/// <summary>
/// Initializes this controller.
/// </summary>
private void Initialize()
{
// Set some values for statistics
_statPodMatchingScoreIndex = _config.LateBeforeMatch ? 1 : 0;
// --> Setup normal scorers
List <Func <double> > normalScorers = new List <Func <double> >();
// Select late orders first
if (_config.LateBeforeMatch)
{
normalScorers.Add(() =>
{
return(_currentOrder.DueTime > Instance.Controller.CurrentTime ? 1 : 0);
});
}
// Select best by match with inbound pods
normalScorers.Add(() =>
{
return(_currentOrder.Positions.Sum(line => Math.Min(_currentStation.InboundPods.Sum(pod => pod.CountAvailable(line.Key)), line.Value)));
});
// If we run into ties use the oldest order
normalScorers.Add(() =>
{
switch (_config.TieBreaker)
{
case Shared.OrderSelectionTieBreaker.Random: return(Instance.Randomizer.NextDouble());
case Shared.OrderSelectionTieBreaker.EarliestDueTime: return(-_currentOrder.DueTime);
case Shared.OrderSelectionTieBreaker.FCFS: return(-_currentOrder.TimeStamp);
default: throw new ArgumentException("Unknown tie breaker: " + _config.FastLaneTieBreaker);
}
});
// --> Setup fast lane scorers
List <Func <double> > fastLaneScorers = new List <Func <double> >();
// If we run into ties use the oldest order
fastLaneScorers.Add(() =>
{
switch (_config.FastLaneTieBreaker)
{
case Shared.FastLaneTieBreaker.Random: return(Instance.Randomizer.NextDouble());
case Shared.FastLaneTieBreaker.EarliestDueTime: return(-_currentOrder.DueTime);
case Shared.FastLaneTieBreaker.FCFS: return(-_currentOrder.TimeStamp);
default: throw new ArgumentException("Unknown tie breaker: " + _config.FastLaneTieBreaker);
}
});
// Init selectors
_bestCandidateSelectNormal = new BestCandidateSelector(true, normalScorers.ToArray());
_bestCandidateSelectFastLane = new BestCandidateSelector(true, fastLaneScorers.ToArray());
if (_config.FastLane)
{
_nearestInboundPod = new VolatileIDDictionary <OutputStation, Pod>(Instance.OutputStations.Select(s => new VolatileKeyValuePair <OutputStation, Pod>(s, null)).ToList());
}
}
/// <summary>
/// Inits the controller.
/// </summary>
private void Init()
{
// Init queue assignment assessment
if (_bestCandidateSelectorQueue == null)
{
List <Func <double> > scorers = new List <Func <double> >();
if (_config.QueueOrderSelectionRule1 != null)
{
scorers.Add(GenerateScorer(_config.QueueOrderSelectionRule1, false));
}
if (_config.QueueOrderSelectionRule2 != null)
{
scorers.Add(GenerateScorer(_config.QueueOrderSelectionRule2, false));
}
if (_config.QueueOrderSelectionRule3 != null)
{
scorers.Add(GenerateScorer(_config.QueueOrderSelectionRule3, false));
}
_bestCandidateSelectorQueue = new BestCandidateSelector(true, scorers.ToArray());
}
// Init fast lane assignment assessment
if (_bestCandidateSelectorFastLane == null)
{
List <Func <double> > scorers = new List <Func <double> >();
if (_config.FastLaneOrderSelectionRule1 != null)
{
scorers.Add(GenerateScorer(_config.FastLaneOrderSelectionRule1, true));
}
if (_config.FastLaneOrderSelectionRule2 != null)
{
scorers.Add(GenerateScorer(_config.FastLaneOrderSelectionRule2, true));
}
if (_config.FastLaneOrderSelectionRule3 != null)
{
scorers.Add(GenerateScorer(_config.FastLaneOrderSelectionRule3, true));
}
_bestCandidateSelectorFastLane = new BestCandidateSelector(true, scorers.ToArray());
}
// Init station assignment assessment
if (_bestCandidateSelectorStation == null)
{
List <Func <double> > scorers = new List <Func <double> >();
if (_config.StationOrderSelectionRule1 != null)
{
scorers.Add(GenerateScorer(_config.StationOrderSelectionRule1, true));
}
if (_config.StationOrderSelectionRule2 != null)
{
scorers.Add(GenerateScorer(_config.StationOrderSelectionRule2, true));
}
if (_config.StationOrderSelectionRule3 != null)
{
scorers.Add(GenerateScorer(_config.StationOrderSelectionRule3, true));
}
_bestCandidateSelectorStation = new BestCandidateSelector(true, scorers.ToArray());
}
}
/// <summary>
/// Initializes this manager.
