public TileStatus Search()
{
TileStatus status = MazeBot.TileStatus.Undefined;
for (int x = 1; x < TileStatus.GetUpperBound(0); ++x)
{
for (int y = 1; y < TileStatus.GetUpperBound(1); ++y)
{
if (TileStatus[x, y] == MazeBot.TileStatus.Goal) // if goal is found, move there
{
status = MoveTo(x, y);
}
else if (TileStatus[x, y] == MazeBot.TileStatus.Undefined) // else move to first unmapped tile.
{
status = MoveTo(x, y);
}
else
{
status = TileStatus[x, y];
}
if (status == MazeBot.TileStatus.Goal)
{
return(status);
}
}
}
return(MazeBot.TileStatus.Undefined);
}
private byte[,] BuildPathFinderGrid()
{
int dimX = TileStatus.GetUpperBound(0) + 1;
int dimY = TileStatus.GetUpperBound(1) + 1;
byte[,] grid = new byte[dimX, dimY];
for (int x = 0; x < dimX; ++x)
{
for (int y = 0; y < dimY; ++y)
{
if (TileStatus[x, y] == MazeBot.TileStatus.Wall)
{
grid[x, y] = 0;
}
else
{
grid[x, y] = 1;
}
}
}
return(grid);
}