internal static CoOrdinate GetLeftCell(this RobotHardware.IHardwareRobot inRobot)
{
CoOrdinate leftCell = new CoOrdinate();
switch (inRobot.FaceTo)
{
case 0:
leftCell.X = inRobot.X;
leftCell.Y = inRobot.Y - 1;
break;
case 1:
leftCell.X = inRobot.X + 1;
leftCell.Y = inRobot.Y;
break;
case 2:
leftCell.X = inRobot.X;
leftCell.Y = inRobot.Y + 1;
break;
case 3:
leftCell.X = inRobot.X - 1;
leftCell.Y = inRobot.Y;
break;
}
return(leftCell);
}
internal static CoOrdinate GetBackCell(this RobotHardware.IHardwareRobot inRobot)
{
CoOrdinate prevCell = new CoOrdinate();
switch (inRobot.FaceTo)
{
case 0:
prevCell.X = inRobot.X - 1;
prevCell.Y = inRobot.Y;
break;
case 1:
prevCell.X = inRobot.X;
prevCell.Y = inRobot.Y - 1;
break;
case 2:
prevCell.X = inRobot.X + 1;
prevCell.Y = inRobot.Y;
break;
case 3:
prevCell.X = inRobot.X;
prevCell.Y = inRobot.Y + 1;
break;
}
return(prevCell);
}
internal static CoOrdinate GetBottomRightCell(this RobotHardware.IHardwareRobot inRobot)
{
CoOrdinate bottomRightCell = new CoOrdinate();
switch (inRobot.FaceTo)
{
case 0:
bottomRightCell.X = inRobot.X - 1;
bottomRightCell.Y = inRobot.Y + 1;
break;
case 1:
bottomRightCell.X = inRobot.X - 1;
bottomRightCell.Y = inRobot.Y - 1;
break;
case 2:
bottomRightCell.X = inRobot.X + 1;
bottomRightCell.Y = inRobot.Y - 1;
break;
case 3:
bottomRightCell.X = inRobot.X + 1;
bottomRightCell.Y = inRobot.Y + 1;
break;
}
return(bottomRightCell);
}
internal static CoOrdinate GetFrontCell(this RobotHardware.IHardwareRobot inRobot)
{
CoOrdinate nextCell = new CoOrdinate();
switch (inRobot.FaceTo)
{
case 0:
nextCell.X = inRobot.X + 1;
nextCell.Y = inRobot.Y;
break;
case 1:
nextCell.X = inRobot.X;
nextCell.Y = inRobot.Y + 1;
break;
case 2:
nextCell.X = inRobot.X - 1;
nextCell.Y = inRobot.Y;
break;
case 3:
nextCell.X = inRobot.X;
nextCell.Y = inRobot.Y - 1;
break;
}
return(nextCell);
}
internal static CoOrdinate GetCurrentCell(this RobotHardware.IHardwareRobot inRobot)
{
CoOrdinate currCell = new CoOrdinate();
currCell.X = inRobot.X;
currCell.Y = inRobot.Y;
return(currCell);
}
public void CircularCleaningAlgorithmOnSquareShapeTest()
{
// Define the min and max co-ordinate for the room
_currentRoom = new CoOrdinate(3, 3);
// Create the Robot
_cleaningRobot = new RobotHardware.Hardware(_currentRoom.X, _currentRoom.Y);
// Create the required robot visit monitor. Current visit monitor can print the robot path to console
_robotVisitMonitor = RobotVisitMonitorFactory.CreateRobotVisitMonitor(
RobotVisitMonitorType.RobotVisitMonitorWithConsoleOutput, _cleaningRobot);
// Create a simple room
_room = new SimpleRoom();
// Create the algorithm essentials with the above robot, visit monitor and room.
_algorithmEssentials = new AlgorithmEssentials(_room, _cleaningRobot, _robotVisitMonitor);
// Ask the CleaningAlgorithmFactory to create the CleaningAlgorithm instance by passing the required
// required CleaningAlgorithmType
_cleaningAlgorithm = CleaningAlgorithmFactory.CreateCleaningAlgorithm(
CleaningAlgorithmType.CircularCleaningAlgorithm, _algorithmEssentials);
Assert.AreEqual(CleanStatus.Complete, _cleaningAlgorithm.Clean());
Assert.AreEqual("Turn Left", _algorithmEssentials.RobotVisitMonitor.GetPathAt(0));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(1));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(2));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(3));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(4));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(5));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(6));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(7));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(8));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(9));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(10));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(11));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(12));
Assert.AreEqual("Move Forward", _algorithmEssentials.RobotVisitMonitor.GetPathAt(13));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(14));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(15));
Assert.AreEqual("Turn Right", _algorithmEssentials.RobotVisitMonitor.GetPathAt(16));
}
public static IRobotVisitMonitor CreateRobotVisitMonitor(RobotVisitMonitorType inRobotVisitMonitorType, RobotHardware.IHardwareRobot inRobot)
{
IRobotVisitMonitor robotVisitMonitor;
switch (inRobotVisitMonitorType)
{
case RobotVisitMonitorType.RobotVisitMonitorWithConsoleOutput:
robotVisitMonitor = new RobotVisitMonitorWithConsoleOutput(inRobot);
break;
default:
robotVisitMonitor = null;
break;
}
return(robotVisitMonitor);
}
public AlgorithmEssentials(Room inRoom, RobotHardware.IHardwareRobot inRobot, IRobotVisitMonitor inRobotVisitMonitor)
{
_room = inRoom;
_robot = inRobot;
_robotVisitMonitor = inRobotVisitMonitor;
}
public RobotVisitMonitorWithConsoleOutput(RobotHardware.IHardwareRobot inRobot)
{
_robotVisitList = new List <CoOrdinate>();
_robot = inRobot;
_pathLogger = new List <string>();
}
