public void InitializeExploreNode(RobotResultCode curType, ExploreNode parentNode, MovementCommandEnum enterDir)
{
parentNode.AssignMovementNode(this, enterDir);
MovementCommandEnum exitDir = RepairBot.GetOppositeCommand(enterDir);
AssignMovementNode(parentNode, exitDir);
nodeType = curType;
}
void ProcessRobotResult(RobotResultCode resultCode)
{
Vector2 posToUpdate = GetNewPosition(curPos, curDir);
if ((resultCode == RobotResultCode.MOVE_SUCCESFUL) || (resultCode == RobotResultCode.MOVE_SUCCESFUL_OXYGEN))
{
// do nothing
// found a new node
int curIndex = Helpers.GetIndexFromCoordinate(posToUpdate, xSize);
if (curMap[curIndex] == null)
{
// ALL NEW NEW NEW!
ExploreNode newNode = new ExploreNode();
curMap[curIndex] = newNode;
}
curMap[curIndex].InitializeExploreNode(resultCode, curNode, curDir);
// otherwise we've already been here.
curNode = curMap[curIndex];
if (!isBackTracking)
{
fromStartCommands.Push(curDir);
}
curPos = posToUpdate;
return;
}
else if (resultCode == RobotResultCode.WALL)
{
if (isBackTracking)
{
// errro
int t = 9;
}
// make a new node, but don't move. Go backwards one.
int curIndex = Helpers.GetIndexFromCoordinate(posToUpdate, xSize);
if (curMap[curIndex] == null)
{
// ALL NEW NEW NEW!
ExploreNode newNode = new ExploreNode();
curMap[curIndex] = newNode;
}
curMap[curIndex].InitializeExploreNode(RobotResultCode.WALL, curNode, curDir);
// otherwise we've already been here.
// curpos does not change
return;
}
}
