//check if target location has robot
public bool CheckIfTargetLocationHasRobot(Obstacles targetObs)
{
foreach (var t in Map.RobotsInMap)
{
//skip current robot
if (t.RobotNumber == RobotNumber)
{
continue;
}
var targetCoorX = targetObs.Coordinate.X;
var targetCoorY = targetObs.Coordinate.Y;
//handle holes
if (targetObs.ObstacleType == ObstacleTypes.Hole)
{
var hole = (Holes)targetObs;
targetCoorX = hole.ConnectedCoordinate.X;
targetCoorY = hole.ConnectedCoordinate.Y;
}
if (t.Coordinate.X == targetCoorX && t.Coordinate.Y == targetCoorY)
{
return(true);
}
}
return(false);
}
//Manually generate a 10*10 map
/* map details:(0-Unknown; 1-Road; 2-Rock; 3-Hole; 4-Spinner;)
* 0 1 1 2 1 1 3 1 1 1
* 1 1 3 1 1 2 1 4 1 1
* 1 1 4 4 1 2 1 1 0 1
* 3 1 1 1 1 1 4 1 1 1
* 1 1 0 1 1 1 1 2 1 3
* 3 2 1 1 0 1 1 1 2 1
* 1 0 1 1 2 1 1 1 1 4
* 1 1 2 1 1 1 4 1 3 1
* 4 2 1 1 1 1 1 1 1 2
*/
public void GenerateTopographyManually()
{
HorizontalSize = 10;
VerticalSize = 10;
Topography = new Obstacles[HorizontalSize, VerticalSize];
for (int j = 0; j < VerticalSize; j++)
{
for (int i = 0; i < HorizontalSize; i++)
{
Topography[i, j] = new Roads
{
Coordinate = new Coordinates {
X = i, Y = j
}
};
}
}
//5 Unknowns
//(0,9), (8,7), (2,5), (4,4), (1,2)
var unknownsCoors = new List <int[]>()
{
new int[] { 0, 9 },
new int[] { 8, 7 },
new int[] { 2, 5 },
new int[] { 4, 4 },
new int[] { 1, 2 },
};
foreach (var t in unknownsCoors)
{
Topography[t[0], t[1]] = new Obstacles
{
ObstacleType = ObstacleTypes.Unknown,
Coordinate = new Coordinates {
X = t[0], Y = t[1]
}
};
}
//10 Rocks
//(3,9), (5,8), (5,7), (7,5), (1,4), (8,3), (4,2), (2,1), (1,0), (9,0)
var rocksCoors = new List <int[]>()
{
new int[] { 3, 9 },
new int[] { 5, 8 },
new int[] { 5, 7 },
new int[] { 7, 5 },
new int[] { 1, 4 },
new int[] { 8, 3 },
new int[] { 4, 2 },
new int[] { 2, 1 },
new int[] { 1, 0 },
new int[] { 9, 0 },
};
foreach (var t in rocksCoors)
{
Topography[t[0], t[1]] = new Rocks
{
Coordinate = new Coordinates {
X = t[0], Y = t[1]
}
};
}
//6 Holes
//(6,9)-->(7,9)
//(2,8)-->(4,0)
//(0,6)-->(3,2)
//(9,5)-->(6,3)
//(0,4)-->(5,5)
//(8,1)-->(8,4)
var holesCoors = new List <int[]>()
{
new int[] { 6, 9, 7, 9 },
new int[] { 2, 8, 4, 0 },
new int[] { 0, 6, 3, 2 },
new int[] { 9, 5, 6, 3 },
new int[] { 0, 4, 5, 5 },
new int[] { 8, 1, 8, 4 },
};
foreach (var t in holesCoors)
{
Topography[t[0], t[1]] = new Holes
{
Coordinate = new Coordinates {
X = t[0], Y = t[1]
},
ConnectedCoordinate = new Coordinates
{
X = t[2],
Y = t[3]
}
};
}
//10 Spinners
//(7,8)90, (2,7)270, (3,7)0, (6,6)180, (7,4)180, (2,3)270, (4,3)90, (9,2)0, (6,1)90, (0,0)180
var spinnersCoors = new List <int[]>()
{
new int[] { 7, 8, 90 },
new int[] { 2, 7, 270 },
new int[] { 3, 7, 0 },
new int[] { 6, 6, 180 },
new int[] { 7, 4, 180 },
new int[] { 2, 3, 270 },
new int[] { 4, 3, 90 },
new int[] { 9, 2, 0 },
new int[] { 6, 1, 90 },
new int[] { 0, 0, 180 },
};
foreach (var t in spinnersCoors)
{
Topography[t[0], t[1]] = new Spinners
{
Coordinate = new Coordinates {
X = t[0], Y = t[1]
},
RotateDegrees = t[2]
};
}
}
//Randomly generate a map, one third are Roads
public void GenerateTopographyRandomly()
{
var rd = new Random(Guid.NewGuid().GetHashCode());
Topography = new Obstacles[HorizontalSize, VerticalSize];
for (int j = 0; j < VerticalSize; j++)
{
for (int i = 0; i < HorizontalSize; i++)
{
if (rd.Next(0, 3) == 0)
{
//one third obstacles are Roads
Topography[i, j] = new Roads
{
Coordinate = new Coordinates {
X = i, Y = j
}
};
}
else
{
var type = (ObstacleTypes)rd.Next(0, CountOfObstacleTypes);
switch (type)
{
//generate unknown obstacle
case ObstacleTypes.Unknown:
Topography[i, j] = new Obstacles
{
ObstacleType = ObstacleTypes.Unknown,
Coordinate = new Coordinates {
X = i, Y = j
}
};
break;
//generate road
case ObstacleTypes.Road:
Topography[i, j] = new Roads
{
Coordinate = new Coordinates {
X = i, Y = j
}
};
break;
//generate rock
case ObstacleTypes.Rock:
Topography[i, j] = new Rocks
{
Coordinate = new Coordinates {
X = i, Y = j
}
};
break;
//generate hole
case ObstacleTypes.Hole:
var rdCoorX = rd.Next(0, HorizontalSize);
var rdCoorY = rd.Next(0, VerticalSize);
Topography[i, j] = new Holes
{
Coordinate = new Coordinates {
X = i, Y = j
},
ConnectedCoordinate = new Coordinates
{
X = rdCoorX,
Y = rdCoorY
}
};
break;
//generate spinner
case ObstacleTypes.Spinner:
Topography[i, j] = new Spinners
{
Coordinate = new Coordinates {
X = i, Y = j
},
//rotate degree maybe 0/90/180/270, randomly set
RotateDegrees = 90 * (rd.Next(0, 4))
};
break;
//default case
default:
Topography[i, j] = new Obstacles
{
ObstacleType = ObstacleTypes.Unknown,
Coordinate = new Coordinates {
X = i, Y = j
}
};
break;
}
}
}
}
}