/// <summary>
/// Deserializing cleaning robot state
/// </summary>
public CleaningRobotState Deserialize(string inputFileName)
{
string jsonText = File.ReadAllText(inputFileName);
JObject jObject = JObject.Parse(jsonText);
var jToken = jObject["start"];
// Location
RoomMapPoint roomMapPoint = new RoomMapPoint();
roomMapPoint.X = (int)jToken["X"];
roomMapPoint.Y = (int)jToken["Y"];
_state.Location = roomMapPoint;
// Facing
string facing = jToken["facing"].ToString();
switch (facing)
{
case "N":
_state.Facing = CleaningRobotFacing.North;
break;
case "S":
_state.Facing = CleaningRobotFacing.South;
break;
case "E":
_state.Facing = CleaningRobotFacing.East;
break;
case "W":
_state.Facing = CleaningRobotFacing.West;
break;
default:
_state.Facing = CleaningRobotFacing.North;
break;
}
// Battery
jToken = jObject["battery"];
_state.Battery = (int)jToken;
// Lists initializing
_state.MapPointsVisited.Clear();
_state.MapPointsCleaned.Clear();
_state.MapPointsVisited.Add(roomMapPoint); // Add start location to visited list
return(_state);
}
/// <summary>
/// Robot moves back
/// </summary>
public CleaningRobotActionResult Back()
{
// Checking battery
const int batteryUnits = 3;
if (_state.Battery < batteryUnits)
{
return(CleaningRobotActionResult.BatteryDrained);
}
// Movement by coordinates
int xMove = 0;
int yMove = 0;
// Facing change
switch (_state.Facing)
{
case CleaningRobotFacing.North:
yMove++;
break;
case CleaningRobotFacing.East:
xMove--;
break;
case CleaningRobotFacing.South:
yMove--;
break;
case CleaningRobotFacing.West:
xMove++;
break;
}
// New robot location
int xNew = _state.Location.X + xMove;
int yNew = _state.Location.Y + yMove;
// Map size
int rowCount = _roomMap.Cells.GetLength(0);
int columnCount = _roomMap.Cells.GetLength(1);
// Cell outside map
bool obstacle = xNew > rowCount - 1 || xNew <0 || yNew> columnCount - 1 || yNew < 0;
// Cell inside map not accessible
if (!obstacle)
{
obstacle = _roomMap.Cells[xNew, yNew] == RoomMapCellState.NotCleanable ||
_roomMap.Cells[xNew, yNew] == RoomMapCellState.Empty;
}
// Battery draining
_state.Battery = _state.Battery - batteryUnits;
if (!obstacle)
{
// Successfull action
// New location
RoomMapPoint roomMapPoint = new RoomMapPoint();
roomMapPoint.X = xNew;
roomMapPoint.Y = yNew;
State.Location = roomMapPoint;
// Appending visited list (if not visited before)
if (!_state.MapPointsVisited.Contains(roomMapPoint))
{
_state.MapPointsVisited.Add(roomMapPoint);
}
return(CleaningRobotActionResult.Success);
}
else
{
// Obstacle
return(CleaningRobotActionResult.Obstacle);
}
}