public void Initialize(Behavior b)
{
SimpleStayInLaneBehavior sb = (SimpleStayInLaneBehavior)b;
// store the base path
basePath = ConvertPath(sb.BasePath);
// get the lower, upper bound
leftBound = FindBoundary(sb.LaneWidth/2);
rightBound = FindBoundary(-sb.LaneWidth/2);
// convert everything to be vehicle relative
AbsoluteTransformer absTransform = Services.StateProvider.GetAbsoluteTransformer();
pathTime = absTransform.Timestamp;
basePath = basePath.Transform(absTransform);
leftBound = leftBound.Transform(absTransform);
rightBound = rightBound.Transform(absTransform);
// send the left and right bounds
Services.UIService.PushRelativePath(leftBound, pathTime, "left bound");
Services.UIService.PushRelativePath(rightBound, pathTime, "right bound");
maxSpeed = sb.MaxSpeed;
obstacleManager = new ObstacleManager(); // hik
}
public override void Initialize(Behavior b)
{
Services.ObstaclePipeline.ExtraSpacing = 0;
Services.ObstaclePipeline.UseOccupancyGrid = true;
base.Initialize(b);
}
public override void OnBehaviorReceived(Behavior b)
{
if (b is ChangeLaneBehavior) {
ChangeLaneBehavior cb = (ChangeLaneBehavior)b;
if (cb.StartLane.Equals(startingLaneID) && cb.TargetLane.Equals(endingLaneID)) {
LinePath startingLanePath = cb.BackupStartLanePath;
LinePath endingLanePath = cb.BackupTargetLanePath;
Services.UIService.PushAbsolutePath(startingLanePath, cb.TimeStamp, "original path1");
Services.UIService.PushAbsolutePath(endingLanePath, cb.TimeStamp, "original path2");
Services.BehaviorManager.QueueParam(cb);
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "in change lanes -- got change lanes behavior with same start/end lane");
}
else {
// this is a new behavior
Services.BehaviorManager.Execute(b, null, false);
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "in change lanes -- got change lanes with different start/end lane ({0}/{1})", cb.StartLane, cb.TargetLane);
}
}
else {
Services.BehaviorManager.Execute(b, null, false);
}
}
public override void ExecuteBehavior(UrbanChallenge.Behaviors.Behavior b)
{
if (displaySignals)
{
if (b.Decorators != null)
{
Console.Write("Decorators: ");
foreach (BehaviorDecorator bd in b.Decorators)
{
if (bd is TurnSignalDecorator)
{
TurnSignalDecorator tsd = (TurnSignalDecorator)bd;
Console.Write(tsd.Signal.ToString() + ", ");
}
else
{
Console.Write("Unrecognized, ");
}
}
Console.Write("\n");
}
else
{
Console.WriteLine("Decorators: null");
}
}
}
public override void OnBehaviorReceived(Behavior b)
{
// check if the transition is valid
if (b is StayInLaneBehavior) {
StayInLaneBehavior sb = (StayInLaneBehavior)b;
// check if the lane id's match
if (object.Equals(sb.TargetLane, laneID)) {
// check if the speed command changed
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "received new stay in lane speed command: {0}", sb.SpeedCommand);
// queue the new speed command to the behavior
Services.BehaviorManager.QueueParam(sb);
}
else {
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "recevied new stay in lane behavior, different target lane: {0}", sb);
// the lane id's changed
// re-initialize the behavior
Services.BehaviorManager.Execute(b, null, false);
}
}
else {
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "in stay in lane behavior, received {0}", b);
// this is cool to execute
Services.BehaviorManager.Execute(b, null, false);
}
}
public void Initialize(Behavior b)
{
Services.ObstaclePipeline.ExtraSpacing = 0;
Services.ObstaclePipeline.UseOccupancyGrid = true;
// set the tracking manager to run a constant braking behavior
Services.TrackingManager.QueueCommand(TrackingCommandBuilder.GetHoldBrakeCommand());
}
