/// <summary>
/// Returns a suitable storage location for the given pod.
/// </summary>
/// <param name="pod">The pod to fetch a storage location for.</param>
/// <returns>The storage location to use.</returns>
protected override Waypoint GetStorageLocationForPod(Pod pod)
{
// Ensure init
if (_bestCandidateSelector == null)
{
Init();
}
// Get output station this pod is coming from (it has to be the nearest one)
_currentStation = Instance.OutputStations.ArgMin(s => Distances.CalculateEuclid(s, pod, Instance.WrongTierPenaltyDistance));
// Get current pod location (pod has to be at station's position right now)
_currentPodLocation = _currentStation.Waypoint;
// Determine whether the pod should be put in the cache
double cacheUtilityValue =
Instance.SharedControlElements.StoragePartitioner.GetCacheValue(pod, _currentStation, _config.WeightSpeed, _config.WeightUtility);
double cacheFill =
(double)Instance.SharedControlElements.StoragePartitioner.CachePartitions[_currentStation].Count(c => c.Pod != null) /
Instance.SharedControlElements.StoragePartitioner.CachePartitions[_currentStation].Count;
_currentCacheable = ((1 - cacheFill) * _config.WeightCacheFill + cacheUtilityValue * _config.WeightCacheUtility) / 2.0 > _config.PodCacheableThreshold;
// Get best storage location
_bestCandidateSelector.Recycle();
Waypoint bestStorageLocation = null;
foreach (var storageLocation in Instance.ResourceManager.UnusedPodStorageLocations)
{
// Update current candidate
_currentStorageLocation = storageLocation;
// Assess new candidate
if (_bestCandidateSelector.Reassess())
{
bestStorageLocation = _currentStorageLocation;
}
}
// Return it
return(bestStorageLocation);
}
/// <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)
{
// Ensure init
if (_bestCandidateSelector == null)
{
Init();
}
// Prepare some meta info
PrepareAssessment();
// Init
Pod bestPod = null;
Waypoint bestStorageLocation = null;
// Clear potential old results
_bestCandidateSelector.Recycle();
// Search for best move
foreach (var pod in Instance.ResourceManager.UnusedPods)
{
// Update current candidate to assess
_currentPod = pod;
// If the pod is stored at a drop-off location, we need information about its cache potential
if (pod.Waypoint.InfoTagCache == ZoneType.Dropoff)
{
// Update cacheable info
foreach (var station in Instance.OutputStations)
{
_cacheableInfoPerStation[station] =
// Determine cacheable
Instance.SharedControlElements.StoragePartitioner.GetCacheValue(pod, station, _config.WeightSpeed, _config.WeightUtility) > _config.PodCacheableThreshold;
}
_cacheableAtAll = _cacheableInfoPerStation.Any();
}
// Assess all valid pod destination combinations
foreach (var storageLocation in Instance.ResourceManager.UnusedPodStorageLocations.Where(sl => IsValidMove(pod, sl)))
{
// Update current candidate to assess
_currentStorageLocation = storageLocation;
// Check whether the current combination is better
if (_bestCandidateSelector.Reassess())
{
// Update best candidate
bestPod = _currentPod;
bestStorageLocation = _currentStorageLocation;
}
}
}
// Check for unavailable or useless move
if (bestPod != null)
{
// Return the move
return(new RepositioningMove()
{
Pod = bestPod, StorageLocation = bestStorageLocation
});
}
else
{
// No suitable move ... penalize with a timeout
GlobalTimeout = Instance.Controller.CurrentTime + _config.GlobalTimeout;
return(null);
}
}
/// <summary>
/// This is called to decide about potentially pending orders.
/// This method is being timed for statistical purposes and is also ONLY called when <code>SituationInvestigated</code> is <code>false</code>.
/// Hence, set the field accordingly to react on events not tracked by this outer skeleton.
