/// <summary>
/// obstacle attemp 6 logic
/// If an obstacle is hit again the robot will stop and return.
/// </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> obstacleAttemp6(List <Map> map, string facing, int x, int y, int maxRow, int maxColumn, int attemp, Batterry baterry)
{
///cambiar para que regresa falso
return(map);
}
/// <summary>
/// obstacle attemp 1 logic
/// Turn right, then advance. (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> obstacleAttemp1(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 fisrtTime = true;
foreach (var position in map)
{
if (position.facing != "")
{
if (fisrtTime)
{
//TR
int costOperation = baterry.getBatteryDrain(Commads.cmds.TR.ToString());
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
facing = position.facing;
//change the facing position
//TR
position.facing = orientation.getTR(facing + Commads.cmds.TR.ToString());
facing = position.facing;
baterry.batteryLife -= costOperation;
}
else
{
map = robot.outBatteryPosition(map, position.x, position.y);
return(map);
//break
}
//A
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 (position.outBattery == false)
{
position.facing = "";
}
//Validate to enter one time
fisrtTime = false;
//break;
return(map);
}
else
{
map = robot.outBatteryPosition(map, position.x, position.y);
return(map);
//break
}
}
}
}
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>
/// obstacle attemp 4 logic
/// If that also hits and obstacle: Turn Right, Back, Turn Right, Advance (TR, 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> obstacleAttemp4(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 tr = true;
bool tr2 = true;
bool b = true;
bool a = true;
for (int i = 0; i < map.Count; i++)
{
if (map[i].facing != "")
{
if (tr)
{
//TR
int costOperation = baterry.getBatteryDrain(Commads.cmds.TR.ToString());
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
facing = map[i].facing;
//change the facing position
//TR
map[i].facing = orientation.getTR(facing + Commads.cmds.TR.ToString());
//new facing
facing = map[i].facing;
//this flag is so this step is done onle one time in the iteration
tr = 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);
//Clean the old position facing
if (map[i].outBattery == false)
{
map[i].facing = "";
}
//reset the iteration so the next steps can be done with the new position
i = -1;
//this flag is so this step is done onle one time in the iteration
b = false;
}
else
{
map = robot.outBatteryPosition(map, map[i].x, map[i].y);
return(map);
}
}
if (tr2 && (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 step is done onle one time in the iteration
tr2 = 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);
//Clean facing position old one
if (map[i].outBattery == false)
{
map[i].facing = "";
}
// in this step the method backposition decrease the battery life
a = false;
return(map);
}
else
{
map = robot.outBatteryPosition(map, map[i].x, map[i].y);
return(map);
}
}
}
}
return(map);
}
/// <summary>
/// This method is use to se how many attemps the robot have
/// depeing of the attemp the robot use a diferent algorithm
/// </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>map that handle the obtacle</returns>
public List <Map> obstacle(List <Map> map, string facing, int x, int y, int maxRow, int maxColumn, int attemp, Batterry baterry)
{
if (attemp == 1)
{
map = obstacleAttemp1(map, facing, x, y, maxRow, maxColumn, 1, baterry);
}
else if (attemp == 2)
{
map = obstacleAttemp2(map, facing, x, y, maxRow, maxColumn, 2, baterry);
}
else if (attemp == 3)
{
map = obstacleAttemp3(map, facing, x, y, maxRow, maxColumn, 3, baterry);
}
else if (attemp == 4)
{
map = obstacleAttemp4(map, facing, x, y, maxRow, maxColumn, 4, baterry);
}
else if (attemp == 5)
{
map = obstacleAttemp5(map, facing, x, y, maxRow, maxColumn, 5, baterry);
}
else if (attemp == 6)
{
map = obstacleAttemp6(map, facing, x, y, maxRow, maxColumn, 6, baterry);
}
return(map);
}
// <summary>
/// This method is use to advance one space in the map depending of the facing orientation
/// </summary>
/// <param name="map">The 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">The max value in the row, after that is wall</param>
/// <param name="maxColumn">The max value in the column, after that is wall</param>
/// <param name="attemp">Number of attempts to move</param>
/// <param name="baterry">The object battery</param>
/// <returns>New Map with the new position of the robot</returns>
public List <Map> advancePosition(List <Map> map, string facing, int x, int y, int maxRow, int maxColumn, int attemp, Batterry baterry)
{
Position robot = new Position();
Obstacle obt = new Obstacle();
Barrier barrier = new Barrier();
string command = Commads.cmds.A.ToString();
//we need to see what is the cost of doing the instruction
int costOperation = baterry.getBatteryDrain(command);
// List<Map> validateMap = new List<Map>();
if (Orientation.direction.N.ToString() == facing)
{
// y -1 becouse is facing nort so in the array the Y to move up we need to decrease
int newY = y - 1;
//get the next space. this is to check what is in the new space that we are going to move
string space = checkNextSpaceContain(map, x, newY);
//If exist a wall(out of the matrix)
if (newY < 0)
{
//becouse the robot intent to advance, the robot use battery
baterry.batteryLife -= costOperation;
//we call the obstacle method to handle the obtacle
map = obt.obstacle(map, facing, x, y, maxRow, maxColumn, attemp + 1, baterry);
}
//we need to check is a berrier exist
else if (barrier.checkForBarrier(space))
{
// becouse the robot intent to advance, the robot use battery
baterry.batteryLife -= costOperation;
//if a barrier exist we call the method obstacle to handle the barrier
map = obt.obstacle(map, facing, x, y, maxRow, maxColumn, attemp + 1, baterry);
}
//if we pass the conditions of no wall and no obstacle we can move the robot
else
{
//if we dont have enough battery life, we return the object and we dont move;
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
//If we have enough battery life to do the instruction
//Move the robot logic.
