeTask.Station.Waypoint;
double time = Math.Max(Estimators.EstimateTravelTimeEuclid(bot, bot.CurrentWaypoint, sw), Estimators.EstimateInputStationWaitTime(bot, sw));
// If it's the best and it fits the current pod, then use it
if (time < closestInputStationTime && pod.CapacityInUse + storeTask.Bundle.BundleWeight <= pod.Capacity)
{
bestRequest = storeTask;
closestInputStationTime = time;
}
}
// If no pickup suits the pod, get rid of it
if (bestRequest == null)
{
return;
}
// Allocate task!
bestStation = bestRequest.Station;
bestPod = pod;
}
// Don't have a pod
double bestPickupTime = double.PositiveInfinity;
bestRequest = null;
bestPod = null;
foreach (var pod in Instance.ResourceManager.UnusedPods)
{
// Find time to pick up the bundle
double pickupTime = Estimators.EstimateTravelTimeEuclid(bot, pod.Waypoint);
// Check all tasks
foreach (var storeTask in Instance.ResourceManager.AvailableStoreRequests)
{
// If it has room
if (pod.CapacityInUse + storeTask.Bundle.BundleWeight <= pod.Capacity)
{
// See how long it would take to get to this input station
// Choose the worst of delivering or waiting
Waypoint sw = storeTask.Station.Waypoint;
double deliverTime = Math.Max(Estimators.EstimateTravelTimeEuclid(bot, pod.Waypoint, sw), Estimators.EstimateInputStationWaitTime(bot, sw));
//if it's the best, then use it
if (pickupTime + deliverTime < bestPickupTime)
{
bestRequest = storeTask;
bestPickupTime = pickupTime + deliverTime;
bestPod = pod;
}
}
}
}
// No pickup request available
if (bestRequest == null)
{
return;
}
// Pickup available - set it
bestStation = bestRequest.Station;
}
/// <summary>
/// Determines the best delivery task for the given bot, and allocates the required resources.
/// </summary>
/// <param name="bot">The bot to consider.</param>
/// <param name="bestPod">The pod to use for the best delivery task.</param>
/// <param name="bestItemDescription">The type of the item to use for the best delivery task.</param>
/// <param name="bestRequest">The request to use for the best delivery task.</param>
/// <param name="bestStation">The station to use for the best delivery task.</param>
/// <param name="bestStorageLocationOldPod">The storage location for the current pod to use for the best delivery task.</param>
public void GetBestDeliveryTask(Bot bot,
out ExtractRequest bestRequest,
out Pod bestPod,
out ItemDescription bestItemDescription,
out OutputStation bestStation,
out Waypoint bestStorageLocationOldPod)
{
// Find an item to retrieve
double bestTaskTime = double.PositiveInfinity;
bestPod = null;
bestStorageLocationOldPod = null;
// Try with the current pod
ExtractRequest bestExtractTask; double bestExtractTime;
GetBestTaskForPod(bot, bot.Pod, bot.CurrentWaypoint, out bestExtractTask, out bestExtractTime);
bestRequest = bestExtractTask;
if (bestRequest != null)
{
bestTaskTime = bestExtractTime;
bestPod = bot.Pod;
}
// Time to pick up the pod
double baseTime = bot.PodTransferTime;
// Time to set down the current pod if it has one
if (bot.Pod != null)
{
baseTime += bot.PodTransferTime;
}
foreach (var pod in Instance.ResourceManager.UnusedPods)
{
double time = baseTime;
Waypoint bestStorageLocationForThisPod = null;
// If need to set down current pod
if (bot.Pod != null)
{
// Grab this once to pull it out of the loop
Waypoint targetPodWaypoint = pod.Waypoint;
double minStorageTime = double.PositiveInfinity;
foreach (var storageLocation in Instance.ResourceManager.UnusedPodStorageLocations)
{
// Need time to set down current pod and also pick up new pod
double storeTime = 2 * bot.PodTransferTime;
// Find time to get to storage location
storeTime += Estimators.EstimateTravelTimeEuclid(bot, storageLocation);
// Find time to get from storage location to new pod
storeTime += Estimators.EstimateTravelTimeEuclid(bot, storageLocation, targetPodWaypoint);
if (storeTime < minStorageTime)
{
minStorageTime = storeTime;
bestStorageLocationForThisPod = storageLocation;
}
}
// Use the best waypoint
time += minStorageTime;
}
else
{ // No pod, just go pick it up
time += Estimators.EstimateTravelTimeEuclid(bot, pod.Waypoint);
}
// Get place to take the pod
GetBestTaskForPod(bot, pod, pod.Waypoint, out bestExtractTask, out bestExtractTime);
if (bestExtractTask != null)
{
// If the time is still better, then count it
if (time + bestExtractTime < bestTaskTime)
{
bestRequest = bestExtractTask;
bestTaskTime = time + bestExtractTime;
bestPod = pod;
bestStorageLocationOldPod = bestStorageLocationForThisPod;
}
}
}
// If found no task, take the oldest
if (bestRequest == null)
{
bestRequest = Instance.ResourceManager.AvailableAndAssignedExtractRequests.First();
}
bestItemDescription = bestRequest.Item;
bestStation = bestRequest.Station;
}
