114 lines
4.4 KiB
C#
114 lines
4.4 KiB
C#
using CzokoŚmieciarka.DataModels.Enums;
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using CzokoŚmieciarka.DataModels.Interfaces;
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using CzokoŚmieciarka.DataModels.Interfaces.RoutePlanningEngine;
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using CzokoŚmieciarka.DataModels.Interfaces.TrashCans;
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using CzokoŚmieciarka.DataModels.Models;
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using CzokoŚmieciarka.DataModels.Models.Steps;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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namespace Czoko_Smieciarka.AI_Naive
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{
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public class RoutePlanningEngine : IRoutePlanningEngine
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{
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public IGarbageCollector Collector { get; }
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public IEnumerable<IGarbageLocalization> Cans { get; }
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public IEnumerable<ADump> Dumps { get; }
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enum State { TravelToDump, TravelToCan, Wait, Finish }
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public Coords Destination { get; set; }
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public object DestinationObject { get; set; }
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private State CurrentState { get; set; }
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public void PerformStep()
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{
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PerformMove();
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}
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public RoutePlanningEngine(IGarbageCollector collector, IEnumerable<IGarbageLocalization> cans, IEnumerable<ADump> dumps)
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{
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this.Collector = collector;
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this.Cans = cans;
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this.Dumps = dumps;
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this.CurrentState = State.Wait;
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}
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private bool PerformMove()
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{
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switch (CurrentState)
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{
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case State.TravelToDump:
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if (Destination == Collector.Position)
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{
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var dump = (DestinationObject as ADump);
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var step = new SpillStep(Collector, dump, dump.TypeOfGarbage);
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step.Invoke();
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this.CurrentState = State.Wait;
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} else
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{
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var dif = Destination - Collector.Position;
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Direction nextDirection = (dif.X == 0) ?
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((dif.Y > 0) ? Direction.Up : Direction.Down) :
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((dif.X > 0) ? Direction.Right : Direction.Left);
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var step = new MoveStep(nextDirection, Collector);
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step.Invoke();
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}
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break;
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case State.TravelToCan:
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if (Destination == Collector.Position)
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{
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var garbage = (DestinationObject as IGarbageLocalization);
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foreach (var item in garbage.TrashCans)
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{
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var step = new CollectStep(Collector, garbage, item.TypeOfGarbage);
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step.Invoke();
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}
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this.CurrentState = State.Wait;
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}
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else
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{
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var dif = Destination - Collector.Position;
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Direction nextDirection = (dif.X == 0) ?
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((dif.Y > 0) ? Direction.Up : Direction.Down) :
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((dif.X > 0) ? Direction.Right : Direction.Left);
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var step = new MoveStep(nextDirection, Collector);
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step.Invoke();
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}
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break;
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case State.Wait:
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var notEmpty = Collector.TrashContainers.Where(i => i.FillPercent > 0);
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if (notEmpty.Any())
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{
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var destDump = Dumps.First(i => i.TypeOfGarbage == notEmpty.First().TypeOfGarbage);
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this.Destination = destDump.Localization;
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this.CurrentState = State.TravelToDump;
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} else
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{
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var notEmptyCans = Cans.Where(i => i.TrashCans.Any(j => j.FillPercent > 0));
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if (notEmptyCans.Any())
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{
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this.Destination = notEmptyCans.First().Coords;
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this.CurrentState = State.TravelToCan;
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} else
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{
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this.CurrentState = State.Finish;
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}
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}
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break;
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case State.Finish:
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return false;
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}
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return true;
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}
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}
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}
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