VacuumAI/Effector.cs at main · louiselize/VacuumAI · GitHub

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using System.Collections;
using System.Threading;

class Effector
    {
        public void DoAction(ArrayList path, ArrayList cellsToCollect, ArrayList cellsToSuck, Environment ev, int numberOfActions, int millisecondsToWait){
            foreach(int [] cellInPath in path){
                //Console.WriteLine("cell in path : " + cellInPath[0] + cellInPath[1]);
                if(numberOfActions!=0){
                    int [] robotCell = new int [2] {ev.GetRobotXPosition(),ev.GetRobotYPosition()};

                    //Move the robot
                    if(isTheCellAToTheLeftOfCellB(robotCell,cellInPath)){
                        Console.WriteLine("Effector : Robot, go RIGHT!");
                        ev.GetMap().Right();
                        ev.SetNumberOfActions(ev.GetNumberOfActions()+1);
                        numberOfActions--;
                        if(numberOfActions==0){
                            return;
                        }
                    }


                    else if(isTheCellAToTheRightOfCellB(robotCell,cellInPath)){
                        Console.WriteLine("Effector : Robot, go LEFT!");
                        ev.GetMap().Left();
                        ev.SetNumberOfActions(ev.GetNumberOfActions()+1);
                        numberOfActions--;
                        if(numberOfActions==0){
                            return;
                        }
                    }


                    else if(isTheCellAAboveCellB(robotCell,cellInPath)){
                        Console.WriteLine("Effector : Robot, go DOWN!");
                        ev.GetMap().Down();
                        ev.SetNumberOfActions(ev.GetNumberOfActions()+1);
                        numberOfActions--;
                        if(numberOfActions==0){
                            return;
                        }
                    }


                    else if(isTheCellABelowCellB(robotCell,cellInPath)){
                        Console.WriteLine("Effector : Robot, go UP!");
                        ev.GetMap().Up();
                        ev.SetNumberOfActions(ev.GetNumberOfActions()+1);
                        numberOfActions--;
                        if(numberOfActions==0){
                            return;
                        }
                    }

                    //ev.GetMap().DisplayMap();


                    //verification with cells to COLLECT
                    foreach(int [] cellToCollect in cellsToCollect){
                        if(cellToCollect[0] == cellInPath[0] && cellToCollect[1] == cellInPath[1]){
                            Console.WriteLine("Effector : Robot, COLLECT cell (" + cellInPath[0] + "," + cellInPath[1] + ") !");
                            int result = ev.GetMap().Collect(cellInPath[0],cellInPath[1]);
                            ev.SetNumberOfActions(ev.GetNumberOfActions()+1);
                            if(result<0){
                                ev.SetPenalty(ev.GetPenalty()+1); //fail => increase penalty
                            }
                            else{
                                ev.SetPenalty(ev.GetPenalty()-2); //suceed => decrease penalty
                            }
                            //ev.GetMap().DisplayMap();
                            cellToCollect[0]=-1;
                            cellToCollect[1]=-1;
                            numberOfActions--;
                            if(numberOfActions==0){
                                return;
                            }
                        }
                    }


                    //verification with cells to SUCK
                    foreach(int [] cellToSuck in cellsToSuck){
                        if(cellToSuck[0] == cellInPath[0] && cellToSuck[1] == cellInPath[1]){
                            Console.WriteLine("Effector : Robot, SUCK cell (" + cellInPath[0] + "," + cellInPath[1] + ") !");
                            int result = ev.GetMap().Suck(cellInPath[0],cellInPath[1]);
                            ev.SetNumberOfActions(ev.GetNumberOfActions()+1);
                            if(result<0){
                                ev.SetPenalty(ev.GetPenalty()+ Math.Abs(result)); //fail => increase penalty
                            }
                            else{
                                ev.SetPenalty(ev.GetPenalty()-2); //suceed => decrease penalty
                            }
                            ev.GetMap().DisplayMap();
                            cellToSuck[0]=-1;
                            cellToSuck[1]=-1;
                            if(numberOfActions==0){
                                return;
                            }

                        }
                    }

                    Thread.Sleep(millisecondsToWait);

                }


            }
        }

        public bool isTheCellAToTheLeftOfCellB(int [] cellA, int [] cellB){
            return cellA[1] == (cellB[1]-1);
        }

        public bool isTheCellAToTheRightOfCellB(int [] cellA, int [] cellB){
            return cellA[1] == (cellB[1]+1);
        }

        public bool isTheCellAAboveCellB(int [] cellA, int [] cellB){
            return cellA[0] == (cellB[0]-1);
        }

        public bool isTheCellABelowCellB(int [] cellA, int [] cellB){
            return cellA[0] == (cellB[0]+1);
        }


    }