public OpenLoopMotionGuidanceStrategy(TrajectoryQueue queue, Communicator.Communicator com, int timeCycle)
{
communicator = com;
commandsQueue = queue;
Ts = TimeSpan.FromMilliseconds(timeCycle);
internalState = ModuleState.Inactive;
}
public LowLevelLayer(Communicator.Communicator com, WorldModel worldModel, double timeStep, short degrees)
{
internalState = ModuleState.Inactive;
communicator = com;
WM = worldModel;
DOF = degrees;
Ts = timeStep;
mLogger = Logger.Logger.Instance;
planTime = new Stopwatch();
planTime.Reset();
Hashtable consts = WM.GetConstants();
maxTime = (double)consts["MoveInterval"];
commandsQueue = new TrajectoryQueue(DOF, new double[2] {
-1000, 0
});
bounderyConditions = new PointParams();
//motionGuidanceStrategy = new OpenLoopMotionGuidanceStrategy(commandsQueue, com, Ts);
motionGuidanceStrategy = new PDMotionGuidanceStrategy(commandsQueue, com, Ts, WM);
actionPlanningStrategy = new SimpleLinesActionPlanningStrategy(WM);
trajectoryPlanningStrategy = new PolynomialTrajectoryPlanningStrategy(Ts, maxTime);
// dummy planning to warm up the containers
#region Warmup
/*
* PointParams init = new PointParams();
* init.AddParameters(new Point(0, 0));
* init.AddParameters(new Point(0, 0));
* init.T = DateTime.Now;
* //init.T = 0;
* PointParams final = new PointParams();
* final.AddParameters(new Point(0, 0));
* final.AddParameters(new Point(0, 0));
* final.T = DateTime.Now + TimeSpan.FromSeconds(0.2);
* state = WM.GetPhysicalState();
* actionPlanningStrategy.ActionPlanning(AHEntities.Action.DEFENSE_ATTACK, true);
* trajectoryPlanningStrategy.TrajectoryPlanning(init, final);
*/
#endregion Warmup
}
public void Init()
{
mComm = Communicator.Communicator.Instance;
mComm.IncomingMsg += AHMessageManager;
mState = GameState.Disconnected;
WM = new WorldModel();
WM.SetConstants(maxScore, width, height, fps, timeStep, timeScale, puckRadius, malletRadius, delayMeasurement, delayControl,
actionPlanPeriod, maxMoveInterval);
mVisualSensing = new Perception(WM);
mVisualSensing.SubscribeComm(mComm);
mLowLevelLayer = new LowLevelLayer(mComm, WM, timeStep, DOF);
mTacticsLayer = new TacticLayer(WM, mLowLevelLayer);
mVisualSensing.OnEstimationUpdate += mTacticsLayer.StartNewPlan;
mStrategyLayer = new StrategicLayer(WM);
}
public void SubscribeComm(Communicator.Communicator comm)
{
comm.IncomingMsg += comm_IncomingMsg;
}
public static async Task Main()
{
using (var communicator = new Communicator("localhost", 8881))
{
await communicator.Connect(new CancellationTokenSource(WebsocketConnectTimeout).Token);
// https://chromedevtools.github.io/devtools-protocol/1-2/Debugger
await communicator.SendCommand("Runtime.enable");
await communicator.SendCommand("Debugger.enable");
// First script loaded is from the ClearScript V8ScriptEngine - contains helper functions such as invokeMethod, getStackTrace etc
// We don't see that script until we send the Debugger.enable command
await communicator.WaitForEventAsync <ScriptParsedEvent>(new CancellationTokenSource(TimeSpan.FromSeconds(5)).Token);
// We need to tell V8 that we've assumed they responsibility of the debugger it was waiting for. If we didn't do that
// and closed the websocket, the V8 process would remain halted.
await communicator.SendCommand("Runtime.runIfWaitingForDebugger");
// After resuming the script (runIfWaitingForDebugger) we should get both a ScriptParsed event & a DebuggerPaused event.
// This second script is the one we're actually debugging (i.e. the one the 'debugger' statement in it)
var scriptParsedEvent = await communicator.WaitForEventAsync <ScriptParsedEvent>(new CancellationTokenSource(TimeSpan.FromSeconds(5)).Token);
var commandResult = await communicator.SendCommand("Debugger.getScriptSource", new { scriptId = scriptParsedEvent.ScriptId });
var scriptSourceResponse = JsonConvert.DeserializeObject <V8CommandResponse <GetScriptSourceResponse> >(commandResult);
Console.Out.WriteLine($"Debugging script: {scriptSourceResponse.Result.ScriptSource}");
// Break on debugger connection (as requested)
await communicator.WaitForEventAsync <DebuggerPausedEvent>(new CancellationTokenSource(WaitForDebuggerTimeout).Token);
Console.Out.WriteLine("Resuming debugger");
await communicator.SendCommand("Debugger.resume");
// Break on our user breakpoint (debugger keyword)
var debuggerPausedEvent = await communicator.WaitForEventAsync <DebuggerPausedEvent>(new CancellationTokenSource(WaitForDebuggerTimeout).Token);
// Pull out the callFrameId for that frame
string callFrameId = debuggerPausedEvent.CallFrames[0].CallFrameId;
// Pull out a reference to the global object id (top scope of that call frame)
string globalObjectId = debuggerPausedEvent.CallFrames[0].ScopeChain[0].Object.ObjectId;
// Evaluate the variable 'two' (should be undefined)
commandResult = await communicator.SendCommand("Debugger.evaluateOnCallFrame", new { callFrameId, expression = "two" });
var evaluateResult = JsonConvert.DeserializeObject <V8CommandResponse <EvaluateOnCallFrameResponse> >(commandResult);
Console.Out.WriteLine($"Result from evaluating expression 'two' before setVariableValue: type: {evaluateResult.Result.Result.ObjectType}, value: {evaluateResult.Result.Result.Value}");
// Set the value of the variable 'two'. Note that setting a variable value will cause a scriptParsed event to be emitted, as will evaluating on call frame (below)
await communicator.SendCommand("Debugger.setVariableValue", new { scopeNumber = 0, variableName = "two", newValue = new { value = 3 }, callFrameId });
// Evaluate the variable 'two' again (should be 3)
commandResult = await communicator.SendCommand("Debugger.evaluateOnCallFrame", new { callFrameId, expression = "two" });
evaluateResult = JsonConvert.DeserializeObject <V8CommandResponse <EvaluateOnCallFrameResponse> >(commandResult);
Console.Out.WriteLine($"Result from evaluating expression 'two' after setVariableValue: type: {evaluateResult.Result.Result.ObjectType}, value: {evaluateResult.Result.Result.Value}");
// Get the global object scope
commandResult = await communicator.SendCommand("Runtime.getProperties",
new
{
accessorPropertiesOnly = false, generatePreview = true, objectId = globalObjectId,
ownProperties = false
});
var objectProperties = JsonConvert.DeserializeObject <V8CommandResponse <GetPropertiesResponse> >(commandResult);
await communicator.Disconnect(new CancellationTokenSource(WebsocketConnectTimeout).Token);
}
}