public override void OnBehaviorReceived(Behavior b)
{
if (b is ZoneTravelingBehavior) {
Services.BehaviorManager.QueueParam(b);
}
else {
Services.BehaviorManager.Execute(b, null, false);
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="localRoute"></param>
/// <param name="bestFullRoute"></param>
/// <param name="vehicleState"></param>
/// <param name="maneuver"></param>
public AiRemoteListener(Routes localRoute, FullRoute bestFullRoute, VehicleState vehicleState, Behavior behavior,
IPath path, DynamicObstacles dynamicObstacles, StaticObstacles staticObstacles)
{
this.LocalRoute = localRoute;
this.BestFullRoute = bestFullRoute;
this.VehicleState = vehicleState;
this.behavior = behavior;
this.path = path;
this.DynamicObstacles = dynamicObstacles;
this.StaticObstacles = staticObstacles;
}
public override void Initialize(Behavior b)
{
base.Initialize(b);
ZoneParkingBehavior cb = (ZoneParkingBehavior)b;
HandleBehavior(cb);
this.totalTimer = Stopwatch.StartNew();
phase = PlanningPhase.Initial;
}
public override void Initialize(Behavior b)
{
base.Initialize(b);
// extract the stay in lane behavior
StayInLaneBehavior sb = (StayInLaneBehavior)b;
Services.UIService.PushAbsolutePath(sb.BackupPath, sb.TimeStamp, "original path1");
Services.UIService.PushAbsolutePath(new LineList(), sb.TimeStamp, "original path2");
HandleBehavior(sb);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="currentArbiterState"></param>
/// <param name="internalCarMode"></param>
/// <param name="fullRoute"></param>
/// <param name="routeTime"></param>
/// <param name="actionPoint"></param>
/// <param name="currentGoal"></param>
/// <param name="goals"></param>
/// <param name="behavior"></param>
public ArbiterInformation(string currentArbiterState, CarMode internalCarMode, FullRoute fullRoute, double routeTime,
RndfWaypointID actionPoint, RndfWaypointID currentGoal, Queue<RndfWaypointID> goals, Behavior behavior, VehicleState planningState)
{
this.CurrentArbiterState = currentArbiterState;
this.InternalCarMode = internalCarMode;
this.FullRoute = fullRoute;
this.RouteTime = routeTime;
this.ActionPoint = actionPoint;
this.CurrentGoal = currentGoal;
this.Goals = goals;
this.Behavior = behavior;
this.PlanningState = planningState;
}
public override void Initialize(Behavior b)
{
base.Initialize(b);
Services.ObstaclePipeline.ExtraSpacing = 0.5;
ZoneTravelingBehavior cb = (ZoneTravelingBehavior)b;
HandleBehavior(cb);
// set up a bogus speed command
HandleSpeedCommand(recommendedSpeed);
}
public void Initialize(Behavior b)
{
UTurnBehavior cb = (UTurnBehavior)b;
Services.ObstaclePipeline.ExtraSpacing = 0;
Services.ObstaclePipeline.UseOccupancyGrid = true;
// get the absolute state at the time of the behavior
AbsolutePose absPose = Services.StateProvider.GetAbsolutePose(cb.TimeStamp);
originalPoint = absPose.xy;
HandleBehavior(cb);
this.passCompleted = true;
this.pass = UTurnPass.Initializing;
this.cancelled = false;
}
public override void Initialize(Behavior b)
{
base.Initialize(b);
Services.ObstaclePipeline.ExtraSpacing = 0;
Services.ObstaclePipeline.UseOccupancyGrid = true;
ChangeLaneBehavior cb = (ChangeLaneBehavior)b;
Services.UIService.PushAbsolutePath(cb.BackupStartLanePath, cb.TimeStamp, "original path1");
Services.UIService.PushAbsolutePath(cb.BackupTargetLanePath, cb.TimeStamp, "original path2");
startTimestamp = b.TimeStamp;
HandleBehavior(cb);
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "in change lanes -- initializing, start timestamp {0}", b.TimeStamp);
}
public void OnBehaviorReceived(Behavior b)
{
if (b is UTurnBehavior) {
UTurnBehavior cb = (UTurnBehavior)b;
