static void Main(string[] args)
{
AVL_BST myTree = new AVL_BST(); // create AVL tree
Console.WriteLine("Check if tree is empty:");
Console.WriteLine(myTree.IsEmpty()); // should be true
Sensor SensorNorth = new Sensor(0, "North"); // robot is heading toward north
Sensor SensorWest = new Sensor(0, "West");
Sensor SensorEast = new Sensor(1, "East");
Sensor SensorSouth = new Sensor(0, "South");
// initialize the system
myTree.Initialize(SensorNorth.SensorTrigger(), SensorNorth.SensorLabel(), SensorWest.SensorTrigger(), SensorWest.SensorLabel(), SensorEast.SensorTrigger(), SensorEast.SensorLabel());
Console.WriteLine("\n-------Initial System Configuration----------");
myTree.PrintInOrder(); // print initial configuration
//------------1st update
Console.WriteLine("\nFirst update after hitting obstacle");
SensorNorth.SensorUpdate(1); // obstacle in north direction. change north sensor trigger to 1
myTree.RootUpdate(SensorNorth.SensorTrigger(), SensorNorth.SensorLabel()); // Due to obstacle, root value changes to 1
myTree.UpdatedSensorAdd(SensorSouth.SensorTrigger(), SensorSouth.SensorLabel()); // system updates to possible obstacle free direction
myTree.ClockSingleRot(); // Single clockwise rotation
Console.WriteLine("-----ClockWise Single Rotation----");
myTree.PrintInOrder();
// second update
Console.WriteLine("\nSecond update after hitting obstacle");
SensorWest.SensorUpdate(1); // obstacle in west direction. change west sensor trigger to 1
SensorEast.SensorUpdate(0); // East sensor is now obstacle free.Hence, 0
myTree.RootUpdate(SensorWest.SensorTrigger(), SensorWest.SensorLabel()); // Due to obstacle, root value changes to 1
myTree.UpdatedSensorAdd(SensorEast.SensorTrigger(), SensorEast.SensorLabel()); // system updates to possible obstacle free direction
myTree.ClockSingleRot(); // Single clockwise rotation
Console.WriteLine("-----ClockWise Single Rotation----");
myTree.PrintInOrder();
// 3rd update
Console.WriteLine("\nThird update after hitting obstacle");
SensorSouth.SensorUpdate(1); // obstacle in south direction. change south sensor trigger to 1
SensorNorth.SensorUpdate(0); // North sensor is now 0
myTree.RootUpdate(SensorSouth.SensorTrigger(), SensorSouth.SensorLabel()); // Due to obstacle, root value changes to 1
myTree.UpdatedSensorAdd(SensorNorth.SensorTrigger(), SensorNorth.SensorLabel()); // system updates to possible obstacle free direction
myTree.ClockSingleRot(); // Single clockwise rotation
Console.WriteLine("-----ClockWise Single Rotation----");
myTree.PrintInOrder();
Console.WriteLine("\nCheck if tree is empty:");
Console.WriteLine(myTree.IsEmpty()); // should be false
}
static void Main(string[] args)
{
AVL_BST myTree = new AVL_BST(); // create AVL tree
Console.WriteLine("Check if tree is empty:");
Console.WriteLine(myTree.IsEmpty()); // should be true
Sensor SensorNorth = new Sensor(0, "North"); // robot is heading toward north
Sensor SensorWest = new Sensor(0, "West");
Sensor SensorEast = new Sensor(1, "East");
Sensor SensorSouth = new Sensor(0, "South");
// initialize the system
myTree.Initialize(SensorNorth.SensorTrigger(), SensorNorth.SensorLabel(), SensorWest.SensorTrigger(), SensorWest.SensorLabel(), SensorEast.SensorTrigger(), SensorEast.SensorLabel());
Console.WriteLine("\n-------Initial System Configuration----------");
myTree.PrintInOrder(); // print initial configuration
//------------1st update
Console.WriteLine("\nFirst update after hitting obstacle");
SensorNorth.SensorUpdate(1); // obstacle in north direction. change north sensor trigger to 1
myTree.RootUpdate(SensorNorth.SensorTrigger(), SensorNorth.SensorLabel()); // Due to obstacle, root value changes to 1
myTree.UpdatedSensorAdd(SensorSouth.SensorTrigger(), SensorSouth.SensorLabel()); // system updates to possible obstacle free direction
myTree.ClockSingleRot(); // Single clockwise rotation
Console.WriteLine("-----ClockWise Single Rotation----");
myTree.PrintInOrder();
// second update
Console.WriteLine("\nSecond update after hitting obstacle");
SensorWest.SensorUpdate(1); // obstacle in west direction. change west sensor trigger to 1
SensorEast.SensorUpdate(0); // East sensor is now obstacle free.Hence, 0
myTree.RootUpdate(SensorWest.SensorTrigger(), SensorWest.SensorLabel()); // Due to obstacle, root value changes to 1
myTree.UpdatedSensorAdd(SensorEast.SensorTrigger(), SensorEast.SensorLabel()); // system updates to possible obstacle free direction
myTree.ClockSingleRot(); // Single clockwise rotation
Console.WriteLine("-----ClockWise Single Rotation----");
myTree.PrintInOrder();
// 3rd update
Console.WriteLine("\nThird update after hitting obstacle");
SensorSouth.SensorUpdate(1); // obstacle in south direction. change south sensor trigger to 1
SensorNorth.SensorUpdate(0); // North sensor is now 0
myTree.RootUpdate(SensorSouth.SensorTrigger(), SensorSouth.SensorLabel()); // Due to obstacle, root value changes to 1
myTree.UpdatedSensorAdd(SensorNorth.SensorTrigger(), SensorNorth.SensorLabel()); // system updates to possible obstacle free direction
myTree.ClockSingleRot(); // Single clockwise rotation
Console.WriteLine("-----ClockWise Single Rotation----");
myTree.PrintInOrder();
Console.WriteLine("\nCheck if tree is empty:");
Console.WriteLine(myTree.IsEmpty()); // should be false
/* A PseudoCode for Robot Navigation
*
*
* System Initialization()
*
* while(true)
* {
*
* // Thread 1
*
* SensorUpdate() // Keep all
*
* if(leftChild == 1) // Theres an obstacle on left
* {
*
* LeftChild.Update() // Find a sensor with 0 value (clear path and put it in leftchild)
*
*
* }
*
*
* // Thread 2
*
* RobotAction() // robot action class. Moving and Stoping
*
* if(root == 1) // Obstacle in the moving direction
* {
*
* AVLRotate()
*
*
* }
*
*
*
*
*
*
*
*
*
*
* }
*
*
*
*/
}
