private TransportRobot FindTransporterToSlot(Point location)
{
TransportRobot select_robot = null;
int current_distance = 0;
foreach (TransportRobot robot in _TransporterForSlot.Values)
{
if (robot._state == robot_state.free || robot._state == robot_state.returning)
{
int new_distance = AStarPathfinding.ComputeHScore(robot._location.X, robot._location.Y, location.X, location.Y);
if (select_robot == null || new_distance < current_distance)
{
select_robot = robot;
current_distance = new_distance;
}
}
}
return(select_robot);
}
public static Robot FindPickerToPick(Rack rack)
{
Robot select_robot = null;
int current_distance = 0;
Dictionary <int, Robot> searchList = rack._storageType.Equals("fold") ? _Pickers : _Hangers;
foreach (Robot robot in searchList.Values)
{
int new_distance = AStarPathfinding.ComputeHScore(robot._location.X, robot._location.Y, rack._location.X, rack._location.Y);
if (robot._state == robot_state.free || robot._state == robot_state.returning)
{
if (select_robot == null || new_distance < current_distance)
{
select_robot = robot;
current_distance = new_distance;
}
}
}
return(select_robot);
}