private StatusUpdater()
{
roverStatus = new RoverStatus();
//timer = new System.Timers.Timer(Properties.Settings.Default.StatusUpdateInterval) { Enabled = false };
updatesQueue = new PriorityQueue(100);
listener = new MessageListener(Properties.NetworkSettings.Default.StatusUpdatePort, updatesQueue, Properties.NetworkSettings.Default.RoverIPAddress);
}
private Rover()
{
_currentStatus = new RoverStatus
{
DirectionIndex = 0,
Position = new Location { X = 0, Y = 0 }
};
}
public MarsRover(Point startingPoint, CardinalDirection startingDirection, Grid map = null, IObstacleDetector obstacleDetector = null)
{
this._map = map ?? new Grid();
this.ObstacleDetector = obstacleDetector;
Status = new RoverStatus();
var normalizedStartingPoint = this._map.NormalizeCoordinates(startingPoint);
this.Position = new RoverPosition(normalizedStartingPoint, startingDirection);
}
public void MoveBackward()
{
Position nextPosition = this.Position.GetPositionFacingDirection(this.Direction.GetOpposite());
if (IsObstacleSenseTicklingForTargetPosition(nextPosition))
{
this.Status = RoverStatus.StoppedFacingObstacle;
return;
}
this.Position = nextPosition;
}
public void Test1()
{
_controller = new ExplorationController();
var input = new InputModel
{
SizeX = 5,
SizeY = 5,
};
RoverCommandsModel command1 = new RoverCommandsModel
{
DeployLocation = new DeploymentModel {
X = 1, Y = 2, Orientation = Orientations.N
},
Command = "LMLMLMLMM"
};
RoverCommandsModel command2 = new RoverCommandsModel
{
DeployLocation = new DeploymentModel {
X = 3, Y = 3, Orientation = Orientations.E
},
Command = "MMRMMRMRRM"
};
input.CommandSets = new List <RoverCommandsModel>();
input.CommandSets.Add(command1);
input.CommandSets.Add(command2);
var output = _controller.ExploreMars(input);
Assert.IsType <OkObjectResult>(output.Result);
var okObjectResult = output.Result as OkObjectResult;
Assert.NotNull(okObjectResult);
var outputModel = okObjectResult.Value as OutputModel;
Assert.NotNull(outputModel);
var expectedResult = new OutputModel();
expectedResult.statutes = new List <RoverStatus>();
var status1 = new RoverStatus {
X = 1, Y = 3, orientation = Orientations.N
};
var status2 = new RoverStatus {
X = 5, Y = 1, orientation = Orientations.E
};
expectedResult.statutes.Add(status1);
expectedResult.statutes.Add(status2);
Assert.Equal(2, outputModel.statutes.Count);
expectedResult.Should().BeEquivalentTo(outputModel);
}
public Guid CreateARover(YAndXCoordinate startingGridPosition, RoverStatus roverStatus,
Direction roverStartDirection)
{
var result = new Entities.Rover
{
GridPosition = startingGridPosition,
RoverStatus = roverStatus,
RoverFacingDirection = roverStartDirection,
RoverId = Guid.NewGuid()
};
_rovers.Add(result);
return(result.RoverId);
}
static void Main(string[] args)
{
string size = string.Empty;
string position = string.Empty;
string directive = string.Empty;
#region size
do
{
Console.Write("Size: ");
size = Console.ReadLine().ToUpper();
}while (!Regex.Match(size, "[0-9]* [0-9]*").Success);
#endregion
while (true)
{
#region position
do
{
Console.Write("Position: ");
position = Console.ReadLine().ToUpper();
}while (!Regex.Match(position, "[0-9]* [0-9]* [NSEW]{1}$").Success);
#endregion
#region directive
do
{
Console.Write("Directives: ");
directive = Console.ReadLine().ToUpper();
}while (!Regex.Match(directive, "[LRM]*").Success);
#endregion
