/// <summary>
/// Back off algorithm
/// </summary>
public CleaningRobotActionResult Algorithm()
{
// Sequence 1
_commandQueue.Clear();
_commandQueue.Enqueue(_turnRightCommand);
_commandQueue.Enqueue(_advanceCommand);
CleaningRobotActionResult result = ProcessCommandQueue();
// Sequence 2
if (result == CleaningRobotActionResult.Obstacle)
{
_commandQueue.Clear();
_commandQueue.Enqueue(_turnLeftCommand);
_commandQueue.Enqueue(_backCommand);
_commandQueue.Enqueue(_turnRightCommand);
_commandQueue.Enqueue(_advanceCommand);
result = ProcessCommandQueue();
}
// Sequence 3
if (result == CleaningRobotActionResult.Obstacle)
{
_commandQueue.Clear();
_commandQueue.Enqueue(_turnLeftCommand);
_commandQueue.Enqueue(_turnLeftCommand);
_commandQueue.Enqueue(_advanceCommand);
result = ProcessCommandQueue();
}
// Sequence 4
if (result == CleaningRobotActionResult.Obstacle)
{
_commandQueue.Clear();
_commandQueue.Enqueue(_turnRightCommand);
_commandQueue.Enqueue(_backCommand);
_commandQueue.Enqueue(_turnRightCommand);
_commandQueue.Enqueue(_advanceCommand);
result = ProcessCommandQueue();
}
// Sequence 5
if (result == CleaningRobotActionResult.Obstacle)
{
_commandQueue.Clear();
_commandQueue.Enqueue(_turnLeftCommand);
_commandQueue.Enqueue(_turnLeftCommand);
_commandQueue.Enqueue(_advanceCommand);
result = ProcessCommandQueue();
}
return(result);
}
/// <summary>
/// Run controller
/// </summary>
public void Run()
{
CleaningRobotActionResult result = _givenStrategy.Algorithm();
while (result == CleaningRobotActionResult.Obstacle)
{
result = _backOffStrategy.Algorithm();
if (result != CleaningRobotActionResult.BatteryDrained)
{
result = _givenStrategy.Algorithm();
}
}
}
// Processing command queue
private CleaningRobotActionResult ProcessCommandQueue()
{
CleaningRobotActionResult result = CleaningRobotActionResult.Success;
while (_commandQueue.Count > 0)
{
ICleaningRobotCommand command = _commandQueue.Dequeue();
result = command.Run();
if (result != CleaningRobotActionResult.Success)
{
break;
}
}
return(result);
}
