Czoko_Smieciarka/Trunk/Components/CzokoŚmieciarka.AI_Naive/RoutePlanningEngine.cs

using CzokoŚmieciarka.DataModels.Enums;
using CzokoŚmieciarka.DataModels.Interfaces;
using CzokoŚmieciarka.DataModels.Interfaces.RoutePlanningEngine;
using CzokoŚmieciarka.DataModels.Interfaces.TrashCans;
using CzokoŚmieciarka.DataModels.Models;
using CzokoŚmieciarka.DataModels.Models.Steps;
using System;
using System.Collections.Generic;
using System.Linq;

namespace Czoko_Smieciarka.AI_Naive
{
    public class RoutePlanningEngine : IRoutePlanningEngine
    {
        public IGarbageCollector Collector { get; }
        public IEnumerable<IGarbageLocalization> Cans { get; }
        public IEnumerable<ADump> Dumps { get; }

        enum State { TravelToDump, TravelToCan, Wait, Finish }
        public Coords Destination { get; set; }
        public object DestinationObject { get; set; }
        private State CurrentState { get; set; }

        public IEnumerable<IStep> CalculateStep()
        {
            return PerformMove();
        }

        public RoutePlanningEngine(IGarbageCollector collector, IEnumerable<IGarbageLocalization> cans, IEnumerable<ADump> dumps)
        {
            this.Collector = collector.Clone() as IGarbageCollector;
            this.Cans = cans;
            this.Dumps = dumps;
            this.CurrentState = State.Wait;
        }


        private IEnumerable<IStep> PerformMove()
        {

            switch (CurrentState)
            {
                case State.TravelToDump:
                    if (Destination == Collector.Position)
                    {
                        var dump = (DestinationObject as ADump);
                        var step = new SpillStep(Collector, dump, dump.TypeOfGarbage);
                        step.Invoke();
                        yield return step;
                        this.CurrentState = State.Wait;
                    }
                    else
                    {
                        var dif = Destination - Collector.Position;
                        Direction nextDirection = (dif.X == 0) ?
                            ((dif.Y > 0) ? Direction.Up : Direction.Down) :
                            ((dif.X > 0) ? Direction.Right : Direction.Left);

                        var step = new MoveStep(nextDirection, Collector);
                        step.Invoke();
                        yield return step;
                    }
                    break;
                case State.TravelToCan:
                    if (Destination == Collector.Position)
                    {
                        var garbage = (DestinationObject as IGarbageLocalization);
                        foreach (var item in garbage.TrashCans)
                        {
                            var step = new CollectStep(Collector, garbage, item.TypeOfGarbage);
                            step.Invoke();
                            yield return step;
                        }

                        this.CurrentState = State.Wait;
                    }
                    else
                    {
                        var dif = Destination - Collector.Position;
                        Direction nextDirection = (dif.X == 0) ?
                            ((dif.Y > 0) ? Direction.Up : Direction.Down) :
                            ((dif.X > 0) ? Direction.Right : Direction.Left);

                        var step = new MoveStep(nextDirection, Collector);
                        step.Invoke();
                        yield return step;
                    }
                    break;
                case State.Wait:
                    var notEmpty = Collector.TrashContainers.Where(i => i.FillPercent > 0);
                    if (notEmpty.Any())
                    {
                        var destDump = Dumps.First(i => i.TypeOfGarbage == notEmpty.First().TypeOfGarbage);
                        this.Destination = destDump.Localization;
                        this.CurrentState = State.TravelToDump;
                    }
                    else
                    {
                        var notEmptyCans = Cans.Where(i => i.TrashCans.Any(j => j.FillPercent > 0));
                        if (notEmptyCans.Any())
                        {
                            this.Destination = notEmptyCans.First().Coords;
                            this.CurrentState = State.TravelToCan;
                        }
                        else
                        {
                            this.CurrentState = State.Finish;
                        }
                    }
                    break;
                case State.Finish:
                    yield break;
            }
            foreach (var item in PerformMove())
            {
                yield return item;
            }
        }
    }
}