private boolean searchRightWall(int xCoord, int yCoord) {
boolean rightWall = true;
int[] lookingDirection = lookingDirection(RIGHT);
int xLooking = lookingDirection[0];
int yLooking = lookingDirection[1];
char[][] map = occupancyMap.getGrid();
boolean end = false;
int predictedStepsWall = 0;
while (predictedStepsWall < 6 && !end) {
if (map[xCoord][yCoord] == occupancyMap.getUnknown()) {
end = true;
rightWall = false;
} else if (map[xCoord][yCoord] == occupancyMap.getObstacle()) {
end = true;
rightWall = true;
}
predictedStepsWall++;
xCoord += xLooking;
yCoord += yLooking;
}
if (!end) {
rightWall = false;
}
return rightWall;
}
private void processScan() throws IOException {
scanInit();
int xCoord = (int) position[0] / occupancyMap.getCellDimension();
int yCoord = (int) position[1] / occupancyMap.getCellDimension();
int[] lookingDirection = lookingDirection(FORWARD);
int xLooking = lookingDirection[0];
int yLooking = lookingDirection[1];
boolean end = false;
char[][] map = occupancyMap.getGrid();
int predictedSteps = 0;
while (predictedSteps < MAX_VIEW && !end) {
boolean rightWall = searchRightWall(xCoord, yCoord);
if (rightWall && map[xCoord][yCoord] == occupancyMap.getEmpty()) {
predictedSteps++;
} else if (rightWall && map[xCoord][yCoord] == occupancyMap.getUnknown()) {
moveForward(predictedSteps - 2);
end = true;
} else if (rightWall && map[xCoord][yCoord] == occupancyMap.getObstacle()) {
moveForward(predictedSteps - 3);
rotate("LEFT");
end = true;
} else if (!rightWall && map[xCoord][yCoord] == occupancyMap.getUnknown()) {
moveForward(predictedSteps - 2);
end = true;
} else if (!rightWall && map[xCoord][yCoord] == occupancyMap.getEmpty()) {
rightCorner(predictedSteps);
end = true;
}
xCoord += xLooking;
yCoord += yLooking;
}
if (!end) {
moveForward(predictedSteps - 2);
}
}