Robomaze puzzle solution using wall follower algorithm.

robo-maze-solution

class RoboAI_Demo
{
	using TT = TileMap::TileType;
	using Action = Robo::Action;

	bool isRightWallEnding = false;
	bool isRightWall = true;
	bool isLeftWall = true;
	bool hasGoalReached = false;

public:

  Action Plan( std::array<TT,3> view )
	{
		TT left = view[0];
		TT front = view[1];
		TT right = view[2];
		
		
		if (hasGoalReached)
		{
			return Action::Done;
		}
		if (front == TT::Goal) 
		{
			hasGoalReached = true;
			return Action::MoveForward;
		}


		if (isRightWallEnding) 
		{
			isRightWallEnding = false;
			assign(left, right);
			return Action::TurnRight;
		}
		if (right == TT::Floor && front != TT::Wall)
		{
			isRightWallEnding = true;
			assign(left, right);
			return Action::MoveForward;
		}
		if (isLeftWall && isRightWall && front == TT::Wall) 
		{
			assign(left, right);
			return Action::TurnRight;
		}
		if (front == TT::Wall && isRightWall)
		{
			assign(left, right);
			return Action::TurnLeft;
		}

		if (front == TT::Wall)
		{
			assign(left, right);
			return Action::TurnRight;
		}
		assign(left, right);
		return Action::MoveForward;
	}
private:

	void assign(TT left, TT right) 
	{
		isLeftWall = (left == TT::Wall) ? true : false;
		isRightWall = (right == TT::Wall) ? true : false;
	}
};