private RobotPosition EstimateInstructionMovement(RobotPosition currentPosition)
{
RobotPosition estimatedPosition = currentPosition.Clone();
switch (currentPosition.RobotOrientation)
{
case Enums.OrientationTypes.N:
estimatedPosition.PositionCoordinates.Y_Coordinate++;
break;
case Enums.OrientationTypes.S:
estimatedPosition.PositionCoordinates.Y_Coordinate--;
break;
case Enums.OrientationTypes.E:
estimatedPosition.PositionCoordinates.X_Coordinate++;
break;
case Enums.OrientationTypes.W:
estimatedPosition.PositionCoordinates.X_Coordinate--;
break;
}
return(estimatedPosition);
}
public RobotPosition Clone()
{
RobotPosition robotPosition = (RobotPosition)this.MemberwiseClone();
robotPosition.PositionCoordinates = robotPosition.PositionCoordinates.Clone();
return(robotPosition);
}
/// <summary>
/// Checks if movement resulting position is inside of grid limits
/// </summary>
/// <param name="estimatedPosition"></param>
/// <param name="grid"></param>
/// <returns></returns>
private bool CheckValidPosition(RobotPosition estimatedPosition, Grid grid)
{
bool validMovement = false;
if (estimatedPosition.PositionCoordinates.X_Coordinate <= grid.GridLimit.X_Coordinate && estimatedPosition.PositionCoordinates.X_Coordinate >= grid.GridOrigen.X_Coordinate &&
estimatedPosition.PositionCoordinates.Y_Coordinate <= grid.GridLimit.Y_Coordinate && estimatedPosition.PositionCoordinates.Y_Coordinate >= grid.GridOrigen.Y_Coordinate)
{
validMovement = true;
}
return(validMovement);
}
/// <summary>
/// Performs a forward movement if it´s feasible
/// </summary>
/// <param name="robot"></param>
/// <param name="grid"></param>
/// <returns></returns>
public bool TryPerformInstructionMovement(Robot robot, Grid grid)
{
bool feasibleInstructionMovement = false;
RobotPosition estimatedPosition = EstimateInstructionMovement(robot.LastValidPosition);
if (CheckValidPosition(estimatedPosition, grid))
{
robot.LastValidPosition = estimatedPosition;
feasibleInstructionMovement = true;
}
return(feasibleInstructionMovement);
}
public Robot()
{
LastValidPosition = new RobotPosition();
InstructionsSet = new List <IInstruction>();
}