Services.BehaviorManager.QueueParam(cb);
}
else {
Services.BehaviorManager.Execute(b, null, false);
}
}
public void OnBehaviorReceived(Behavior b)
{
Trace.CorrelationManager.StartLogicalOperation("OnBehaviorReceived");
Services.Dataset.MarkOperation("behavior rate", LocalCarTimeProvider.LocalNow);
try {
// write the trace output
if (TraceSource.Switch.ShouldTrace(TraceEventType.Verbose)) {
// write a verbose output
TraceSource.TraceEvent(TraceEventType.Verbose, 1, "recevied behavior: {0}", b);
}
else {
TraceSource.TraceEvent(TraceEventType.Information, 1, "received behavior: {0}", b.GetType());
}
if (b != null) {
HandleDecorators(b.Decorators);
}
if (b is NullBehavior)
return;
if (currentBehavior != null) {
try {
currentBehavior.OnBehaviorReceived(b);
}
catch (Exception ex) {
TraceSource.TraceEvent(TraceEventType.Warning, 2, "current behavior ({0}) threw exception in OnBehaviorReceived: {1}", currentBehavior, ex);
throw;
}
}
else {
Execute(b, null, false);
}
}
finally {
Trace.CorrelationManager.StopLogicalOperation();
}
}
/// <summary> /// Execute the Behavior /// </summary> /// <param name="behavior"></param> public abstract void ExecuteBehavior(Behavior behavior, Common.Coordinates location, RndfWaypointID lowerBound, RndfWaypointID upperBound);
public void OnBehaviorReceived(Behavior b)
{
// just have the behavior manager execute the new behavior
Services.BehaviorManager.Execute(b, null, false);
}
public void OnBehaviorReceived(Behavior b)
{
// check if this is a valid state transition
if (b is HoldBrakeBehavior || b is SimpleStayInLaneBehavior) {
Services.BehaviorManager.Execute(b, null, true);
}
else {
throw new InvalidBehaviorException();
}
}
/// <summary> /// Sets and immediately begins executing the supplied behavior, blocks and returns completion report /// </summary> /// <param name="b">Behavior to execute</param> public abstract CompletionReport TestExecuteBehavior(Behavior b);
public override void OnBehaviorReceived(Behavior b)
{
if ((pulloutMode && b is ZoneParkingPullOutBehavior) || (!pulloutMode && !(b is ZoneParkingPullOutBehavior))) {
Services.BehaviorManager.QueueParam(b);
}
else {
Services.BehaviorManager.Execute(b, null, false);
}
}
private void BehaviorProc()
{
Trace.CorrelationManager.StartLogicalOperation("Behavior Loop");
// set the default trace source for this thread
OperationalTrace.ThreadTraceSource = TraceSource;
OperationalDataSource previousTimeout = OperationalDataSource.None;
using (MMWaitableTimer timer = new MMWaitableTimer((uint)(Settings.BehaviorPeriod*1000))) {
while (true) {
if (Services.DebuggingService.StepMode) {
Services.DebuggingService.WaitOnSequencer(typeof(BehaviorManager));
}
else {
// wait for the timer
timer.WaitEvent.WaitOne();
}
if (watchdogEvent != null) {
try {
watchdogEvent.Set();
}
catch (Exception) {
}
}
Services.Dataset.MarkOperation("planning rate", LocalCarTimeProvider.LocalNow);
TraceSource.TraceEvent(TraceEventType.Verbose, 0, "starting behavior loop");
object param = null;
IOperationalBehavior newBehavior = null;
Behavior behaviorParam = null;
OperationalDataSource timeoutSource = OperationalDataSource.Pose;
bool forceHoldBrake = false;
try {
if (OperationalBuilder.BuildMode != BuildMode.Listen && TimeoutMonitor.HandleRecoveryState()) {
forceHoldBrake = true;
}
}
catch (Exception ex) {
OperationalTrace.WriteError("error in recovery logic: {0}", ex);
}
if (OperationalBuilder.BuildMode == BuildMode.Realtime && TimeoutMonitor.AnyTimedOut(ref timeoutSource)) {
if (timeoutSource != previousTimeout) {
OperationalTrace.WriteError("data source {0} has timed out", timeoutSource);
previousTimeout = timeoutSource;