/// </summary>
protected override void DecideAboutPendingOrders()
{
// If not initialized, do it now
if (_bestCandidateSelectNormal == null)
{
Initialize();
}
// Define filter functions
Func <OutputStation, bool> validStationNormalAssignment = _config.FastLane ? (Func <OutputStation, bool>)IsAssignableKeepFastLaneSlot : IsAssignable;
Func <OutputStation, bool> validStationFastLaneAssignment = IsAssignable;
// Get some meta info
PrepareAssessment();
// Assign fast lane orders while possible
bool furtherOptions = true;
while (furtherOptions && _config.FastLane)
{
// Prepare helpers
OutputStation chosenStation = null;
Order chosenOrder = null;
_bestCandidateSelectFastLane.Recycle();
// Look for next station to assign orders to
foreach (var station in Instance.OutputStations
// Station has to be valid
.Where(s => validStationFastLaneAssignment(s)))
{
// Set station
_currentStation = station;
// Check whether there is a suitable pod
if (_nearestInboundPod[station] != null && _nearestInboundPod[station].GetDistance(station) < Instance.SettingConfig.Tolerance)
{
// Search for best order for the station in all fulfillable orders
foreach (var order in _pendingOrders.Where(o =>
// Order needs to be immediately fulfillable
o.Positions.All(p => _nearestInboundPod[station].CountAvailable(p.Key) >= p.Value)))
{
// Set order
_currentOrder = order;
// --> Assess combination
if (_bestCandidateSelectFastLane.Reassess())
{
chosenStation = _currentStation;
chosenOrder = _currentOrder;
}
}
}
}
// Assign best order if available
if (chosenOrder != null)
{
// Assign the order
AllocateOrder(chosenOrder, chosenStation);
// Log fast lane assignment
Instance.StatCustomControllerInfo.CustomLogOB1++;
}
else
{
// No more options to assign orders to stations
furtherOptions = false;
}
}
// Assign orders while possible
furtherOptions = true;
while (furtherOptions)
{
// Prepare helpers
OutputStation chosenStation = null;
Order chosenOrder = null;
_bestCandidateSelectNormal.Recycle();
// Look for next station to assign orders to
foreach (var station in Instance.OutputStations
// Station has to be valid
.Where(s => validStationNormalAssignment(s)))
{
// Set station
_currentStation = station;
// Search for best order for the station in all fulfillable orders
foreach (var order in _pendingOrders.Where(o => o.Positions.All(p => Instance.StockInfo.GetActualStock(p.Key) >= p.Value)))
{
// Set order
_currentOrder = order;
// --> Assess combination
if (_bestCandidateSelectNormal.Reassess())
{
chosenStation = _currentStation;
chosenOrder = _currentOrder;
}
}
}
// Assign best order if available
if (chosenOrder != null)
{
// Assign the order
AllocateOrder(chosenOrder, chosenStation);
// Log score statistics
if (_statScorerValues == null)
{
_statScorerValues = _bestCandidateSelectNormal.BestScores.ToArray();
}
else
{
for (int i = 0; i < _bestCandidateSelectNormal.BestScores.Length; i++)
{
_statScorerValues[i] += _bestCandidateSelectNormal.BestScores[i];
}
}
_statAssignments++;
Instance.StatCustomControllerInfo.CustomLogOB2 = _statScorerValues[_statLinesInCommonScoreIndex] / _statAssignments;
}
else
{
// No more options to assign orders to stations
furtherOptions = false;
}
}
}
/// <summary>
/// This is called to decide about potentially pending orders.
/// This method is being timed for statistical purposes and is also ONLY called when <code>SituationInvestigated</code> is <code>false</code>.
/// Hence, set the field accordingly to react on events not tracked by this outer skeleton.
