private void ExecuteCommand()
{
if (Battery.Status - Battery.Consumption(CurrentRobotAction) < 0)
{
return;
}
Battery.Status = Battery.Status - Battery.Consumption(CurrentRobotAction);
if (CurrentRobotAction == RobotAction.A || CurrentRobotAction == RobotAction.B)
{
PreviousCoordinate = CurrentCoordinate;
CurrentCoordinate = GetResultCoordinate(CurrentFacing, CurrentRobotAction, CurrentCoordinate);
}
else if (CurrentRobotAction == RobotAction.TL || CurrentRobotAction == RobotAction.TR)
{
CurrentFacing = (Facing)Enum.Parse(typeof(Facing), FacingActionResult[(int)CurrentFacing][(int)CurrentRobotAction]);
}
if (!IsObstacle())
{
if ((CurrentRobotAction == RobotAction.A || CurrentRobotAction == RobotAction.B) && (!Visited.Any(m => m.X == CurrentCoordinate.X && m.Y == CurrentCoordinate.Y)))
{
Visited.Add(CurrentCoordinate);
}
else if ((CurrentRobotAction == RobotAction.C) && (!Cleaned.Any(m => m.X == CurrentCoordinate.X && m.Y == CurrentCoordinate.Y)))
{
Cleaned.Add(CurrentCoordinate);
}
}
}
/// <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);
}
public Result Run(Request request)
{
if (IsValidRequest(request))
{
return(null);
}
Init();
var result = new Result();
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
});
for (int i = 0; i < request.Commands.Length; i++)
{
CurrentAction = (Action)Enum.Parse(typeof(Action), request.Commands[i]);
ExecCommand();
if (IsObstacle())
{
CurrentCoordinate = PreviousCoordinate;
IsRunningBackOffStrategy = true;
for (int j = 0; j < AlternativeActions.Path.Length; j++)
{
if (IsRunningBackOffStrategy)
{
for (int k = 0; k < AlternativeActions.Path[j].Length; k++)
{
CurrentAction = (Action)Enum.Parse(typeof(Action), AlternativeActions.Path[j][k]);
ExecCommand();
}
if (!IsObstacle())
{
IsRunningBackOffStrategy = false;
break;
}
else
{
CurrentCoordinate = PreviousCoordinate;
IsRunningBackOffStrategy = true;
}
}
}
}
}
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);
}