/// </summary>
private void Init()
{
// --> Init shared component or ensure consistency
Instance.SharedControlElements.StoragePartitioner.CreateOrEnsureZones(_config.ZoningConfiguration);
// --> Store information about the station to which a cache storage location belongs
_cacheStations = new VolatileIDDictionary <Waypoint, OutputStation>(
Instance.SharedControlElements.StoragePartitioner.CachePartitions.SelectMany(kvp => kvp.Value.Select(wp => new VolatileKeyValuePair <Waypoint, OutputStation>(wp, kvp.Key))).ToList());
// --> Init scoring
List <Func <double> > scorers = new List <Func <double> >();
// First select cache or not depending on decision
scorers.Add(() =>
{
// Check whether the current location belongs to the current station's cache and the pod does make the cut according to the cache score
if (_currentCacheable && _currentStorageLocation.InfoTagCache == ZoneType.Cache && _cacheStations[_currentStorageLocation] == _currentStation)
{
// It fits, reward it
return(-1);
}
// Check whether the pod shouldn't be cached and the storage location does not belong to a cache
else if (!_currentCacheable && _currentStorageLocation.InfoTagCache != ZoneType.Cache)
{
// It fits, reward it
return(-1);
}
// Check whether the storage location belongs to a foreign station's cache
else if (_currentStorageLocation.InfoTagCache == ZoneType.Cache)
{
// Heavily penalize using foreign cache storage locations
return(1);
}
else
{
// It does not fit, penalize it
return(0);
}
});
// Then select the nearest one
scorers.Add(() =>
{
switch (_config.PodDisposeRule)
{
case CacheStorageLocationSelectionRule.Euclid: return(Distances.CalculateEuclid(_currentPodLocation, _currentStorageLocation, Instance.WrongTierPenaltyDistance));
case CacheStorageLocationSelectionRule.Manhattan: return(Distances.CalculateManhattan(_currentPodLocation, _currentStorageLocation, Instance.WrongTierPenaltyDistance));
case CacheStorageLocationSelectionRule.ShortestPath: return(Distances.CalculateShortestPathPodSafe(_currentPodLocation, _currentStorageLocation, Instance));
case CacheStorageLocationSelectionRule.ShortestTime: return(Distances.CalculateShortestTimePathPodSafe(_currentPodLocation, _currentStorageLocation, Instance));
default: throw new ArgumentException("Unknown pod dispose rule: " + _config.PodDisposeRule);
}
});
// Instantiate best candidate assessment
_bestCandidateSelector = new BestCandidateSelector(false, scorers.ToArray());
}
/// <summary>
/// Initializes this controller.
