private void TurnRobotToFaceTheCorrectSide()
{
int diffInX = _algorithmEssentials.Robot.GetCurrentCell().X - _algorithmEssentials.Room.MinCoOrdinate.X;
int diffInY = _algorithmEssentials.Robot.GetCurrentCell().Y - _algorithmEssentials.Room.MinCoOrdinate.Y;
if (diffInX > 0)
{
//turn to the left side
RobotUtility.TurnToFaceLeft(_algorithmEssentials);
}
if (diffInX == 0)
{
if (diffInY > 0)
{
//turn to the top side
RobotUtility.TurnToFaceUp(_algorithmEssentials);
}
if (diffInY < 0)
{
//turn to the bottom side
RobotUtility.TurnToFaceDown(_algorithmEssentials);
}
}
if (diffInX < 0)
{
//turn to the right side
RobotUtility.TurnToFaceRight(_algorithmEssentials);
}
}
public override CleanStatus Clean()
{
_algorithmEssentials.RobotVisitMonitor.AddCurrentPositionToVisitList();
RobotUtility.TurnLeft(_algorithmEssentials);
bool canMove = true;
while (canMove)
{
canMove = _handlerManager.HandleNextMove();
}
Status = CleanStatus.Complete;
return(CleanStatus.Complete);
}
public bool HandleMovement()
{
//If can't handle the move operation then give the control to the ObstacleHandler.
if (RobotUtility.CanRobotMoveForward(_algorithmEssentials, _canReUseVisitedCells))
{
RobotUtility.MoveForward(_algorithmEssentials);
return(true);
}
if ((null != _nextHandler))
{
return(_nextHandler.HandleMovement());
}
return(false);
}
public static void TurnToFaceUp(AlgorithmEssentials inAlgorithmEssentials)
{
// Turn to the top side.
switch (inAlgorithmEssentials.Robot.FaceTo)
{
case 0:
RobotUtility.TurnLeft(inAlgorithmEssentials);
break;
case 1:
RobotUtility.TurnRight(inAlgorithmEssentials);
RobotUtility.TurnRight(inAlgorithmEssentials);
break;
case 2:
RobotUtility.TurnRight(inAlgorithmEssentials);
break;
}
}
public bool HandleMovement()
{
// Handle the obstacle by turning right. If 3 right turns can't find a way,
// then the Robot completed cleaning the room.
RobotUtility.TurnRight(_algorithmEssentials);
if (RobotUtility.CanRobotMoveForward(_algorithmEssentials, _canReUseVisitedCells))
{
return(true);
}
if ((null != _nextHandler))
{
return(_nextHandler.HandleMovement());
}
return(false);
}
