public RobotAction[] NextStep(RobotManager robot, RobotResult result, int limit)
{
if (!robot.Map.Explored(robot.Position.Move((byte)robot.Rot + 2)))
return new[] { RobotAction.Left };
var r = (byte)GetNextStepPoint(robot, limit);
r -= (byte)robot.Rot;
r += 4;
r %= 4;
if (r == 0) return new[] { RobotAction.Go };
if (r == 1) return new[] { RobotAction.Right, RobotAction.Go };
if (r == 2) return new[] { RobotAction.Left, RobotAction.Left, RobotAction.Go };
if (r == 3) return new[] { RobotAction.Left, RobotAction.Go };
throw new Exception("WTF");
}
public void DoExplore(RobotManager r, CancellationToken token)
{
var m = r.Map;
while (!token.IsCancellationRequested)
{
var from = (r.Position.GetHashCode() % 5 == 0) ? new Point(0, 0) : r.Position;
var path = m.NearestNonExploredPointPath(from);
foreach (var rot in path)
{
r.GoTo(rot);
}
r.Path.Clear();
new DfsControler().Execute(r, token, new[] { "500" });
//r.Map.Save(r.RobotId.ToString());
}
}
public void DoDfs(RobotManager robot, CancellationToken token, int limit = int.MaxValue)
{
try
{
var r = robot.Move(RobotAction.Wait);
while (!token.IsCancellationRequested)
{
var s = NextStep(robot, r, limit);
foreach (var x in s) robot.Move(x);
}
}
catch (MyCoolExceptionForStopingDfsExecution)
{
return;
}
}
private Rotation GetNextStepPoint(RobotManager robot, int limit)
{
var a = robot.Position.NearFour();
var mi = 2;
var max = 0;
for (int i = 0; i < a.Length; i++)
{
var p = GetPriority(robot.Map, a[i], i);
if (p >= max)
{
max = p;
mi = i;
}
}
if (max <= 1 || robot.Path.Count >= limit /* ||
(robot.Map.Explored(robot.Position) && robot.Map[robot.Position] == MapTileResult.OpenDoor)*/)
{
if (robot.Path.Count == 0) throw new MyCoolExceptionForStopingDfsExecution();
return (Rotation)(((byte)robot.Path.Last() + 2) % 4);
}
return (Rotation)mi;
}
public void Execute(RobotManager robot, CancellationToken token, string[] args)
{
DoExplore(robot, token);
}
public void SetRobotBind(RobotManager robot)
{
Robot = robot;
Robot.Moved += RefreshMapAndPosition;
}
public void Execute(RobotManager robot, CancellationToken token, string[] args)
{
DoDfs(robot, token, int.Parse(args.FirstOrDefault() ?? int.MaxValue.ToString()));
}