/// </summary>
private void Initialize()
{
// Set some values for statistics
_statLinesInCommonScoreIndex = 0;
// Setup scorers
_bestCandidateSelectNormal = new BestCandidateSelector(true,
// First select order with most lines in common
() => { return(_currentOrder.Positions.Sum(line => _currentStation.AssignedOrders.Sum(o => o.GetDemandCount(line.Key) > 0 ? 1 : 0))); },
// If we run into ties use the oldest order
() =>
{
switch (_config.TieBreaker)
{
case Shared.OrderSelectionTieBreaker.Random: return(Instance.Randomizer.NextDouble());
case Shared.OrderSelectionTieBreaker.EarliestDueTime: return(-_currentOrder.DueTime);
case Shared.OrderSelectionTieBreaker.FCFS: return(-_currentOrder.TimeStamp);
default: throw new ArgumentException("Unknown tie breaker: " + _config.FastLaneTieBreaker);
}
});
_bestCandidateSelectFastLane = new BestCandidateSelector(true,
// If we run into ties, break them
() =>
{
switch (_config.FastLaneTieBreaker)
{
case Shared.FastLaneTieBreaker.Random: return(Instance.Randomizer.NextDouble());
case Shared.FastLaneTieBreaker.EarliestDueTime: return(-_currentOrder.DueTime);
case Shared.FastLaneTieBreaker.FCFS: return(-_currentOrder.TimeStamp);
default: throw new ArgumentException("Unknown tie breaker: " + _config.FastLaneTieBreaker);
}
});
if (_config.FastLane)
{
_nearestInboundPod = new VolatileIDDictionary <OutputStation, Pod>(Instance.OutputStations.Select(s => new VolatileKeyValuePair <OutputStation, Pod>(s, null)).ToList());
}
}
private void Init()
{
// --> Init shared component or ensure consistency
Instance.SharedControlElements.StoragePartitioner.CreateOrEnsureZones(_config.ZoningConfiguration);
// --> Init meta info
_cacheTargetCounts = new VolatileIDDictionary <OutputStation, int>(
Instance.OutputStations.Select(s => new VolatileKeyValuePair <OutputStation, int>(s,
(int)(_config.TargetFillCache * Instance.SharedControlElements.StoragePartitioner.CachePartitions[s].Count))).ToList());
_cachePodCounts = new VolatileIDDictionary <OutputStation, int>(
Instance.OutputStations.Select(s => new VolatileKeyValuePair <OutputStation, int>(s, 0)).ToList());
_storageLocationStations = new VolatileIDDictionary <Waypoint, OutputStation>(
Instance.Waypoints.Select(w => new VolatileKeyValuePair <Waypoint, OutputStation>(w, null)).ToList());
foreach (var station in Instance.OutputStations)
{
foreach (var wp in Instance.SharedControlElements.StoragePartitioner.CachePartitions[station])
{
_storageLocationStations[wp] = station;
}
}
_cacheableInfoPerStation = new VolatileIDDictionary <OutputStation, bool>(
Instance.OutputStations.Select(s => new VolatileKeyValuePair <OutputStation, bool>(s, false)).ToList());
// --> Init move scoring
List <Func <double> > scorers = new List <Func <double> >();
// First try to keep the move on the same tier, if desired (this heavily influences the possible moves)
if (_config.PreferSameTierMoves)
{
scorers.Add(() => { return(_currentPod.Tier == _currentBot.Tier && _currentStorageLocation.Tier == _currentBot.Tier ? 1 : 0); });
}
// Then decide about move type
scorers.Add(() =>
{
if (_currentPod.Waypoint.InfoTagCache == ZoneType.Dropoff && _currentStorageLocation.InfoTagCache == ZoneType.None)
{
// Drop-off -> Normal
return(2);
}
else if (_currentPod.Waypoint.InfoTagCache == ZoneType.Dropoff && _currentStorageLocation.InfoTagCache == ZoneType.Cache)
{
// Drop-off -> Cache
return(2);
}
else if (_currentPod.Waypoint.InfoTagCache == ZoneType.Cache && _currentStorageLocation.InfoTagCache == ZoneType.None)
{
// Cache -> Normal
return(1);
}
else if (_currentPod.Waypoint.InfoTagCache == ZoneType.None && _currentStorageLocation.InfoTagCache == ZoneType.Cache)
