private void SquareSimulation()
{
var squareMap = _mapFactory.GetSquareMap();
_vehicle.CurrentSquareCell = squareMap.StartingCell;
var optimalPath = _pathPlanner.GenerateOptimalSquarePath(squareMap, _vehicle);
var finished = false;
while (!finished)
{
_simulationResults.SquareTotalMoves++;
_simulationResults.SquarePath.Add(_vehicle.CurrentSquareCell);
var detector = squareMap.GetRange(_vehicle.CurrentSquareCell, _vehicle.DetectorRadius);
var detection = CheckForMines(detector);
//Mark cells as covered.
foreach (var cell in detector)
{
cell.Coverage = Coverage.Covered;
}
if (detection)
{
_reactivePathPlanner.GenerateReactiveSquarePath(squareMap, optimalPath, _vehicle.CurrentSquareCell);
}
if (_reactivePathPlanner.ReactiveSquarePath.TryDequeue(out var next))
{
_vehicle.CurrentSquareCell = (Cell)next;
}
else
{
if (!optimalPath.TryDequeue(out var current))
{
finished = true;
continue;
}
if (current.Blocked)
{
_reactivePathPlanner.GenerateReactiveSquarePath(squareMap, optimalPath, current);
}
else
{
_vehicle.CurrentSquareCell = (Cell)current;
}
}
}
//Debugging information
var(cleared, uncleared) = CoveredSquareCells();
_simulationResults.SquareCellsCleared = cleared;
_simulationResults.SquareCellsUncleared = uncleared;
_simulationResults.SquareBombsFound = squareBombsFound.Count;
_simulationResults.SquareMappedBombs = squareBombsFound.ToList();
foreach (var cell in squareMap.Map)
{
if (cell.Coverage == Coverage.Covered)
{
_simulationResults.SquareCoveredCells.Add(cell);
}
}
}