private Action moveToOrientation(
Robot robot, Orientation firstOrientation, Orientation secondOrientation) {
Direction preferedDirection = getPreferedDirection(firstOrientation, secondOrientation);
Orientation currentOrientation = robot.getCurrentOrientation();
// System.out.println("Current Orientation = " + currentOrientation.toString());
// System.out.println("First Orientation = " + firstOrientation.toString());
// System.out.println("Second Orientation = " + secondOrientation.toString());
if (currentOrientation.equals(firstOrientation)) {
return moveTowardsDirectionInOrder(
Direction.AHEAD, preferedDirection, oppoDirection(preferedDirection), robot);
} else if (currentOrientation.equals(secondOrientation)) {
return moveTowardsDirectionInOrder(
oppoDirection(preferedDirection), Direction.AHEAD, preferedDirection, robot);
} else if (currentOrientation.toOppsite().equals(firstOrientation)) {
return moveTowardsDirectionInOrder(
oppoDirection(preferedDirection), Direction.AHEAD, preferedDirection, robot);
} else if (currentOrientation.toOppsite().equals(secondOrientation)) {
return moveTowardsDirectionInOrder(
preferedDirection, Direction.AHEAD, oppoDirection(preferedDirection), robot);
}
assert (false) : "Should not reach here. No other circumstance";
return null;
}
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 Action actionForTentiveTurn(Robot robot) {
if (preTentativeTurn != null) {
if (robotSurroundingStatus(robot, robot.getCurrentOrientation()) == 1) {
Action newTurn = reverseTurn(preTentativeTurn);
preTentativeTurn = null;
return newTurn;
} else if (robotSurroundingStatus(robot, robot.getCurrentOrientation()) == 0) {
preTentativeTurn = null;
return Action.MOVE_FORWARD;
} else {
assert (false) : "The front cell must be explored...";
}
}
return null;
}
private Action moveTowardsDirection(Robot robot, Direction direction) {
Action next = null;
Orientation currentOrientation = robot.getCurrentOrientation();
Orientation orientationOnDirection = orientationOnDirection(currentOrientation, direction);
int statusOnOrientation = robotSurroundingStatus(robot, orientationOnDirection);
if (statusOnOrientation <= 0) {
next = directionToAction(direction);
// if(next.equals(Action.TURN_LEFT) ||
// next.equals(Action.TURN_RIGHT)){
//
// preTentativeTurn = next;
// }else{
// preTentativeTurn = null;
// }
if (statusOnOrientation == -1) {
assert (next.equals(Action.TURN_LEFT) || next.equals(Action.TURN_RIGHT));
preTentativeTurn = next;
} else {
preTentativeTurn = null;
}
}
return next;
}
