/// <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 bestTaskDistance = double.PositiveInfinity;
bestPod = null;
bestStorageLocationOldPod = null;
// Try with the current pod
ExtractRequest bestExtractTask; double bestExtractDistance;
GetBestTaskForPod(bot, bot.Pod, bot.CurrentWaypoint, out bestExtractTask, out bestExtractDistance);
bestRequest = bestExtractTask;
if (bestRequest != null)
{
bestTaskDistance = bestExtractDistance;
bestPod = bot.Pod;
}
// Distance 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 distance = 0;
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 minStorageDistance = double.PositiveInfinity;
foreach (var storageLocation in Instance.ResourceManager.UnusedPodStorageLocations)
{
// Need time to set down current pod and also pick up new pod
double storeDistance = 0;
// Find Distance to get to storage location
storeDistance += Estimators.EstimateTravelDistanceEuclid(bot, storageLocation);
// Find time to get from storage location to new pod
storeDistance += Estimators.EstimateTravelDistanceEuclid(bot, storageLocation, targetPodWaypoint);
if (storeDistance < minStorageDistance)
{
minStorageDistance = storeDistance;
bestStorageLocationForThisPod = storageLocation;
}
}
// Use the best waypoint
distance += minStorageDistance;
}
else
{ // No pod, just go pick it up
distance += Estimators.EstimateTravelDistanceEuclid(bot, pod.Waypoint);
}
// Get place to take the pod
GetBestTaskForPod(bot, pod, pod.Waypoint, out bestExtractTask, out bestExtractDistance);
if (bestExtractTask != null)
{
// If the time is still better, then count it
if (distance + bestExtractDistance < bestTaskDistance)
{
bestRequest = bestExtractTask;
bestTaskDistance = distance + bestExtractDistance;
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;
}
