private readonly Queue <ICleaningRobotCommand> _commandQueue = new Queue <ICleaningRobotCommand>(); // Command queue
/// <summary>
/// Constructor
/// </summary>
public CleaningRobotBackOffStrategy(
ICleaningRobotCommand turnLeftCommand,
ICleaningRobotCommand turnRightCommand,
ICleaningRobotCommand advanceCommand,
ICleaningRobotCommand backCommand,
ICleaningRobotCommand cleanCommand
)
{
_turnLeftCommand = turnLeftCommand;
_turnRightCommand = turnRightCommand;
_advanceCommand = advanceCommand;
_backCommand = backCommand;
_cleanCommand = cleanCommand;
}
private readonly Queue <ICleaningRobotCommand> _commandQueue = new Queue <ICleaningRobotCommand>(); // Command queue
/// <summary>
/// Constructor
/// </summary>
public CleaningRobotResumableStrategy(
ICleaningRobotCommand turnLeftCommand,
ICleaningRobotCommand turnRightCommand,
ICleaningRobotCommand advanceCommand,
ICleaningRobotCommand cleanCommand,
ICleaningRobotStrategySerializer serializer
)
{
_turnLeftCommand = turnLeftCommand;
_turnRightCommand = turnRightCommand;
_advanceCommand = advanceCommand;
_cleanCommand = cleanCommand;
_serializer = serializer;
}
// Processing command queue
private CleaningRobotActionResult ProcessCommandQueue()
{
CleaningRobotActionResult result = CleaningRobotActionResult.Success;
while (_commandQueue.Count > 0)
{
ICleaningRobotCommand command = _commandQueue.Dequeue();
result = command.Run();
if (result != CleaningRobotActionResult.Success)
{
break;
}
}
return(result);
}
public void Setup()
{
_mapSerializer = new RoomMapJsonSerializer();
_map = new RoombaMap(_mapSerializer);
_robotSerializer = new CleaningRobotJsonSerializer();
_robot = new RoombaRobot(_map, _robotSerializer);
_strategySerializer = new CleaningRobotStrategyJsonSerializer();
_trCommand = new CleaningRobotTurnRightCommand(_robot);
_tlCommand = new CleaningRobotTurnLeftCommand(_robot);
_aCommand = new CleaningRobotAdvanceCommand(_robot);
_bCommand = new CleaningRobotBackCommand(_robot);
_cCommand = new CleaningRobotCleanCommand(_robot);
_givenStrategy = new CleaningRobotResumableStrategy(_tlCommand, _trCommand, _aCommand, _cCommand, _strategySerializer);
_backOffStrategy = new CleaningRobotBackOffStrategy(_tlCommand, _trCommand, _aCommand, _bCommand, _cCommand);
_robotController = new RoombaRobotController(_map, _robot, _givenStrategy, _backOffStrategy);
}
/// <summary>
/// Load strategy data from file
/// </summary>
public void Load(string inputFileName)
{
// Loading raw data
_data = _serializer.Deserialize(inputFileName);
// Enqueuing commands
_commandQueue.Clear();
foreach (var str in _data)
{
ICleaningRobotCommand command = null;
// Defining commands
switch (str)
{
case "TL":
command = _turnLeftCommand;
break;
case "TR":
command = _turnRightCommand;
break;
case "A":
command = _advanceCommand;
break;
case "C":
command = _cleanCommand;
break;
}
if (command != null)
{
_commandQueue.Enqueue(command);
}
}
}
