/* Function: VerifyCoords
* Purpose : Verify that the rover coordinates falls within the zone bounds.
* Notes :
*/
private RNResult VerifyCoords(Coords newRoverCoords)
{
RNResult rnRes = new RNResult(Severity.Success, ModuleId.RoverNav, (int)RoverNavResult.Success);
if ((newRoverCoords.x < zoneMin.x) || (newRoverCoords.x > zoneMax.x))
{
rnRes = new RNResult(Severity.Error, ModuleId.RoverNav, (int)RoverNavResult.ErrRoverBoundsX);
}
if ((newRoverCoords.y < zoneMin.y) || (newRoverCoords.y > zoneMax.y))
{
rnRes = new RNResult(Severity.Error, ModuleId.RoverNav, (int)RoverNavResult.ErrRoverBoundsY);
}
return(rnRes);
}
/* Function: VerifyZoneBounds
* Purpose : Verify the validity of the zone bounds.
* Notes :
*/
private RNResult VerifyZoneBounds(Coords zoneMinCoord, Coords zoneMaxCoord)
{
RNResult rnRes = new RNResult(Severity.Success, ModuleId.RoverNav, (int)RoverNavResult.Success);
if (zoneMaxCoord.x < zoneMinCoord.x)
{
rnRes = new RNResult(Severity.Error, ModuleId.RoverNav, (int)RoverNavResult.ErrZoneBoundsX);
}
if (rnRes.severity == Severity.Success)
{
if (zoneMaxCoord.y < zoneMinCoord.y)
{
rnRes = new RNResult(Severity.Error, ModuleId.RoverNav, (int)RoverNavResult.ErrZoneBoundsY);
}
}
return(rnRes);
}
private bool PerformTest(ref TestData[] testDataList)
{
bool testPassed = true;
RoverNav roverNav = new RoverNav(false);
foreach (TestData testData in testDataList)
{
CmdSet cmndSet = new CmdSet();
cmndSet.zoneMin.x = 0;
cmndSet.zoneMin.y = 0;
cmndSet.zoneMax.x = 0;
cmndSet.zoneMax.y = 0;
cmndSet.startPos.coords.x = 0;
cmndSet.startPos.coords.y = 0;
cmndSet.startPos.cardinalPt = CardinalPoint.North;
cmndSet.commands = "";
RNResult rnRes = roverNav.ParseCommandSet(testData.cmndSet, ref cmndSet);
if (rnRes.severity == Severity.Success)
{
rnRes = roverNav.ValidateCommandSet(cmndSet);
}
Position curPos = roverNav.CurrentPosition;
String outputData = String.Format("{0} {1}", roverNav.FormatPosition(curPos), rnRes.FormatResult());
String comparisonStr = "Success";
if (outputData != testData.navOutput)
{
comparisonStr = "Fail";
testPassed = false;
}
System.Console.WriteLine("..." + testData.cmndSet + "..." + comparisonStr);
}
return(testPassed);
}
/* Function: ParseCommandSet
* Purpose :
* Notes :
*/
public RNResult ParseCommandSet(String cmndsetStr, ref CmdSet cmdset)
{
RNResult rnRes = new RNResult(Severity.Success, ModuleId.RoverNav, (int)RoverNavResult.Success);
String leftDelimeter = "[";
String rightDelimeter = "]";
// Initialise the member variables
Initialise();
// Remove redundant characters from the string
String resultStr = "";
for (int i = 0; i < cmndsetStr.Length; i++)
{
if ((cmndsetStr[i] != ' ') && (cmndsetStr[i] != '\r') && (cmndsetStr[i] != '\n'))
{
resultStr += cmndsetStr[i];
}
}
// Extract the parameters (enclosed with []) of the command set
ArrayList cmdsetParams = new ArrayList();
rnRes = GetEnclosedParams(resultStr, leftDelimeter, rightDelimeter, cmdsetParams);
if (rnRes.severity != Severity.Success)
{
return(rnRes);
}
// Validate the parameter data
rnRes = VerifyCommandSetData(cmdsetParams, ref cmdset);
if (rnRes.severity != Severity.Success)
{
return(rnRes);
}
return(rnRes);
}
/* Function: ValidateCommandSet
* Purpose :
* Notes :
*/
public RNResult ValidateCommandSet(CmdSet cmdset)
{
RNResult rnRes = new RNResult(Severity.Success, ModuleId.RoverNav, (int)RoverNavResult.Success);
rnRes = VerifyZoneBounds(cmdset.zoneMin, cmdset.zoneMax);
if (rnRes.severity != Severity.Success)
{
return(rnRes);
}
zoneMin = cmdset.zoneMin;
zoneMax = cmdset.zoneMax;
rnRes = VerifyCoords(cmdset.startPos.coords);
if (rnRes.severity != Severity.Success)
{
return(rnRes);
}
