public new void Initialize()
{
_scanningTool = _entity.GetBehavior <ResourceScanner>();
_toolSwitch = _entity.GetSwitch <ResourceScanner>();
base.Initialize();
}
private static async Task ConfigureRover(CSharpKernel csharpKernel)
{
using var _ = Log.OnEnterAndExit();
await LoadAssemblyAndAddNamespace <RoverRobot>(csharpKernel);
await LoadAssemblyAndAddNamespace <ResourceScanner>(csharpKernel);
await AddNamespace(csharpKernel, typeof(ImageProcessing.ImageExtensions));
var roverBody = new RoverRobot(PiTop4Board.Instance.GetOrCreateExpansionPlate(),
PiTop4Board.Instance.GetOrCreateCamera <StreamingCamera>(0),
RoverRobotConfiguration.Default);
var roverBrain = new RoverRobotStrategies();
var resourceScanner = new ResourceScanner();
roverBody.BlinkAllLights();
await csharpKernel.SetVariableAsync(nameof(roverBody), roverBody);
await csharpKernel.SetVariableAsync(nameof(roverBrain), roverBrain);
await csharpKernel.SetVariableAsync(nameof(resourceScanner), resourceScanner);
var source = new CancellationTokenSource();
var robotLoop = Task.Run(() =>
{
using var operation = Log.OnEnterAndExit("roverBrainLoop");
while (!source.IsCancellationRequested)
{
var localCancellationSource = new CancellationTokenSource();
if (!source.IsCancellationRequested && !localCancellationSource.IsCancellationRequested)
{
using var __ = operation.OnEnterAndExit("Perceive");
try
{
roverBrain.Perceive?.Invoke(roverBody, DateTime.Now, localCancellationSource.Token);
}
catch (Exception e)
{
__.Error(e);
}
}
if (!source.IsCancellationRequested && !localCancellationSource.IsCancellationRequested)
{
var planResult = PlanningResult.NoPlan;
using var ___ = operation.OnEnterAndExit("Plan");
try
{
planResult = roverBrain.Plan?.Invoke(roverBody, DateTime.Now, localCancellationSource.Token) ??
PlanningResult.NoPlan;
}
catch (Exception e)
{
___.Error(e);
planResult = PlanningResult.NoPlan;
}
if (!source.IsCancellationRequested && planResult != PlanningResult.NoPlan && !localCancellationSource.IsCancellationRequested)
{
using var ____ = operation.OnEnterAndExit("Act");
roverBrain.Act?.Invoke(roverBody, DateTime.Now, localCancellationSource.Token);
}
}
}
roverBody.MotionComponent.Stop();
}, source.Token);
var reactLoop = Task.Run(() =>
{
using var operation = Log.OnEnterAndExit("roverBrainReactLoop");
while (!source.IsCancellationRequested)
{
var localCancellationSource = new CancellationTokenSource();
if (!source.IsCancellationRequested && !localCancellationSource.IsCancellationRequested)
{
using var __ = operation.OnEnterAndExit("React");
try
{
roverBrain.React?.Invoke(roverBody, DateTime.Now, localCancellationSource.Token);
}
catch (Exception e)
{
__.Error(e);
}
}
}
roverBody.MotionComponent.Stop();
}, source.Token);
csharpKernel.RegisterForDisposal(() =>
{
source.Cancel(false);
Task.WaitAll(new[] { robotLoop, reactLoop }, TimeSpan.FromSeconds(10));
roverBody.Dispose();
});
}
private static async Task ConfigureRover(CSharpKernel csharpKernel)
{
Microsoft.DotNet.Interactive.Formatting.Formatter.ListExpansionLimit = 42;
using var _ = Log.OnEnterAndExit();
await LoadAssemblyAndAddNamespace <RoverRobot>(csharpKernel);
await LoadAssemblyAndAddNamespace <ResourceScanner>(csharpKernel);
await AddNamespace(csharpKernel, typeof(ImageProcessing.ImageExtensions));
var RoverBody = new RoverRobot(PiTop4Board.Instance.GetOrCreateExpansionPlate(),
PiTop4Board.Instance.GetOrCreateCamera <StreamingCamera>(0),
RoverRobotConfiguration.Default);
var RoverBrain = new RoverRobotAgent();
var ResourceScanner = new ResourceScanner();
RoverBody.BlinkAllLights();
await csharpKernel.SetVariableAsync(nameof(RoverBody), RoverBody);
await csharpKernel.SetVariableAsync(nameof(RoverBrain), RoverBrain);
await csharpKernel.SetVariableAsync(nameof(ResourceScanner), ResourceScanner);
var command = new Command("#!reset", "Reset RoverBody, RoverBrain and BrainState")
{
new Option <bool>("--body", description: "Resets the rover body"),
new Option <bool>("--brain", description: "Resets the rover brain"),
new Option <bool>("--state", description: "Resets the rover brain state"),
new Option <bool>("--all", description: "Resets the entire rover"),
};
command.Handler = CommandHandler.Create <bool, bool, bool, bool, KernelInvocationContext>(async(body, brain, state, all, context) =>
{
if (body || brain || state || all)
{
var code = new StringBuilder();
var resetTarget = new List <string>();
if (brain || all)
{
code.AppendLine($"{nameof(RoverBrain)}.Reset();");
resetTarget.Add("brain");
}
if (state || all)
{
code.AppendLine($"{nameof(RoverBrain)}.ClearState();");
resetTarget.Add("state");
}
if (body || all)
{
code.AppendLine($"{nameof(RoverBody)}.Reset();");
resetTarget.Add("body");
}
var value = context.Display($"Reset for {string.Join(", ", resetTarget)} in progress", PlainTextFormatter.MimeType);
await csharpKernel.SendAsync(new SubmitCode(code.ToString()));
value.Update($"Reset for {string.Join(", ", resetTarget)} done!");
}
});
csharpKernel.AddDirective(command);
var source = new CancellationTokenSource();
var robotLoop = Task.Run(() =>
{
using var operation = Log.OnEnterAndExit("roverBrainLoop");
while (!source.IsCancellationRequested)
{
if (!source.IsCancellationRequested)
{
using var __ = operation.OnEnterAndExit("Perceive");
try
{
RoverBrain.Perceive();
}
catch (Exception e)
{
__.Error(e);
}
}
if (!source.IsCancellationRequested)
{
var planResult = PlanningResult.NoPlan;
using var ___ = operation.OnEnterAndExit("Plan");
try
{
planResult = RoverBrain.Plan();
}
catch (Exception e)
{
___.Error(e);
planResult = PlanningResult.NoPlan;
}
if (!source.IsCancellationRequested && planResult != PlanningResult.NoPlan)
{
using var ____ = operation.OnEnterAndExit("Act");
RoverBrain.Act();
}
}
}
RoverBody.MotionComponent.Stop();
}, source.Token);
var reactLoop = Task.Run(() =>
{
using var operation = Log.OnEnterAndExit("roverBrainReactLoop");
while (!source.IsCancellationRequested)
{
if (!source.IsCancellationRequested)
{
using var __ = operation.OnEnterAndExit("React");
try
{
RoverBrain.React();
}
catch (Exception e)
{
__.Error(e);
}
}
}
RoverBody.MotionComponent.Stop();
}, source.Token);
csharpKernel.RegisterForDisposal(() =>
{
source.Cancel(false);
Task.WaitAll(new[] { robotLoop, reactLoop }, TimeSpan.FromSeconds(10));
RoverBody.Dispose();
});
}
static void Init()
{
ResourceScanner window = (ResourceScanner)EditorWindow.GetWindow(typeof(ResourceScanner));
window.Show();
}
