public RobotCommand DoStep(IList <Robot.Common.Robot> robots, int robotToMoveIndex, Map map)
{
Robot.Common.Robot movingRobot = robots[robotToMoveIndex];
//CountRobots(robots); //comment when testing
Position pos = FindNearestFreeStation(movingRobot, map, robots);
if (DistanceHelper.FindDistance(movingRobot.Position, pos) < 400)
{
if (NeedToCreateRobot(movingRobot))
{
return(new CreateNewRobotCommand());
}
}
stationPosition = GetMovePoint(movingRobot, map, robots);
if (stationPosition == null)
{
return(null);
}
if (NeedToCollectEnergy(movingRobot, map))
{
return(new CollectEnergyCommand());
}
else
{
return(new MoveCommand()
{
NewPosition = stationPosition
});
}
}
public Position GetMovePoint(Robot.Common.Robot movingRobot,
Map map, IList <Robot.Common.Robot> robots)
{
movePoint = FindNearestFreeStation(movingRobot, map, robots);
for (int i = 0; i < 10; i++)
{
if (DistanceHelper.FindDistance(movePoint, movingRobot.Position) <= movingRobot.Energy + minRobotEnergy)
{
return(movePoint);
}
else
{
movePoint.X = (movePoint.X + movingRobot.Position.X) / 2;
movePoint.Y = (movePoint.Y + movingRobot.Position.Y) / 2;
}
}
return(null);
}
public Position FindNearestFreeStation(Robot.Common.Robot movingRobot,
Map map, IList <Robot.Common.Robot> robots)
{
EnergyStation nearestStation = null;
int minDistance = int.MaxValue;
foreach (EnergyStation station in map.Stations)
{
if (IsStationFree(station, movingRobot, robots))
{
int distance = DistanceHelper.FindDistance(station.Position, movingRobot.Position);
if (distance < minDistance)
{
minDistance = distance;
nearestStation = station;
}
}
}
return(nearestStation == null ? null : nearestStation.Position);
}