Rover marsRover = new Rover(int.Parse(GetDataPart(size, 0)), int.Parse(GetDataPart(size, 1)));
RoverStatus result = marsRover.Move(int.Parse(GetDataPart(position, 0)), int.Parse(GetDataPart(position, 1)), GetDataPart(position, 2), directive);
if (result.IsError)
{
Console.Write(result.Message);
}
else
{
Console.Write($"{result.Position.x} {result.Position.y} {result.Position.direction}");
}
Console.WriteLine();
}
}
internal void Move(char[] moves)
{
this.Status.StatusCode = RoverStatus.RoverStatusCode.Ok;
try
{
foreach (char commandChar in moves)
{
IRoverCommand command = CommandFactory(commandChar);
if (command == null)
{
throw new RoverException($"invalid command character: {command}!");
}
RoverPosition newPosition = command.CalcNewPosition(this.Coordinates, this.Direction);
var normalizeCoords = _map.NormalizeCoordinates(newPosition.Coordinates);
RoverPosition normalizePosition = new RoverPosition(normalizeCoords, newPosition.Direction);
if (ObstacleDetector != null && ObstacleDetector.IsObstacleDetected(normalizePosition.Coordinates))
{
RoverStatus status = new RoverStatus(RoverStatus.RoverStatusCode.Fail)
{
StatusMessage = $"obstacle detected at: ({normalizeCoords})",
};
this.Status = status;
return; //don't move and report error by changing own status
}
this.Position = normalizePosition;
}
}
catch (RoverException e)
{
this.Status = new RoverStatus(RoverStatus.RoverStatusCode.Error)
{
StatusMessage = e.Message
};
}
}
private void AdjustPosition(RoverStatus status)
{
if (status.Position.X < 0)
{
status.Position.X += _grid.GetWidth();
}
if (status.Position.X >= _grid.GetWidth())
{
status.Position.X -= _grid.GetWidth();
}
if (status.Position.Y < 0)
{
status.Position.Y += _grid.GetHeight();
}
if (status.Position.Y >= _grid.GetHeight())
{
status.Position.Y -= _grid.GetHeight();
}
}
public RoverStatus(RoverStatus other)
{
DirectionIndex = other.DirectionIndex;
Position = new Location { X = other.Position.X, Y = other.Position.Y };
}
private void Step(RoverStatus status, int multiplier)
{
status.Position.X += CoordianteDirections[status.DirectionIndex].X * multiplier;
status.Position.Y += CoordianteDirections[status.DirectionIndex].Y * multiplier;
AdjustPosition(status);
}
private RoverStatus GetNewStatusForCommand(char command)
{
var newStatus = new RoverStatus(_currentStatus);
if (command == 'F')
{
Step(newStatus, 1);
}
if (command == 'B')
{
Step(newStatus, -1);
}
if (command == 'R')
{
newStatus.DirectionIndex = (newStatus.DirectionIndex + 1) % 4;
}
if (command == 'L')
{
var newDirIndex = newStatus.DirectionIndex - 1;
if (newDirIndex < 0)
{
newDirIndex += 4;
}
newStatus.DirectionIndex = newDirIndex;
}
return newStatus;
}
private CommandResponse ExecuteCommand(char command)
{
var newStatus = GetNewStatusForCommand(command);
if (_grid.IsObsctacle(newStatus.Position.X, newStatus.Position.Y)) return CommandResponse.Obstacle;
_currentStatus = newStatus;
return CommandResponse.OK;
}
public Rover()
{
GridPosition = new YAndXCoordinate();
RoverStatus = RoverStatus.Operational;
}
public Rover(int x, int y, Direction direction)
{
this.Position = new Position(x, y);
this.Direction = direction;
this.Status = RoverStatus.Operative;
}
public void UpdateRoverStatus(Guid roverId, RoverStatus roversStatus)
{
var rover = _rovers.FirstOrDefault(x => x.RoverId == roverId);
rover.RoverStatus = roversStatus;
}
