public void CanProcessCommand_WhenRobotIsNotOnTheTableAndCommandIsPlace_ShouldReturnTrue()
{
var brain = new RobotBrain();
var canProcess = brain.CanProcessCommand(new Command(CommandType.PLACE), null, null);
Assert.That(canProcess, Is.True);
}
static void Main(string[] args)
{
Console.WriteLine("hello scribby");
////rbt = new NxtBrain(@"C:\Microsoft Robotics Studio (1.5)\samples\IPRE\Foundation\IPREFoundationClasses\IPREFoundationClasses\NxtConfig\IPRE.LEGO.NXT.TriBot.config.xml");
////rbt = new ScribblerBrain(@"C:\Microsoft Robotics Studio (1.5)\samples\IPRE\Foundation\IPREFoundationClasses\IPREFoundationClasses\IPRE.Scribbler.standard.config.xml");
rbt = new SRV1Brain(@"C:\Microsoft Robotics Studio (1.5)\samples\IPRE\Surveyor\SRV-1\Srv1Services\Config\IPRE.Surveyor.SRV1.Vehicle.config.xml");
////rbt = new CreateBrain(@"C:\Microsoft Robotics Studio (1.5)\samples\IPRE\Foundation\IPREFoundationClasses\IPREFoundationClasses\CreateConfig\IPRE.iRobot.DriveBumper.config.xml");
//Application.EnableVisualStyles();
//Application.SetCompatibleTextRenderingDefault(false);
//robotgui = new Form1(rbt);
//logger = new Logger(robotgui);
//logger.Add(new LogEntry("SRV ready !!!"));
//Thread th = new Thread(new ThreadStart(work));
//th.Start();
//Application.Run(robotgui);
Application app = new Application();
Blend1.Window1 robotgui = new Blend1.Window1(rbt);
logger = new Logger(robotgui);
logger.Add(new LogEntry("SRV-1 ready !!!"));
Thread th = new Thread(new ThreadStart(work));
th.Start();
app.Run(robotgui);
}
bool CheckForMakeRobotTurn()
{
RobotBrain b = Robot.GetComponent <RobotBrain>();
Rigidbody o = Robot.GetComponent <Rigidbody>();
// Are we autonomous and do we have an angular velocity
if (b.autoMode && (o.angularVelocity.magnitude > AcceptableAngularVelocityMagnitude))
{
// if one of the motors is moving and they're not equal.
// Are we responsable for this angular velocity?
if ((b.motor.right != 0 || b.motor.left != 0) && b.motor.right != b.motor.left)
{
// are we doing it for enough time?
if (CheckForMakeRobotTurnElapsedTime < CheckForMakeRobotTurnElapsedTimeGoal)
{
CheckForMakeRobotTurnElapsedTime += Time.deltaTime;
}
else
{
return(true);
}
}
}
return(false);
}
public void Report_WhenTheGivenLocationIsInvalid_ShouldRetrunEmptryReport()
{
var brain = new RobotBrain();
var report = brain.Report(null, Direction.NORTH);
Assert.That(report, Is.Empty);
}
private void FillAPixRobotView_Load(object sender, EventArgs e)
{
_robotBrain = new RobotBrain();
_robotBrain.PropertyChanged += RobotBrain_PropertyChanged;
_robotBrain.ExperienceWanted += RobotBrain_ExperienceWanted;
_robotBrain.ActionWanted += RobotBrain_ActionWanted;
_robotBrain.ConflictDetected += RobotBrain_ConflictDetected;
}
// Start is called before the first frame update
void Start()
{
robotBrain = robot.GetComponent <RobotBrain>();
ResetRobotPositionButton.onClick.AddListener(resetRobotPosition);
ExitApplicationButton.onClick.AddListener(QuitGame);
InitialPosition = robot.transform.position;
InitialRotation = robot.transform.rotation;
}
public void CanProcessCommand_WhenRobotIsNotOnTheTableAndCommandIsNotPlace_ShouldReturnFalse()
{
var brain = new RobotBrain();
var canMove = brain.CanProcessCommand(new Command(CommandType.MOVE), null, null);