curPos.coords = cmdset.startPos.coords;
curPos.cardinalPt = cmdset.startPos.cardinalPt;
rnRes = ExecuteCommands(cmdset.commands);
return(rnRes);
}
/* Function: DisplayError
* Purpose :
* Notes :
*/
static void DisplayError(RNResult rnRes)
{
if (rnRes.module == ModuleId.RoverNav)
{
switch (rnRes.error)
{
case (Int32)RoverNavResult.ErrInvalidCmdChar:
System.Console.WriteLine("One or more of the command set parameters contain invalid input data.\n");
break;
case (Int32)RoverNavResult.ErrEmptyCmdsetParam:
System.Console.WriteLine("One or more of the command set parameters are empty.\n");
break;
case (Int32)RoverNavResult.ErrInvalidNoCmdsetParams:
System.Console.WriteLine("There are no valid command set parameters.\n");
break;
case (Int32)RoverNavResult.ErrZoneBoundsX:
System.Console.WriteLine("The x-coordinate of the zone bounds are invalid.\n");
break;
case (Int32)RoverNavResult.ErrZoneBoundsY:
System.Console.WriteLine("The y-coordinate of the zone bounds are invalid.\n");
break;
case (Int32)RoverNavResult.ErrRoverBoundsX:
System.Console.WriteLine("The x-coordinate of the rover position is beyond the zone bound.\n");
break;
case (Int32)RoverNavResult.ErrRoverBoundsY:
System.Console.WriteLine("The y-coordinate of the rover position is beyond than the zone bound.\n");
break;
}
}
}
/* Function: GetParams
* Purpose :
* Notes :
*/
private RNResult GetParams(String paramStr,
String paramDelimeter,
ArrayList validChars,
ArrayList paramsList)
{
RNResult rnRes = new RNResult(Severity.Success, ModuleId.RoverNav, (int)RoverNavResult.Success);
int startIndex = 0;
int endIndex = 0;
int paramstrLen = paramStr.Length;
while ((startIndex >= 0) && (endIndex >= 0) && (startIndex < paramstrLen))
{
int paramLen = 0;
endIndex = paramStr.IndexOf(paramDelimeter, startIndex);
if (endIndex == -1)
{
paramLen = paramstrLen - startIndex;
}
else
{
paramLen = endIndex - startIndex;
}
if (paramLen > 0)
{
String parameter = paramStr.Substring(startIndex, paramLen);
if (parameter.Length > 0)
{
paramsList.Add(parameter);
}
startIndex = endIndex + 1;
}
}
// Does the parameters contain only valid characters
int expectedNoParams = validChars.Count;
int noParams = paramsList.Count;
if (expectedNoParams == noParams)
{
for (int i = 0; i < noParams; i++)
{
String param = paramsList[i].ToString();
String validCharsForParam = validChars[i].ToString();
int j = 0;
for (j = 0; j < param.Length; j++)
{
if (!validCharsForParam.Contains(param[j]))
{
break;
}
}
if (j < param.Length)
{
rnRes = new RNResult(Severity.Error, ModuleId.RoverNav, (int)RoverNavResult.ErrInvalidCmdChar);
break;
}
}
}
else
{
rnRes = new RNResult(Severity.Error, ModuleId.RoverNav, (int)RoverNavResult.ErrInvalidNoCmdsetParams);
}
return(rnRes);
}
/* Function: GetEnclosedParams
* Purpose :
* Notes :
*/
private RNResult GetEnclosedParams(String paramStr,
String leftDelimeter,
String rightDelimeter,
ArrayList cmdsetParams)
{
RNResult rnRes = new RNResult(Severity.Success, ModuleId.RoverNav, (int)RoverNavResult.Success);
int startIndex = 0;
int endIndex = 0;
int paramstrLen = paramStr.Length;
while ((startIndex >= 0) && (startIndex < paramstrLen))
{
try
{
startIndex = paramStr.IndexOf(leftDelimeter, startIndex);
endIndex = paramStr.IndexOf(rightDelimeter, startIndex);
if ((startIndex != -1) && (endIndex != -1) && (endIndex > startIndex) && (endIndex < paramstrLen))
{
int paramLen = endIndex - startIndex - 1;
if (paramLen > 0)
{
String parameter = paramStr.Substring(startIndex + 1, paramLen);
if (parameter.Length > 0)
{
cmdsetParams.Add(parameter);
}
if (endIndex < (paramstrLen - 1))
{
endIndex++;
startIndex = endIndex;
}
else
{
startIndex = endIndex = -1;
}
}
