public Position FindNearestFreeStation(Robot.Common.Robot movingRobot, Map map, IList <Robot.Common.Robot> robots)
{
EnergyStation nearest = null;
int minDistance = int.MaxValue;
foreach (var station in map.Stations)
{
if (IsStationFree(station, movingRobot, robots))
{
int d = DistanceHelper.FindDistance(station.Position, movingRobot.Position);
if (d < minDistance)
{
minDistance = d;
nearest = station;
}
}
}
return(nearest == null ? null : nearest.Position);
}
public RobotCommand DoStep(IList <Robot.Common.Robot> robots, int robotToMoveIndex, Map map)
{
/*
* if ((movingRobot.Energy > CreateNewRobotCommand.MinEnergyToCreateNewRobot) && (robots.Count < map.Stations.Count))
* {
* return new CreateNewRobotCommand();
* }
*/
Robot.Common.Robot movingRobot = robots[robotToMoveIndex];
Position stationPosition = FindNearestFreeStation(robots[robotToMoveIndex], map, robots);
if (stationPosition == null)
{
return(null);
}
if (stationPosition == movingRobot.Position)
{
return(new CollectEnergyCommand());
}
else
{
Position newPosition = stationPosition;
int distance = DistanceHelper.FindDistance(stationPosition, movingRobot.Position);
if (distance > 20)
{
int dx = Math.Sign(stationPosition.X - movingRobot.Position.X) * Math.Min(Math.Abs(stationPosition.X - movingRobot.Position.X), 5);
int dy = Math.Sign(stationPosition.Y - movingRobot.Position.Y) * Math.Min(Math.Abs(stationPosition.Y - movingRobot.Position.Y), 5);
newPosition = new Position(movingRobot.Position.X + dx, movingRobot.Position.Y + dy);
}
return(new MoveCommand()
{
NewPosition = newPosition
});
}
}