/// </summary>
protected override void DecideAboutPendingOrders()
{
// --> Define filter functions
// Define station filter for order to station assignment
Func <OutputStation, bool> validStation = _config.FastLane ? (Func <OutputStation, bool>)ValidStationKeepFastLane : ValidStationIgnoreFastLane;
// Only assign as many orders to the queue as specified
Func <HashSet <Order>, bool> validQueue = (HashSet <Order> q) => { return(q.Count < _config.QueueLength); };
// --> Initiate
Init();
// Keep track of assignment success
bool success = false;
// --> Prepare meta information (if any valid assignment opportunity)
if (Instance.OutputStations.Any(s => (_config.FastLane && ValidStationIgnoreFastLane(s)) || validStation(s)) || _stationQueues.Values.Any(q => validQueue(q)))
{
PrepareAssessment();
}
// --> ASSIGN ORDERS TO QUEUES
do
{
// Reset indicator
success = false;
// Reset
_bestCandidateSelectorQueue.Recycle();
Order bestOrder = null;
OutputStation bestStation = null;
// Try all assignable orders
foreach (var order in _pendingOrders.Where(o => o.Positions.All(p => Instance.StockInfo.GetActualStock(p.Key) >= p.Value)))
{
// Update current order
_currentOrder = order;
// Try all station queues
foreach (var stationQueueKVP in _stationQueues.Where(q => validQueue(q.Value)))
{
// Update current station
_currentStation = stationQueueKVP.Key;
// Assess
if (_bestCandidateSelectorQueue.Reassess())
{
bestOrder = _currentOrder;
bestStation = _currentStation;
}
}
}
// Commit best assignment
if (bestOrder != null && bestStation != null)
{
success = true;
_pendingOrders.Remove(bestOrder);
_stationQueues[bestStation].Add(bestOrder);
// Announce queue decision
Instance.Controller.Allocator.Queue(bestOrder, bestStation);
}
}while (success);
// --> ASSIGN ORDERS TO FAST-LANE OF THE STATIONS
if (_config.FastLane)
{
do
{
// Reset indicator
success = false;
// Assign orders from queue for all valid stations
foreach (var station in Instance.OutputStations.Where(s => ValidStationIgnoreFastLane(s)))
{
// Only consider, if pod is in front of station
if (_nearestInboundPod[station] == null || _nearestInboundPod[station].GetDistance(station) > Instance.SettingConfig.Tolerance)
{
continue;
}
// Reset
_bestCandidateSelectorFastLane.Recycle();
Order bestOrder = null;
_currentStation = station;
// Check all queued orders
foreach (var order in _stationQueues[station])
{
// Update current order
_currentOrder = order;
// Only consider valid assignment
if (!ValidFastLaneAssignment(_currentStation, _currentOrder))
{
continue;
}
// Assess
if (_bestCandidateSelectorFastLane.Reassess())
{
bestOrder = _currentOrder;
}
}
// Commit best assignment
if (bestOrder != null)
{
success = true;
_stationQueues[station].Remove(bestOrder);
AllocateOrder(bestOrder, station);
}
else
{
// Reset
_bestCandidateSelectorFastLane.Recycle();
bestOrder = null;
_currentStation = station;
// Check all pending orders
foreach (var order in _pendingOrders)
{
// Update current order
_currentOrder = order;
// Only consider valid assignment
if (!ValidFastLaneAssignment(_currentStation, _currentOrder))
{
continue;
}
// Assess
if (_bestCandidateSelectorFastLane.Reassess())
{
bestOrder = _currentOrder;
}
}
// Commit best assignment
if (bestOrder != null)
{
success = true;
_pendingOrders.Remove(bestOrder);
AllocateOrder(bestOrder, station);
}
}
}
}while (success);
}
// --> ASSIGN ORDERS FROM QUEUES TO STATIONS
do
{
// Reset indicator
success = false;
// Assign orders from queue for all valid stations
foreach (var station in Instance.OutputStations.Where(s => validStation(s)))
{
// Reset
_bestCandidateSelectorStation.Recycle();
Order bestOrder = null;
_currentStation = station;
// Check all queued orders
foreach (var order in _stationQueues[station].Where(o => o.Positions.All(p => Instance.StockInfo.GetActualStock(p.Key) >= p.Value)))
{
// Update current order
_currentOrder = order;
// Assess
if (_bestCandidateSelectorStation.Reassess())
{
bestOrder = _currentOrder;
}
}
// Commit best assignment
if (bestOrder != null)
{
success = true;
_stationQueues[station].Remove(bestOrder);
AllocateOrder(bestOrder, station);
}
}
}while (success);
}
/// <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>
/// This is called to decide about potentially pending orders.
/// This method is being timed for statistical purposes and is also ONLY called when <code>SituationInvestigated</code> is <code>false</code>.
/// Hence, set the field accordingly to react on events not tracked by this outer skeleton.
