//Execute l'action du robot et le signal à l'environnement
public static void executeAction(SimpleActionType action, Position robot)
{
Thread.Sleep(1000 / SpeedFactor);
switch (action)
{
case SimpleActionType.PICK:
pickDiamond(robot.x, robot.y);
break;
case SimpleActionType.VACUUM:
vacuumDust(robot.x, robot.y);
break;
case SimpleActionType.TOP:
MainWindow.environment.addEvent("MOVE:NORTH");
break;
case SimpleActionType.BOTTOM:
MainWindow.environment.addEvent("MOVE:SOUTH");
break;
case SimpleActionType.LEFT:
MainWindow.environment.addEvent("MOVE:WEST");
break;
case SimpleActionType.RIGHT:
MainWindow.environment.addEvent("MOVE:EAST");
break;
}
}
private void act()
{
bool needsToStop = false;
int countAction = 0;
//Permet d'effectuer autant de mouvement que prévu par l'apprentissage
while (intention.Count != 0 && !needsToStop)
{
countAction++;
if (countAction == bestFreqExploration)
{
needsToStop = true;
}
SimpleActionType a = intention.Dequeue();
Effectors.executeAction(a, belief.robotPos);
}
}
