/// <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());
}
private double Score(QueueOrderSelectionInboundMatches config, bool queueAssignment)
{
// Init
int podCount = _inboundPodsByDistance[_currentStation].Count;
int podNumber = 0;
double score = 0;
// Get demands given by the current order
List <IGrouping <ItemDescription, ExtractRequest> > demands = Instance.ResourceManager.GetExtractRequestsOfOrder(_currentOrder).GroupBy(r => r.Item).ToList();
foreach (var itemRequests in demands)
{
_orderItemDemand[itemRequests.Key] = itemRequests.Count();
}
// Check all inbound pods
foreach (var pod in _inboundPodsByDistance[_currentStation])
{
// Get distance to pod
double distance;
if (pod.Bot != null && pod.Bot.CurrentWaypoint != null)
{
// Use the path distance (this should always be possible)
distance = Distances.CalculateShortestPathPodSafe(pod.Bot.CurrentWaypoint, _currentStation.Waypoint, Instance);
}
else
{
// Use manhattan distance as a fallback
distance = Distances.CalculateManhattan(pod, _currentStation, Instance.WrongTierPenaltyDistance);
}
// Check all demands for the order for availability in the pod
foreach (var item in demands.Select(d => d.Key))
{
// If there is no demand left, skip this item
if (_orderItemDemand[item] <= 0)
{
continue;
}
// Get available count
int availableCount = Math.Min(_orderItemDemand[item], pod.CountAvailable(item));
// Update demand for item with available count
_orderItemDemand[item] -= availableCount;
// Update score by taking distance to pod into account
score += availableCount * distance > config.DistanceForWeighting ?
// Pod is too far away, do not weight it's resulting score
1 :
// Pod is sufficiently near, weight it's score by it's position in queue
(podCount - podNumber);
}
// Track pod number
podNumber++;
}
// Return the score
return(score);
}
/// <summary>
/// Decides the waypoint to use when storing a pod. This call is measured by the timing done.
/// </summary>
/// <param name="pod">The pod to store.</param>
/// <returns>The waypoint to use.</returns>
protected override Waypoint GetStorageLocationForPod(Pod pod)
{
double minDistance = double.PositiveInfinity; Waypoint bestStorageLocation = null;
foreach (var storageLocation in Instance.ResourceManager.UnusedPodStorageLocations)
{
// Calculate the distance
double distance;
switch (_config.PodDisposeRule)
{
case StationBasedPodStorageLocationDisposeRule.Euclid:
distance = (_config.OutputStationMode ? Instance.OutputStations.Cast <Circle>() : Instance.InputStations.Cast <Circle>())
.Min(station => Distances.CalculateEuclid(station, storageLocation, Instance.WrongTierPenaltyDistance));
break;
case StationBasedPodStorageLocationDisposeRule.Manhattan:
distance = (_config.OutputStationMode ? Instance.OutputStations.Cast <Circle>() : Instance.InputStations.Cast <Circle>())
.Min(station => Distances.CalculateManhattan(station, storageLocation, Instance.WrongTierPenaltyDistance));
break;
case StationBasedPodStorageLocationDisposeRule.ShortestPath:
distance = (_config.OutputStationMode ? Instance.OutputStations.Select(s => s.Waypoint) : Instance.InputStations.Select(s => s.Waypoint))
.Min(station => Distances.CalculateShortestPathPodSafe(storageLocation, station, Instance));
break;
case StationBasedPodStorageLocationDisposeRule.ShortestTime:
distance = (_config.OutputStationMode ? Instance.OutputStations.Select(s => s.Waypoint) : Instance.InputStations.Select(s => s.Waypoint))
.Min(station => Distances.CalculateShortestTimePathPodSafe(storageLocation, station, Instance));
break;
default: throw new ArgumentException("Unknown pod dispose rule: " + _config.PodDisposeRule);
}
// Update minimum
if (distance < minDistance)
{
minDistance = distance;
bestStorageLocation = storageLocation;
}
}
// Check success
if (bestStorageLocation == null)
{
throw new InvalidOperationException("There was no suitable storage location for the pod: " + pod.ToString());
}
// Return it
return(bestStorageLocation);
}
/// <summary>
/// Prepares another assessment run.
