public IDisposable AddTarget(ITargetBlock <T> block, bool unlinkAfterOne)
{
TargetWaiter w = new TargetWaiter(block, unlinkAfterOne, targetWaiters);
targetWaiters.Enqueue(w);
return(w);
}
public void CancelSearch()
{
while (IsSearching)
{
Canceled = true;
DriveSearch?.CancelSearch();
BestSearch?.CancelSearch();
WorstSearch?.CancelSearch();
RobotSearchWaiter?.PulseAll();
MoveWaiter?.PulseAll();
TargetWaiter?.PulseAll();
Task.Delay(20).Wait(20);
}
Canceled = false;
}
private void Search()
{
UpdateLearnLabyrinth(Position);
WorstSearch.BeginSearch().Wait();
BestSearch.BeginSearch().Wait();
DriveSearch.BeginSearch().Wait();
int robotSearchIndex = 0;
do
{
if (UpdateLearnLabyrinth(Position))
{
WorstSearch.BeginSearch().Wait();
}
if (IsRouteBlocked(BestSearch.Route))
{
BestSearch.BeginSearch().Wait();
}
if (IsRouteBlocked(DriveSearch.Route) || DriveSearch.Route.Length - robotSearchIndex <= 1)
{
DriveSearch.Start = Position;
DriveSearch.Target = GetTarget();
DriveSearch.BeginSearch().Wait();
robotSearchIndex = 0;
Direction = GetDirection(true, robotSearchIndex);
RobotSearchWaiter?.Wait();
if (Canceled)
{
break;
}
}
robotSearchIndex++;
Position = DriveSearch.Route[robotSearchIndex];
Direction = GetDirection(false, robotSearchIndex);
HasChanges = true;
MoveWaiter?.Wait();
if (!Canceled && GetTarget().Is(Position))
{
toTarget = !toTarget;
HasChanges = true;
TargetWaiter?.Wait();
}
if (Canceled)
{
break;
}
}while (WorstSearch.Route.PossibleLength <= 0 || WorstSearch.Route.PossibleLength > BestSearch.Route.PossibleLength);
System.Diagnostics.Debug.WriteLine("RobotEndSearch: worstLen: {0}, bestLen: {1}",
WorstSearch.Route.PossibleLength, BestSearch.Route.PossibleLength);
IsSearching = false;
}
