public override void Fire()
{
Init(); //be sure to leave this here
if (GetNeuronValue("Auto") == 0)
{
return;
}
goToGoal = GetNeuronValue("Goal") == 1;
ModuleBehavior mBehavior = (ModuleBehavior)FindModleu(typeof(ModuleBehavior));
if (mBehavior == null)
{
return;
}
Module2DModel mModel = (Module2DModel)FindModleu(typeof(Module2DModel));
if (mModel is null)
{
return;
}
ModuleEvent mEvent = (ModuleEvent)FindModleu(typeof(ModuleEvent));
if (mEvent == null)
{
return;
}
ModuleUKSN UKS = (ModuleUKSN)FindModleu(typeof(ModuleUKSN));
if (UKS == null)
{
return;
}
if (GetNeuronValue("ModuleBehavior", "Done") == 0)
{
return;
}
mModel.GetSegmentsFromUKS();
IList <Thing> segments = mModel.GetUKSSegments();
if (segments.Count == 0)
{
return;
}
Thing t = segments[0]; //TODO: this only works with just a single item in the UKS
//figure out if any motion occured
Segment s = Module2DModel.SegmentFromUKSThing(t);
Module2DModel.OrderSegment(s);
if (GetNeuronValue("E0") == 1)
{
GoToLandmark(UKS.Labeled("E0").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (GetNeuronValue("E1") == 1)
{
GoToLandmark(UKS.Labeled("E1").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (GetNeuronValue("E2") == 1)
{
GoToLandmark(UKS.Labeled("E2").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (doPush != 0)
{
if (doPush == 2)
{
Push(s);
}
doPush--;
return;
}
if (doFaceSegment)
{
DoFaceSegment(s);
doFaceSegment = false;
return;
}
Segment s1;
if (lastPosition == null) //create objects to keep track of the target and last position
{
s1 = s.Clone();
lastPosition = mModel.AddSegmentToUKS(s1);
lastPosition.Label = "LastPosition";
lastPosition.RemoveParent(UKS.Labeled("Segment"));
lastPosition.AddParent(UKS.Labeled("SSegment"));
Module2DSim mSim = (Module2DSim)FindModleu(typeof(Module2DSim));
if (mSim is null)
{
return;
}
Segment motionTarget = mSim.GetMotionTarget();
if (motionTarget == null)
{
motionTarget = new Segment();
motionTarget.P1 = new PointPlus(4, 1.5f);
motionTarget.P2 = new PointPlus(4, -2.5f);
motionTarget.theColor = (ColorInt)0xff;
}
endTarget = mModel.AddSegmentToUKS(motionTarget);
endTarget.Label = "EndTarget";
//endTarget.RemoveParent(UKS.Labeled("Segment"));
//endTarget.AddParent(UKS.Labeled("SSegment"));
}
else
{
s1 = Module2DModel.SegmentFromUKSThing(lastPosition);
}
//get motion from subtracting and then updating last position
Angle rotation = s.Angle - s1.Angle;
if (rotation > PI / 2)
{
rotation = PI - rotation;
}
if (rotation < -PI / 2)
{
rotation = PI + rotation;
}
Motion motion = new Motion()
{
P = (Point)s.MidPoint.V - s1.MidPoint.V,
rotation = rotation,
};
lastPosition.References[0].T.V = s.P1.Clone();
lastPosition.References[1].T.V = s.P2.Clone();
if (Abs(motion.R) > .01 || Abs(motion.rotation) > .05 && !goToGoal && !doBackOff)
{
//check for existing Event
Thing currentEvent = MostLikelyEvent(t);
if (currentEvent == null)
{ //add new Event
Thing lm1 = mEvent.CreateLandmark(new List <Thing>()
{
t
});
Thing t1 = mEvent.CreateEvent(lm1);
Thing t3 = UKS.AddThing("m" + motionCount++, UKS.Labeled("Motion"), motion);
mEvent.AddOutcomePair(t1, UKS.GetOrAddThing("Push", "Action"), t3);
}
return;
}
if (doBackOff)
{
DoBackOff(s);
doBackOff = false;
doFaceSegment = true;
return;
}
if (goToGoal)
{
if (endTarget != null)
{
Segment s2 = Module2DModel.SegmentFromUKSThing(endTarget);
GoToGoal(s, s2);
return;
}
}
Explore(s);
}