{
// Normal -> Cache
return(1);
}
else
{
throw new InvalidOperationException("Forbidden move: " + _currentPod.Waypoint.InfoTagCache + " -> " + _currentStorageLocation.InfoTagCache);
}
});
// Then prefer moves keeping cache at targeted level
scorers.Add(() =>
{
// Move types should now be separated, i.e. if there is a drop-off clearing move there is no 'normal' move, respectively, if there is no drop-off clearing move there are only 'normal' moves
if (_currentPod.Waypoint.InfoTagCache == ZoneType.Cache && _currentStorageLocation.InfoTagCache == ZoneType.None)
{
// Cache -> Normal
return
// Current cache level minus
((double)_cachePodCounts[_storageLocationStations[_currentPod.Waypoint]] / Instance.SharedControlElements.StoragePartitioner.CachePartitions[_storageLocationStations[_currentPod.Waypoint]].Count -
// targeted cache level
_config.TargetFillCache);
}
else if (_currentPod.Waypoint.InfoTagCache == ZoneType.None && _currentStorageLocation.InfoTagCache == ZoneType.Cache)
{
// Normal -> Cache
return
// Targeted cache level minus
(_config.TargetFillCache -
// current cache level
(double)_cachePodCounts[_storageLocationStations[_currentStorageLocation]] / Instance.SharedControlElements.StoragePartitioner.CachePartitions[_storageLocationStations[_currentStorageLocation]].Count);
}
else if (_currentPod.Waypoint.InfoTagCache == ZoneType.Dropoff && _currentStorageLocation.InfoTagCache == ZoneType.None)
{
// Drop-off -> Normal
return
(_cacheableAtAll ? 0 : 1);
}
else if (_currentPod.Waypoint.InfoTagCache == ZoneType.Dropoff && _currentStorageLocation.InfoTagCache == ZoneType.Cache)
{
// Drop-off -> Cache
return
(_cacheableInfoPerStation[_storageLocationStations[_currentStorageLocation]] ? 1 : 0);
}
else
{
throw new InvalidOperationException("Forbidden move: " + _currentPod.Waypoint.InfoTagCache + " -> " + _currentStorageLocation.InfoTagCache);
}
});
// Then prefer moves that make the greatest contribution in keeping the cache hot (depending on settings)
scorers.Add(() =>
{
if (_currentPod.Waypoint.InfoTagCache == ZoneType.Cache) // Cache clearing move
{
return(1 - Instance.ElementMetaInfoTracker.GetPodCombinedScore(_currentPod, _config.WeightSpeed, _config.WeightUtility));
}
else if (_currentStorageLocation.InfoTagCache == ZoneType.Cache) // Cache filling move
{
return(Instance.ElementMetaInfoTracker.GetPodCombinedScore(_currentPod, _config.WeightSpeed, _config.WeightUtility));
}
else
{
return(0); // Drop-off clearing -> highest priority
}
});
// Then prefer the shortest moves
scorers.Add(() =>
{
switch (_config.PodDisposeRule)
{
case CacheStorageLocationSelectionRule.Euclid: return(-Distances.CalculateEuclid(_currentPod.Waypoint, _currentStorageLocation, Instance.WrongTierPenaltyDistance));
case CacheStorageLocationSelectionRule.Manhattan: return(-Distances.CalculateManhattan(_currentPod.Waypoint, _currentStorageLocation, Instance.WrongTierPenaltyDistance));
case CacheStorageLocationSelectionRule.ShortestPath: return(-Distances.CalculateShortestPathPodSafe(_currentPod.Waypoint, _currentStorageLocation, Instance));
case CacheStorageLocationSelectionRule.ShortestTime: return(-Distances.CalculateShortestTimePathPodSafe(_currentPod.Waypoint, _currentStorageLocation, Instance));
default: throw new ArgumentException("Unknown pod dispose rule: " + _config.PodDisposeRule);
}
});
// Then use randomness
scorers.Add(() =>
{
return(Instance.Randomizer.NextDouble());
});
// Instantiate best candidate assessment
_bestCandidateSelector = new BestCandidateSelector(true, scorers.ToArray());
}
/// <summary>
/// Creates all zones or ensures their consistency between different managers using those.
