/// <summary>
/// Route ploan for downstream exits
/// </summary>
/// <param name="downstreamPoints"></param>
/// <param name="goal"></param>
private void DetermineDownstreamPointRouteTimes(List <DownstreamPointOfInterest> downstreamPoints, INavigableNode goal, ArbiterWay aw)
{
// so, for each exit downstream we need to plan from the end of each interconnect to the goal
foreach (DownstreamPointOfInterest dpoi in downstreamPoints)
{
// check if exit
if (dpoi.IsExit)
{
// current best time
double bestCurrent = Double.MaxValue;
List <INavigableNode> bestRoute = null;
ArbiterInterconnect bestInterconnect = null;
// fake node
FakeExitNode fen = new FakeExitNode(dpoi.PointOfInterest);
// init fields
double timeCost;
List <INavigableNode> routeNodes;
// plan
this.Plan(fen, goal, out routeNodes, out timeCost);
bestCurrent = timeCost;
bestRoute = routeNodes;
bestInterconnect = routeNodes.Count > 1 ? fen.GetEdge(routeNodes[1]) : null;
// plan from each interconnect to find the best time from exit
/*foreach (ArbiterInterconnect ai in dpoi.PointOfInterest.Exits)
* {
* // init fields
* double timeCost;
* List<INavigableNode> routeNodes;
*
* // plan
* this.Plan(ai.End, goal, out routeNodes, out timeCost);
*
* // check
* if (timeCost < bestCurrent)
* {
* bestCurrent = timeCost;
* bestRoute = routeNodes;
* bestInterconnect = ai;
* }
* }*/
// set best
dpoi.RouteTime = bestCurrent;
dpoi.BestRoute = bestRoute;
dpoi.BestExit = bestInterconnect;
}
}
}
/// <summary>
/// Route ploan for downstream exits
/// </summary>
/// <param name="downstreamPoints"></param>
/// <param name="goal"></param>
private void RouteTimes(List <DownstreamPointOfInterest> downstreamPoints, INavigableNode goal)
{
// check if we are planning over the correct goal
if (this.currentTimes.Key != CoreCommon.Mission.MissionCheckpoints.Peek().CheckpointNumber ||
this.currentTimes.Value == null)
{
// create new lookup
this.currentTimes = new KeyValuePair <int, Dictionary <ArbiterWaypointId, DownstreamPointOfInterest> >(
CoreCommon.Mission.MissionCheckpoints.Peek().CheckpointNumber, new Dictionary <ArbiterWaypointId, DownstreamPointOfInterest>());
}
// so, for each exit downstream we need to plan from the end of each interconnect to the goal
foreach (DownstreamPointOfInterest dpoi in downstreamPoints)
{
// container flag
bool contains = this.currentTimes.Value.ContainsKey(dpoi.PointOfInterest.WaypointId);
// check if exit
if (dpoi.IsExit && !contains)
{
// fake node
FakeExitNode fen = new FakeExitNode(dpoi.PointOfInterest);
// init fields
double timeCost;
List <INavigableNode> routeNodes;
// plan
this.Plan(fen, goal, out routeNodes, out timeCost);
// set best
dpoi.RouteTime = timeCost;
dpoi.BestRoute = routeNodes;
dpoi.BestExit = routeNodes.Count > 1 ? fen.GetEdge(routeNodes[1]) : null;
// add to keepers
this.currentTimes.Value.Add(dpoi.PointOfInterest.WaypointId, dpoi.Clone());
}
else if (dpoi.IsExit && contains)
{
DownstreamPointOfInterest tmp = this.currentTimes.Value[dpoi.PointOfInterest.WaypointId];
if (tmp.BestExit == null)
{
ArbiterOutput.Output("NAV RouteTimes: Removing exit with no valid route: " + dpoi.PointOfInterest.WaypointId.ToString());
// remove
this.currentTimes.Value.Remove(dpoi.PointOfInterest.WaypointId);
dpoi.PointOfInterest = (ArbiterWaypoint)CoreCommon.RoadNetwork.ArbiterWaypoints[dpoi.PointOfInterest.WaypointId];
// fake node
FakeExitNode fen = new FakeExitNode(dpoi.PointOfInterest);
// init fields
double timeCost;
List <INavigableNode> routeNodes;
// plan
this.Plan(fen, goal, out routeNodes, out timeCost);
// set best
dpoi.RouteTime = timeCost;
dpoi.BestRoute = routeNodes;
dpoi.BestExit = routeNodes.Count > 1 ? fen.GetEdge(routeNodes[1]) : null;
// add to keepers
this.currentTimes.Value.Add(dpoi.PointOfInterest.WaypointId, dpoi);
}
else
{
dpoi.RouteTime = tmp.RouteTime;
dpoi.BestRoute = tmp.BestRoute;
dpoi.BestExit = tmp.BestExit;
}
}
}
}