}
// simply queue up a hold brake
Services.TrackingManager.QueueCommand(TrackingCommandBuilder.GetHoldBrakeCommand(45));
}
else {
if (previousTimeout != OperationalDataSource.None) {
OperationalTrace.WriteWarning("data source {0} is back online", previousTimeout);
previousTimeout = OperationalDataSource.None;
}
if (forceHoldBrake || (Services.Operational != null && Services.Operational.GetCarMode() == CarMode.Human)) {
queuedBehavior = null;
queuedParam = null;
queuedOrigBehavior = null;
if (!(currentBehavior is HoldBrake)) {
newBehavior = new HoldBrake();
param = null;
queuedOrigBehavior = new HoldBrakeBehavior();
}
}
else {
lock (queueLock) {
// get the current queue param
param = queuedParam;
//TraceSource.TraceEvent(TraceEventType.Verbose, 0, "queued param: {0}", queuedParam == null ? "<null>" : queuedParam.ToString());
// chekc if there is a queued behavior
newBehavior = queuedBehavior;
queuedBehavior = null;
behaviorParam = queuedOrigBehavior;
queuedOrigBehavior = null;
}
}
if (newBehavior != null) {
// dispose of the old behavior
if (currentBehavior != null && currentBehavior is IDisposable) {
((IDisposable)currentBehavior).Dispose();
}
Trace.CorrelationManager.StartLogicalOperation("initialize");
TraceSource.TraceEvent(TraceEventType.Verbose, 8, "executing initialize on {0}", newBehavior.GetType().Name);
// swap in the new behavior and initialize
currentBehavior = newBehavior;
try {
currentBehavior.Initialize(behaviorParam);
TraceSource.TraceEvent(TraceEventType.Verbose, 8, "initialize completed on {0}", currentBehavior.GetType().Name);
}
catch (Exception ex) {
TraceSource.TraceEvent(TraceEventType.Warning, 4, "exception thrown when initializing behavior: {0}", ex);
//throw;
}
finally {
Trace.CorrelationManager.StopLogicalOperation();
}
if (behaviorParam != null) {
this.currentBehaviorType = behaviorParam.GetType();
}
else {
this.currentBehaviorType = null;
}
}
else {
//TraceSource.TraceEvent(TraceEventType.Verbose, 11, "queued behavior was null");
}
// process the current behavior
Trace.CorrelationManager.StartLogicalOperation("process");
try {
if (currentBehavior != null) {
Services.Dataset.ItemAs<string>("behavior string").Add(currentBehavior.GetName(), LocalCarTimeProvider.LocalNow);
DateTime start = HighResDateTime.Now;
currentBehavior.Process(param);
TimeSpan diff = HighResDateTime.Now-start;
lock (cycleTimeQueue) {
cycleTimeQueue.Add(diff.TotalSeconds, LocalCarTimeProvider.LocalNow.ts);
}
}
}
catch (Exception ex) {
// just ignore any exceptions for now
// should log this somehow
TraceSource.TraceEvent(TraceEventType.Warning, 5, "exception thrown when processing behavior: {0}", ex);
}
finally {
Trace.CorrelationManager.StopLogicalOperation();
}
}
TraceSource.TraceEvent(TraceEventType.Verbose, 0, "ending behavior loop");
if (Services.DebuggingService.StepMode) {
Services.DebuggingService.SetCompleted(typeof(BehaviorManager));
}
}
}
}
/// <summary> /// Sets and immediately begins executing the supplied behavior. /// </summary> /// <param name="b">Behavior to execute</param> public abstract void ExecuteBehavior(Behavior b);
public override void ExecuteBehavior(Behavior behavior, Common.Coordinates location, RndfWaypointID lowerBound, RndfWaypointID upperBound)
{
if(behavior is UTurnBehavior)
{
//
}
// check to see if we are at the upper bound
RndfWayPoint upperWaypoint = channelListener.RndfNetwork.Waypoints[upperBound];
if (!(behavior is TurnBehavior) && upperWaypoint.NextLanePartition != null && location.DistanceTo(upperWaypoint.Position) < 3)
{
lowerBound = upperWaypoint.WaypointID;
upperBound = upperWaypoint.NextLanePartition.FinalWaypoint.WaypointID;