/// </summary>
/// <param name="config">The configuration to use for creating the zones.</param>
internal void CreateOrEnsureZones(CacheConfiguration config)
{
// Check whether this was already done
if (_config != null)
{
// --> Ensure compatibility
if (!_config.Match(config))
{
throw new ArgumentException("Incompatible cache configurations: " + _config.ToString() + " vs. " + config.ToString());
}
}
else
{
// Init
_config = config;
List <ZoneType> zoneTypes = new List <ZoneType>()
{
ZoneType.Cache, ZoneType.Dropoff
};
UnzonedStorageLocations = Instance.Waypoints.Where(w => w.PodStorageLocation).ToHashSet();
CachePartitions = new VolatileIDDictionary <OutputStation, HashSet <Waypoint> >(Instance.OutputStations.Select(s =>
new VolatileKeyValuePair <OutputStation, HashSet <Waypoint> >(s, new HashSet <Waypoint>())).ToList());
int cacheWPCountPerStation = (int)Math.Ceiling(UnzonedStorageLocations.Count * _config.CacheFraction / Instance.OutputStations.Count);
DropoffPartitions = new VolatileIDDictionary <OutputStation, HashSet <Waypoint> >(Instance.OutputStations.Select(s =>
new VolatileKeyValuePair <OutputStation, HashSet <Waypoint> >(s, new HashSet <Waypoint>())).ToList());
int dropoffWPCountPerStation = _config.DropoffCount;
// Init selector
BestCandidateSelector scorer = new BestCandidateSelector(false,
// First adhere to preference between zone types
() =>
{
switch (_config.ZonePriority)
{
case ZonePriority.CacheFirst: return(_currentZoneType == ZoneType.Cache ? 0 : 1);
case ZonePriority.DropoffFirst: return(_currentZoneType == ZoneType.Dropoff ? 0 : 1);
case ZonePriority.CacheDropoffEqual: return(0);
default: throw new ArgumentException("Unknown priority: " + _config.ZonePriority);
}
},
// Then assess the main distance metric
() =>
{
switch (_currentZoneType)
{
case ZoneType.Cache: return(Distances.CalculateShortestTimePathPodSafe(_currentStorageLocation, _currentStation.Waypoint, Instance));
case ZoneType.Dropoff: return(Distances.CalculateShortestTimePathPodSafe(_currentStation.Waypoint, _currentStorageLocation, Instance));
default: throw new ArgumentException("Unknown zone type for partitioning: " + _currentZoneType.ToString());
}
},
// Break ties based on the value for the other zone
() =>
{
switch (_currentZoneType)
{
case ZoneType.Cache: return(-Distances.CalculateShortestTimePathPodSafe(_currentStation.Waypoint, _currentStorageLocation, Instance));
case ZoneType.Dropoff: return(-Distances.CalculateShortestTimePathPodSafe(_currentStorageLocation, _currentStation.Waypoint, Instance));
default: throw new ArgumentException("Unknown zone type for partitioning: " + _currentZoneType.ToString());
}
});
// --> Create partitions
// Assign storage locations to different zones
while ( // Check for any remaining assignments
CachePartitions.Values.Any(p => p.Count < cacheWPCountPerStation) ||
DropoffPartitions.Values.Any(p => p.Count < dropoffWPCountPerStation))
{
// Search for next assignment
scorer.Recycle();
OutputStation bestStation = null;
Waypoint bestStorageLocation = null;
ZoneType bestZoneType = ZoneType.None;
// Check all unzoned storage locations
foreach (var storageLocation in UnzonedStorageLocations)
{
_currentStorageLocation = storageLocation;
// Check all stations
foreach (var station in Instance.OutputStations)
{
_currentStation = station;
// Check all types
foreach (var zoneType in zoneTypes)
{
_currentZoneType = zoneType;
// Skip invalid assignments
if (zoneType == ZoneType.Cache && CachePartitions[station].Count >= cacheWPCountPerStation)
{
continue;
}
if (zoneType == ZoneType.Dropoff && DropoffPartitions[station].Count >= dropoffWPCountPerStation)
{
continue;
}
// Determine score and update assignment