//Move the robot
map = robot.changePosition(map, facing, x, newY);
//in this point we decrease the cost of the battery
baterry.batteryLife -= costOperation;
}
else
{
//The robot is out of battery life
map = robot.outBatteryPosition(map, x, y);
return(map);
}
}
}
else if (Orientation.direction.S.ToString() == facing)
{
// y +1 becouse is facing south so in the array the Y to move up we need to increase
int newY = y + 1;
//get the next space. this is to check what is in the new space that we are going to move
string space = checkNextSpaceContain(map, x, newY);
//We need to check is we are going to move out of the wall
if (newY > maxRow)
{
// becouse the robot intent to advance, the robot use battery
baterry.batteryLife -= costOperation;
//is we are going to move to a wall we call the method
map = obt.obstacle(map, facing, x, y, maxRow, maxColumn, attemp + 1, baterry);
}
else if (barrier.checkForBarrier(space))
{
// becouse the robot intent to advance, the robot use battery
baterry.batteryLife -= costOperation;
map = obt.obstacle(map, facing, x, y, maxRow, maxColumn, attemp + 1, baterry);
}
else
{
//Move the robot logic.
//if we dont have enough battery life, we return the object and we dont move;
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
//Move the robot
map = robot.changePosition(map, facing, x, newY);
//in this point we decrease the cost of the battery
baterry.batteryLife -= costOperation;
}
else
{
//The robot is out of battery life
map = robot.outBatteryPosition(map, x, y);
return(map);
}
}
}
else if (Orientation.direction.W.ToString() == facing)
{
// x - 1 becouse is facing west so in the array the X to move up we need to decrease
int newX = x - 1;
//get the next space. this is to check what is in the new space that we are going to move
string space = checkNextSpaceContain(map, newX, y);
//If exist a wall(out of the matrix)
if (newX < 0)
{
// becouse the robot intent to advance, the robot use battery
baterry.batteryLife -= costOperation;
map = obt.obstacle(map, facing, x, y, maxRow, maxColumn, attemp + 1, baterry);
}
else if (barrier.checkForBarrier(space))
{
// becouse the robot intent to advance, the robot use battery
baterry.batteryLife -= costOperation;
//if a barrier exist we call the method obstacle to handle the barrier
map = obt.obstacle(map, facing, x, y, maxRow, maxColumn, attemp + 1, baterry);
}
else
{
//Move the robot logic.
// int costOperation = baterry.getBatteryDrain(command);
//if we dont have enough battery life, we return the object and we dont move;
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
//Move the robot
map = robot.changePosition(map, facing, newX, y);
//in this point we decrease the cost of the battery
baterry.batteryLife -= costOperation;
}
else
{
//The robot is out of battery life
map = robot.outBatteryPosition(map, x, y);
return(map);
}
}
}
else if (Orientation.direction.E.ToString() == facing)
{
// x + 1 becouse is facing west so in the array the X to move up we need to increase
int newX = x + 1;
//get the next space. this is to check what is in the new space that we are going to move
string space = checkNextSpaceContain(map, newX, y);
//We need to check is we are going to move out of the wall
if (newX > maxRow)
{
// becouse the robot intent to advance, the robot use battery
baterry.batteryLife -= costOperation;
map = obt.obstacle(map, facing, x, y, maxRow, maxColumn, attemp + 1, baterry);
}
else if (barrier.checkForBarrier(space))
{
// becouse the robot intent to advance, the robot use battery
baterry.batteryLife -= costOperation;
map = obt.obstacle(map, facing, x, y, maxRow, maxColumn, attemp + 1, baterry);
}
else
{
//Move the robot logic.
// int costOperation = baterry.getBatteryDrain(command);
//if we dont have enough battery life, we return the object and we dont move;
if (baterry.checkIfCanExecute(costOperation, baterry.batteryLife))
{
//Move the robot
map = robot.changePosition(map, facing, newX, y);
//in this point we decrease the cost of the battery
baterry.batteryLife -= costOperation;
}
else
{
//The robot is out of battery life
map = robot.outBatteryPosition(map, x, 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);
}