public CleaningPlanResultsDto ExecuteCleaningPlan(CleaningPlanInstructionsDto cleanPlanInstructions)
{
_navigator = new Navigator(cleanPlanInstructions.Map);
var instructions = cleanPlanInstructions.Instructions;
var startingCoordinates = new Coordinate(CurrentPosition.X, CurrentPosition.Y);
_navigator.SetVisited(startingCoordinates);
while (Battery.HasCapacity && instructions.Count > 0)
{
var instruction = instructions.Dequeue();
try
{
ExecuteInstruction(instruction);
}
catch (Exception ex)
{
if (ex is CollisionException || ex is OutOfBatteryException)
{
try
{
ExecuteBackOffStrategy();
}
catch (Exception e)
{
if (e is BackOffStrategyFailedException || e is OutOfBatteryException)
{
break;
}
else
{
throw;
}
}
}
else
{
throw;
}
}
}
var navigatorResults = _navigator.ExportResults();
var result = new CleaningPlanResultsDto
{
Visited = navigatorResults.Visited,
Cleaned = navigatorResults.Cleaned,
Final = CurrentPosition,
Battery = Battery.Level
};
return(result);
}
public CleaningPlanResultsDto ExecuteCleaningProcess(RobotDto robotConfiguration)
{
var position = new RobotPosition(robotConfiguration.Start.X, robotConfiguration.Start.Y, robotConfiguration.Start.Facing);
var robot = new Robot(position, robotConfiguration.Battery);
var instructions = new CleaningPlanInstructionsDto
{
Map = robotConfiguration.Map,
Instructions = new Queue <string>(robotConfiguration.Commands)
};
return(robot.ExecuteCleaningPlan(instructions));
}