/// </summary>
private void PrepareAssessment()
{
if (_orderItemDemand == null)
{
_orderItemDemand = new VolatileIDDictionary <ItemDescription, int>(Instance.ItemDescriptions.Select(i => new VolatileKeyValuePair <ItemDescription, int>(i, 0)).ToList());
}
Instance.OutputStations.ForEach(station => _inboundPodsByDistance[station] = station.InboundPods.OrderBy(p =>
{
if (p.Bot != null && p.Bot.CurrentWaypoint != null)
{
// Use the path distance (this should always be possible)
return(Distances.CalculateShortestPathPodSafe(p.Bot.CurrentWaypoint, station.Waypoint, Instance));
}
else
{
// Use manhattan distance as a fallback
return(Distances.CalculateManhattan(p, station, Instance.WrongTierPenaltyDistance));
}
}).ToList());
Instance.OutputStations.ForEach(station => _nearestInboundPod[station] = _inboundPodsByDistance[station].FirstOrDefault());;
}
/// <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)
{
double minDistance = double.PositiveInfinity; Waypoint bestStorageLocation = null;
Waypoint podLocation = // Get current waypoint of pod, if we want to estimate a path
_config.PodDisposeRule == NearestPodStorageLocationDisposeRule.ShortestPath || _config.PodDisposeRule == NearestPodStorageLocationDisposeRule.ShortestTime ?
Instance.WaypointGraph.GetClosestWaypoint(pod.Tier, pod.X, pod.Y) :
null;
foreach (var storageLocation in Instance.ResourceManager.UnusedPodStorageLocations)
{
// Calculate the distance
double distance;
switch (_config.PodDisposeRule)
{
case NearestPodStorageLocationDisposeRule.Euclid: distance = Distances.CalculateEuclid(pod, storageLocation, Instance.WrongTierPenaltyDistance); break;
case NearestPodStorageLocationDisposeRule.Manhattan: distance = Distances.CalculateManhattan(pod, storageLocation, Instance.WrongTierPenaltyDistance); break;
case NearestPodStorageLocationDisposeRule.ShortestPath: distance = Distances.CalculateShortestPathPodSafe(podLocation, storageLocation, Instance); break;
case NearestPodStorageLocationDisposeRule.ShortestTime: distance = Distances.CalculateShortestTimePathPodSafe(podLocation, storageLocation, Instance); break;
default: throw new ArgumentException("Unknown pod dispose rule: " + _config.PodDisposeRule);
}
// Update minimum
if (distance < minDistance)
{
minDistance = distance;
bestStorageLocation = storageLocation;
}
}
// Check success
if (bestStorageLocation == null)
{
throw new InvalidOperationException("There was no suitable storage location for the pod: " + pod.ToString());
}
// Return it
return(bestStorageLocation);
}
/// <summary>
/// Prepares some meta information.
/// </summary>
private void PrepareAssessment()
{
if (_config.FastLane)
{
foreach (var station in Instance.OutputStations.Where(s => IsAssignable(s)))
{
_nearestInboundPod[station] = station.InboundPods.ArgMin(p =>
{
if (p.Bot != null && p.Bot.CurrentWaypoint != null)
{
// Use the path distance (this should always be possible)
return(Distances.CalculateShortestPathPodSafe(p.Bot.CurrentWaypoint, station.Waypoint, Instance));
}
else
{
// Use manhattan distance as a fallback
return(Distances.CalculateManhattan(p, station, Instance.WrongTierPenaltyDistance));
}
});
}
}
}
/// <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()
{
foreach (var order in _pendingOrders.Where(o => o.Positions.All(p => Instance.StockInfo.GetActualStock(p.Key) >= p.Value)).ToArray())
{
// Check all pods for the maximum number of picks that can be done with them
List <Pod> bestPods = new List <Pod>();
int bestPodPicks = -1;
foreach (var pod in Instance.Pods.Where(p => !p.InUse))
{
// Calculate picks that can potentially be done with the pod
int picks = order.Positions.Sum(pos => Math.Min(pod.CountAvailable(pos.Key), pos.Value));
// Check whether we found even more possible picks with this pod
if (bestPodPicks < picks)
{
bestPods.Clear();
bestPods.Add(pod);
bestPodPicks = picks;
}
else
{
// Check whether the current pod belongs into the winner group
if (bestPodPicks == picks)
{
bestPods.Add(pod);
}
}
}
// Choose station nearest to one of the best pods
OutputStation chosenStation = null;
double shortestDistance = double.PositiveInfinity;
foreach (var station in Instance.OutputStations.Where(s => s.Active && s.FitsForReservation(order)))
{
foreach (var pod in bestPods)
{
double distance;
switch (_config.DistanceRule)
{
case NearBestPodOrderBatchingDistanceRule.Euclid: distance = Distances.CalculateEuclid(pod, station, Instance.WrongTierPenaltyDistance); break;
case NearBestPodOrderBatchingDistanceRule.Manhattan: distance = Distances.CalculateManhattan(pod, station, Instance.WrongTierPenaltyDistance); break;
case NearBestPodOrderBatchingDistanceRule.ShortestPath: distance = Distances.CalculateShortestPathPodSafe(pod.Waypoint, station.Waypoint, Instance); break;
default: throw new ArgumentException("Unknown distance rule: " + _config.DistanceRule);
}
if (distance < shortestDistance)
{
shortestDistance = distance;
chosenStation = station;
}
}
}
// If we found a station, assign the bundle to it
if (chosenStation != null)
{
AllocateOrder(order, chosenStation);
}
}
}
/// <summary>
/// Reallocates the pods to different classes.
