/// <summary>
/// obstacle attemp 2 logic
/// If that also hits an obstacle: Turn Left, Back, Turn Right, Advance (TL, B, TR, A)
/// </summary>
/// <param name="map">map of the robot</param>
/// <param name="facing">where is facing the robot</param>
/// <param name="x">x axis</param>
/// <param name="y">y axis</param>
/// <param name="maxRow">what is the max row</param>
/// <param name="maxColumn">what is the max column</param>
/// <param name="attemp">number of attemp</param>
/// <param name="baterry">object baterry</param>
/// <returns>new map</returns>
public List <Map> obstacleAttemp2(List <Map> map, string facing, int x, int y, int maxRow, int maxColumn, int attemp, Batterry baterry)
{
Orientation orientation = new Orientation();
Position robot = new Position();
bool tl = true;
bool tr = true;
bool b = true;
bool a = true;
for (int i = 0; i < map.Count; i++)
{
if (map[i].facing != "")
{
if (tl)
{
//TL
int costOperation = baterry.getBatteryDrain(Commads.cmds.TL.ToString());
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
facing = map[i].facing;
//change the facing position
//TL
map[i].facing = orientation.getTL(facing + Commads.cmds.TL.ToString());
//new facing
facing = map[i].facing;
//this flag is so this parte it is only call one time
tl = false;
baterry.batteryLife -= costOperation;
}
else
{
map = robot.outBatteryPosition(map, map[i].x, map[i].y);
return(map);
}
}
if (b)
{
//B
int costOperation = baterry.getBatteryDrain(Commads.cmds.B.ToString());
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
//B
map = robot.backPosition(map, facing, x, y, maxRow, maxColumn, attemp, baterry);
//Cleaning the old facing position
if (map[i].outBattery == false)
{
map[i].facing = "";
}
//Restart the iteration so the next intructions can be done in the new position
i = -1;
//this flag is so this parte it is only call one time
b = false;
// in this step the method backposition decrease the battery life
//baterry.batteryLife -= costOperation;
}
else
{
robot.outBatteryPosition(map, map[i].x, map[i].y);
return(map);
}
}
if (tr && (i >= 0))
{
//TR
int costOperation = baterry.getBatteryDrain(Commads.cmds.TR.ToString());
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
//TR
map[i].facing = orientation.getTR(facing + Commads.cmds.TR.ToString());
//new facing
facing = map[i].facing;
//this flag is so this parte it is only call one time
tr = false;
baterry.batteryLife -= costOperation;
}
else
{
map = robot.outBatteryPosition(map, map[i].x, map[i].y);
return(map);
}
}
if (a && (i >= 0))
{
//A
int costOperation = baterry.getBatteryDrain(Commads.cmds.A.ToString());
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
//A
map = robot.advancePosition(map, facing, x, y, maxRow, maxColumn, attemp, baterry);
if (map[i].outBattery == false)
{
map[i].facing = "";
}
a = false;
return(map);
// in this step the method backposition decrease the battery life
}
else
{
map = robot.outBatteryPosition(map, map[i].x, map[i].y);
return(map);
}
}
}
}
return(map);
}
/// <summary>
/// obstacle attemp 5 logic
/// If that also hits and obstacle: Turn Left, Turn Left, Advance (TL, TL, A)
/// </summary>
/// <param name="map">map of the robot</param>
/// <param name="facing">where is facing the robot</param>
/// <param name="x">x axis</param>
/// <param name="y">y axis</param>
/// <param name="maxRow">what is the max row</param>
/// <param name="maxColumn">what is the max column</param>
/// <param name="attemp">number of attemp</param>
/// <param name="baterry">object baterry</param>
/// <returns>new map</returns>
public List <Map> obstacleAttemp5(List <Map> map, string facing, int x, int y, int maxRow, int maxColumn, int attemp, Batterry baterry)
{
Orientation orientation = new Orientation();
Position robot = new Position();
foreach (var position in map)
{
if (position.facing != "")
{
//TL
int costOperation = baterry.getBatteryDrain(Commads.cmds.TL.ToString());
