private void LogMove(WalkerMove move, bool ilegalAttemp, string illegalReason = "")
{
if (ilegalAttemp)
{
movesLog.AppendLine(logCount.ToString() + ". ***Illegal attemp***" + illegalReason);
}
else
{
movesLog.AppendLine(logCount.ToString() + ". " + move.ToString());
logCount++;
}
OnPropertyChange("MovesLog");
}
private bool IsMoveLegal(WalkerMove move)
{
if (move.type == WalkerMoveType.MainAxisRotate || move.type == WalkerMoveType.MainAxisTranslate)
{
if (CanPincersBeLocked(GetSecAxisPincerPoints()))
{
return(true);
}
return(false);
}
else
{
if (CanPincersBeLocked(GetMainAxisPincerPoints()))
{
return(true);
}
return(false);
}
}
//MovingChecks
private bool DidWorkHeadWentOutsideOfSheet(WalkerMove move)
{
if (move.type != WalkerMoveType.MainAxisRotate)
{
return(false);
}
//Check whether it went out during the rotation
double d = (MainAxisLenght / 2 + 1 - SecAxisTranslation) * Math.Sqrt(2);
int i = (int)Math.Ceiling(d);
switch (SecAxisAngle)
{
case AxisPosition.Right:
if (RotationCenterPosition.Y + i >= _tubeSheet.MaxRows)
{
return(true);
}
return(false);
case AxisPosition.Left:
if (RotationCenterPosition.Y - i < 0)
{
return(true);
}
return(false);
case AxisPosition.Down:
if (RotationCenterPosition.X + i >= _tubeSheet.MaxRows)
{
return(true);
}
return(false);
case AxisPosition.Up:
if (RotationCenterPosition.X - i < 0)
{
return(true);
}
return(false);
}
return(false);
}
public bool WalkerMakeMove(WalkerMove move, bool undo = false)
{
if (!IsMoveLegal(move))
{
LogMove(move, true, "Can't Lock the pincers");
return(false);
}
switch (move.type)
{
case WalkerMoveType.MainAxisRotate:
DoMainAxisRotation();
break;
case WalkerMoveType.MainAxisTranslate:
DoMainAxisTranslation(move.translation);
break;
case WalkerMoveType.SecondaryAxisRotate:
DoSecAxisRotation();
break;
case WalkerMoveType.SecondaryAxisTranslate:
DoSecAxisTranslation(move.translation);
break;
}
//if head leaves the tubeSheet do the undo but dont undo the undo
if ((IsPointOutsideOfSheet(GetWorkHeadPosition()) || DidWorkHeadWentOutsideOfSheet(move)) && !undo)
{
LogMove(move, true, "WorkHead Outside of TubeSheet");
UndoMove(move);
return(false);
}
if (!undo)
{
LogMove(move, false);
}
OnPropertyChange("WalkerMakeMove");//temp
return(true);
}
private void UndoMove(WalkerMove move)
{
move.translation = -move.translation;
WalkerMakeMove(move, true);
}
