public void Estimate(double agentX, double agentY, double agentVx, double agentVy,
double puckX, double puckY, double puckVx, double puckVy, double PuckR,
double oppX, double oppY, double oppVx, double oppVy
)
{
AHEntities.SenseEventType newEvent = EstimatorStrategy.Estimate(agentX, agentY, agentVx, agentVy,
puckX, puckY, puckVx, puckVy, PuckR, oppX, oppY, oppVx, oppVy, WM);
if (newEvent == SenseEventType.NoEvent)
{
return;
}
SenseEventArgs senseEvent;
mLogger.AddLogMessage("Perception: new event detected: " + newEvent.ToString() +
", puck velocity: (" + puckVx.ToString() + "," + puckVy.ToString() + ")", true);
if ((newEvent == SenseEventType.yWall) && (puckVx < 0))
{
mLogger.AddLogMessage("Perception: Invoking Refining Of Current Plan");
senseEvent = new SenseEventArgs(SensePlanArg.Refine, newEvent);
}
else
{
mLogger.AddLogMessage("Perception: Invoking New Planing");
senseEvent = new SenseEventArgs(SensePlanArg.Plan, newEvent);
}
OnEstimationUpdate(this, senseEvent);
}
public void StartNewPlan(object sender, EventArgs e)
{
ActionDirective tempA;
SenseEventArgs senseE = (SenseEventArgs)e;
Dictionary <string, double> gameState = WM.GetPhysicalState();
Point puckV = new Point(gameState["PuckVx"], gameState["PuckVy"]);
if ((senseE.EventType == SenseEventType.yWall) && (puckV.X > 0))
{
// no replan (prepare action)
currentEvent = senseE.EventType;
mLogger.AddLogMessage("Tactics: No New Action Required: " + currentActionDirective.Action.ToString());
}
else
{
//new plan
if ((currentEvent == senseE.EventType) &&
((currentEvent == SenseEventType.StuckPlayer) || (currentEvent == SenseEventType.StuckAgent)))
{
// no replan
mLogger.AddLogMessage("Tactics: No New Action Required: " + currentActionDirective.Action.ToString());
}
else if ((senseE.EventType == SenseEventType.yWall) && (puckV.X < 0))
{
// need to replan current action
currentEvent = senseE.EventType;
mLogger.AddLogMessage("Tactics: Refining Old Action: " + currentActionDirective.Action.ToString());
PlanningScheduler.MakePlanRequest(senseE.EventType);
}
else
{
currentEvent = senseE.EventType;
tempA = actionSelectionStrategy.SelectAction(senseE.EventType);
//if (tempA.Action != currentActionDirective.Action)
//{
lock (currentActionDirective.ActionDirectiveLock)
{
currentActionDirective.Action = tempA.Action;
currentActionDirective.TimeStamp = senseE.TimeStamp;
currentActionDirective.Duration = tempA.Duration - (DateTime.Now - senseE.TimeStamp);
}
// log action - new action
mLogger.AddLogMessage("Tactics: New Action Selected: " + currentActionDirective.Action.ToString());
PlanningScheduler.MakePlanRequest(senseE.EventType);
/*}
* else
* {
* mLogger.AddLogMessage("Tactics: Old Action Selected: " + currentActionDirective.Action.ToString());
* PlanningScheduler.MakePlanRequest(senseE.EventType);
* }*/
}
}
/*
* // new plan required
* if ((senseE.EventType == SenseEventType.AgentCollision) || (senseE.EventType == SenseEventType.OpponentCollision) ||
* (senseE.EventType == SenseEventType.xWall) || (senseE.EventType == SenseEventType.yWall) && (puckV.X < 0))
* {
* tempA = actionSelectionStrategy.SelectAction(senseE.EventType);
* if (tempA.Action != currentActionDirective.Action)
* {
* lock (currentActionDirective.ActionDirectiveLock)
* {
* currentActionDirective.Action = tempA.Action;
* currentActionDirective.TimeStamp = senseE.TimeStamp;
* currentActionDirective.Duration = tempA.Duration - (DateTime.Now - senseE.TimeStamp);
* }
* // log action - new action
* mLogger.AddLogMessage("Tactics: New Action Selected: " + currentActionDirective.Action.ToString());
* PlanningScheduler.MakePlanRequest(senseE.EventType);
* }
* else
* {
* mLogger.AddLogMessage("Tactics: Old Action Selected: " + currentActionDirective.Action.ToString());
* PlanningScheduler.MakePlanRequest(senseE.EventType);
* }
* }
* else
* {
* // log action
* mLogger.AddLogMessage("Tactics: Refinement Of Active Action: " + currentActionDirective.Action.ToString());
* PlanningScheduler.MakePlanRequest(senseE.EventType);
* }*/
/*
* if (senseE.PlanType == SensePlanArg.Plan)
* {
* tempA = actionSelectionStrategy.SelectAction(senseE.EventType);
* // construct the action directive object
* if (tempA.Action != currentActionDirective.Action)
* {
* lock (currentActionDirective.ActionDirectiveLock)
* {
* currentActionDirective.Action = tempA.Action;
* currentActionDirective.TimeStamp = senseE.TimeStamp;
* currentActionDirective.Duration = tempA.Duration - (DateTime.Now - senseE.TimeStamp);
* }
* // log action - new action
* mLogger.AddLogMessage("Tactics: New Action Selected: " + currentActionDirective.Action.ToString());
* }
* else
* {
* if ((currentActionDirective.Action != AHEntities.Action.PREPARE))
* {
* // log action - refinement of current action.
* mLogger.AddLogMessage("Tactics: New (reselection) Action Selected: " + currentActionDirective.Action.ToString());
* }
* }
* PlanningScheduler.MakePlanRequest(senseE.EventType);
* }
* else
* {
* // current directive is still valid, need to schedule replanning
* // log action
* mLogger.AddLogMessage("Tactics: Refinement Of Active Action: " + currentActionDirective.Action.ToString());
* PlanningScheduler.MakePlanRequest(senseE.EventType);
* }*/
}