public static Tuple <RobotConstructionStatus, IRobotCleaner> GetRobot(RobotParametersDto parameters)
{
Orientations.InitializeOrientations();
//Create a validator in order to do basic verifications
IRobotCleanerValidator validator = new RobotCleanerValidator();
var result = Tuple.Create <RobotConstructionStatus, IRobotCleaner>(RobotConstructionStatus.Error, null);
//if the parameters given are not valid, it will return null with the enum value in Error.
if (!validator.IsRobotValid(parameters) || !validator.IsMapValid(parameters))
{
return(result);
}
//Here the dependencies are created and injected in the robot object.
var currentPosition = new CurrentPosition(GetAxis(parameters.Start["X"]), GetAxis(parameters.Start["Y"]));
IMap map = new Map(parameters.Map, currentPosition);
IReturnAlgorithm returnAlgorithm = new ReturnAlgorithm(new FirstStep());
ICleaningAlgorithm cleaningAlgorithm = new CleaningAlgorithm(parameters.Commands);
var movingStrategies = Orientations.GetMovingStrategies();
result = Tuple.Create <RobotConstructionStatus, IRobotCleaner>(RobotConstructionStatus.Success,
new Implementations.RobotCleaner(currentPosition.X,
currentPosition.Y,
Orientations.GetFacingPosition(parameters.Start["facing"]),
parameters.Battery, map, returnAlgorithm, movingStrategies, cleaningAlgorithm));
return(result);
}
public void CircularCleaningAlgorithmOnSquareShapeTest()
{
// Define the min and max co-ordinate for the room
_currentRoom = new CoOrdinate(3, 3);
// Create the Robot
_cleaningRobot = new RobotHardware.Hardware(_currentRoom.X, _currentRoom.Y);
// Create the required robot visit monitor. Current visit monitor can print the robot path to console
_robotVisitMonitor = RobotVisitMonitorFactory.CreateRobotVisitMonitor(
RobotVisitMonitorType.RobotVisitMonitorWithConsoleOutput, _cleaningRobot);
// Create a simple room
_room = new SimpleRoom();
// Create the algorithm essentials with the above robot, visit monitor and room.
_algorithmEssentials = new AlgorithmEssentials(_room, _cleaningRobot, _robotVisitMonitor);
// Ask the CleaningAlgorithmFactory to create the CleaningAlgorithm instance by passing the required
// required CleaningAlgorithmType
_cleaningAlgorithm = CleaningAlgorithmFactory.CreateCleaningAlgorithm(
CleaningAlgorithmType.CircularCleaningAlgorithm, _algorithmEssentials);
Assert.AreEqual(CleanStatus.Complete, _cleaningAlgorithm.Clean());
Assert.AreEqual("Turn Left", _algorithmEssentials.RobotVisitMonitor.GetPathAt(0));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(1));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(2));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(3));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(4));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(5));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(6));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(7));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(8));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(9));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(10));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(11));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(12));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(13));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(14));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(15));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(16));
}
