private void Visit(IHardwareRobot robot)
{
_path.Add(new Point(robot.X, robot.Y));
if (!_visited.ContainsKey(robot.X))
_visited.Add(robot.X, new Dictionary<int, bool>());
_visited[robot.X].Add(robot.Y, true);
}
private bool TryWalk(IHardwareRobot robot)
{
if (!IsValidDestination(robot)) return false;
robot.Walk();
Visit(robot);
return true;
}
public List<Point> Execute(IHardwareRobot robot)
{
// quickest way back to the origin is, since the robot cannot travel diagonally,
// to go all the way west, then all the way north (or vice-versa)
// initialise the path by adding the current location
var path = new List<Point> {new Point(robot.X, robot.Y)};
//face west and return to X == 0
if (robot.FaceTo == 3)
robot.TurnLeft();
else
{
while (robot.FaceTo != 2)
robot.TurnRight();
}
while (robot.X > 0)
{
robot.Walk();
path.Add(new Point(robot.X, robot.Y));
}
//face north and return to Y == 0
robot.TurnRight();
while (robot.Y > 0)
{
robot.Walk();
path.Add(new Point(robot.X, robot.Y));
}
return path;
}
public Robot(IHardwareRobot hardwareRobot, int width, int length)
{
this.hardwareRobot = hardwareRobot;
room = new Room(width, length, new DirectionMapper());
cleaning = new Cleaning(hardwareRobot, room);
@return = new Return(hardwareRobot);
}
public List<Point> Execute(IHardwareRobot robot)
{
_path = new List<Point>();
_visited = new Dictionary<int, Dictionary<int, bool>>();
//mark starting square as visited
Visit(robot);
var isRoomClean = false;
while (!isRoomClean)
{
robot.TurnLeft();
if (TryWalk(robot)) continue;
robot.TurnRight();
if (TryWalk(robot)) continue;
robot.TurnRight();
if (TryWalk(robot)) continue;
isRoomClean = true;
}
return _path;
}
public override Position GetPositionFacing(IHardwareRobot hardwareRobot)
{
return(NewPosition(hardwareRobot.X - 1, hardwareRobot.Y));
}
public Cleaning(IHardwareRobot hardwareRobot, Room room)
{
this.hardwareRobot = hardwareRobot;
this.room = room;
}
public abstract Position GetPositionFacing(IHardwareRobot hardwareRobot);
public bool MapsToHardwareDirectionFor(IHardwareRobot hardwareRobot)
{
return(hardwareRobot.FaceTo.Equals(HardwareDirection));
}
public bool IsCurrentPositionFor(IHardwareRobot hardwareRobot)
{
return(Position.IsPositionFor(hardwareRobot));
}
public Position GetPositionFacingRobot(IHardwareRobot hardwareRobot)
{
return
(Directions.Single(direction => direction.MapsToHardwareDirectionFor(hardwareRobot)).GetPositionFacing(
hardwareRobot));
}
public virtual bool IsCleanInFront(IHardwareRobot hardwareRobot)
{
var positionInFrontOfRobot = directionMapper.GetPositionFacingRobot(hardwareRobot);
return(cells.Single(cell => cell.IsAtPosition(positionInFrontOfRobot)).IsClean);
}
protected Command(IHardwareRobot hardwareRobot, Room room)
{
HardwareRobot = hardwareRobot;
Room = room;
}
public virtual bool IsPositionFor(IHardwareRobot hardwareRobot)
{
return(X == hardwareRobot.X && Y == hardwareRobot.Y);
}
private bool IsValidDestination(IHardwareRobot robot)
{
return !robot.IsObstacle() && !IsVisited(NextX(robot.X, robot.FaceTo), NextY(robot.Y, robot.FaceTo));
}
public void BaseSetUp()
{
HardwareRobot = NewMock <IHardwareRobot>();
}
public TurnRightCommand(IHardwareRobot hardwareRobot, Room room) : base(hardwareRobot, room)
{
}
public WalkCommand(IHardwareRobot hardwareRobot, Room room) : base(hardwareRobot, room)
{
}
public Return(IHardwareRobot hardwareRobot)
{
this.hardwareRobot = hardwareRobot;
}
public virtual void TrackCleaning(IHardwareRobot hardwareRobot)
{
cells.Single(cell => cell.IsCurrentPositionFor(hardwareRobot)).Clean();
}
