public SubRotatingRobot(string [] filepath) : base(filepath[0])
{
if (filepath.Length != 11)
{
return;
}
Grid3D grid = new Grid3D(filepath);
submersible = new Submersible(grid);
}
public Submersible(Grid3D grid3D)
{
state = true;
Sensors = new Dictionary <Direction3D, Sensor3D>()
{
{ Direction3D.LevelDown, new Sensor3D() }, { Direction3D.LevelUp, new Sensor3D(Direction3D.LevelUp) }
};
this.Actuator = new Actuator3D();
this.Grid3D = grid3D;
CurrentLevel = 0;
posR = DEFAULT_POS;
posC = DEFAULT_POS;
}
// PreConditions:
// PostConditions: Changes battery level (discharges)
public bool isValid(Grid3D grid3D, int posR, int posC, int level)
{
if (State)
{
if (BatteryLevel < DischargeRate)
{
return(false);
}
else if (BatteryLevel < 100)
{
State = false;
return(false);
}
else
{
BatteryLevel -= DischargeRate;
switch (SensorDirection)
{
case Direction3D.LevelDown:
if (level == 10)
{
return(false);
}
Grid temp = grid3D.getGrid(level + 1);
return(temp.isPath(posR, posC));
case Direction3D.LevelUp:
if (level == 0)
{
return(false);
}
Grid temp2 = grid3D.getGrid(level - 1);
return(temp2.isPath(posR, posC));
}
}
}
return(false);
}