/// </summary>
private void ReallocatePods()
{
// Sort pods by their current average frequency
_podsOrdered = Instance.Pods
.OrderBy(p => p.ItemDescriptionsContained.Any() ? p.ItemDescriptionsContained.Average(item => item.OrderCount) : 0)
.ThenBy(p => Instance.OutputStations.Min(o =>
{
double value = 0;
switch (_storageLocationClassRule)
{
case TurnoverPodStorageLocationClassRule.OutputStationDistanceEuclidean:
value = Distances.CalculateEuclid(p, o, Instance.WrongTierPenaltyDistance); break;
case TurnoverPodStorageLocationClassRule.OutputStationDistanceManhattan:
value = Distances.CalculateManhattan(p, o, Instance.WrongTierPenaltyDistance); break;
case TurnoverPodStorageLocationClassRule.OutputStationDistanceShortestPath:
value = Distances.CalculateShortestPathPodSafe(Instance.WaypointGraph.GetClosestWaypoint(p.Tier, p.X, p.Y), o.Waypoint, Instance); break;
case TurnoverPodStorageLocationClassRule.OutputStationDistanceShortestTime:
value = Distances.CalculateShortestTimePathPodSafe(Instance.WaypointGraph.GetClosestWaypoint(p.Tier, p.X, p.Y), o.Waypoint, Instance); break;
default: throw new ArgumentException("Unknown storage location rule: " + _storageLocationClassRule);
}
return(value);
}))
.ToList();
// Determine the shares of the capacity of the storage location classes
double overallCapacity = _classStorageLocations.Sum(l => l.Count);
Dictionary <int, double> classStorageCapacityShares = new Dictionary <int, double>();
for (int i = 0; i < _classCount; i++)
{
classStorageCapacityShares[i] = _classStorageLocations[i].Count / overallCapacity;
}
// Group pods to classes
_podClasses = new Dictionary <Pod, int>();
_classStoragePods = Enumerable.Range(0, _classCount).Select(i => new List <Pod>()).ToArray();
int currentClass = 0; int podCount = 0; double aggregatedRelativeCapacity = classStorageCapacityShares[0];
foreach (var pod in _podsOrdered)
{
podCount++;
// See whether the pod still fits in the current storage location area
if ((double)podCount / _podsOrdered.Count > aggregatedRelativeCapacity)
{
// Update virtual capacity
currentClass++;
if (currentClass < _classCount)
{
aggregatedRelativeCapacity += classStorageCapacityShares[currentClass];
}
}
// Assign the pod to the class
_podClasses[pod] = currentClass;
_classStoragePods[currentClass].Add(pod);
// Mark the pods
pod.InfoTagPodStorageType = (_classCount - currentClass - 1.0) / (_classCount - 1.0);
pod.InfoTagPodStorageInfo = "Class" + currentClass;
}
// Log this reallocation
Instance.LogInfo("Reallocated pods - classes: " + string.Join(";", Enumerable.Range(0, _classCount).Select(c => c + ":" + _classStoragePods[c].Count)));
// Mark this re-allocation
_lastReallocation = Instance.Controller.CurrentTime;
}
/// <summary>
/// Initializes this manager.
