public Queue <ScheduleItem <T> > GetScheduleItems(ScheduleList <T> _list, T _startLocation, int _startTime = 0, int _pathLength = 8)
{
Bot <T> bot = GetBot(_list, _startLocation, _startTime, _pathLength);
return(bot.ScheduleItems);
}
public Queue <Instruction <T> > GetInstructions(ScheduleList <T> _list, T _startLocation, int _startTime = 0, int _pathLength = 8)
{
Bot <T> bot = GetBot(_list, _startLocation, _startTime, _pathLength);
return(bot.Instructions);
}
public Queue <T> GetPath(ScheduleList <T> _list, T _startLocation, int _startTime = 0, int _pathLength = 8)
{
Bot <T> bot = GetBot(_list, _startLocation, _startTime, _pathLength);
return(bot.Path);
}
public Bot <T> GetBot(ScheduleList <T> _list, T _startLocation, int _startTime = 0, int _pathLength = 8)
{
Reset();
float Discount = 1f;
_list.ClampTime(_startTime, _startTime + _pathLength);
CreateStartNode(_startLocation, _startTime, _list.GetSchedules(_startTime));
for (int i = 1; i <= _pathLength; i++)
{
// Determine all the bots that are able to move
List <Bot <T> > oldBots = new List <Bot <T> >();
foreach (Node <T> node in NodeDictionary.Values)
{
if (node.FreeBot != null)
{
if (MaxBot != null && node.FreeBot.Score + _list.TotalPointsAvailable < MaxBot.Score)
{
node.FreeBot = null;
}
else
{
oldBots.Add(node.FreeBot);
}
}
}
foreach (Edge <T> edge in Edges)
{
edge.CheckOnTrappedBots(_list.TotalPointsAvailable, MaxBot != null ? MaxBot.Score : 0f);
}
foreach (Bot <T> bot in oldBots)
{
foreach (Edge <T> edge in bot.CurrentNode.Edges)
{
bot.TravelAlong(edge, _startTime + i);
}
}
foreach (Node <T> node in NodeDictionary.Values)
{
node.CheckOnTrappedBots(_list.TotalPointsAvailable, MaxBot != null ? MaxBot.Score : 0f);
if (node.FreeBot != null)
{
node.ApplyScore(_list.GetSchedules(_startTime + i), _startTime + i, Discount);
if (MaxBot == null || node.FreeBot.Score > MaxBot.Score)
{
MaxBot = node.FreeBot;
}
}
}
Discount *= DiscountRate;
}
MaxBot.MakeDurations();
MaxBot.MakeInstructions();
MaxBot.MakeScheduleItems();
MaxBot.MakePath();
return(MaxBot);
}