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
//get the actual facing position
facing = position.facing;
//TL
position.facing = orientation.getTL(facing + Commads.cmds.TL.ToString());
//TODO:mover la bateria bajar
facing = position.facing;
baterry.batteryLife -= costOperation;
}
else
{
map = robot.outBatteryPosition(map, position.x, position.y);
return(map);
}
//TL
costOperation = baterry.getBatteryDrain(Commads.cmds.TL.ToString());
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
//TL
position.facing = orientation.getTL(facing + Commads.cmds.TL.ToString());
facing = position.facing;
baterry.batteryLife -= costOperation;
}
else
{
map = robot.outBatteryPosition(map, position.x, position.y);
return(map);
}
//A
costOperation = baterry.getBatteryDrain(Commads.cmds.A.ToString());
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
//A
map = robot.advancePosition(map, facing, position.x, position.y, maxRow, maxColumn, attemp, baterry);
//Clean facing position old one
if (position.outBattery == false)
{
position.facing = "";
}
return(map);
}
else
{
map = robot.outBatteryPosition(map, position.x, position.y);
return(map);
}
}
}
return(map);
}
/// <summary>
/// The robot perform an instruction
/// </summary>
/// <param name="cmd">command</param>
/// <returns>new map with the instruction applied</returns>
private List <Map> perform(string cmd)
{
//Taking a list of point(objects) of the map
List <Map> map = new List <Map>();
map = this.map;
//Take the max row and MaxColumn
int maxRow = this.maxRow;
int maxColumn = this.maxColumn;
//Generate a new object orientation to se where is going to face
Orientation orientation = new Orientation();
//New object to see interact with the position of the robot
Position robot = new Position();
Batterry battery = new Batterry(this.battery);
string facing = "";
int x = 0, y = 0;
foreach (var position in map)
{
if (position.facing != "")
{
//TL Logic
if (Commads.cmds.TL.ToString() == cmd)
{
int costOperation = battery.getBatteryDrain(Commads.cmds.TL.ToString());
if (battery.checkIfCanExecute(costOperation, battery.batteryLife))
{
facing = position.facing;
position.facing = orientation.getTL(facing + cmd);
//drain baterry
battery.batteryLife -= costOperation;
this.battery = battery.batteryLife;
return(map);
}
else
{
map = robot.outBatteryPosition(map, position.x, position.y);
return(map);
}
}
else if (Commads.cmds.TR.ToString() == cmd)
{
int costOperation = battery.getBatteryDrain(Commads.cmds.TR.ToString());
if (battery.checkIfCanExecute(costOperation, battery.batteryLife))
{
facing = position.facing;
position.facing = orientation.getTR(facing + cmd);
//drain baterry
battery.batteryLife -= costOperation;
this.battery = battery.batteryLife;
return(map);
}
else
{
map = robot.outBatteryPosition(map, position.x, position.y);
return(map);
}
}
else if (Commads.cmds.C.ToString() == cmd)
{
int costOperation = battery.getBatteryDrain(Commads.cmds.C.ToString());
if (battery.checkIfCanExecute(costOperation, battery.batteryLife))
{
map = robot.cleanPosition(map, position.x, position.y);
//drain baterry
battery.batteryLife -= costOperation;
this.battery = battery.batteryLife;
return(map);
}
else
{
map = robot.outBatteryPosition(map, position.x, position.y);
return(map);
}
}
else if (Commads.cmds.A.ToString() == cmd)
{
facing = position.facing;
x = position.x;
y = position.y;
string tmpFacing = position.facing;
int costOperation = battery.getBatteryDrain(Commads.cmds.A.ToString());
if (battery.checkIfCanExecute(costOperation, battery.batteryLife))
{
map = robot.advancePosition(map, facing, x, y, maxRow, maxColumn, 0, battery);
//clean the actual position, becouse the new position is in the map
if (position.outBattery == false)
{
position.facing = "";
}
this.battery = battery.batteryLife;
return(map);
}
else
{
map = robot.outBatteryPosition(map, position.x, position.y);
return(map);
}
}
}
}
return(map);
}