/// <summary>
/// Runs the ExportVehicleRequest.
/// This will spawn a export vehicle and will try to make a tasks for robots to move refined crates stored on a export storage nodes to the export vehicle to fill it up so closes as posible to its maximal weight capacity.
/// Returns true if succesfully completed.
/// </summary>
public bool RunTask(Model w)
{
//Spawn export vehicle:
if (exportVehicle == null)
{
exportVehicle = new ExportVehicle(x, y, z, 0, Math.PI, 0);
w.worldObjects.Add(exportVehicle);
exportVehicle.Move(exportVehicle.x, exportVehicle.y, exportVehicle.z);
}
//Make tasks for robots if vehicle has arrived:
if (exportVehicle.CheckArrived())
{
//Find filled export storage nodes and order them by the weight of the crates in the nodes:
List <StorageNode> filledRefinedStorageNodes = new List <StorageNode>();
foreach (Node node in w.nodeGrid.nodes) //WARNING!!! could lead to "change to collections" exeption, but i doubt it.
{
if (node is StorageNode)
{
if (!((StorageNode)node).CheckImport() && ((StorageNode)node).GetIsDone())
{
filledRefinedStorageNodes.Add((StorageNode)node);
}
}
}
if (filledRefinedStorageNodes.Count() == 0)
{
return(false);
}
filledRefinedStorageNodes = filledRefinedStorageNodes.OrderBy(node => node.GetCrate().weight).ToList();
//Loop that creates tasks for robots to move crates to the export vehicle with the found filled refined storage nodes:
int lastWeight = -1;
while (filledRefinedStorageNodes.Count() != 0)
{
bool lowestvalue = true;
for (int i = 0; i < filledRefinedStorageNodes.Count(); i++)
{
//Export vehicle is almost full, will try fill it as full as possible:
if (exportVehicle.assignedWeightLeft <= 10)
{
bool enoughChoice = filledRefinedStorageNodes.Count() >= 3;
int biggestW = 0, biggestP = -1;
for (int j = 0; j < filledRefinedStorageNodes.Count(); j++)
{
int weightOnNode = filledRefinedStorageNodes[j].GetCrate().weight;
if (exportVehicle.assignedWeightLeft == weightOnNode)
{
StorageNode pickUpTarget = filledRefinedStorageNodes[j];
w.tasksForRobot.Add(new TaskForRobot(pickUpTarget.position, new double[] { 1, -25 }, pickUpTarget.GetCrate(), (PickUpTarget)pickUpTarget, (DropOffTarget)exportVehicle));
pickUpTarget.SetIsDone();
exportVehicle.AssignWeight(weightOnNode);
return(true);
}
else if (enoughChoice)
{
if (weightOnNode > biggestW && weightOnNode < exportVehicle.assignedWeightLeft)
{
biggestP = j;
biggestW = weightOnNode;
}
}
}
if (biggestP != -1)
{
StorageNode pickUpTarget = filledRefinedStorageNodes[biggestP];
w.tasksForRobot.Add(new TaskForRobot(pickUpTarget.position, new double[] { 1, -25 }, pickUpTarget.GetCrate(), (PickUpTarget)pickUpTarget, (DropOffTarget)exportVehicle));
filledRefinedStorageNodes.RemoveAt(biggestP);
pickUpTarget.SetIsDone();
exportVehicle.AssignWeight(biggestW);
}
else
{
exportVehicle.LoadWeight(exportVehicle.assignedWeightLeft);
return(true);
}
}
//Export vehicle has more than enough space, fill the export vehicle with biggest weight to smallest weight, a smaller weight each time.
//this until lowest weight has been found, than this will sart over again:
else if (filledRefinedStorageNodes[i].GetCrate().weight < lastWeight || lastWeight == -1)
{
StorageNode pickUpTarget = filledRefinedStorageNodes[i];
w.tasksForRobot.Add(new TaskForRobot(pickUpTarget.position, new double[] { 1, -25 }, pickUpTarget.GetCrate(), (PickUpTarget)pickUpTarget, (DropOffTarget)exportVehicle));
lastWeight = pickUpTarget.GetCrate().weight;
pickUpTarget.SetIsDone();
exportVehicle.AssignWeight(lastWeight);
filledRefinedStorageNodes.RemoveAt(i);
lowestvalue = false;
break;
}
}
if (lowestvalue == true)
{
lastWeight = -1;
}
}
}
return(false);
}
/// <summary>
/// Runs the PickUpUnRefinedCrateRequest.
/// This will try to make a task for a robot to move a unrefined crate on a inport storage node to a refinery with space left.
/// Returns true if succesfully completed.
/// </summary>
/// <param name="w"></param>
/// <returns></returns>
public bool RunTask(Model w)
{
foreach (Object3D obj in w.worldObjects)
{
if (obj is Refinery)
{
if (((Refinery)obj).CheckForSpaceLeft())
{
w.tasksForRobot.Add(new TaskForRobot(node.position, new double[] { -25, -1 }, node.GetCrate(), (PickUpTarget)node, (DropOffTarget)obj));
return(true);
}
}
}
return(false);
}