if (scorer.Reassess())
{
bestStation = _currentStation;
bestStorageLocation = _currentStorageLocation;
bestZoneType = _currentZoneType;
}
}
}
}
// Sanity check
if (bestStation == null)
{
throw new InvalidOperationException("Ran out of available assignments while partitioning the caches - partitions so far: " +
"Cache: " + string.Join(",", CachePartitions.Select(p => p.Key.ToString() + "(" + p.Value.Count + ")")) +
"Dropoff: " + string.Join(",", DropoffPartitions.Select(p => p.Key.ToString() + "(" + p.Value.Count + ")")));
}
// Set assignment
switch (bestZoneType)
{
case ZoneType.Cache:
CachePartitions[bestStation].Add(bestStorageLocation);
bestStorageLocation.InfoTagCache = ZoneType.Cache;
break;
case ZoneType.Dropoff:
DropoffPartitions[bestStation].Add(bestStorageLocation);
bestStorageLocation.InfoTagCache = ZoneType.Dropoff;
break;
default: throw new InvalidOperationException("Invalid zone determined: " + bestZoneType);
}
UnzonedStorageLocations.Remove(bestStorageLocation);
}
}
}
/// <summary>
/// Initializes this controller.
/// </summary>
private void Initialize()
{
// Setup scorers
switch (_config.OrderSelectionRule)
{
case DefaultOrderSelection.Random:
_bestCandidateSelectOrder = new BestCandidateSelector(false, () =>
{
return(Instance.Randomizer.NextDouble());
});
break;
case DefaultOrderSelection.FCFS:
_bestCandidateSelectOrder = new BestCandidateSelector(false, () =>
{
return(_currentOrder.TimeStamp);
});
break;
case DefaultOrderSelection.DueTime:
_bestCandidateSelectOrder = new BestCandidateSelector(false, () =>
{
return(_currentOrder.DueTime);
});
break;
case DefaultOrderSelection.FrequencyAge:
_bestCandidateSelectOrder = new BestCandidateSelector(false, () =>
{
double orderBirth = 1 - ((_currentOrder.TimeStamp - _oldestOrderTimestamp) / (_newestOrderTimestamp - _oldestOrderTimestamp));
double frequency = _currentOrder.Positions.Average(p => Instance.FrequencyTracker.GetMeasuredFrequency(p.Key));
return(-(orderBirth * frequency));
});
break;
default: throw new ArgumentException("Unknown selection rule: " + _config.OrderSelectionRule);
}
switch (_config.StationSelectionRule)
{
case DefaultOutputStationSelection.Random:
_bestCandidateSelectStation = new BestCandidateSelector(false, () =>
{
return(Instance.Randomizer.NextDouble());
});
break;
case DefaultOutputStationSelection.LeastBusy:
_bestCandidateSelectStation = new BestCandidateSelector(false, () =>
{
return((_currentStation.CapacityInUse + _currentStation.CapacityReserved) / (double)_currentStation.Capacity);
});
break;
case DefaultOutputStationSelection.MostBusy:
_bestCandidateSelectStation = new BestCandidateSelector(false, () =>
{
return(-((_currentStation.CapacityInUse + _currentStation.CapacityReserved) / (double)_currentStation.Capacity));
});
break;
default: throw new ArgumentException("Unknown selection rule: " + _config.OrderSelectionRule);
}
// Setup fast lane helpers
_bestCandidateSelectFastLane = new BestCandidateSelector(true,
// If we run into ties use the oldest order
() =>
{
switch (_config.FastLaneTieBreaker)
{
case Shared.FastLaneTieBreaker.Random: return(Instance.Randomizer.NextDouble());
case Shared.FastLaneTieBreaker.EarliestDueTime: return(-_currentOrder.DueTime);
case Shared.FastLaneTieBreaker.FCFS: return(-_currentOrder.TimeStamp);
default: throw new ArgumentException("Unknown tie breaker: " + _config.FastLaneTieBreaker);
}
});
if (_config.FastLane)
{
_nearestInboundPod = new VolatileIDDictionary <OutputStation, Pod>(Instance.OutputStations.Select(s => new VolatileKeyValuePair <OutputStation, Pod>(s, null)).ToList());
}
}
/// <summary>
/// Decides the next repositioning move to do for the given robot.
