public void AddMap(RobotMap map, Point offset)
{
foreach (var item in map.Map)
{
Map.Add(item.Key + offset, item.Value);
}
}
public MapObserver(RobotMap map, int mapX, int mapY, int width, int height, int consoleX, int consoleY)
{
Map = map;
MapX = mapX;
MapY = mapY;
Width = width;
Height = height;
ConsoleX = consoleX;
ConsoleY = consoleY;
Observe();
Render();
}
private int GetPriority(RobotMap map, Point p, int rotation)
{
if (!map.Explored(p)) return 5;
var t = map[p];
if (t == MapTileResult.Goal) return 10000000;
if (t == MapTileResult.Wall || t == MapTileResult.Robot) return 0;
if (t == MapTileResult.ClosedDoor) return 0;
var count = 1;
if (!map.Explored(p.Move(rotation + 3))) count++;
if (!map.Explored(p.Move(rotation))) count++;
if (!map.Explored(p.Move(rotation + 1))) count++;
return count;
}
private static Point FindFirstPoint(Dictionary<Point, int> d, Queue<Point> q, RobotMap map, Predicate<Point> goalPredicate)
{
while (q.Count > 0)
{
var e = q.Dequeue();
var nf = e.NearFour();
var i = d[e];
i++;
foreach (var n in nf)
{
if (!d.ContainsKey(n) && map.Explored(n) && map[n].IsFree())
{
q.Enqueue(n);
d[n] = i;
if (goalPredicate(e))
{
return e;
}
}
}
}
return new Point(int.MaxValue, int.MaxValue);
}
public RobotManager(RobotClient client, int robotId)
{
Client = client;
RobotId = robotId;
Map = new RobotMap();
}