}
Console.WriteLine(" > Received Instruction to Execute Behavior: " + behavior.ToString());
if (behavior is StayInLaneBehavior)
{
StayInLaneBehavior stayInLane = (StayInLaneBehavior)behavior;
if (stayInLane.SpeedCommand is StopLineLaneSpeedCommand)
{
StopLineLaneSpeedCommand speedCommand = (StopLineLaneSpeedCommand)stayInLane.SpeedCommand;
if (speedCommand.Distance < 2)
{
// Create a fake vehicle state
VehicleState vehicleState = new VehicleState();
vehicleState.xyPosition = location;
LaneEstimate laneEstimate = new LaneEstimate(lowerBound.LaneID, lowerBound.LaneID, 1);
List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
laneEstimates.Add(laneEstimate);
vehicleState.speed = 0;
vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
this.PublishVehicleState(vehicleState);
///Console.WriteLine(" > Published Position");
}
else
{
// Create a fake vehicle state
VehicleState vehicleState = new VehicleState();
vehicleState.xyPosition = channelListener.RndfNetwork.Waypoints[upperBound].Position;
LaneEstimate laneEstimate = new LaneEstimate(lowerBound.LaneID, lowerBound.LaneID, 1);
List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
laneEstimates.Add(laneEstimate);
vehicleState.speed = 3;
vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
this.PublishVehicleState(vehicleState);
///Console.WriteLine(" > Published Position");
}
}
else if (stayInLane.SpeedCommand is StopLaneSpeedCommand)
{
// Create a fake vehicle state
VehicleState vehicleState = new VehicleState();
vehicleState.xyPosition = location;
LaneEstimate laneEstimate = new LaneEstimate(lowerBound.LaneID, lowerBound.LaneID, 1);
List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
laneEstimates.Add(laneEstimate);
vehicleState.speed = -5;
vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
this.PublishVehicleState(vehicleState);
///Console.WriteLine(" > Published Position");
}
else if(stayInLane.SpeedCommand is DefaultLaneSpeedCommand)
{
// Create a fake vehicle state
VehicleState vehicleState = new VehicleState();
vehicleState.xyPosition = channelListener.RndfNetwork.Waypoints[upperBound].Position;
LaneEstimate laneEstimate = new LaneEstimate(lowerBound.LaneID, lowerBound.LaneID, 1);
List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
laneEstimates.Add(laneEstimate);
vehicleState.speed = 3;
vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
this.PublishVehicleState(vehicleState);
//Console.WriteLine(" > Published Position");
}
else
{
throw new ArgumentException("Unknown Lane Speed Type", "stayInLane.SpeedCommand");
}
}
// TODO: include midway point
else if (behavior is TurnBehavior)
{
TurnBehavior currentBehavior = (TurnBehavior)behavior;
RndfWayPoint exitWaypoint = channelListener.RndfNetwork.Waypoints[currentBehavior.ExitPoint];
if (location.DistanceTo(exitWaypoint.Position) < 0.1)
{
// Create a fake vehicle state
VehicleState vehicleState = new VehicleState();
RndfWayPoint entryWaypoint = channelListener.RndfNetwork.Waypoints[currentBehavior.EntryPoint];
Common.Coordinates change = entryWaypoint.Position - exitWaypoint.Position;
Common.Coordinates midpoint = exitWaypoint.Position + change/2;
LaneEstimate laneEstimate = new LaneEstimate(currentBehavior.ExitPoint.LaneID, currentBehavior.EntryPoint.LaneID, 1);
vehicleState.xyPosition = midpoint;
List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
laneEstimates.Add(laneEstimate);
vehicleState.speed = 3;
vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
this.PublishVehicleState(vehicleState);
}
else
{
// Create a fake vehicle state
VehicleState vehicleState = new VehicleState();
