public RepairBot(string inData, string outFile)
{
string curMapFile = "BotMap.txt";
string rootPath = Path.GetDirectoryName(outFile);
curMapFile = Path.Combine(rootPath, curMapFile);
sw = new StreamWriter(outFile);
xSize = 42;
ySize = 42;
startNode = new ExploreNode();
startNode.nodeType = RobotResultCode.MOVE_SUCCESFUL;
curNode = startNode;
curMap = new ExploreNode[xSize * ySize];
curPos.x = xSize / 2;
curPos.y = ySize / 2;
int startIndex = Helpers.GetIndexFromCoordinate(curPos, xSize);
curMap[startIndex] = startNode;
curComputer = new IntComputer();
curComputer.InitializeMemory(inData);
curComputer.StartComputer(true);
RunRobot();
//DrawMap();
int endIndex = Helpers.GetIndexFromCoordinate(curPos, xSize);
int length = SearchTree(startIndex, endIndex);
sw.Close();
}
public void InitializeExploreNode(RobotResultCode curType, ExploreNode parentNode, MovementCommandEnum enterDir)
{
parentNode.AssignMovementNode(this, enterDir);
MovementCommandEnum exitDir = RepairBot.GetOppositeCommand(enterDir);
AssignMovementNode(parentNode, exitDir);
nodeType = curType;
}
bool IsNodeOpen(ExploreNode curNode)
{
if (curNode != null)
{
if (curNode.nodeType != RobotResultCode.WALL)
{
if (curNode.nodeType != RobotResultCode.OXYGENATED)
{
return(true);
}
}
}
return(false);
}
void ProcessRobotResult(RobotResultCode resultCode)
{
Vector2 posToUpdate = GetNewPosition(curPos, curDir);
if ((resultCode == RobotResultCode.MOVE_SUCCESFUL) || (resultCode == RobotResultCode.MOVE_SUCCESFUL_OXYGEN))
{
// do nothing
// found a new node
int curIndex = Helpers.GetIndexFromCoordinate(posToUpdate, xSize);
if (curMap[curIndex] == null)
{
// ALL NEW NEW NEW!
ExploreNode newNode = new ExploreNode();
curMap[curIndex] = newNode;
}
curMap[curIndex].InitializeExploreNode(resultCode, curNode, curDir);
// otherwise we've already been here.
curNode = curMap[curIndex];
if (!isBackTracking)
{
fromStartCommands.Push(curDir);
}
curPos = posToUpdate;
return;
}
else if (resultCode == RobotResultCode.WALL)
{
if (isBackTracking)
{
// errro
int t = 9;
}
// make a new node, but don't move. Go backwards one.
int curIndex = Helpers.GetIndexFromCoordinate(posToUpdate, xSize);
if (curMap[curIndex] == null)
{
// ALL NEW NEW NEW!
ExploreNode newNode = new ExploreNode();
curMap[curIndex] = newNode;
}
curMap[curIndex].InitializeExploreNode(RobotResultCode.WALL, curNode, curDir);
// otherwise we've already been here.
// curpos does not change
return;
}
}
public int SearchTree(int startIndex, int endIndex)
{
ExploreNode startNode = curMap[oxygenIndex];
HashSet <ExploreNode> oxygenatedNodes = new HashSet <ExploreNode>();
Queue <ExploreNode> nextNodes = new Queue <ExploreNode>();
Queue <ExploreNode> nodesToOxygenate = new Queue <ExploreNode>();
bool isComplete = false;
int minutes = 0;
startNode.nodeType = RobotResultCode.OXYGENATED;
nodesToOxygenate.Enqueue(startNode);
while (!isComplete)
{
minutes++;
while (nodesToOxygenate.Count > 0)
{
ExploreNode curNode = nodesToOxygenate.Dequeue();
List <ExploreNode> openNodes = curNode.GetOpenNodes();
foreach (ExploreNode openNode in openNodes)
{
if (!oxygenatedNodes.Contains(openNode))
{
nextNodes.Enqueue(openNode);
oxygenatedNodes.Add(openNode);
openNode.nodeType = RobotResultCode.OXYGENATED;
}
}
}
nodesToOxygenate = new Queue <ExploreNode>(nextNodes); // DURR
if (nextNodes.Count == 0)
{
int t = 90;
return(-1);
}
nextNodes.Clear();
sw.WriteLine("-----------------MINUTE " + minutes + "-----------------------");
IsOxygenated();
DrawMap();
}
return(-1);
}
void AssignMovementNode(ExploreNode newNode, MovementCommandEnum curDir)
{
if (curDir == MovementCommandEnum.NORTH)
{
northNode = newNode;
}
if (curDir == MovementCommandEnum.SOUTH)
{
southNode = newNode;
}
if (curDir == MovementCommandEnum.EAST)
{
eastNode = newNode;
}
if (curDir == MovementCommandEnum.WEST)
{
westNode = newNode;
}
}
