public List <Place> PathVerFirst(Place from, Place to)
{
List <Place> path = new List <Place> {
from
};
Place current = from;
int row = current.Row();
while (row != to.Row())
{
int newRow = (row < to.Row()) ? row + 1 : row - 1;
Place next = device.PlaceAt(newRow, current.Column());
path.Add(next);
row = newRow;
current = next;
}
int col = from.Column();
while (col != to.Column())
{
int newCol = (col < to.Column()) ? col + 1 : col - 1;
Place next = device.PlaceAt(current.Row(), newCol);
path.Add(next);
col = newCol;
current = next;
}
return(path);
}
public bool CanStepTo(Place from, Place to, int clearance)
{
for (int i = to.Row() - clearance; i < to.Row() + clearance; i++)
{
for (int j = to.Column() - clearance; j < to.Column() + clearance; j++)
{
Place[,] places = KDeviceHandler.device.places;
if (i >= 0 && i < places.GetLength(0) && j >= 0 && j < places.GetLength(1))
{
Place place = places[i, j];
if (place != from && place != null && IsOccupied(place))
{
return(false);
}
}
}
}
return(true);
}
public Direction StepDirection(Place from, Place to, Style style)
{
if (from.Column() + 1 == to.Column() && from.Row() == to.Row())
{
return(Direction.Rht);
}
else if (from.Column() - 1 == to.Column() && from.Row() == to.Row())
{
return(Direction.Lft);
}
else if (from.Column() == to.Column() && from.Row() + 1 == to.Row())
{
return(Direction.Bot);
}
else if (from.Column() == to.Column() && from.Row() - 1 == to.Row())
{
return(Direction.Top);
}
else
{
throw new Error("ERROR: StepDirection");
}
}
public void CheckIsOccupied(Place place)
{
if (!IsOccupied(place))
{
throw new Error("No sample found on device at row " + place.Row().ToString() + ", column " + place.Column().ToString());
}
}