else
{
rnRes = new RNResult(Severity.Error, ModuleId.RoverNav, (int)RoverNavResult.ErrEmptyCmdsetParam);
}
}
}
catch
{
}
if (rnRes.severity != Severity.Success)
{
startIndex = endIndex = -1;
}
}
if (cmdsetParams.Count != noCmndsetParams)
{
rnRes = new RNResult(Severity.Error, ModuleId.RoverNav, (int)RoverNavResult.ErrInvalidNoCmdsetParams);
}
return(rnRes);
}
/* Function: ExecuteCommands
* Purpose :
* Notes :
*/
private RNResult ExecuteCommands(String commands)
{
RNResult rnRes = new RNResult(Severity.Success, ModuleId.RoverNav, (int)RoverNavResult.Success);
/* Process each command */
Display(curPos);
char[] cmnds = commands.ToCharArray();
for (uint i = 0; i < commands.Length; i++)
{
switch (cmnds[i])
{
case 'L':
if (curPos.cardinalPt == CardinalPoint.North)
{
curPos.cardinalPt = CardinalPoint.West;
}
else
{
curPos.cardinalPt = (CardinalPoint)(curPos.cardinalPt - 1);
}
break;
case 'R':
if (curPos.cardinalPt == CardinalPoint.West)
{
curPos.cardinalPt = CardinalPoint.North;
}
else
{
curPos.cardinalPt = (CardinalPoint)(curPos.cardinalPt + 1);
}
break;
case 'M':
/* Before moving, first test if it is a valid move */
Coords newCoords;
newCoords.x = curPos.coords.x;
newCoords.y = curPos.coords.y;
if (curPos.cardinalPt == CardinalPoint.North)
{
newCoords.y = curPos.coords.y + 1;
}
if (curPos.cardinalPt == CardinalPoint.South)
{
newCoords.y = curPos.coords.y - 1;
}
if (curPos.cardinalPt == CardinalPoint.East)
{
newCoords.x = curPos.coords.x + 1;
}
if (curPos.cardinalPt == CardinalPoint.West)
{
newCoords.x = curPos.coords.x - 1;
}
rnRes = VerifyCoords(newCoords);
if (rnRes.severity == Severity.Success)
{
curPos.coords.x = newCoords.x;
curPos.coords.y = newCoords.y;
}
break;
default:
// No default as input has been checked.
break;
}
// Stop processing the commands if there is an error.
Display(curPos);
if (rnRes.severity != Severity.Success)
{
break;
}
}
return(rnRes);
}
// Private member functions
/* Function: VerifyCommandSetData
* Purpose :
* Notes :
*/
private RNResult VerifyCommandSetData(ArrayList cmdsetParams, ref CmdSet cmdset)
{
RNResult rnRes = new RNResult(Severity.Success, ModuleId.RoverNav, (int)RoverNavResult.Success);
String paramDelimeter = ",";
String sign = "-";
String numericChars = "0123456789";
String orientationChars = "NESW";
String cmndChars = "RLM";
// Verify the first parameter, the minimum zone coordinate
ArrayList subParams = new ArrayList();
ArrayList validChars = new ArrayList();
validChars.Add(sign + numericChars);
validChars.Add(sign + numericChars);
rnRes = GetParams(cmdsetParams[0].ToString(), paramDelimeter, validChars, subParams);
if (rnRes.severity == Severity.Success)
{
cmdset.zoneMin.x = System.Convert.ToInt32(subParams[0]);
cmdset.zoneMin.y = System.Convert.ToInt32(subParams[1]);
}
// Verify the second parameter, the maximum zone coordinate
subParams.Clear();
validChars.Clear();
if (rnRes.severity == Severity.Success)
{
validChars.Add(sign + numericChars);
validChars.Add(sign + numericChars);
rnRes = GetParams(cmdsetParams[1].ToString(), paramDelimeter, validChars, subParams);
if (rnRes.severity == Severity.Success)
{
cmdset.zoneMax.x = System.Convert.ToInt32(subParams[0]);
cmdset.zoneMax.y = System.Convert.ToInt32(subParams[1]);
}
}
// Verify the third parameter, the rover's starting position
subParams.Clear();
validChars.Clear();
if (rnRes.severity == Severity.Success)
{
validChars.Add(sign + numericChars);
validChars.Add(sign + numericChars);
validChars.Add(orientationChars);
rnRes = GetParams(cmdsetParams[2].ToString(), paramDelimeter, validChars, subParams);
if (rnRes.severity == Severity.Success)
{
cmdset.startPos.coords.x = System.Convert.ToInt32(subParams[0]);