/// </summary>
private void Init()
{
// Remember initialization
_initialized = true;
// Fetch additional settings
if (Instance.Controller.PodStorageManager is TurnoverPodStorageManager)
{
_storageLocationClassRule = (Instance.ControllerConfig.PodStorageConfig as TurnoverPodStorageConfiguration).StorageLocationClassRule;
}
// Initialize ordered storage location list
_storageLocationsOrdered = Instance.Waypoints
.Where(wp => wp.PodStorageLocation)
.OrderBy(wp => Instance.OutputStations.Min(o =>
{
double value = 0;
switch (_storageLocationClassRule)
{
case TurnoverPodStorageLocationClassRule.OutputStationDistanceEuclidean: value = Distances.CalculateEuclid(wp, o, Instance.WrongTierPenaltyDistance); break;
case TurnoverPodStorageLocationClassRule.OutputStationDistanceManhattan: value = Distances.CalculateManhattan(wp, o, Instance.WrongTierPenaltyDistance); break;
case TurnoverPodStorageLocationClassRule.OutputStationDistanceShortestPath: value = Distances.CalculateShortestPathPodSafe(wp, o.Waypoint, Instance); break;
case TurnoverPodStorageLocationClassRule.OutputStationDistanceShortestTime: value = Distances.CalculateShortestTimePathPodSafe(wp, o.Waypoint, Instance); break;
default: throw new ArgumentException("Unknown storage location rule: " + _storageLocationClassRule);
}
return(value);
}))
.ToList();
// Allocate storage locations to classes
_classStorageLocations = new List <Waypoint> [_classCount];
List <Waypoint> tempPodsOrdered = _storageLocationsOrdered.ToList();
for (int i = 0; i < _classCount; i++)
{
if (i < _classCount - 1)
{
_classStorageLocations[i] = tempPodsOrdered.Take((int)(_classBorders[i] * _storageLocationsOrdered.Count)).ToList();
tempPodsOrdered.RemoveRange(0, _classStorageLocations[i].Count);
}
else
{
_classStorageLocations[i] = tempPodsOrdered;
}
}
// Log this reallocation
Instance.LogInfo("Allocated storage locations - classes: " + string.Join(";", Enumerable.Range(0, _classCount).Select(c => c + ":" + _classStorageLocations[c].Count)));
// Reallocate items and pods for the first time
ReallocatePods();
// Reallocate items and pods for the first time
ReallocateItems();
}
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>
/// 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);
}
}
/// <summary>
/// Chooses the storage location to use for the given pod.
/// </summary>
/// <param name="pod">The pod to store.</param>
/// <returns>The storage location to use for the pod.</returns>
private Waypoint ChooseStorageLocation(Pod pod)
{
// Get the storage class the pod should end up in
int desiredStorageClass = _classManager.DetermineStorageClass(pod);
// Try to allocate the pod to its storage class - if not possible try neighboring classes
int currentClassTriedLow = desiredStorageClass; int currentClassTriedHigh = desiredStorageClass;
Waypoint chosenStorageLocation = null;
while (true)
{
// Try the less frequent class first
if (currentClassTriedLow < _classManager.ClassCount)
{
chosenStorageLocation = _classManager.GetClassStorageLocations(currentClassTriedLow)
.Where(wp => !Instance.ResourceManager.IsStorageLocationClaimed(wp)) // Only use not occupied ones
.OrderBy(wp =>
{
switch (_config.PodDisposeRule)
{
case TurnoverPodStorageLocationDisposeRule.NearestEuclid:
return(Distances.CalculateEuclid(wp, pod, Instance.WrongTierPenaltyDistance));
case TurnoverPodStorageLocationDisposeRule.NearestManhattan:
return(Distances.CalculateManhattan(wp, pod, Instance.WrongTierPenaltyDistance));
case TurnoverPodStorageLocationDisposeRule.NearestShortestPath:
return(Distances.CalculateShortestPathPodSafe(Instance.WaypointGraph.GetClosestWaypoint(pod.Tier, pod.X, pod.Y), wp, Instance));
case TurnoverPodStorageLocationDisposeRule.NearestShortestTime:
