private void SetAreasToUKS()
{
Thing currentlyVisibleParent = uks.GetOrAddThing("CurrentlyVisible", "Visual");
uks.DeleteAllChilden(currentlyVisibleParent);
Thing valueParent = uks.GetOrAddThing("Value", "Thing");
foreach (Area a in areas)//all the areas currently visible
{
Thing theArea = uks.AddThing("Area*", currentlyVisibleParent);
uks.SetValue(theArea, a.greatestLength, "Siz", 0);
uks.SetValue(theArea, (float)a.orientation, "Ang", 2);
uks.SetValue(theArea, (float)a.centroid.X, "CtrX", 0);
uks.SetValue(theArea, (float)a.centroid.Y, "CtrY", 0);
uks.SetValue(theArea, (float)a.avgColor.hue / 360f, "Hue", 2);
uks.SetValue(theArea, (float)a.avgColor.saturation, "Sat", 2);
uks.SetValue(theArea, (float)a.avgColor.luminance, "Lum", 2);
List <Thing> theCorners = new List <Thing>();
foreach (Corner c in a.areaCorners)
{
theCorners.Add(uks.AddThing("Cnr*", theArea));
Thing theLocation = uks.Valued(c.loc, uks.Labeled("Point").Children);
if (theLocation == null)
{
theLocation = uks.AddThing("p*", "Point");
theLocation.V = c.loc;
}
theLocation.AddParent(theCorners.Last());
}
//add the reference links
if (theCorners.Count == 2)
{
theCorners[0].AddReference(theCorners[1]); //add lengths to these?
theCorners[1].AddReference(theCorners[0]);
}
else
{
for (int i = 0; i < theCorners.Count; i++)
{
int j = a.areaCorners.IndexOf(a.areaCorners[i].c1);
int k = a.areaCorners.IndexOf(a.areaCorners[i].c2);
if (k == -1 || j == -1 || j == k)
{ // the area is not valid, delete it
uks.DeleteAllChilden(theArea);
uks.DeleteThing(theArea);
break;
}
theCorners[i].AddReference(theCorners[j]); //add lengths to these?
theCorners[i].AddReference(theCorners[k]);
}
}
}
}
//fill this method in with code which will execute
//once for each cycle of the engine
public override void Fire()
{
Init(); //be sure to leave this here
ModuleView naSource = theNeuronArray.FindModuleByLabel("UKS");
if (naSource == null)
{
return;
}
uks = (ModuleUKS)naSource.TheModule;
Thing knownObjectParent = uks.GetOrAddThing("KnownObject", "Visual");
Thing currentlyVisibleParent = uks.GetOrAddThing("CurrentlyVisible", "Visual");
//List<Thing> visibleKnownThings = new List<Thing>();
foreach (Thing area in currentlyVisibleParent.Children)
{
Thing knownObject1 = null;
foreach (Thing knownObject in knownObjectParent.Children)
{
Thing knownObjectShape = knownObject.HasReferenceWithParent(uks.Labeled("Area"));
Thing areaShape = area.HasReferenceWithParent(uks.Labeled("Area"));
Thing knownObjectColor = knownObject.HasReferenceWithParent(uks.Labeled("Color"));
Thing areaColor = area.HasReferenceWithParent(uks.Labeled("Color"));
//if critical properties match, object is already known
if (knownObjectShape == areaShape && knownObjectColor == areaColor)
{
knownObject1 = knownObject;
break;
}
}
if (knownObject1 == null)
{
//The object is unknown, add it to known objects for future reference
knownObject1 = area.Clone();
knownObject1.AddParent(knownObjectParent);
knownObject1.Label = "KnownShape*";
}
//visibleKnownThings.Add(knownObject1);
uks.DeleteAllChilden(area);
area.AddChild(knownObject1);
//knownObject1.Label = area.Label;
}
//if you want the dlg to update, use the following code whenever any parameter changes
// UpdateDialog();
}
public override void Fire()
{
Init(); //be sure to leave this here
if (GetNeuronValue("Auto") == 0)
{
return;
}