/// </summary>
/// <param name="robot">The robot that is asking to conduct such a move.</param>
/// <returns>A repositioning move or <code>null</code> if no such move was available.</returns>
protected override RepositioningMove GetRepositioningMove(Bot robot)
{
// Prepare hot zones
if (_chacheStorageLocations == null)
{
// Ensure valid zones
Instance.SharedControlElements.StoragePartitioner.CreateOrEnsureZones(_config.ZoningConfiguration);
// Store zones for fast access
_chacheStorageLocations = Instance.SharedControlElements.StoragePartitioner.CachePartitions;
foreach (var station in _chacheStorageLocations.Keys)
{
foreach (var storageLocation in _chacheStorageLocations[station])
{
_stationsOfStorageLocations[storageLocation] = station;
}
}
_regularStorageLocations = Instance.Waypoints.Except(_chacheStorageLocations.SelectMany(c => c.Value)).ToHashSet();
}
// Init
if (_bestCandidateSelectorClear == null)
{
_bestCandidateSelectorClear = new BestCandidateSelector(false,
// First try to keep the move on the same tier as the robot
() => { return(_currentPod.Tier == robot.Tier && _currentStorageLocation.Tier == robot.Tier ? 0 : 1); },
// Then try to find a pod useless for the station
() =>
{
// Check the number of potential picks possible with the pod (given by station orders' demand)
int potentialPicks = Instance.ResourceManager.GetExtractRequestsOfStation(_currentStation)
.Concat(Instance.ResourceManager.GetQueuedExtractRequestsOfStation(_currentStation))
.GroupBy(r => r.Item).Sum(g => Math.Min(_currentPod.CountContained(g.Key), g.Count()));
// Use negative potential picks to mark useless pod
return(potentialPicks);
},
// Then try to find a pod useless overall
() =>
{
// Check the number of potential picks possible with the pod (given by all orders' demand)
int potentialPicks = _currentPod.ItemDescriptionsContained.Sum(i => Math.Min(_currentPod.CountContained(i),
Instance.ResourceManager.GetDemandAssigned(i) +
Instance.ResourceManager.GetDemandQueued(i) +
(_config.UselessConsiderBacklog ? Instance.ResourceManager.GetDemandBacklog(i) : 0)));
// Use negative potential picks to mark useless pod
return(potentialPicks);
},
// Then try to use an empty pod
() => { return(_currentPod.CapacityInUse); },
// Then try to get a destination location most near to the input-stations (if pod is considered empty) or the shortest move distance (if pod still has sufficient content)
() =>
{
return((_currentPod.CapacityInUse / _currentPod.Capacity < _config.PodEmptyThreshold) ?
