private void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
_executeControlStrategies = !_executeControlStrategies;
}
var ballRadiusAndPosition = _cameraPlugin.UpdateImageProcessing();
var height = FOVCalculations.RadiusToDistance(ballRadiusAndPosition.Radius);
if (!_executeControlStrategies)
{
foreach (var strategy in _ballControlStrategies)
{
strategy.Reset();
}
_currentStrategyIndex = 0;
}
if (height >= float.MaxValue)
{
// couldn't find ball in image
return;
}
var ballPosY = FOVCalculations.PixelPositionToDistanceFromCenter(ballRadiusAndPosition.PositionY, height);
_gradientDescentY.Hypothesis.SetTheta_0To(ballPosY);
_gradientDescentY.AddTrainingSet(new TrainingSet(0f, ballPosY));
_gradientDescentY.UpdateHypothesis();
var ballPosX = FOVCalculations.PixelPositionToDistanceFromCenter(ballRadiusAndPosition.PositionX, height);
_gradientDescentX.Hypothesis.SetTheta_0To(ballPosX);
_gradientDescentX.AddTrainingSet(new TrainingSet(0f, ballPosX));
_gradientDescentX.UpdateHypothesis();
_ballData.UpdateData(
new Vector3(
_gradientDescentX.Hypothesis.Parameters.Theta_0,
_gradientDescentY.Hypothesis.Parameters.Theta_0,
height),
new Vector2(
_gradientDescentX.Hypothesis.Parameters.Theta_1,
_gradientDescentY.Hypothesis.Parameters.Theta_1
));
_ballPositionVisualizer.SpawnPositionPoint(_ballData.CurrentUnityPositionVector);
if (_machineController.IsReadyForNextInstruction && _executeControlStrategies)
{
var nextStrategyRequested =
_ballControlStrategies[_currentStrategyIndex].Execute(_ballData, _machineController);
if (nextStrategyRequested)
{
_ballControlStrategies[_currentStrategyIndex].Reset();
if (_currentStrategyIndex < _ballControlStrategies.Count - 1)
{
_currentStrategyIndex++;
}
}
}
}
private void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
_isExecuteControlStrategies.Value = !_isExecuteControlStrategies.Value;
}
var ballRadiusAndPosition = _cameraPlugin.UpdateImageProcessing();
var height = FOVCalculations.RadiusToDistance(ballRadiusAndPosition.Radius);
if (!_isExecuteControlStrategies.Value)
{
foreach (var strategy in _strategies)
{
strategy.Reset();
}
_currentStrategyIndex = 0;
}
if (height >= float.MaxValue)
{
// couldn't find ball in image
return;
}
var ballPosX = FOVCalculations.PixelPositionToDistanceFromCenter(ballRadiusAndPosition.PositionX, height);
_gradientDescentX.Hypothesis.SetTheta_0To(ballPosX);
_gradientDescentX.AddTrainingSet(new TrainingSet(0f, ballPosX));
_gradientDescentX.UpdateHypothesis();
var ballPosY = FOVCalculations.PixelPositionToDistanceFromCenter(ballRadiusAndPosition.PositionY, height);
_gradientDescentY.Hypothesis.SetTheta_0To(ballPosY);
_gradientDescentY.AddTrainingSet(new TrainingSet(0f, ballPosY));
_gradientDescentY.UpdateHypothesis();
_gradientDescentZ.Hypothesis.SetTheta_0To(height);
_gradientDescentZ.AddTrainingSet(new TrainingSet(0f, height));
_gradientDescentZ.UpdateHypothesis();
_ballData.UpdateData(
new Vector3(
_gradientDescentX.Hypothesis.Parameters.Theta_0,
_gradientDescentY.Hypothesis.Parameters.Theta_0,
height),
new Vector3(
_gradientDescentX.Hypothesis.Parameters.Theta_1,
_gradientDescentY.Hypothesis.Parameters.Theta_1,
_gradientDescentZ.Hypothesis.Parameters.Theta_1
));
_ballPositionVisualizer.VisualizePositionPoint(_ballData.CurrentUnityPositionVector);
_currentPositionCrossVisualizer.UpdateCrossPosition(
new Vector2(_ballData.CurrentPositionVector.x, _ballData.CurrentPositionVector.y));
if (_machineController.IsReadyForNextInstruction && _isExecuteControlStrategies.Value)
{
var isRequestingNextStrategy =
_strategies[_currentStrategyIndex].Execute(_ballData, _machineController);
if (isRequestingNextStrategy)
{
_strategies[_currentStrategyIndex].Reset();
if (_currentStrategyIndex < _strategies.Count - 1)
{
_currentStrategyIndex++;
_predictedPositionVisualizer
.SetActive(_strategies[_currentStrategyIndex].UsesBallPositionPrediction);
_strategies[_currentStrategyIndex].OnStrategyExecutionStart?.Invoke();
}
}
}
}