private static bool IsConnected(RobotAgent sourceRobot, RobotAgent targetRobot, HashSet <RobotAgent> seenRobots)
{
if (sourceRobot == targetRobot)
{
return(true);
}
if (!seenRobots.Add(sourceRobot))
{
return(false);
}
#if ENABLE_F2 // F2: routes are assumed to be unidirectional, while they are in fact bidirectional.
// Since this is reflected by incorrect assignments to agents' Inputs and Outputs,
// the oracle must be fixed to account for this.
var neighbouringRobots = sourceRobot.Outputs.Concat(sourceRobot.Inputs)
.SelectMany(cart => cart.Outputs.Concat(cart.Inputs));
#else
var neighbouringRobots = sourceRobot.Outputs.SelectMany(cart => cart.Outputs);
#endif
foreach (var neighbouringRobot in neighbouringRobots)
{
if (neighbouringRobot == targetRobot)
{
return(true);
}
if (IsConnected((RobotAgent)neighbouringRobot, targetRobot, seenRobots))
{
return(true);
}
}
return(false);
}
private static bool IsConnected(RobotAgent source, RobotAgent target, HashSet<RobotAgent> seenRobots)
{
if (source == target)
return true;
if (!seenRobots.Add(source))
return false;
foreach (var output in source.Outputs)
{
foreach (var output2 in output.Outputs)
{
if (output2 == target)
return true;
if (IsConnected((RobotAgent)output2, target, seenRobots))
return true;
}
}
return false;
}