vehicleState.xyPosition = channelListener.RndfNetwork.Waypoints[currentBehavior.EntryPoint].Position;
LaneEstimate laneEstimate = new LaneEstimate(currentBehavior.EntryPoint.LaneID, currentBehavior.EntryPoint.LaneID, 1);
List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
laneEstimates.Add(laneEstimate);
vehicleState.speed = 3;
vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
this.PublishVehicleState(vehicleState);
//Console.WriteLine(" > Published Position");
}
}
else
{
throw new ArgumentException("Unknown Behavior Type", "behavior");
}
//Console.WriteLine("Sent Back Position \n");
}
public CompletionReport TestBehavior(Behavior b)
{
IOperationalBehavior operBehavior = null;
try {
testMode = true;
Console.WriteLine("Testing behavior " + b.ToString() + " -- type " + b.GetType().Name);
cachedCompletionReport = new SuccessCompletionReport(b.GetType());
HandleDecorators(b.Decorators);
operBehavior = MapBehavior(b);
operBehavior.Initialize(b);
operBehavior.Process(null);
Console.WriteLine("Result: " + cachedCompletionReport.ToString());
cachedCompletionReport.BehaviorId = b.UniqueId();
return cachedCompletionReport;
}
catch (Exception ex) {
TraceSource.TraceEvent(TraceEventType.Error, 0, "error testing behavior {0}: {1}", b.GetType(), ex);
throw;
}
finally {
if (operBehavior != null && operBehavior is IDisposable) {
((IDisposable)operBehavior).Dispose();
}
}
}
public void Execute(IOperationalBehavior b, object param, bool immediate)
{
lock (queueLock) {
// if we want to immediately execute the next behavior, then we need to cancel the current one
if (immediate && currentBehavior != null) {
TraceSource.TraceEvent(TraceEventType.Verbose, 9, "in Execute, perfoming cancel on current behavior");
try {
currentBehavior.Cancel();
}
catch (Exception ex) {
TraceSource.TraceEvent(TraceEventType.Error, 3, "cancelling the current behavior threw an exception: {0}", ex);
throw;
}
}
// queue up the new behavior
queuedBehavior = b;
queuedParam = param;
queuedOrigBehavior = null;
}
}
/// <summary>
/// Maneuver to execute
/// </summary>
/// <param name="path">Path to Follow</param>
/// <param name="behavior">Type of Behavior</param>
public Maneuver(Behavior behavior, IState next)
{
this.next = next;
this.behavior = behavior;
}
public void Execute(Behavior b, object param, bool immediate)
{
lock (queueLock) {
Execute(MapBehavior(b), param, immediate);
queuedOrigBehavior = b;
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="behavior">Behavior to accomplish</param>
/// <param name="path">General path to take to accomplish Behavior</param>
public ArbiterExitData(Behavior behavior, IPath path)
{
this.behavior = behavior;
this.path = path;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="recoveryBehaviorType"></param>
/// <param name="completionState"></param>
/// <param name="abortState"></param>
/// <param name="defcon"></param>
public BlockageRecoveryState(Behavior recoveryBehavior, IState completionState,
IState abortState, BlockageRecoveryDEFCON defcon, EncounteredBlockageState ebs, BlockageRecoverySTATUS status)
{
this.RecoveryBehavior = recoveryBehavior;
this.CompletionState = completionState;
this.AbortState = abortState;
this.Defcon = defcon;
this.RecoveryStatus = status;
this.EncounteredState = ebs;
}
private IOperationalBehavior MapBehavior(Behavior b)
{
BehaviorBuidler builder;
if (behaviorMap.TryGetValue(b.GetType(), out builder)) {
return builder();
}
else {
TraceSource.TraceEvent(TraceEventType.Warning, 2, "behavior type {0} does not have a mapping", b.GetType());
throw new ArgumentException("Behavior type " + b.GetType().Name + " does not have a mapping");
}
}