private StatusUpdater()
{
roverStatus = new RoverStatus();
//timer = new System.Timers.Timer(Properties.Settings.Default.StatusUpdateInterval) { Enabled = false };
updatesQueue = new PriorityQueue(100);
listener = new MessageListener(Properties.NetworkSettings.Default.StatusUpdatePort, updatesQueue, Properties.NetworkSettings.Default.RoverIPAddress);
}
/// <summary>
/// When setting mission parameters, check to see when the rover is ready to start roving
/// </summary>
private void CheckForOperationalReadyness()
{
if (this.m_currentStatus == RoverStatus.InConstruction)
{
if (this.m_MissionOrders != null && this.m_currentLocation != null)
{
m_currentStatus = RoverStatus.WaitingForDeployment;
}
}
}
/// <summary>
/// Start executing the Mission Orders
/// </summary>
public bool ExecuteOrders()
{
// Assumptions: The Mission Orders have already been parsed by Regex to only contain 'M', 'L' or 'R' characters.
bool orderCarriedOut = false;
RoverLocation previousRoverLocation = null;
// Log the start of the mission
AddToEventLog(string.Format("{0}: Starting Mission", Name));
foreach (char currentOrder in this.m_MissionOrders.ToCharArray())
{
// Remember the current location, for comparison with the new location.
previousRoverLocation = m_currentLocation.Clone();
// Log the next order
AddToEventLog(string.Format("{0}: Processing Order:{1}", Name, currentOrder));
switch (currentOrder)
{
case Constants.INPUT_ORDER_MOVE:
orderCarriedOut = MoveForward();
break;
case Constants.INPUT_ORDER_LEFT:
orderCarriedOut = TurnLeft();
break;
case Constants.INPUT_ORDER_RIGHT:
orderCarriedOut = TurnRight();
break;
default:
throw new Exceptions.UnknownRoverOrderException(currentOrder);
}
// If an order was unsuccesful, stop processing further mission orders.
if (!orderCarriedOut)
{
AddToEventLog(string.Format("{0}: Mission Failed!", Name));
return(false);
}
// Log the succesful movement
AddToEventLog(string.Format("{0}: Succesfully changed position from '{1}' to '{2}'", Name, previousRoverLocation, m_currentLocation));
}
// Nothing has gone wrong, mark the mission as a success
AddToEventLog(string.Format("{0}: Mission Completed!", Name));
m_currentStatus = RoverStatus.MissionComplete;
return(true);
}
/// <summary>
/// Tell the rover that it has landed and is about to start wondering about.
/// </summary>
/// <returns></returns>
public bool LandOnPlateau()
{
if (m_plateauXDimension == 0 || m_plateauYDimension == 0)
{
throw new Exceptions.NotReadyForLandingException("This Rover doesn't know the size of the plateau to land on.");
}
// Set the current location to the pre-programmed starting location
m_currentLocation = m_startingLocation.Clone();
// Update the status of the rover
m_currentStatus = RoverStatus.Roving;
return(true);
}
/// <summary>
/// Try to move 1 step forward
/// </summary>
/// <returns>True, if moved succesfully</returns>
private bool MoveForward()
{
// Check we're not currently facing the edge of the Plateau
if (CheckForPlateauEdge())
{
m_currentStatus = RoverStatus.MissionAborted;
m_reasonForAbort = "The edge of the plateau has been detected, I can not move another step forward.";
AddToEventLog(string.Format("{0}: {1}", Name, m_reasonForAbort));
return(false);
}
// Check to see if there are any obsticals in the way (such as another rover)
if (CheckForObstacles())
{
m_currentStatus = RoverStatus.MissionAborted;
m_reasonForAbort = "The edge of the plateau has been detected, I can not move another step forward.";
AddToEventLog(string.Format("{0}: {1}", Name, m_reasonForAbort));
return(false);
}
// Move the Rover 1 step forward - in the correct direction.
switch (m_currentLocation.Heading)
{
case CompassDirection.North:
m_currentLocation.YPosition += 1;
break;
case CompassDirection.South:
m_currentLocation.YPosition -= 1;
break;
case CompassDirection.East:
m_currentLocation.XPosition += 1;
break;
case CompassDirection.West:
m_currentLocation.XPosition -= 1;
break;
}
return(true);
}
/// <summary>
/// Main Constructor
/// </summary>
public Rover()
{
m_currentStatus = RoverStatus.InConstruction;
m_reasonForAbort = string.Empty;
m_EventLogs = new StringBuilder(30);
}
public RoverStatus Move(int startX, int startY, string direction, string directive)
{
RoverStatus result = new RoverStatus();
result.IsError = false;
try
{
_x = startX;
_y = startY;
#region validation
if (_sizeX < _x || _sizeY < _y)
{
result.IsError = true;
result.Message = "Start position error!";
}
else if (!MoveValidation(directive))
{
result.IsError = true;
result.Message = "Directive error!";
}
#endregion
else
{
_direction = (int)(DirectiveEnums)Enum.Parse(typeof(DirectiveEnums), direction);
foreach (var item in directive)
{
MovementEnums move = (MovementEnums)Enum.Parse(typeof(MovementEnums), item.ToString());
if (move == MovementEnums.M)
{
//hareket
_x += movement[_direction].x;
_y += movement[_direction].y;
_x = Math.Min(_x, _sizeX);
_y = Math.Min(_y, _sizeY);
}
else
{
//yön belirleme
_direction += (int)move;
_direction = _direction > 3 ? _direction - 4 : _direction;
_direction = _direction < 0 ? 4 + _direction : _direction;
}
}
result.Position.x = _x;
result.Position.y = _y;
result.Position.direction = ((DirectiveEnums)_direction);
}
}
catch (Exception ex)
{
result.IsError = true;
result.Message = $"An error has occurred! Detail: {ex.Message}";
}
return(result);
}