var canTurnLeft = brain.CanProcessCommand(new Command(CommandType.LEFT), null, null);
var canTurnRight = brain.CanProcessCommand(new Command(CommandType.RIGHT), null, null);
var canReport = brain.CanProcessCommand(new Command(CommandType.REPORT), null, null);
Assert.That(canMove || canTurnLeft || canTurnRight || canReport, Is.False);
}
public void Move_WhenItIsSafeToMove_ShouldMove(int initialX, int initialY, Direction facing, int expectedX, int expectedY)
{
var brain = new RobotBrain();
var initialLocation = new Location(initialX, initialY);
var location = brain.Move(initialLocation, facing);
// should not move
Assert.That(location.X, Is.EqualTo(expectedX));
Assert.That(location.Y, Is.EqualTo(expectedY));
}
public void Place_WhenGivenPositionAndDirectionAreCorrect_ProcessCommand()
{
var brain = new RobotBrain();
PlaceCommandParameter placementParam = new PlaceCommandParameter(1, 1, "north");
var position = brain.Place(placementParam);
Assert.That(position, Is.Not.Null);
Assert.That(position.location.X, Is.EqualTo(placementParam.X));
Assert.That(position.location.Y, Is.EqualTo(placementParam.Y));
Assert.That(position.orientation.Direction.ToString().Equals(placementParam.Direction, StringComparison.CurrentCultureIgnoreCase));
}
public void Move_WhenRobotIsPlacedAtTheEdgeOfTheTable_ShouldNotMoveOutsideOfTheTable(int initialX, int initialY, Direction facing)
{
var brain = new RobotBrain();
var initialLocation = new Location(initialX, initialY);
var location = brain.Move(initialLocation, facing);
// should not move
Assert.That(location.X, Is.EqualTo(initialLocation.X));
Assert.That(location.Y, Is.EqualTo(initialLocation.Y));
}
bool CheckForMakeScriptReturnColor()
{
RobotBrain b = Robot.GetComponent <RobotBrain>();
if (b.scriptReturn != null)
{
if (b.scriptReturn.ToObject() is LuaColor)
{
return(true);
}
}
return(false);
}
bool CheckForMakeScriptReturnRange()
{
RobotBrain b = Robot.GetComponent <RobotBrain>();
if (b.scriptReturn != null)
{
if (b.scriptReturn.ToObject() is double)
{
return(true);
}
}
return(false);
}
public void Report_WhenTheGivenLocationIsValid_ShouldRetrunTheReport()
{
var brain = new RobotBrain();
Location currentLocation = new Location(1, 1);
const Direction direction = Direction.NORTH;
var report = brain.Report(currentLocation, direction);
Assert.IsFalse(string.IsNullOrEmpty(report));
var expectedReport = string.Format(Constants.DefaultReportFormat, currentLocation.X, currentLocation.Y, direction);
Assert.That(report.Equals(expectedReport, StringComparison.CurrentCultureIgnoreCase));
}
public void Move_WhenGivenAnInvalidCurrentLocation_ShouldThrowException()
{
var brain = new RobotBrain();
ArgumentNullException exception = null;
try
{
brain.Move(null, Direction.EAST);
}
catch (ArgumentNullException e)
{
exception = e;
}
Assert.That(exception, Is.Not.Null);
}
public void Left_WhenGivenAValidCurrentDirection_ShouldReturnTheNewDirectionOnTheLeft()
{
var brain = new RobotBrain();
var orientation = brain.Left(Direction.NORTH);
Assert.That(orientation.Direction, Is.EqualTo(Direction.WEST));
orientation = brain.Left(orientation.Direction);
Assert.That(orientation.Direction, Is.EqualTo(Direction.SOUTH));
