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 boolean existsCellOnOrientaion(Robot robot, Orientation ori, CellState state) {
Boolean needExplore = null;
if (robotOnArenaEdge(robot, ori)) return false;
if (ori.equals(Orientation.NORTH)) needExplore = existsCellOnTheNorth(robot, state);
if (ori.equals(Orientation.WEST)) needExplore = existsCellOnTheWest(robot, state);
if (ori.equals(Orientation.SOUTH)) needExplore = existsCellOnTheSouth(robot, state);
if (ori.equals(Orientation.EAST)) needExplore = existsCellOnTheEast(robot, state);
return needExplore;
}
@Override
public JComponent createUI(
DescriptionType inputOrOutput, Map<URI, Object> dataMap, Orientation orientation) {
// Create the main panel
JComponent component = new JPanel(new MigLayout("fill"));
boolean isOptional = false;
if (inputOrOutput instanceof InputDescriptionType) {
isOptional =
((InputDescriptionType) inputOrOutput).getMinOccurs().equals(new BigInteger("0"));
}
// Display the SourceCA into a JTextField
JTextField jtf = new JTextField();
jtf.setToolTipText(inputOrOutput.getAbstract().get(0).getValue());
// "Save" the CA inside the JTextField
jtf.getDocument().putProperty(DATA_MAP_PROPERTY, dataMap);
URI uri = URI.create(inputOrOutput.getIdentifier().getValue());
jtf.getDocument().putProperty(URI_PROPERTY, uri);
// add the listener for the text changes in the JTextField
jtf.getDocument()
.addDocumentListener(
EventHandler.create(DocumentListener.class, this, "saveDocumentText", "document"));
if (isOptional) {
if (dataMap.containsKey(uri)) {
jtf.setText(dataMap.get(uri).toString());
}
}
GeometryData geometryData = null;
if (inputOrOutput instanceof InputDescriptionType) {
geometryData =
(GeometryData) ((InputDescriptionType) inputOrOutput).getDataDescription().getValue();
}
// If the DescriptionType is an output, there is nothing to show, so exit
if (geometryData == null) {
return null;
}
component.add(jtf, "growx");
if (orientation.equals(Orientation.VERTICAL)) {
JPanel buttonPanel = new JPanel(new MigLayout());
// Create the button Browse
JButton pasteButton = new JButton(ToolBoxIcon.getIcon(ToolBoxIcon.PASTE));
// "Save" the sourceCA and the JTextField in the button
pasteButton.putClientProperty(TEXT_FIELD_PROPERTY, jtf);
pasteButton.setBorderPainted(false);
pasteButton.setContentAreaFilled(false);
pasteButton.setMargin(new Insets(0, 0, 0, 0));
// Add the listener for the click on the button
pasteButton.addActionListener(EventHandler.create(ActionListener.class, this, "onPaste", ""));
buttonPanel.add(pasteButton);
component.add(buttonPanel, "dock east");
}
return component;
}
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;
}
