/// <summary>
/// Initialises the drive priority element.
///
/// The log domain is set to [AgentName].DP.[drive_name]
/// </summary>
/// <param name="agent">The element's agent.</param>
/// <param name="driveName">The name of the associated drive.</param>
/// <param name="elements">The drive elements of the priority element.</param>
public DrivePriorityElement(Agent agent, string driveName, DriveElement [] elements)
: base(string.Format("DP.{0}", driveName), agent)
{
name = driveName;
this.elements = new List<DriveElement>(elements);
timer = agent.getTimer();
this.agent = agent;
log.Debug("Created");
}
/// <summary>
/// Builds the drive collection and returns it.
///
/// This method builds the drive collection, of which the structure has
/// been set by setDriveCollection. Additionally, its
/// assigns the agent a timer, as specified by the drive collection
/// (i.e. a stepped timer, in the case of an SDC drive, and a
/// real-time timer in the case of an SRDC drive). If the timer is
/// a real-time timer, then it is initialised with a loop frequency of
/// 50Hz.
///
/// Only drives of type 'SDC' and 'SRDC' are accepted. In any other case
/// a TypeError is raised.
/// </summary>
/// <param name="agent">The agent that the drive collection is built for.</param>
/// <param name="competences">A competence object dictionary.</param>
/// <param name="actionPatterns">An action pattern dictionary.</param>
/// <exception cref="TypeLoadException">For drives of types other than SDC or SRDC.</exception>
/// <returns>The drive collection.</returns>
internal DriveCollection buildDriveCollection(Agent agent, Dictionary <string, Competence> competences, Dictionary <string, ActionPattern> actionPatterns)
{
string dcType = driveCollection.First;
string dcName = driveCollection.Second;
List <DrivePriorityElement> priorityElements = new List <DrivePriorityElement>();
// create the agent timer
switch (dcType)
{
case "SDC":
agent.setTimer(new SteppedTimer());
break;
case "SRDC":
agent.setTimer(new RealTimeTimer((long)(1000.00 / 30.0)));
break;
default:
throw new TypeLoadException(string.Format("Drive collection of type '{0}' not " +
"supported (only supporting SDC and SRDC).", dcType));
}
Trigger goal = buildGoal(agent, driveCollection.Third);
foreach (Tuple <string, List <object>, string, long>[] priorityElement in driveCollection.Forth)
{
List <DriveElement> elementList = new List <DriveElement>();
foreach (Tuple <string, List <object>, string, long> element in priorityElement)
{
DriveElement driveElement = buildDriveElement(element, agent, competences, actionPatterns);
driveElement.isLatched = false;
foreach (POSHSense sense in driveElement.trigger.senses)
{
if (sense.behaviour.GetType().IsSubclassOf(typeof(LatchedBehaviour)))
{
driveElement.isLatched = true;
break;
}
}
elementList.Add(driveElement);
}
priorityElements.Add(new DrivePriorityElement(agent, dcName, elementList.ToArray()));
}
return(new DriveCollection(agent, dcType, dcName, priorityElements.ToArray(), goal));
}