orientation = brain.Left(orientation.Direction);
Assert.That(orientation.Direction, Is.EqualTo(Direction.EAST));
orientation = brain.Left(orientation.Direction);
Assert.That(orientation.Direction, Is.EqualTo(Direction.NORTH));
}
public void Place_WhenGivenDirectionIsInvalid_ShouldThrownException()
{
var brain = new RobotBrain();
SimulationException exception = null;
try
{
PlaceCommandParameter placementParam = new PlaceCommandParameter(1, 1, "north-ish");
brain.Place(placementParam);
}
catch (SimulationException e)
{
exception = e;
}
Assert.That(exception, Is.Not.Null);
}
bool CheckForMakeRobotMoveForward()
{
RobotBrain b = Robot.GetComponent <RobotBrain>();
if (b.motor.right != 0f && b.motor.left != 0f && b.autoMode)
{
if (CheckForMakeRobotMoveForwardElapsedTime < CheckForMakeRobotMoveForwardElapsedTimeGoal)
{
CheckForMakeRobotMoveForwardElapsedTime += Time.deltaTime;
}
else
{
return(true);
}
}
return(false);
}
void Awake()
{
if (m_RobotBrain == null)
{
m_RobotBrain = transform.parent.parent.parent.GetComponent <RobotBrain>();
}
if (m_LegTargetPrefab == null)
{
Debug.LogError("Didn't set the Leg Target Prefab on leg " + gameObject.name);
return;
}
if (m_IKScript == null)
{
Debug.LogError("Leg not set up correctly");
return;
}
// Spawn & set the object the leg follows.
if (m_SpawnedLegTarget == null)
{
m_SpawnedLegTarget = GameObject.Instantiate(m_LegTargetPrefab, m_IKScript.transform.position, m_LegTargetPrefab.transform.rotation);
m_SpawnedLegTarget.name += m_LegIdentifier;
m_IKScript.Target = m_SpawnedLegTarget.transform;
}
// Spawn the object the target tries to be close to.
if (m_SpawnedLegTargetHome == null)
{
m_SpawnedLegTargetHome = GameObject.Instantiate(m_LegTargetHomePrefab, m_IKScript.transform.position, m_LegTargetHomePrefab.transform.rotation, transform.parent.parent);
m_SpawnedLegTargetHome.name = "LegTargetHome" + m_LegIdentifier;
m_SpawnedLegTarget.GetComponent <Steppy>().SetHomePosition(m_SpawnedLegTargetHome.transform);
}
if (m_IKScript != null && m_SpawnedLegTarget != null && m_SpawnedLegTargetHome != null)
{
m_ReadyToWalk = true;
m_RobotBrain.AddLeg(m_SpawnedLegTarget.GetComponent <Steppy>(), m_LegIdentifier - 1);
}
else
{
Debug.LogWarning(gameObject.name + " has failed to setup.");
}
}
bool CheckForFollowLine()
{
RobotBrain b = Robot.GetComponent <RobotBrain>();
if (b.autoMode)
{
if (HelperTaggedItemInRange(RobotDetectLineDistance, "Line"))
{
if (CheckForFollowLineTurnElapsedTime < CheckForFollowLineTurnElapsedTimeGoal)
{
CheckForFollowLineTurnElapsedTime += Time.deltaTime;
}
else
{
return(true);
}
}
}
return(false);
}
bool CheckForAvoidWall()
{
// while code is running
RobotBrain b = Robot.GetComponent <RobotBrain>();
if (b.autoMode)
{
// Wait untill a wall is close enough
if (HelperTaggedItemInRange(CheckForWallDistance, "Wall"))
{
wallInRange = true;
}
//now, wait untill it goes away
if (wallInRange == true && !HelperTaggedItemInRange(CheckForWallDistance, "Wall"))
{
return(true);
}
}
return(false);
}
public Form1(RobotBrain rbt)
{
this.rbt = rbt;
InitializeComponent();
myInitialize();
}
public Window1(RobotBrain rbt)
{
this.rbt = rbt;
this.InitializeComponent();
this.myInitialization();
}
void Start()
{
robotBrain = robot.GetComponent <RobotBrain>();
}
