/// <summary>
/// one-way (drill down) recursion, no wait allowed
/// </summary>
/// <param name="iter">Task iterator</param>
/// <returns>null when yield break or end of method is encountered</returns>
private IEnumerator <ISubsumptionTask> iterate(IEnumerator <ISubsumptionTask> iter)
{
//Debug.WriteLine("TaskDispatcher: iterate() type: " + iter.GetType());
if (iter != null && iter.MoveNext())
{
ISubsumptionTask task = iter.Current;
//Debug.WriteLine("...iterating... task: " + task);
bool doContinie = task == RobotTask.Continue;
if (doContinie)
{
//Debug.WriteLine("TaskDispatcher: iterate() - task: " + task + " Task.Continue - doing nothing");
return(iter);
}
iter = task.Execute();
//Debug.WriteLine("TaskDispatcher: iterate() - task: " + task + " - iterating inside inner loop");
return(iterate(iter));
}
//Debug.WriteLine("TaskDispatcher: iterate() finished task");
return(null);
}
/// <summary>
/// adds a task to the list of active tasks
/// </summary>
/// <param name="task"></param>
public void Dispatch(ISubsumptionTask task)
{
Debug.WriteLine("TaskDispatcher: Dispatch: " + tasks.Count + " tasks, adding: " + task.name);
tasks.Add(task);
//lock(iStates)
{
iStates.Add(new IteratorState() { taskName = task.name, iterator = task.Execute() });
}
}
/// <summary>
/// adds a task to the list of active tasks
/// </summary>
/// <param name="task"></param>
public void Dispatch(ISubsumptionTask task)
{
Debug.WriteLine("TaskDispatcher: Dispatch: " + tasks.Count + " tasks, adding: " + task.name);
tasks.Add(task);
//lock(iStates)
{
iStates.Add(new IteratorState()
{
taskName = task.name, iterator = task.Execute()
});
}
}
private BehaviorsCoordinatorData coordinatorData = BehaviorBase.getCoordinatorData(); // get the singleton
/// <summary>
/// behaviors in dispatcher may all exit, which will require producing a new behaviors combo.
/// </summary>
private void MonitorDispatcherActivity()
{
// ActiveTasksCount is indicator of behaviors completed or removed. Zero count means we may need new behaviors combo.
int dispatcherActiveTasksCount = subsumptionTaskDispatcher.ActiveTasksCount;
if (dispatcherActiveTasksCount != lastActiveTasksCount)
{
Debug.WriteLine("Warning: ShortyTheRobot: Process: active tasks count: " + dispatcherActiveTasksCount);
if (dispatcherActiveTasksCount == 0)
{
this.SafePose(); // ensure the robot is stopped when all behaviors have exited
speaker.Speak("active tasks count zero");
}
else if (lastActiveTasksCount <= 0)
{
speaker.Speak(string.Format("{0} tasks", dispatcherActiveTasksCount));
}
lastActiveTasksCount = dispatcherActiveTasksCount;
}
// clear the grab, if any:
string gbn = coordinatorData.GrabbingBehaviorName;
if (!string.IsNullOrWhiteSpace(gbn))
{
ISubsumptionTask grabber = (from b in subsumptionTaskDispatcher.Tasks where b.name == gbn select b).FirstOrDefault();
if (grabber != null)
{
BehaviorBase bBase = (BehaviorBase)grabber;
if (!bBase.FiredOn)
{
// Grabbing behavior is not firing any more, can clear the grab:
coordinatorData.ClearGrabbingBehavior();
}
}
}
}
