public static TurnResult Turn(DirectionEnum direction, int acceleration)
{
var turnResult = client.Put(new SetStep
{
SessionId = SessionId,
Direction = direction.ToString(),
Acceleration = acceleration
});
CurrentMap.Update(turnResult.VisibleCells);
Status = turnResult.Status;
Heading = turnResult.Heading;
CurrentCell = CurrentMap.GetCell(turnResult.Location);
CurrentSpeed = turnResult.Speed;
if (GoneCells.ContainsKey(CurrentCell.Item1.vector3))
{
GoneCells[CurrentCell.Item1.vector3]++;
}
else
{
GoneCells[CurrentCell.Item1.vector3] = 1;
}
if (isVisualize)
{
visual.Get(new GetSession {
SessionId = SessionId
});
}
Console.WriteLine($"Direction: {direction}, Acceleration: {acceleration}");
return(turnResult);
}
/// <summary>
/// this gets called automatically when we try and output to, or input from, a pin
/// </summary>
/// <param name="pin"></param>
/// <param name="direction"></param>
private void SetupPin(PinEnum pin, DirectionEnum direction)
{
//unexport if it we're using it already
if (_outExported.Contains(pin) || _inExported.Contains(pin))
{
UnexportPin(pin);
}
//export
File.WriteAllText(GPIO_PATH + "export", GetPinNumber(pin));
Debug.WriteLine("exporting pin " + pin + " as " + direction);
// set i/o direction
File.WriteAllText(GPIO_PATH + pin + "/direction", direction.ToString().ToLower());
//record the fact that we've setup that pin
if (direction == DirectionEnum.OUT)
{
_outExported.Add(pin);
}
else
{
_inExported.Add(pin);
}
}
/// <summary>
/// 防守
/// </summary>
public virtual TanksAction Defend()
{
DirectionEnum direction = DirectionEnum.LEFT;
Random random = new Random(4);
switch (random.Next())
{
case 0:
direction = DirectionEnum.LEFT; break;
case 1: direction = DirectionEnum.UP; break;
case 2: direction = DirectionEnum.RIGHT; break;
case 3: direction = DirectionEnum.DOWN; break;
}
return(new TanksAction()
{
UseGlod = IsGod,
Length = this.TankInfo.SheCheng,
Direction = direction.ToString(),
TId = this.TankInfo.TId,
ActionType = ActionTypeEnum.FIRE.ToString()
});
}
/// <summary>
/// Export the GPIO setting the direction. This creates the /sys/class/gpio/gpioXX directory.
/// </summary>
/// <param name="pin">The GPIO pin</param>
/// <param name="direction"></param>
private static void ExportPin(GPIOPins pin, DirectionEnum direction)
{
// If the pin is already exported, check it's in the proper direction
if (_exportedPins.Keys.Contains((int)pin))
// If the direction matches, return out of the function. If not, change the direction
if (_exportedPins[(int)pin] == direction)
return;
else
{
// Set the direction on the pin and update the exported list
File.WriteAllText(GPIO_PATH + "gpio" + GetGPIONumber(pin) + "/direction", direction.ToString().ToLower());
_exportedPins[(int)pin] = direction;
return;
}
if (!Directory.Exists(GPIO_PATH + "gpio" + GetGPIONumber(pin)))
{
Debug.WriteLine("Exporting " + GetGPIONumber(pin));
//export
File.WriteAllText(GPIO_PATH + "export", GetGPIONumber(pin));
}
// set i/o direction
Debug.WriteLine("Setting direction on pin " + pin + "/gpio " + (int)pin + " as " + direction);
File.WriteAllText(GPIO_PATH + "gpio" + GetGPIONumber(pin) + "/direction", direction.ToString().ToLower());
// Update the list of exported pins
_exportedPins[(int)pin] = direction;
}
public void WhenRobotMoves_RobotIsAtCorrectPosition(DirectionEnum initalDirection, int x, int y, int newX, int newY)
{
var mdMock = new Mock <IMessageDisplayer>();
var messageDisplayer = mdMock.Object;
var board = new Board(5, 5);
var robot = new RobotProject.Robot();
var game = new RobotGame(board, robot, messageDisplayer);
game.ProcessCommand($"PLACE {x} {y} {DirectionEnum.North.ToString().ToUpper()}");
game.ProcessCommand($"MOVE");
game.ProcessCommand($"REPORT");
mdMock.Verify(m => m.DisplayMessage($"Output: {newX}, {newY}, { initalDirection.ToString()}"), Times.AtMostOnce());
}
/// <summary>
/// this gets called automatically when we try and output to, or input from, a pin