goToGoal = GetNeuronValue("Goal") == 1;
ModuleBehavior mBehavior = (ModuleBehavior)FindModleu(typeof(ModuleBehavior));
if (mBehavior == null)
{
return;
}
Module2DModel mModel = (Module2DModel)FindModleu(typeof(Module2DModel));
if (mModel is null)
{
return;
}
ModuleEvent mEvent = (ModuleEvent)FindModleu(typeof(ModuleEvent));
if (mEvent == null)
{
return;
}
ModuleUKSN UKS = (ModuleUKSN)FindModleu(typeof(ModuleUKSN));
if (UKS == null)
{
return;
}
if (GetNeuronValue("ModuleBehavior", "Done") == 0)
{
return;
}
mModel.GetSegmentsFromUKS();
IList <Thing> segments = mModel.GetUKSSegments();
if (segments.Count == 0)
{
return;
}
Thing t = segments[0]; //TODO: this only works with just a single item in the UKS
//figure out if any motion occured
Segment s = Module2DModel.SegmentFromUKSThing(t);
Module2DModel.OrderSegment(s);
if (GetNeuronValue("E0") == 1)
{
GoToLandmark(UKS.Labeled("E0").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (GetNeuronValue("E1") == 1)
{
GoToLandmark(UKS.Labeled("E1").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (GetNeuronValue("E2") == 1)
{
GoToLandmark(UKS.Labeled("E2").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (doPush != 0)
{
if (doPush == 2)
{
Push(s);
}
doPush--;
return;
}
if (doFaceSegment)
{
DoFaceSegment(s);
doFaceSegment = false;
return;
}
Segment s1;
if (lastPosition == null) //create objects to keep track of the target and last position
{
s1 = s.Clone();
lastPosition = mModel.AddSegmentToUKS(s1);
lastPosition.Label = "LastPosition";
lastPosition.RemoveParent(UKS.Labeled("Segment"));
lastPosition.AddParent(UKS.Labeled("SSegment"));
Module2DSim mSim = (Module2DSim)FindModleu(typeof(Module2DSim));
if (mSim is null)
{
return;
}
Segment motionTarget = mSim.GetMotionTarget();
if (motionTarget == null)
{
motionTarget = new Segment();
motionTarget.P1 = new PointPlus(4, 1.5f);
motionTarget.P2 = new PointPlus(4, -2.5f);
motionTarget.theColor = (ColorInt)0xff;
}
endTarget = mModel.AddSegmentToUKS(motionTarget);
endTarget.Label = "EndTarget";
//endTarget.RemoveParent(UKS.Labeled("Segment"));
//endTarget.AddParent(UKS.Labeled("SSegment"));
}
else
{
s1 = Module2DModel.SegmentFromUKSThing(lastPosition);
}
//get motion from subtracting and then updating last position
Angle rotation = s.Angle - s1.Angle;
if (rotation > PI / 2)
{
rotation = PI - rotation;
}
if (rotation < -PI / 2)
{
rotation = PI + rotation;
}
Motion motion = new Motion()
{
P = (Point)s.MidPoint.V - s1.MidPoint.V,
rotation = rotation,
};
lastPosition.References[0].T.V = s.P1.Clone();
lastPosition.References[1].T.V = s.P2.Clone();
if (Abs(motion.R) > .01 || Abs(motion.rotation) > .05 && !goToGoal && !doBackOff)
{
//check for existing Event
Thing currentEvent = MostLikelyEvent(t);
if (currentEvent == null)
{ //add new Event
Thing lm1 = mEvent.CreateLandmark(new List <Thing>()
{
t
});
Thing t1 = mEvent.CreateEvent(lm1);
Thing t3 = UKS.AddThing("m" + motionCount++, UKS.Labeled("Motion"), motion);
mEvent.AddOutcomePair(t1, UKS.GetOrAddThing("Push", "Action"), t3);
}
return;
}
if (doBackOff)
{
DoBackOff(s);
doBackOff = false;
doFaceSegment = true;
return;
}
if (goToGoal)
{
if (endTarget != null)
{
Segment s2 = Module2DModel.SegmentFromUKSThing(endTarget);
GoToGoal(s, s2);
return;
}
}
Explore(s);
}
void AddShapeFromArea(Thing area)
{
area.AddParent(uks.GetOrAddThing("Area", "Shape"));
}
