/*UP=1,
* RIGHT=2,
* DOWN=3,
* LEFT=4,
* VOID=5
*/
// mapping since hte helper functions are diff.
public Vector2 GetNewPosition(Vector2 startPos, MovementCommandEnum moveCommand)
{
Helpers.DirectionEnum newDir;
switch (moveCommand)
{
case MovementCommandEnum.NORTH:
newDir = Helpers.DirectionEnum.UP;
break;
case MovementCommandEnum.SOUTH:
newDir = Helpers.DirectionEnum.DOWN;
break;
case MovementCommandEnum.EAST:
newDir = Helpers.DirectionEnum.RIGHT;
break;
case MovementCommandEnum.WEST:
newDir = Helpers.DirectionEnum.LEFT;
break;
default:
throw new Exception("DER FARK?");
}
Vector2 retVal = Helpers.MovePos(startPos, newDir);
return(retVal);
}
public RobotResultCode RunRobotCycle(MovementCommandEnum moveCommand)
{
// run until there's output.
curComputer.AddInputData((int)moveCommand);
curComputer.ResumeProgram();
return((RobotResultCode)curComputer.ReadOutputData());
}
void RunRobot()
{
RobotResultCode resultCode;
// Dumb bot
// go till wall, then turn right.
for (int intI = 0; intI < 4000; intI++)
{
resultCode = RunRobotCycle(curDir);
ProcessRobotResult(resultCode);
if (resultCode == RobotResultCode.MOVE_SUCCESFUL_OXYGEN)
{
oxygenIndex = Helpers.GetIndexFromCoordinate(curPos, xSize);
}
// forwards or backwards!
if (curNode.IsExplored())
{
// keep backtracking
// we already went ever direction
// back up one and check
isBackTracking = true;
if (fromStartCommands.Count == 0)
{
return;
}
MovementCommandEnum prevMove = fromStartCommands.Pop();
curDir = GetOppositeCommand(prevMove);
}
else
{
isBackTracking = false;
curDir = curNode.GetUnexploredDir();
}
}
}
public void InitializeExploreNode(RobotResultCode curType, ExploreNode parentNode, MovementCommandEnum enterDir)
{
parentNode.AssignMovementNode(this, enterDir);
MovementCommandEnum exitDir = RepairBot.GetOppositeCommand(enterDir);
AssignMovementNode(parentNode, exitDir);
nodeType = curType;
}
void AssignMovementNode(ExploreNode newNode, MovementCommandEnum curDir)
{
if (curDir == MovementCommandEnum.NORTH)
{
northNode = newNode;
}
if (curDir == MovementCommandEnum.SOUTH)
{
southNode = newNode;
}
if (curDir == MovementCommandEnum.EAST)
{
eastNode = newNode;
}
if (curDir == MovementCommandEnum.WEST)
{
westNode = newNode;
}
}
public static MovementCommandEnum GetOppositeCommand(MovementCommandEnum curCommand)
{
switch (curCommand)
{
case MovementCommandEnum.NORTH:
return(MovementCommandEnum.SOUTH);
case MovementCommandEnum.EAST:
return(MovementCommandEnum.WEST);
case MovementCommandEnum.SOUTH:
return(MovementCommandEnum.NORTH);
case MovementCommandEnum.WEST:
return(MovementCommandEnum.EAST);
default:
throw new Exception("DER FARK");
}
return(MovementCommandEnum.NORTH);
}
MovementCommandEnum TurnRight(MovementCommandEnum startDir)
{
if (startDir == MovementCommandEnum.NORTH)
{
return(MovementCommandEnum.EAST);
}
if (startDir == MovementCommandEnum.SOUTH)
{
return(MovementCommandEnum.WEST);
}
if (startDir == MovementCommandEnum.EAST)
{
return(MovementCommandEnum.SOUTH);
}
if (startDir == MovementCommandEnum.WEST)
{
return(MovementCommandEnum.NORTH);
}
throw new Exception("DER FARK");
return(MovementCommandEnum.EAST);
}
ExploreNode GetNodeForDir(MovementCommandEnum curDir)
{
if (curDir == MovementCommandEnum.NORTH)
{
return(northNode);
}
if (curDir == MovementCommandEnum.SOUTH)
{
return(southNode);
}
if (curDir == MovementCommandEnum.EAST)
{
return(eastNode);
}
if (curDir == MovementCommandEnum.WEST)
{
return(westNode);
}
return(null);
}
