/// <summary>
/// Based on the current situation, the bot needs to get an item, but doesn't have it.
/// This function reserves the item the pod should pick up. Returns the pod that should be used, null if it's carying a pod and the current pod won't work (too full).
/// </summary>
/// <param name="bot">The bot to consider.</param>
/// <param name="bestRequest">The best request to use for the best pickup task.</param>
/// <param name="bestStation">The station to use for the best pickup task.</param>
/// <param name="bestPod">The pod to use for the best pickup task.</param>
public void ReserveBestItemToPickUp(Bot bot, out InsertRequest bestRequest, out Pod bestPod, out InputStation bestStation)
{
bestPod = null;
bestStation = null;
bestRequest = null;
// If have a pod currently
if (bot.Pod != null)
{
Pod pod = bot.Pod;
// Current pod works, so find closest input station and best task
double closestInputStationTime = double.PositiveInfinity;
// Check all tasks
foreach (var storeTask in Instance.ResourceManager.AvailableStoreRequests)
{
// See how long it would take to get to this input station
// Choose the worst of delivering or waiting
Waypoint sw = storeTask.Station.Waypoint;
double time = Math.Max(Estimators.EstimateTravelTimeEuclid(bot, bot.CurrentWaypoint, sw), Estimators.EstimateInputStationWaitTime(bot, sw));
// If it's the best and it fits the current pod, then use it
if (time < closestInputStationTime && pod.CapacityInUse + storeTask.Bundle.BundleWeight <= pod.Capacity)
{
bestRequest = storeTask;
closestInputStationTime = time;
}
}
// If no pickup suits the pod, get rid of it
if (bestRequest == null)
{
return;
}
// Allocate task!
bestStation = bestRequest.Station;
bestPod = pod;
}
// Don't have a pod
double bestPickupTime = double.PositiveInfinity;
bestRequest = null;
bestPod = null;
foreach (var pod in Instance.ResourceManager.UnusedPods)
{
// Find time to pick up the bundle
double pickupTime = Estimators.EstimateTravelTimeEuclid(bot, pod.Waypoint);
// Check all tasks
foreach (var storeTask in Instance.ResourceManager.AvailableStoreRequests)
{
// If it has room
if (pod.CapacityInUse + storeTask.Bundle.BundleWeight <= pod.Capacity)
{
// See how long it would take to get to this input station
// Choose the worst of delivering or waiting
Waypoint sw = storeTask.Station.Waypoint;
double deliverTime = Math.Max(Estimators.EstimateTravelTimeEuclid(bot, pod.Waypoint, sw), Estimators.EstimateInputStationWaitTime(bot, sw));
//if it's the best, then use it
if (pickupTime + deliverTime < bestPickupTime)
{
bestRequest = storeTask;
bestPickupTime = pickupTime + deliverTime;
bestPod = pod;
}
}
}
}
// No pickup request available
if (bestRequest == null)
{
return;
}
// Pickup available - set it
bestStation = bestRequest.Station;
}
