public override void Initialize(Competitions competitions)
{
base.Initialize(competitions);
Map = Competitions.GetSensorsData <PositionSensorsData>(ControlledRobot).BuildMap();
RobotLocator = new RobotLocator(Map);
enumerator = currentCommands.GetEnumerator();
}
private IEnumerable <Command> RepairStarship()
{
var nearSocket = Map.Walls.Where(x => x.Type.ToLower().Contains(color)).OrderBy(GetDistance).FirstOrDefault();
if (nearSocket == null)
{
return(new Command[0]);
}
var path = PathSearcher.FindPath(Map, OurCoordinates, nearSocket.DiscreteCoordinate);
if (path.Length == 0)
{
if (Map.CurrentPosition.X - nearSocket.AbsoluteCoordinate.X > Epsilon)
{
return(RobotLocator.GetCommandsByDirection(Direction.Left));
}
if (Map.CurrentPosition.X - nearSocket.AbsoluteCoordinate.X < -Epsilon)
{
return(RobotLocator.GetCommandsByDirection(Direction.Right));
}
if (Map.CurrentPosition.Y - nearSocket.AbsoluteCoordinate.Y > Epsilon)
{
return(RobotLocator.GetCommandsByDirection(Direction.Down));
}
if (Map.CurrentPosition.Y - nearSocket.AbsoluteCoordinate.Y < -Epsilon)
{
return(RobotLocator.GetCommandsByDirection(Direction.Up));
}
hasDetail = false;
return(new[] { Command.Act(CommandAction.Release) });
}
return(RobotLocator.GetCommandsByDirection(path.First()));
}
protected override IEnumerable <Command> FindNextCommands()
{
var path = PathSearcher.FindPath(Map, OurCoordinates, OpponentCoordinates);
var commands = path.Length == 0 ? GoBack() : RobotLocator.GetCommandsByDirection(path.First());
lastCommand = path.FirstOrDefault();
return(commands);
}
protected override IEnumerable <Command> FindNextCommands()
{
while (currentCommand >= currentPath.Length)
{
var x = random.Next(1, 7);
var y = random.Next(1, 5);
currentPath = PathSearcher.FindPath(Map, OurCoordinates, new Point(x, y));
currentCommand = 0;
}
return(RobotLocator.GetCommandsByDirection(currentPath[currentCommand++]));
}
private IEnumerable <Command> GripDetail()
{
var nearDetail = Map.Details.OrderBy(GetDistance).FirstOrDefault();
if (nearDetail == null)
{
return(new Command[0]);
}
color = nearDetail.Type.Split(new[] { "Detail" }, StringSplitOptions.None).First().ToLower();
var path = PathSearcher.FindPath(Map, OurCoordinates, nearDetail.DiscreteCoordinate);
hasDetail = path.Length == 0;
return(hasDetail ? new[] { Command.Act(CommandAction.Grip) } : RobotLocator.GetCommandsByDirection(path.First()));
}
private static void Main(string[] args)
{
var server = new CvarcClient(args, Settings).GetServer <PositionSensorsData>();
var sensorData = server.Run().SensorsData;
var map = sensorData.BuildMap();
var robotLocator = new RobotLocator(map);
var path = PathSearcher.FindPath(map, map.GetDiscretePosition(map.CurrentPosition), new Point(2, 1));//(2, 1) - just random point
foreach (var direction in path)
{
foreach (var command in robotLocator.GetCommandsByDirection(direction))
{
sensorData = server.SendCommand(command);
robotLocator.Update(sensorData);
}
}
server.SendCommand(new Command {
Action = CommandAction.WaitForExit
});
}
private IEnumerable <Command> GoBack()
{
return(RobotLocator.GetCommandsByDirection(lastCommand.Invert()).Concat(new[] { Command.Sleep(3) }));
}
protected override IEnumerable <Command> FindNextCommands()
{
var path = PathSearcher.FindPath(Map, OurCoordinates, OpponentCoordinates);
return(path.Length == 0 || path.Length == 1 ? new Command[0] : RobotLocator.GetCommandsByDirection(path.First()));
}