void getNextCommand()
{
mazeCoverageStr = exploration.GetCoverage().ToString();
pointsScoredStr = exploration.GetPoints().ToString();
mazeCoverage = Int32.Parse(mazeCoverageStr);
pointsScored = Int32.Parse(pointsScoredStr);
if (checkRunTimeStatus())
{
int matrixSize = (currentSensor == 1 || currentSensor == 5)? 3:5;
sensor.Update_Maze_Data(getMazeData(matrixSize), robotDirection);
updateUISensorData(getMazeData(matrixSize));
int[,] sensorReading = sensor.Get_Obstacle_Matrix();
updateUISensorData(sensorReading);
String robotCommand = exploration.GetNextCommand(sensorReading, currentSensor, currentAlgorithm);
moveInDirection(robotCommand);
}
else
{
CancelInvoke("getNextCommand");
isSimulationComplete = true;
endTime = DateTime.Now.ToString(@"hh\:mm\:ss");
runTime = calculateRunTime();
backButton.interactable = true;
Debug.Log("END TIME : " + runTime);
Debug.Log("Battery Life : " + batteryLife);
Debug.Log("Points : " + pointsScored);
sendDateToExpDesign();
Debug.Log("Maze Coverage : " + mazeCoverage);
}
}
void Update()
{
string direction;
if (Input.GetKeyDown(KeyCode.W))
{
if (maze[currentX - 1, currentY + 0] == 1)
{
return;
}
int matrixSize = (currentSensor == 1 || currentSensor == 5)? 3:5;
sensor.Update_Maze_Data(getMazeData(matrixSize), "North");
int[,] sensorReading = sensor.Get_Obstacle_Matrix();
updateUISensorData(sensorReading);
exploration.GenerateDataset(sensorReading, "North", currentSensor);
robotDirection = "North";
moveInDirection("North");
}
if (Input.GetKeyDown(KeyCode.D))
{
if (maze[currentX, currentY + 1] == 1)
{
return;
}
int matrixSize = (currentSensor == 1 || currentSensor == 5)? 3:5;
sensor.Update_Maze_Data(getMazeData(matrixSize), "East");
int[,] sensorReading = sensor.Get_Obstacle_Matrix();
updateUISensorData(sensorReading);
exploration.GenerateDataset(sensorReading, "East", currentSensor);
robotDirection = "East";
moveInDirection("East");
}
if (Input.GetKeyDown(KeyCode.A))
{
if (maze[currentX, currentY - 1] == 1)
{
return;
}
int matrixSize = (currentSensor == 1 || currentSensor == 5)? 3:5;
sensor.Update_Maze_Data(getMazeData(matrixSize), "West");
int[,] sensorReading = sensor.Get_Obstacle_Matrix();
updateUISensorData(sensorReading);
exploration.GenerateDataset(sensorReading, "West", currentSensor);
robotDirection = "West";
moveInDirection("West");
}
if (Input.GetKeyDown(KeyCode.S))
{
if (maze[currentX + 1, currentY + 0] == 1)
{
return;
}
int matrixSize = (currentSensor == 1 || currentSensor == 5)? 3:5;
sensor.Update_Maze_Data(getMazeData(matrixSize), "South");
int[,] sensorReading = sensor.Get_Obstacle_Matrix();
updateUISensorData(sensorReading);
exploration.GenerateDataset(sensorReading, "South", currentSensor);
robotDirection = "South";
moveInDirection("South");
}
}