/// </summary>
/// <param name="pin"></param>
/// <param name="direction"></param>
private void SetupPin(PinEnum pin, DirectionEnum direction)
{
//unexport if it we're using it already
if (_outExported.Contains(pin) || _inExported.Contains(pin)) UnexportPin(pin);
//export
File.WriteAllText(GPIO_PATH + "export", GetPinNumber(pin));
Debug.WriteLine("exporting pin " + pin + " as " + direction);
// set i/o direction
File.WriteAllText(GPIO_PATH + pin + "/direction", direction.ToString().ToLower());
//record the fact that we've setup that pin
if (direction == DirectionEnum.OUT)
_outExported.Add(pin);
else
_inExported.Add(pin);
}
public Vector2 ToVector()
{
Vector2 ret = new Vector2(0, 0);
string _tostring = direction.ToString();
if (_tostring.Contains("Right"))
{
ret += Vector2.right;
}
if (_tostring.Contains("Left"))
{
ret += Vector2.left;
}
if (_tostring.Contains("Up"))
{
ret += Vector2.up;
}
if (_tostring.Contains("Down"))
{
ret += Vector2.down;
}
return(ret);
}
public override string ToString()
{
return(SystemEnum.ToString());
}
/// <summary>
/// Rover move start process function
/// </summary>
/// <param name="coords"></param>
/// <param name="directMoves"></param>
public BaseOutputModel StartMoveOrientation(CoordinateModel coordInput, string orientations, PlateauModel plateauInput, DirectionEnum directionEnum = DirectionEnum.N)
{
var output = new BaseOutputModel {
Success = true
};
XCoord = coordInput.XCoord;
YCoord = coordInput.YCoord;
RoverDirection = directionEnum;
#region Control
if (!PlateauCoordControl(plateauInput))
{
output.Error = "!Coordinate Error: You coordinates ( " + XCoord + " , " + YCoord + " )" + ". Coordinates exceed plateu areas. You Plateaus: W => " + plateauInput.Width + " H=>" + plateauInput.Height + ". Please try again.";
output.Success = false;
return(output);
}
#endregion
#region Move Function
foreach (var orientation in orientations)
{
if (orientation == (char)MoveOrientationEnum.Left)
{
LeftOrientation();
}
else if (orientation == (char)MoveOrientationEnum.Right)
{
RightOrientation();
}
else if (orientation == (char)MoveOrientationEnum.Move)
{
MoveOrientation();
}
else
{
output.Error = "Error : Unknown orientation you orientation " + orientation + " Orientation chracters (L,R,M). Please try again.";
output.Success = false;
return(output);
}
}
#endregion
output.Result = "XCoord : " + XCoord + " YCoord : " + YCoord + " Direction : " + RoverDirection.ToString();
return(output);
}
/// <summary>
/// Export the GPIO setting the direction. This creates the /sys/class/gpio/gpioXX directory.
/// </summary>
/// <param name="pin">The GPIO pin</param>
/// <param name="direction"></param>
private static void ExportPin(GPIOPins pin, DirectionEnum direction)
{
// If the pin is already exported, check it's in the proper direction
if (_exportedPins.Keys.Contains((int)pin))
{
// If the direction matches, return out of the function. If not, change the direction
if (_exportedPins[(int)pin] == direction)
{
return;
}
else
{
// Set the direction on the pin and update the exported list
File.WriteAllText(GPIO_PATH + "gpio" + GetGPIONumber(pin) + "/direction", direction.ToString().ToLower());
_exportedPins[(int)pin] = direction;
return;
}
}
if (!Directory.Exists(GPIO_PATH + "gpio" + GetGPIONumber(pin)))
{
Debug.WriteLine("Exporting " + GetGPIONumber(pin));
//export
File.WriteAllText(GPIO_PATH + "export", GetGPIONumber(pin));
}
// set i/o direction
Debug.WriteLine("Setting direction on pin " + pin + "/gpio " + (int)pin + " as " + direction);
File.WriteAllText(GPIO_PATH + "gpio" + GetGPIONumber(pin) + "/direction", direction.ToString().ToLower());
// Update the list of exported pins
_exportedPins[(int)pin] = direction;
}
public static string ToString(DirectionEnum dircetion)
{
return(dircetion.ToString().ToLower());
}
public override string ToString()
{
return(direction.ToString());
}
