private Action scanArenaColByCol(Robot robot) {
Action actionForTentativeTurn = actionForTentiveTurn(robot);
if (actionForTentativeTurn != null) return actionForTentativeTurn;
if (robotOnArenaEdge(robot, headingOrientation)) {
Orientation current = robot.getCurrentOrientation();
if (!current.toOppsite().equals(headingOrientation)) {
return Action.TURN_LEFT;
} else {
headingOrientation = headingOrientation.toOppsite();
trackColID += robot.getDiameterInCellNum();
// Whole arena has been explored
if (trackColID >= this.exploredMap.getColumnCount()) return null;
}
}
int currentSouthWestColID = robot.getSouthWestBlock().getColID();
if (currentSouthWestColID < trackColID) {
return moveToOrientation(robot, Orientation.EAST, headingOrientation);
} else if (currentSouthWestColID == trackColID) {
return moveToOrientation(robot, headingOrientation, Orientation.EAST);
} else {
// currentSouthWestColID > trackColID
return moveToOrientation(robot, Orientation.WEST, headingOrientation);
}
}
private Boolean existsCellOnTheSouth(Robot robot, CellState cell) {
int robotDiamterInCellNum = robot.getDiameterInCellNum();
int rowID = robot.getSouthWestBlock().getRowID() + 1;
for (int colOffset = 0; colOffset < robotDiamterInCellNum; colOffset++) {
int colID = robot.getSouthWestBlock().getColID() + colOffset;
if (this.exploredMap.getCell(rowID, colID) == cell) return true;
}
return false;
}
private boolean robotOnArenaEdge(Robot robot, Orientation ori) {
if (ori.equals(Orientation.NORTH)) {
return robot.getSouthWestBlock().getRowID() == robot.getDiameterInCellNum() - 1;
}
if (ori.equals(Orientation.EAST)) {
return robot.getSouthWestBlock().getColID()
== this.exploredMap.getColumnCount() - robot.getDiameterInCellNum();
}
if (ori.equals(Orientation.SOUTH)) {
return robot.getSouthWestBlock().getRowID() == this.exploredMap.getRowCount() - 1;
}
if (ori.equals(Orientation.WEST)) {
return robot.getSouthWestBlock().getColID() == 0;
}
assert (false) : "No other direction...";
return false;
}