_currentStorageLocation.ShortestPodPathDistanceToNextInputStation :
Distances.CalculateShortestPathPodSafe(_currentPod.Waypoint, _currentStorageLocation, Instance));
},
// Then try to make a move with the pod most near to an output-station
() => { return(_currentPod.Waypoint.ShortestPodPathDistanceToNextOutputStation); });
}
if (_bestCandidateSelectorFill == null)
{
_bestCandidateSelectorFill = new BestCandidateSelector(false,
// First try to keep the move on the same tier as the robot
() => { return(_currentPod.Tier == robot.Tier && _currentStorageLocation.Tier == robot.Tier ? 0 : 1); },
// Then try to find a pod useful for the station
() =>
{
// Check the number of potential picks possible with the pod (given by station orders' demand)
int potentialPicks = Instance.ResourceManager.GetExtractRequestsOfStation(_currentStation)
.Concat(Instance.ResourceManager.GetQueuedExtractRequestsOfStation(_currentStation))
.GroupBy(r => r.Item).Sum(g => Math.Min(_currentPod.CountContained(g.Key), g.Count()));
// Use negative potential picks to mark useless pod
return(-potentialPicks);
},
// Then try to find a pod useful overall
() =>
{
// Check the number of potential picks possible with the pod (given by all orders' demand)
int potentialPicks = _currentPod.ItemDescriptionsContained.Sum(i => Math.Min(_currentPod.CountContained(i),
Instance.ResourceManager.GetDemandAssigned(i) +
Instance.ResourceManager.GetDemandQueued(i) +
(_config.UselessConsiderBacklog ? Instance.ResourceManager.GetDemandBacklog(i) : 0)));
// Use negative potential picks to mark useless pod
return(-potentialPicks);
},
// Then try to use a full pod
() => { return(-_currentPod.CapacityInUse); },
// Then try to do a short move
() => { return(Distances.CalculateShortestPathPodSafe(_currentPod.Waypoint, _currentStorageLocation, Instance)); });
}
// Init
Pod bestPod = null;
Waypoint bestStorageLocation = null;
// Check whether any cache has too many pods
if (Instance.OutputStations.Any(s => NeedsClearingRepositioning(s)))
{
// Clear potential old results
_bestCandidateSelectorClear.Recycle();
// Check all stations
foreach (var station in Instance.OutputStations.Where(s => NeedsClearingRepositioning(s)))
{
// Update current candidate to assess
_currentStation = station;
// Check occupied storage locations of cache of station
foreach (var from in _chacheStorageLocations[station].Where(w => w.Pod != null && !Instance.ResourceManager.IsPodClaimed(w.Pod)))
{
// Check unoccupied storage locations not in a cache
foreach (var to in Instance.ResourceManager.UnusedPodStorageLocations.Where(w => _regularStorageLocations.Contains(w)))
{
// Update current candidate to assess
_currentPod = from.Pod;
_currentStorageLocation = to;
// Check whether the current combination is better
if (_bestCandidateSelectorClear.Reassess())
{
// Update best candidate
bestPod = _currentPod;
bestStorageLocation = _currentStorageLocation;
}
}
}
}
}
// Check whether any cache has too few pods
if (Instance.OutputStations.Any(s => NeedsFillingRepositioning(s)))
{
// Clear potential old results
_bestCandidateSelectorFill.Recycle();
// Check all stations
foreach (var station in Instance.OutputStations.Where(s => NeedsFillingRepositioning(s)))
{
// Update current candidate to assess
_currentStation = station;
// Check unused pods
foreach (var pod in Instance.ResourceManager.UnusedPods.Where(p => _regularStorageLocations.Contains(p.Waypoint)))
{
// Check unoccupied storage locations of cache of station
foreach (var to in _chacheStorageLocations[station].Where(w => !Instance.ResourceManager.IsStorageLocationClaimed(w)))
{
// Update current candidate to assess
_currentPod = pod;
_currentStorageLocation = to;
// Check whether the current combination is better
if (_bestCandidateSelectorFill.Reassess())
{
// Update best candidate
bestPod = _currentPod;
bestStorageLocation = _currentStorageLocation;
}
}
}
}
}
// Check whether a move was obtained
if (bestPod != null)
{
// Return the move
return(new RepositioningMove()
{
Pod = bestPod, StorageLocation = bestStorageLocation
});
}
else
{
// No move available - block calls for a while
GlobalTimeout = Instance.Controller.CurrentTime + _config.GlobalTimeout;
return(null);
}
}