private int tickExplore() {
Situation s = this.getSituation();
if (s.getExitCount() > 2) {
this.addToGraph(new JunctionNode(this.robot));
}
switch (s) {
case CORRIDOR:
int dir = this.corridor();
if (dir != IRobot.AHEAD) { // Corner
// Don't really want to do this but it massively simplifies
// NavigatorController
this.addToGraph(new Node(this.robot.getLocation()));
}
return dir;
case CROSSROAD:
return this.crossroads();
case DEAD_END:
if (!this.firstRun) {
this.isBacktracking = true;
}
return this.deadEnd();
case JUNCTION:
return this.junction();
default:
return 0;
}
}
protected final Situation getSituation() {
int count = 0;
for (int i = IRobot.AHEAD; i <= IRobot.LEFT; i++) {
if (this.robot.look(i) != IRobot.WALL) {
count++;
}
}
for (Situation s : Situation.values()) {
if (s.getExitCount() == count) {
return s;
}
}
throw new IllegalStateException("Cannot handle number of exits: " + count);
}
