internal static CoOrdinate GetLeftCell(this RobotHardware.IHardwareRobot inRobot)
{
CoOrdinate leftCell = new CoOrdinate();
switch (inRobot.FaceTo)
{
case 0:
leftCell.X = inRobot.X;
leftCell.Y = inRobot.Y - 1;
break;
case 1:
leftCell.X = inRobot.X + 1;
leftCell.Y = inRobot.Y;
break;
case 2:
leftCell.X = inRobot.X;
leftCell.Y = inRobot.Y + 1;
break;
case 3:
leftCell.X = inRobot.X - 1;
leftCell.Y = inRobot.Y;
break;
}
return(leftCell);
}
internal static CoOrdinate GetBackCell(this RobotHardware.IHardwareRobot inRobot)
{
CoOrdinate prevCell = new CoOrdinate();
switch (inRobot.FaceTo)
{
case 0:
prevCell.X = inRobot.X - 1;
prevCell.Y = inRobot.Y;
break;
case 1:
prevCell.X = inRobot.X;
prevCell.Y = inRobot.Y - 1;
break;
case 2:
prevCell.X = inRobot.X + 1;
prevCell.Y = inRobot.Y;
break;
case 3:
prevCell.X = inRobot.X;
prevCell.Y = inRobot.Y + 1;
break;
}
return(prevCell);
}
internal static CoOrdinate GetBottomRightCell(this RobotHardware.IHardwareRobot inRobot)
{
CoOrdinate bottomRightCell = new CoOrdinate();
switch (inRobot.FaceTo)
{
case 0:
bottomRightCell.X = inRobot.X - 1;
bottomRightCell.Y = inRobot.Y + 1;
break;
case 1:
bottomRightCell.X = inRobot.X - 1;
bottomRightCell.Y = inRobot.Y - 1;
break;
case 2:
bottomRightCell.X = inRobot.X + 1;
bottomRightCell.Y = inRobot.Y - 1;
break;
case 3:
bottomRightCell.X = inRobot.X + 1;
bottomRightCell.Y = inRobot.Y + 1;
break;
}
return(bottomRightCell);
}
internal static CoOrdinate GetFrontCell(this RobotHardware.IHardwareRobot inRobot)
{
CoOrdinate nextCell = new CoOrdinate();
switch (inRobot.FaceTo)
{
case 0:
nextCell.X = inRobot.X + 1;
nextCell.Y = inRobot.Y;
break;
case 1:
nextCell.X = inRobot.X;
nextCell.Y = inRobot.Y + 1;
break;
case 2:
nextCell.X = inRobot.X - 1;
nextCell.Y = inRobot.Y;
break;
case 3:
nextCell.X = inRobot.X;
nextCell.Y = inRobot.Y - 1;
break;
}
return(nextCell);
}
internal static CoOrdinate GetCurrentCell(this RobotHardware.IHardwareRobot inRobot)
{
CoOrdinate currCell = new CoOrdinate();
currCell.X = inRobot.X;
currCell.Y = inRobot.Y;
return(currCell);
}
virtual public void AddObstacle(CoOrdinate inCoOr)
{
CoOrdinate findList = _obstacles.Find(s => ((s.X == inCoOr.X) && (s.Y == inCoOr.Y)));
if (findList == null)
{
_obstacles.Add(inCoOr);
}
}
public static bool IsCoOrdinatesInLine(CoOrdinate first, CoOrdinate second)
{
if (first == null)
{
return(false);
}
if (second == null)
{
return(false);
}
return((first.X - second.X == 0) || (first.Y - second.Y == 0));
}
static void Main(string[] args)
{
// Define the min and max co-ordinate for the room
CoOrdinate currentRoom = new CoOrdinate(1, 5);
// Create the Robot
RobotHardware.IHardwareRobot cleaningRobot = new RobotHardware.Hardware(currentRoom.X, currentRoom.Y);
// Create the required robot visit monitor. Current visit monitor can print the robot path to console
IRobotVisitMonitor robotVisitMonitor = RobotVisitMonitorFactory.CreateRobotVisitMonitor(
RobotVisitMonitorType.RobotVisitMonitorWithConsoleOutput, cleaningRobot);
// Create a simple room
Room room = new SimpleRoom();
// Create the algorithm essentials with the above robot, visit monitor and room.
AlgorithmEssentials algorithmEssentials = new AlgorithmEssentials(room, cleaningRobot, robotVisitMonitor);
// Ask the CleaningAlgorithmFactory to create the CleaningAlgorithm instance by passing the required
// required CleaningAlgorithmType
CleaningAlgorithm cleaningAlgorithm = CleaningAlgorithmFactory.CreateCleaningAlgorithm(
CleaningAlgorithmType.CircularCleaningAlgorithm, algorithmEssentials);
// Ask the ReturnAlgorithmFactory to create the ReturnAlgorithm instance by passing the required
// required ReturnAlgorithmType
ReturnAlgorithm returnAlgorithm = ReturnAlgorithmFactory.CreateReturnAlgorithm(
ReturnAlgorithmType.SimpleReturnAlgorithm, algorithmEssentials);
// Create a CleaningManager to manage the cleaning and returning process
CleaningManager manager = new CleaningManager(cleaningAlgorithm, returnAlgorithm);
bool overallOperationStatus = manager.Clean();
Console.WriteLine("Cleaning Status : {0}", manager.GetCleanStatus());
Console.WriteLine("Return Status : {0}", manager.GetReturnStatus());
robotVisitMonitor.PrintRobotPath();
Console.ReadKey();
}
private bool IsCellVisited(CoOrdinate inCoOr)
{
CoOrdinate findList = _robotVisitList.Find(s => ((s.X == inCoOr.X) && (s.Y == inCoOr.Y)));
return(findList != null);
}
public bool IsFrontCellVisited()
{
CoOrdinate frontCell = _robot.GetFrontCell();
return(IsCellVisited(frontCell));
}
public SimpleRoom()
{
_obstacles = new List <CoOrdinate>();
_minCoOrdinate = new CoOrdinate(0, 0);
_maxCoOrdinate = new CoOrdinate(0, 0);
}