cmdset.startPos.coords.y = System.Convert.ToInt32(subParams[1]);
String cardinalPtChar = subParams[2].ToString();
cmdset.startPos.cardinalPt = CharToCardinalPoint(cardinalPtChar[0]);
}
}
// Verify the fourth parameter, the list of commands
subParams.Clear();
validChars.Clear();
if (rnRes.severity == Severity.Success)
{
validChars.Add(cmndChars);
rnRes = GetParams(cmdsetParams[3].ToString(), paramDelimeter, validChars, subParams);
if (rnRes.severity == Severity.Success)
{
cmdset.commands = subParams[0].ToString();
}
}
return(rnRes);
}
/* Function: Main
* Purpose :
* Notes :
*/
static void Main(string[] args)
{
RNResult rnRes = new RNResult(Severity.Success, ModuleId.RoverNav, (int)RoverNavResult.Success);
bool displayData = true;
if (args.Length == 1)
{
if (args[0] == "Test")
{
TestRoverNav testRoverNav = new TestRoverNav();
testRoverNav.PerformAllTests();
return;
}
}
if (args.Length != 2)
{
System.Console.WriteLine("Syntax:\n\n");
System.Console.WriteLine("RoverNavSystem [intput file] [output file]\n\n");
System.Console.WriteLine(" [input file] is the input file with the following format:\n");
System.Console.WriteLine(" [xmin, ymin] [xmax, ymax] [xstart, ystart, hstart] [commands]");
System.Console.WriteLine(" where");
System.Console.WriteLine(" [xmin, ymin] is the minimum cartesian coordinate of the zone's boundary.");
System.Console.WriteLine(" [xmax, ymax] is the maximum cartesian coordinate of the zone's boundary.");
System.Console.WriteLine(" [xstart, ystart, hstart] is the starting position and heading of the rover.");
System.Console.WriteLine(" [commands] is a list of commands, directing the rover where to go.\n");
System.Console.WriteLine(" [output file] is the output file with the following format:\n");
System.Console.WriteLine(" [xpos, ypos, hpos] [moduleId, resultcode]");
System.Console.WriteLine(" where");
System.Console.WriteLine(" [xpos, ypos, hpos] is the resulting position and heading of the rover.");
System.Console.WriteLine(" [moduleId, resultcode] is the module ID and resultcode.");
System.Console.ReadKey();
return;
}
String inputFile = args[0];
String outputFile = args[1];
// Verify that the file exists.
if (!System.IO.File.Exists(inputFile))
{
System.Console.WriteLine("The file, {0}, does not exists.\n", inputFile);
return;
}
// Read the input from a file.
String inputText = "";
try
{
inputText = System.IO.File.ReadAllText(inputFile);
}
catch
{
System.Console.WriteLine("Unable to read the file, {0}.\n", inputFile);
return;
}
/* Initialize the command set structure */
CmdSet cmndSet = new CmdSet();
cmndSet.zoneMin.x = 0;
cmndSet.zoneMin.y = 0;
cmndSet.zoneMax.x = 0;
cmndSet.zoneMax.y = 0;
cmndSet.startPos.coords.x = 0;
cmndSet.startPos.coords.y = 0;
cmndSet.startPos.cardinalPt = CardinalPoint.North;
cmndSet.commands = "";
RoverNav roverNav = new RoverNav(displayData);
rnRes = roverNav.ParseCommandSet(inputText, ref cmndSet);
if (rnRes.severity == Severity.Success)
{
rnRes = roverNav.ValidateCommandSet(cmndSet);
}
if (rnRes.severity == Severity.Success)
{
System.Console.WriteLine("The command set in file, {0}, executed successfully and is ready for transmission.\n", inputFile);
}
else
{
System.Console.WriteLine("Unable to execute the command set in file, {0}.\n", inputFile);
DisplayError(rnRes);
}
// Get the current position even if the command set resulted in an error.
Position curPos = roverNav.CurrentPosition;
String dataToSend = String.Format("{0} {1}", roverNav.FormatPosition(curPos), rnRes.FormatResult());
System.IO.File.WriteAllText(outputFile, dataToSend);
if (displayData)
{
System.Console.WriteLine(dataToSend);
}
}