//Client Code
static void Main_11(string[] args)
{
ConcreteVehicleFactory factoryMethod = new ConcreteVehicleFactory();
IDrive vehicle = factoryMethod.GetVehicleKm(VehicleType.Car);
vehicle.Drive();
}
/// <summary>
/// called often, must return promptly. It is a thread safe function.
/// </summary>
public override void Process()
{
StartedLoop();
// every cycle we create new behaviorData, populating it with existing data objects:
IBehaviorData behaviorData = new BehaviorData()
{
sensorsData = this.currentSensorsData,
robotState = this.robotState,
robotPose = this.robotPose
};
// use sensor data to update robotPose:
robotSlam.EvaluatePoseAndState(behaviorData, driveController);
// populate all behaviors with current behaviorData:
foreach (ISubsumptionTask task in subsumptionTaskDispatcher.Tasks)
{
BehaviorBase behavior = task as BehaviorBase;
if (behavior != null)
{
behavior.behaviorData = behaviorData;
}
}
subsumptionTaskDispatcher.Process(); // calls behaviors, which take sensor outputs, and may compute drive inputs
// look at ActiveTasksCount - it is an indicator of behaviors completed or removed. Zero count means we may need new behaviors combo.
MonitorDispatcherActivity();
// when active behavior is waiting (yielding), no action items are computed.
// otherwise driveInputs will be non-null:
if (behaviorData.driveInputs != null)
{
//Debug.WriteLine("ShortyTheRobot: Process() - have drive inputs V=" + behaviorData.driveInputs.velocity + " Omega=" + behaviorData.driveInputs.omega);
driveController.driveInputs = behaviorData.driveInputs;
driveController.Drive(); // apply driveInputs to motors
robotState.velocity = behaviorData.driveInputs.velocity;
robotState.omega = behaviorData.driveInputs.omega;
}
this.BehaviorData = behaviorData; // for tracing
sensorsController.Process(); // let sensorsController do maintenance
EndingLoop();
}
static void Main(string[] args)
{
Human human = new Human();
Student student = new Student();
Robot robot = new Robot();
Car car = new Car();
Bicycle bicycle = new Bicycle();
// ------------------------------------------------------------
// Using objects as interfaces
// ------------------------------------------------------------
IDrive iDrive = student;
iDrive.Drive(car);
iDrive.Drive(bicycle);
// Vinicio - now change this to a robot
// ------------------------------------------------------------
ISpeak[] interfaceArray = new ISpeak[3];
interfaceArray[0] = human;
interfaceArray[1] = student;
interfaceArray[2] = robot;
Conference(interfaceArray);
}
//自動車を運転する
static void DriveACar(IDrive car)
{
car.Drive();
//car.Maintain();
}
public void Drive()
{
DriveMethod.Drive();
}
