public override void ToggleVoxel(Voxel targetVoxel)
{
MatterSystem.ExecuteCommand(1, new CommandFill(MatterSystem.Bots[1].Position.Offset(targetVoxel)));
Octree.Remove(targetVoxel);
}
public void Solve(string outputFile)
{
if (outputFile != null)
{
Name = Path.GetFileNameWithoutExtension(outputFile);
}
// get all the target voxels
RemainingVoxels = new HashSet <Voxel>(MatterSystem.Matrix.Storage.Where(x => x.Filled != x.Target));
var lastCompletePercent = 0;
var startCount = RemainingVoxels.Count;
Log.Info($"{Name} Total targets: {RemainingVoxels.Count:N0}");
while (RemainingVoxels.Count > 0)
{
var(targetVoxel, moveTarget) = ChooseNextTarget();
// move bot to a nearby if we're not there
if (MatterSystem.Bots[1].Position != moveTarget)
{
var route = AstarMatrixPather.GetRouteTo(MatterSystem.Bots[1].Position, moveTarget);
MatterSystem.ExecuteCommands(CommandOptimizer.Compress(route));
}
// fill/void it
ToggleVoxel(targetVoxel);
// remove it from targets
RemainingVoxels.Remove(targetVoxel);
var complete = (int)(100 - ((float)RemainingVoxels.Count / startCount * 100));
if (complete != lastCompletePercent)
{
lastCompletePercent = complete;
Log.Info($"{Name} {complete:N0}% complete ({RemainingVoxels.Count:N0} remaining)");
}
}
// move to home
var homeRoute = AstarMatrixPather.GetRouteTo(MatterSystem.Bots[1].Position, MatterSystem.Matrix.Get(0, 0, 0));
if (homeRoute == null)
{
TraceFile.WriteTraceFile(outputFile + ".failed", MatterSystem.Trace);
Log.Error($"{Path.GetFileNameWithoutExtension(outputFile)} Failed with {RemainingVoxels.Count:N0} targets left");
return;
}
MatterSystem.ExecuteCommands(CommandOptimizer.Compress(homeRoute));
if (outputFile != null)
{
// halt
MatterSystem.ExecuteCommand(1, new CommandHalt());
// save trace file
TraceFile.WriteTraceFile(outputFile, MatterSystem.Trace);
Log.Debug($"{Path.GetFileNameWithoutExtension(outputFile)} Finished solution ");
}
}