Microsoft.Zing.ZingExplorer.ExploreWithDronacharya C# (CSharp) Method

        public ZingerResult ExploreWithDronacharya()
        {
            ZingerUtilities.PrintMessage("Starting new Zinger iteration ... ");
            //Terminate only when there are no motionPlanFrontier states remaining.
            while (true)
            {
                //set the execute tracestatements to false
                //trace statements should be executed only when error trace is generated.
                ZingerConfiguration.ExecuteTraceStatements = false;

                if (StartStateTraversalInfo.IsInvalidEndState())
                {
                    bool oldCT = ZingerConfiguration.CompactTraces;
                    ZingerConfiguration.CompactTraces = false;
                    SafetyErrors.Add(StartStateTraversalInfo.GenerateTrace());
                    ZingerConfiguration.CompactTraces = oldCT;
                    this.lastErrorFound = StartStateTraversalInfo.ErrorCode;
                }

                var result = IterativeSearchStateSpace();

                //Handle Zinger Return Status
                switch (lastErrorFound)
                {
                    case ZingerResult.Success:
                        ZingerUtilities.PrintSuccessMessage("##################");
                        ZingerUtilities.PrintSuccessMessage("Check Passed");
                        ZingerUtilities.PrintSuccessMessage("##################");
                        return ZingerResult.Success;

                    case ZingerResult.ZingRuntimeError:
                        ZingerUtilities.PrintErrorMessage("Zinger Internal Runtime Exception");
                        break;

                    case ZingerResult.ProgramRuntimeError:
                        ZingerUtilities.PrintErrorMessage("Program Runtime Error");
                        break;

                    case ZingerResult.Assertion:
                        ZingerUtilities.PrintErrorMessage("##################");
                        ZingerUtilities.PrintErrorMessage("Check Failed");
                        ZingerUtilities.PrintErrorMessage("##################");
                        break;

                    case ZingerResult.Deadlock:
                        ZingerUtilities.PrintErrorMessage("Deadlock Detected !");
                        break;

                    case ZingerResult.AcceptanceCyleFound:
                        ZingerUtilities.PrintErrorMessage("##################");
                        ZingerUtilities.PrintErrorMessage("Liveness Check Failed");
                        ZingerUtilities.PrintErrorMessage("##################");
                        break;

                    case ZingerResult.DFSStackOverFlowError:
                        ZingerUtilities.PrintErrorMessage("##################");
                        ZingerUtilities.PrintErrorMessage("Check Failed");
                        ZingerUtilities.PrintErrorMessage("##################");
                        ZingerUtilities.PrintErrorMessage(String.Format("DFS Stack Size Exceeded {0}", ZingerConfiguration.BoundDFSStackLength));
                        break;

                    case ZingerResult.ZingerMotionPlanningInvocation:
                        break;

                    default:
                        ZingerUtilities.PrintErrorMessage("Zinger threw an unknown error. Please report this to the Zing developers");
                        break;
                }

                //if the error is something other than motionPlanningInvocation
                if (lastErrorFound != ZingerResult.ZingerMotionPlanningInvocation)
                {
                    ZingerConfiguration.ExecuteTraceStatements = true;

                    if (ZingerConfiguration.DetailedZingTrace)
                    {
                        PrintErrorTracesDetailed();
                    }
                    if (ZingerConfiguration.EnableTrace)
                    {
                        PrintErrorTracesToFile();
                    }
                }
                else
                {
                    ZingDronacharya.RunMotionPlanner(ZingerConfiguration.ZDronacharya);
                }
                //In the end if the plugin is enabled then call the plugin
                if (ZingerConfiguration.ZPlugin != null)
                {
                    Console.WriteLine("Executed EndPlugin Function");
                    ZingerConfiguration.ZPlugin.zPlugin.EndPlugin();
                }
                return result;
            }
        }