return(Distances.CalculateShortestTimePathPodSafe(Instance.WaypointGraph.GetClosestWaypoint(pod.Tier, pod.X, pod.Y), wp, Instance));
case TurnoverPodStorageLocationDisposeRule.OStationNearestEuclid:
return(Instance.OutputStations.Min(s => Distances.CalculateEuclid(wp, s, Instance.WrongTierPenaltyDistance)));
case TurnoverPodStorageLocationDisposeRule.OStationNearestManhattan:
return(Instance.OutputStations.Min(s => Distances.CalculateManhattan(wp, s, Instance.WrongTierPenaltyDistance)));
case TurnoverPodStorageLocationDisposeRule.OStationNearestShortestPath:
return(Instance.OutputStations.Min(s => Distances.CalculateShortestPathPodSafe(wp, s.Waypoint, Instance)));
case TurnoverPodStorageLocationDisposeRule.OStationNearestShortestTime:
return(Instance.OutputStations.Min(s => Distances.CalculateShortestTimePathPodSafe(wp, s.Waypoint, Instance)));
case TurnoverPodStorageLocationDisposeRule.Random:
return(wp.Instance.Randomizer.NextDouble());
default: throw new ArgumentException("Unknown pod dispose rule: " + _config.PodDisposeRule);
}
}) // Order the remaining ones by the given rule
.FirstOrDefault(); // Use the first one
}
// Check whether we found a suitable pod of this class
if (chosenStorageLocation != null)
{
break;
}
// Try the higher frequent class next
if (currentClassTriedHigh >= 0 && currentClassTriedHigh != currentClassTriedLow)
{
chosenStorageLocation = _classManager.GetClassStorageLocations(currentClassTriedHigh)
.Where(wp => !Instance.ResourceManager.IsStorageLocationClaimed(wp)) // Only use not occupied ones
.OrderBy(wp =>
{
switch (_config.PodDisposeRule)
{
case TurnoverPodStorageLocationDisposeRule.NearestEuclid:
return(Distances.CalculateEuclid(wp, pod, Instance.WrongTierPenaltyDistance));
case TurnoverPodStorageLocationDisposeRule.NearestManhattan:
return(Distances.CalculateManhattan(wp, pod, Instance.WrongTierPenaltyDistance));
case TurnoverPodStorageLocationDisposeRule.NearestShortestPath:
return(Distances.CalculateShortestPathPodSafe(Instance.WaypointGraph.GetClosestWaypoint(pod.Tier, pod.X, pod.Y), wp, Instance));
case TurnoverPodStorageLocationDisposeRule.NearestShortestTime:
return(Distances.CalculateShortestTimePathPodSafe(Instance.WaypointGraph.GetClosestWaypoint(pod.Tier, pod.X, pod.Y), wp, Instance));
case TurnoverPodStorageLocationDisposeRule.OStationNearestEuclid:
return(Instance.OutputStations.Min(s => Distances.CalculateEuclid(wp, s, Instance.WrongTierPenaltyDistance)));
case TurnoverPodStorageLocationDisposeRule.OStationNearestManhattan:
return(Instance.OutputStations.Min(s => Distances.CalculateManhattan(wp, s, Instance.WrongTierPenaltyDistance)));
case TurnoverPodStorageLocationDisposeRule.OStationNearestShortestPath:
return(Instance.OutputStations.Min(s => Distances.CalculateShortestPathPodSafe(wp, s.Waypoint, Instance)));
case TurnoverPodStorageLocationDisposeRule.OStationNearestShortestTime:
return(Instance.OutputStations.Min(s => Distances.CalculateShortestTimePathPodSafe(wp, s.Waypoint, Instance)));
case TurnoverPodStorageLocationDisposeRule.Random:
return(wp.Instance.Randomizer.NextDouble());
default: throw new ArgumentException("Unknown pod dispose rule: " + _config.PodDisposeRule);
}
}) // Order the remaining ones by the given rule
.FirstOrDefault(); // Use the first one
}
// Check whether we found a suitable pod of this class
if (chosenStorageLocation != null)
{
break;
}
// Update the class indeces to check next
currentClassTriedLow++; currentClassTriedHigh--;
// Check index correctness
if (currentClassTriedHigh < 0 && currentClassTriedLow >= _classManager.ClassCount)
{
throw new InvalidOperationException("There was no storage location available!");
}
}
// Return the chosen one
return(chosenStorageLocation);
}