public void updateDroneState(DroneCtrl drone)
{
if (drone.status == DroneCtrl.Status.homing && supplyPoints.Count > 0)
{
Area drone_area = new Area(drone.transform.position);
var res = supplyPoints_.FindMin(x => Area.distance(x, drone_area));
drone.setDestination(res);
}
else if (drone.status == DroneCtrl.Status.idle)
{
assignDrone(drone);
SearchAndDestroy();
}
}
private void assignDrone(DroneCtrl drone = null)
{
// TODO:droneがnullならば暇なドローンを探して需要点を割り当て
if (drone == null)
{
var res = (from x in drones_ where x.status == DroneCtrl.Status.idle select x).FindMin(x => Area.distance(new Area(x.transform.position), demandPoints.Last()));
res.setDestination(demandPoints.Last());
demandPoints_.RemoveLast();
}
else if (demandPoints.Count > 0)
{
Area d_area = new Area(drone.transform.position);
var res = demandPoints_.FindMin(x => Area.distance(x, d_area));
drone.setDestination(res);
demandPoints_.Remove(res);
}
}