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 Position FindNearAvailableStation(Robot.Common.Robot movingRobot, IList <Robot.Common.Robot> robots)
{
Position stationPosition = null;
for (int i = 0; i < li.listAim.Count; i++)
{
if (IsCellFreeFromMyRobot(li.listAim[i].station, movingRobot, robots) && li.listAim[i].inProgress == false)
{
if (stationPosition != null)
{
if (DistanceHelper.FindDistance(movingRobot.Position, li.listAim[i].station) < DistanceHelper.FindDistance(movingRobot.Position, stationPosition))
{
stationPosition = li.listAim[i].station;
}
}
else
{
stationPosition = li.listAim[i].station;
}
}
}
return(stationPosition);
}
public Position FindNearEnemyStation(Robot.Common.Robot movingRobot, IList <Robot.Common.Robot> robots)
{
Position stationPosition = null;
for (int i = 0; i < listStationPosition.Count; i++)
{
if (IsCellFreeFromMyRobot(listStationPosition[i].Pos, movingRobot, robots))
{
if (stationPosition != null)
{
if (DistanceHelper.FindDistance(movingRobot.Position, listStationPosition[i].Pos) < DistanceHelper.FindDistance(movingRobot.Position, stationPosition))
{
stationPosition = listStationPosition[i].Pos;
}
}
else
{
stationPosition = listStationPosition[i].Pos;
}
}
}
return(stationPosition);
}
public RobotCommand DoStep(IList <Robot.Common.Robot> robots, int robotToMoveIndex, Map map)
{
if (counter3)
{
FindAllStation(map);
li = new ListAim(listStationPosition);
counter3 = false;
}
if (counter % 2 == 0)
{
li.GetFreeAim();
}
Robot.Common.Robot movingRobot = robots[robotToMoveIndex];
li.DeleteErrorAim(FindAllMyStation(movingRobot, robots));
Position nearestFreeStation = FindNearestFreeStation(movingRobot, map, robots);
Position movingRobotPosition = movingRobot.Position;
Position nearestEnemyStation = FindNearEnemyStation(movingRobot, robots);
Position nearestAvailableStation = FindNearAvailableStation(movingRobot, robots);
int x = 8;
if (DistanceHelper.FindDistance(nearestAvailableStation, movingRobotPosition) <= 200 && nearestAvailableStation != null && robotCount < 200)
{
if (nearestFreeStation != null)
{
if (Math.Sqrt(DistanceHelper.FindDistance(nearestFreeStation, movingRobotPosition)) <= 7 && (movingRobot.Energy >= (counter <= x ? 300 : 450)))
{
robotCount++;
li.SetAim(new Aim(nearestAvailableStation, true));
return(new CreateNewRobotCommand()
{
NewRobotEnergy = (counter <= x ? 100 : 250)
});
}
else if (Math.Sqrt(DistanceHelper.FindDistance(nearestFreeStation, movingRobotPosition)) < 12 && movingRobot.Energy > (counter <= x ? 350 : 500) && counter < 40)
{
robotCount++;
return(new CreateNewRobotCommand()
{
NewRobotEnergy = (counter <= x ? 150 : 300)
});
}
}
if (Math.Sqrt(DistanceHelper.FindDistance(nearestEnemyStation, movingRobotPosition)) <= 7 && movingRobot.Energy >= (counter <= x ? 400 : 500))
{
robotCount++;
li.SetAim(new Aim(nearestAvailableStation, true));
return(new CreateNewRobotCommand()
{
NewRobotEnergy = (counter <= x ? 200 : 300)
});
}
else if (Math.Sqrt(DistanceHelper.FindDistance(nearestEnemyStation, movingRobotPosition)) < 12 && movingRobot.Energy > (counter <= x ? 450 : 600) && counter < 40)
{
robotCount++;
return(new CreateNewRobotCommand()
{
NewRobotEnergy = (counter <= x ? 250 : 400)
});
}
}
else if (DistanceHelper.FindDistance(nearestAvailableStation, movingRobotPosition) <= 625 && nearestAvailableStation != null && robotCount < 200 && counter < 40)
{
if (nearestFreeStation != null)
{
if (Math.Sqrt(DistanceHelper.FindDistance(nearestFreeStation, movingRobotPosition)) < 25 && movingRobot.Energy > 700 && counter <= 35)
{
robotCount++;
return(new CreateNewRobotCommand()
{
NewRobotEnergy = 400
});
}
}
else if (Math.Sqrt(DistanceHelper.FindDistance(nearestEnemyStation, movingRobotPosition)) < 20 && movingRobot.Energy > 700 && counter <= 35)
{
robotCount++;
return(new CreateNewRobotCommand()
{
NewRobotEnergy = 450
});
}
}
for (int i = 0; i < listStationPosition.Count; i++)
{
if (movingRobotPosition == listStationPosition[i].Pos)
{
if (!li.IsMyStation(listStationPosition[i].Pos))
{
li.listMyStation.Add(new Aim(listStationPosition[i].Pos, true));
return(new CollectEnergyCommand());
}
else
{
return(new CollectEnergyCommand());
}
}
}
if (nearestFreeStation != null)
{
if (Math.Sqrt(DistanceHelper.FindDistance(nearestFreeStation, movingRobotPosition)) <= 12 && movingRobot.Energy - (DistanceHelper.FindDistance(nearestFreeStation, movingRobotPosition)) > 0)
{
li.SetAim(new Aim(nearestFreeStation, true));
return(new MoveCommand()
{
NewPosition = nearestFreeStation
});
}
}
if (Math.Sqrt(DistanceHelper.FindDistance(nearestAvailableStation, movingRobotPosition)) <= 12 && movingRobot.Energy - (DistanceHelper.FindDistance(nearestAvailableStation, movingRobotPosition) + 50) > 0)
{
li.SetAim(new Aim(nearestAvailableStation, true));
return(new MoveCommand()
{
NewPosition = nearestAvailableStation
});
}
if (Math.Sqrt(DistanceHelper.FindDistance(nearestAvailableStation, movingRobotPosition)) < 20 && movingRobot.Energy >= 300)
{
return(new MoveCommand()
{
NewPosition = GetNextPosition(movingRobotPosition, nearestAvailableStation, (movingRobot.Energy / DistanceHelper.FindDistance(nearestAvailableStation, movingRobotPosition)) > 1 ? movingRobot.Energy / (int)DistanceHelper.FindDistance(nearestAvailableStation, movingRobotPosition) + 4 : 1)
});
}
if (Math.Sqrt(DistanceHelper.FindDistance(nearestAvailableStation, movingRobotPosition)) < 30 && movingRobot.Energy >= 200)
{
return(new MoveCommand()
{
NewPosition = GetNextPosition(movingRobotPosition, nearestAvailableStation, (movingRobot.Energy / DistanceHelper.FindDistance(nearestAvailableStation, movingRobotPosition)) > 1 ? movingRobot.Energy / (int)DistanceHelper.FindDistance(nearestAvailableStation, movingRobotPosition) + 1 : 1)
});
}
else
{
return new MoveCommand()
{
NewPosition = GetNextPosition(movingRobotPosition, nearestAvailableStation, 1)
}
};
}