/// </summary>
protected override void DecideAboutPendingOrders()
{
// If not initialized, do it now
if (_bestCandidateSelectOrder == null)
{
Initialize();
}
// Define filter functions
Func <OutputStation, bool> validStationNormalAssignment = _config.FastLane ? (Func <OutputStation, bool>)IsAssignableKeepFastLaneSlot : IsAssignable;
Func <OutputStation, bool> validStationFastLaneAssignment = IsAssignable;
// Get some meta info
PrepareAssessment();
// Assign fast lane orders while possible
bool furtherOptions = true;
while (furtherOptions && _config.FastLane)
{
// Prepare helpers
OutputStation chosenStation = null;
Order chosenOrder = null;
_bestCandidateSelectFastLane.Recycle();
// Look for next station to assign orders to
foreach (var station in Instance.OutputStations
// Station has to be valid
.Where(s => validStationFastLaneAssignment(s)))
{
// Set station
_currentStation = station;
// Check whether there is a suitable pod
if (_nearestInboundPod[station] != null && _nearestInboundPod[station].GetDistance(station) < Instance.SettingConfig.Tolerance)
{
// Search for best order for the station in all fulfillable orders
foreach (var order in _pendingOrders.Where(o =>
// Order needs to be immediately fulfillable
o.Positions.All(p => _nearestInboundPod[station].CountAvailable(p.Key) >= p.Value)))
{
// Set order
_currentOrder = order;
// --> Assess combination
if (_bestCandidateSelectFastLane.Reassess())
{
chosenStation = _currentStation;
chosenOrder = _currentOrder;
}
}
}
}
// Assign best order if available
if (chosenOrder != null)
{
// Assign the order
AllocateOrder(chosenOrder, chosenStation);
// Log fast lane assignment
Instance.StatCustomControllerInfo.CustomLogOB1++;
}
else
{
// No more options to assign orders to stations
furtherOptions = false;
}
}
// Repeat normal assignment until no further options
furtherOptions = true;
while (furtherOptions)
{
// Prepare some helper values
if (_config.OrderSelectionRule == DefaultOrderSelection.FrequencyAge)
{
_oldestOrderTimestamp = _pendingOrders.Where(o => o.Positions.All(p => Instance.StockInfo.GetActualStock(p.Key) >= p.Value)).MinOrDefault(o => o.TimeStamp, -1);
_newestOrderTimestamp = _pendingOrders.Where(o => o.Positions.All(p => Instance.StockInfo.GetActualStock(p.Key) >= p.Value)).MaxOrDefault(o => o.TimeStamp, -1);
// Avoid division by zero, if necessary
if (_oldestOrderTimestamp == _newestOrderTimestamp)
{
_newestOrderTimestamp += 1;
}
}
// Choose order
_bestCandidateSelectOrder.Recycle();
Order bestOrder = null;
foreach (var order in _pendingOrders.Where(o => o.Positions.All(p => Instance.StockInfo.GetActualStock(p.Key) >= p.Value)))
{
// Update candidate
_currentOrder = order;
// Assess next order
if (_bestCandidateSelectOrder.Reassess())
{
bestOrder = _currentOrder;
}
}
// Check success
if (bestOrder != null)
{
// Try to reuse the last station for this order
OutputStation bestStation = null;
bool recycling = false;
if (_config.Recycle && _lastChosenStation != null && _lastChosenStation.Active && _lastChosenStation.FitsForReservation(bestOrder))
{
// Last chosen station can be used for this order too
bestStation = _lastChosenStation;
recycling = true;
}
else
{
// Choose new station
_bestCandidateSelectStation.Recycle();
foreach (var station in Instance.OutputStations.Where(s => validStationNormalAssignment(s)))
{
// Update candidate
_currentStation = station;
// Assess next order
if (_bestCandidateSelectStation.Reassess())
{
bestStation = _currentStation;
}
}
// Store decision
_lastChosenStation = bestStation;
}
// Check success
if (bestStation != null)
{
// Add the assignment to the ready list
AllocateOrder(bestOrder, bestStation);
// Log score statistics (order)
if (_statScorerValuesOrder == null)
{
_statScorerValuesOrder = _bestCandidateSelectOrder.BestScores.ToArray();
}
else
{
for (int i = 0; i < _bestCandidateSelectOrder.BestScores.Length; i++)
{
_statScorerValuesOrder[i] += _bestCandidateSelectOrder.BestScores[i];
}
}
_statOrderSelections++;
Instance.StatCustomControllerInfo.CustomLogOB1 = _statScorerValuesOrder[0] / _statOrderSelections;
// Log score statistics (station)
if (!recycling)
{
if (_statScorerValuesStation == null)
{
_statScorerValuesStation = _bestCandidateSelectStation.BestScores.ToArray();
}
else
{
for (int i = 0; i < _bestCandidateSelectStation.BestScores.Length; i++)
{
_statScorerValuesStation[i] += _bestCandidateSelectStation.BestScores[i];
}
}
_statStationSelections++;
Instance.StatCustomControllerInfo.CustomLogOB2 = _statScorerValuesStation[0] / _statStationSelections;
}
}
else
{
// No further options
furtherOptions = false;
}
}
else
{
// No further options
furtherOptions = false;
}
}
}
/// <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);
}
}
