public CoordDiff FillPreviousDirection()
{
CoordDiff fillDirection = Direction;
fillDirection.Dx = -fillDirection.Dx;
fillDirection.Dy = -fillDirection.Dy;
fillDirection.Dz = -fillDirection.Dz;
return(fillDirection);
}
private static void TraceMove(TCoord botCoord, StraightMove m, Action <TCoord> action)
{
var cur = botCoord;
var dst = cur;
dst.Apply(m.Diff);
var step = new CoordDiff(Math.Sign(m.Diff.Dx), Math.Sign(m.Diff.Dy), Math.Sign(m.Diff.Dz));
do
{
cur.Apply(step);
action(cur);
}while (!cur.Equals(dst));
}
List <Tuple <TCoord, CoordDiff> > GenerateCuts(int lineIndex, List <int> segmentsMap, int layerIndex)
{
List <Tuple <TCoord, CoordDiff> > res = new List <Tuple <TCoord, CoordDiff> >();
for (int j = 1; j < segmentsMap.Count; j += 2)
{
var start = segmentsMap[j - 1];
var end = segmentsMap[j];
var pos = new TCoord(lineIndex, start, layerIndex);
var direction = new CoordDiff(0, end, 0);
res.Add(Tuple.Create <TCoord, CoordDiff>(pos, direction));
}
return(res);
}
List <ICommand> GenerateCommandsForSegment(TBot bot, int lineIndex, List <int> segmentsMapRaw, int direction)
{
List <int> segmentsMap = new List <int>(segmentsMapRaw);
if (direction < 0)
{
segmentsMap.Reverse();
}
List <Tuple <TCoord, CoordDiff> > cuts = GenerateCuts(lineIndex, segmentsMapRaw, direction);
var botOffset = new CoordDiff(0, 1, 0);
var res = new List <ICommand>();
foreach (var cut in cuts)
{
res.AddRange(MoveToPosition(bot, cut.Item1));
res.AddRange(FillLine(bot, cut.Item2, botOffset));
}
return(res);
}
private void MoveBot(TBot bot, CoordDiff diff, Volatiles volatiles)
{
if (EnableValidation)
{
var miniDiff = new CoordDiff(Math.Sign(diff.Dx), Math.Sign(diff.Dy), Math.Sign(diff.Dz));
var current = bot.Coord;
var end = bot.Coord;
end.Apply(diff);
while (!current.Equals(end))
{
volatiles.Update(current, bot);
current.Apply(miniDiff);
if (this[current])
{
throw new InvalidStateException($"Coord {current} is occupied when moving bot {bot.Bid}");
}
}
volatiles.Update(end, bot);
}
bot.Coord.Apply(diff);
}
List <ICommand> FillLine(TBot bot, CoordDiff direction, CoordDiff botOffset)
{
TCoord x = bot.Coord;
List <ICommand> res = new List <ICommand>();
CoordDiff fillOffset = new CoordDiff(-botOffset.Dx, -botOffset.Dy, -botOffset.Dz);
if (direction.Dx != 0)
{
int dif = direction.Dx < 0 ? -1 : 1;
while (true)
{
Fill fc = new Fill();
fc.Diff = fillOffset;
res.Add(fc);
if (bot.Coord.X == x.X + direction.Dx + botOffset.Dx)
{
break;
}
StraightMove move = new StraightMove();
move.Diff = new CoordDiff(dif, 0, 0);
res.Add(move);
}
}
if (direction.Dy != 0)
{
int dif = direction.Dy < 0 ? -1 : 1;
while (true)
{
Fill fc = new Fill();
fc.Diff = fillOffset;
res.Add(fc);
if (bot.Coord.Y == x.Y + direction.Dy + botOffset.Dy)
{
break;
}
StraightMove move = new StraightMove();
move.Diff = new CoordDiff(0, dif, 0);
res.Add(move);
}
}
if (direction.Dz != 0)
{
int dif = direction.Dz < 0 ? -1 : 1;
while (true)
{
Fill fc = new Fill();
fc.Diff = fillOffset;
res.Add(fc);
if (bot.Coord.Z == x.Z + direction.Dz + botOffset.Dz)
{
break;
}
StraightMove move = new StraightMove();
move.Diff = new CoordDiff(0, 0, dif);
res.Add(move);
}
}
return(res);
}
