public bool SendVisualizationMovement(RotateCubeMovement movement)
{
if (inVisualization)
{
byte[] buffer = new byte[1];
buffer[0] = ArduinoProtocol.CreateMovement(movement);
try
{
serialPort.ReadExisting();
serialPort.Write(buffer, 0, 1);
serialPort.ReadByte();
return true;
}
catch (Exception e)
{
System.Console.Write("Could not send 'Init Execution' command.");
return false;
}
}
return false;
}
/// <summary>
/// Adds the rotation movement.
/// </summary>
/// <param name="positionFace">Position of the face to be turned</param>
/// <param name="movements">List of movements to be concatenated of the new movement</param>
private void BringFaceToSomeClaw(CubeFaceType positionFace, CubeFaceType nextPositionFace, List<Movement> movements)
{
// se face não está diretamente ligada a uma das garras, leva a face para a garra
if (!positionFace.Equals(Claw_L) && !positionFace.Equals(Claw_F))
{
RotateCubeMovement mov = new RotateCubeMovement();
switch (positionFace)
{
case CubeFaceType.U:
if (nextPositionFace.Equals(CubeFaceType.F))
{
mov.Axis = CoordinateAxis.X;
mov.Type = TurnType.HalfTurnLeft;
}
else
{
mov.Axis = CoordinateAxis.Y;
mov.Type = TurnType.HalfTurnRight;
}
break;
case CubeFaceType.B:
mov.Axis = CoordinateAxis.Y;
mov.Type = TurnType.FullTurn;
break;
case CubeFaceType.R:
mov.Axis = CoordinateAxis.X;
mov.Type = TurnType.FullTurn;
break;
case CubeFaceType.D:
if (nextPositionFace.Equals(CubeFaceType.F))
{
mov.Axis = CoordinateAxis.X;
mov.Type = TurnType.HalfTurnRight;
}
else
{
mov.Axis = CoordinateAxis.Y;
mov.Type = TurnType.HalfTurnLeft;
}
break;
}
// turns the representation of the cube (very important)
Cube.TurnCube(mov);
// adds the new movement to the list of movements
movements.Add(mov);
}
}
private static bool PositioningFace(ArduinoChannel channel, int numberFace)
{
RotateCubeMovement rotMov = new RotateCubeMovement();
switch (numberFace)
{
case 1:
// não faz nada, é a primeira face
break;
case 2:
rotMov.Axis = CoordinateAxis.Y;
rotMov.Type = TurnType.HalfTurnRight;
channel.SendVisualizationMovement(rotMov);
break;
case 3:
rotMov.Axis = CoordinateAxis.Y;
rotMov.Type = TurnType.HalfTurnRight;
channel.SendVisualizationMovement(rotMov);
break;
case 4:
rotMov.Axis = CoordinateAxis.Y;
rotMov.Type = TurnType.HalfTurnRight;
channel.SendVisualizationMovement(rotMov);
break;
case 5:
rotMov.Axis = CoordinateAxis.X;
rotMov.Type = TurnType.HalfTurnRight;
channel.SendVisualizationMovement(rotMov);
rotMov = new RotateCubeMovement();
rotMov.Axis = CoordinateAxis.Y;
rotMov.Type = TurnType.HalfTurnRight;
channel.SendVisualizationMovement(rotMov);
break;
case 6:
rotMov.Axis = CoordinateAxis.Y;
rotMov.Type = TurnType.FullTurn;
channel.SendVisualizationMovement(rotMov);
break;
default:
return false;
}
return true;
}
public void TurnCube(RotateCubeMovement movement)
{
if (CubeMap.Count == 6)
{
if (movement.Axis.Equals(CoordinateAxis.X))
{
RotateCubeByXAxis(movement.Type);
}
else if (movement.Axis.Equals(CoordinateAxis.Y))
{
RotateCubeByYAxis(movement.Type);
}
else if (movement.Axis.Equals(CoordinateAxis.Z))
{
RotateCubeByZAxis(movement.Type);
}
}
}