private bool IsValidRequest(CleaningRequest request)
{
return
(request == null || request.Battery == 0 ||
request.Commands == null || request.Commands.Length == 0 ||
request.Commands.Any(m => string.IsNullOrWhiteSpace(m)) ||
!request.Commands.Any(m => (new string[] { "TR", "TL", "A", "B", "C" }).Contains(m)) ||
request.Map == null || request.Start == null);
}
/// <summary>
/// Main Method to be used by passing the complete structure request with instructions
/// </summary>
/// <param name="request">Request class containing the Map, Start, Commands and Battery Status</param>
/// <returns></returns>
public CleaningResult Run(CleaningRequest request)
{
if (IsValidRequest(request))
{
return(null);
}
var result = new CleaningResult();
Map = request.Map;
Battery = new Battery {
Status = request.Battery
};
CurrentCoordinate = request.Start;
PreviousCoordinate = CurrentCoordinate;
CurrentFacing = (Facing)Enum.Parse(typeof(Facing), request.Start.Facing);
Visited.Add(new Coordinate {
X = CurrentCoordinate.X, Y = CurrentCoordinate.Y
});
foreach (var command in request.Commands)
{
CurrentRobotAction = (RobotAction)Enum.Parse(typeof(RobotAction), command);
ExecuteCommand();
if (IsObstacle())
{
CurrentCoordinate = PreviousCoordinate;
IsRunningObstacleBackOffStrategy = true;
var alternativeIndex = 0;
do
{
var altCommands = AlternativeActions[alternativeIndex];
foreach (var altCommand in altCommands)
{
CurrentRobotAction = (RobotAction)Enum.Parse(typeof(RobotAction), altCommand);
ExecuteCommand();
}
if (!IsObstacle())
{
break;
}
else
{
CurrentCoordinate = PreviousCoordinate;
IsRunningObstacleBackOffStrategy = true;
}
alternativeIndex++;
}while (IsRunningObstacleBackOffStrategy && alternativeIndex < AlternativeActions.GetLength(0));
IsRunningObstacleBackOffStrategy = false;
}
}
result.Visited = Visited.OrderBy(m => m.X).ThenBy(m => m.Y).ToList();
result.Cleaned = Cleaned.OrderBy(m => m.X).ThenBy(m => m.Y).ToList();
result.Final = new Position {
X = CurrentCoordinate.X, Y = CurrentCoordinate.Y, Facing = CurrentFacing.ToString()
};
result.Battery = Battery.Status;
return(result);
}
