public RobotOutputResult MoveRobotToPoint(string targetPoint)
{
if (!IsAutomated)
{
throw new Exception("This should only be done in automated mode");
}
RobotOutputResult result = null;
// Initialize the movement variables
var path = GetPathToPoint(RobotPosition, targetPoint);
if (path.Path.Count == 0)
{
throw new Exception("Path not found");
}
var movementCommands = GetMovementCommandsForPath(path.Path);
string nextRobotPosition = RobotPosition;
// Continue looping until the robot reaches the target
while (!RobotPosition.Equals(targetPoint))
{
// Run a loop of the program
_programStatus = _computer.RunProgram();
// Process program output
// Assumption: If there is new output, then the robot has
// entered a room corresponding to the next robot position
if (_outputIndex < _outputListener.Values.Count)
{
int numberOfNewOutputValues = _outputListener.Values.Count - _outputIndex;
var latestOutput = string.Join("", _outputListener.Values
.GetRange(_outputIndex, numberOfNewOutputValues)
.Select(v => char.ConvertFromUtf32((int)v)));
_outputIndex += numberOfNewOutputValues;
var robotOutputResult = RobotOutputHelper.ProcessRobotOutput(latestOutput);
if (!RobotOutputType.MovedToPoint.Equals(robotOutputResult.Type) &&
!RobotOutputType.EjectedBack.Equals(robotOutputResult.Type) &&
IsAutomated)
{
throw new Exception("While exploring in automated mode, we should only either move into spaces or get ejected back by the security system");
}
// Update the set of explored points
if (robotOutputResult.ShipSectionInfo != null)
{
if (!ExploredPoints.ContainsKey(nextRobotPosition))
{
ExploredPoints.Add(nextRobotPosition, robotOutputResult.ShipSectionInfo);
}
ExploredPoints[nextRobotPosition] = robotOutputResult.ShipSectionInfo;
// Remove this point from the set of unxplored points
if (UnexploredPoints.Contains(nextRobotPosition))
{
UnexploredPoints.Remove(nextRobotPosition);
}
}
// Only move the robot if they actually moved
if (RobotOutputType.MovedToPoint.Equals(robotOutputResult.Type))
{
RobotPosition = nextRobotPosition;
}
else if (RobotOutputType.EjectedBack.Equals(robotOutputResult.Type))
{
RallyPoint = RobotPosition;
result = robotOutputResult;
break;
}
if (RobotPosition.Equals(targetPoint))
{
result = robotOutputResult;
break;
}
}
// Provide input for the program
if (IntcodeProgramStatus.AwaitingInput.Equals(_programStatus))
{
if (movementCommands.Count == 0 &&
!RobotPosition.Equals(targetPoint))
{
throw new Exception("Ran out of commands before robot reached target");
}
string movementCommand = movementCommands.Dequeue();
_inputProviderAutomated.AddInputValue(movementCommand);
_inputProviderAutomated.AddInputValue(10);
nextRobotPosition = RobotMovementHelper.Move(RobotPosition, movementCommand);
}
_programLoopCount++;
}
return(result);
}
