public static async Task <int> MoveBetweenTwoPoints(AI.Step current, AI.Step next)
{
int delay_waitfor1move = C * 150;
int delay_upanddown = 8000;
int delay_betweenaction = 600;
var actions = GetActionSeq(current, next);
int delay = 0;
foreach (var item in actions)
{
int movedelay = delay_waitfor1move * (item[1] - '0');
delay += movedelay;
switch ((char)item[0])
{
case 'B': await Back((int)(item[1] - '0') *C); break;
case 'F': await Forward((int)(item[1] - '0') *C); break;
case 'R': await Right((int)(item[1] - '0') *C); break;
case 'L': await Left((int)(item[1] - '0') *C); break;
}
await Task.Delay(movedelay);
delay += delay_betweenaction;
await Task.Delay(delay_betweenaction);
}
// After take the step, land
await Comm.SendCommand("land");
await Task.Delay(delay_upanddown);
await Comm.SendCommand("takeoff");
await Task.Delay(delay_upanddown);
delay += delay_upanddown * 2;
return(delay);
}
// In this method, no yaw will be contained.
public static List <string> GetActionSeq(AI.Step current, AI.Step next)
{
List <string> actions = new List <string>();
int delta_x = next.Move.X - current.Move.X;
int delta_y = next.Move.Y - current.Move.Y;
if (delta_x != 0)
{
string action = (delta_x > 0 ? "B" : "F") + Math.Abs(delta_x).ToString();
Debug.WriteLine(action);
actions.Add(action);
}
if (delta_y != 0)
{
string action = (delta_y > 0 ? "R" : "L") + Math.Abs(delta_y).ToString();
Debug.WriteLine(action);
actions.Add(action);
}
return(actions);
}
public static async Task MoveToStart(AI.Step current)
{
await MoveBetweenTwoPoints(current, new AI.Step {
Move = new AI.GameState.Move(1, 1, 1)
});
}
private async void Btn_Start_Click(object sender, RoutedEventArgs e)
{
// Start the workflow
await Flight.Comm.SendCommand("takeoff");
await Task.Delay(8000);
var TrainingSteps = AI.Nums.Steps;
for (int i = 0; i < TrainingSteps.Count; i++)
{
var step = TrainingSteps[i];
if (i == 0)
{
current = new AI.Step {
Move = new AI.GameState.Move(1, 1, 1)
};
}
else
{
// If a game is not finished, the 'current' step
// is given by AI. If a game is just finished,
// the 'current' location is the center point of the board.
if (IsUseLastStep)
{
current = TrainingSteps[i - 1];
}
}
if (step.Type == AI.StepType.OUTCOME)
{
ClearBoard();
string text;
switch (step.Result)
{
case 1: text = "O WINs"; break;
case -1: text = "X WINs"; break;
case 0: text = "DRAW"; break;
default: text = "NONE"; break;
}
TB_result.Text = text;
// After a game, move the UAV back to the start grid (center)
await Flight.Move.MoveBetweenTwoPoints(current, new AI.Step {
Move = new AI.GameState.Move(1, 1, 1)
});
current = new AI.Step {
Move = new AI.GameState.Move(1, 1, 1)
};
IsUseLastStep = false;
}
else
{
// Update UI
TB_result.Text = "UNFINISHED";
TB_status.Text = step.Type.ToString();
Image image = new Image();
BitmapSource source = new BitmapImage(new Uri(string.Format("ms-appx:///Assets//Icons//{0}.png", step.Move.Side)));
image.Source = source;
image.Margin = new Thickness(8);
board.Children.Add(image);
Grid.SetRow(image, step.Move.X);
Grid.SetColumn(image, step.Move.Y);
// Update AI logs
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
StringBuilder builder = new StringBuilder();
builder.AppendLine(step.Type.ToString());
builder.AppendLine(AI.Log.GetMatString(step.CurrentBoard));
TB_AI_log.Text += builder.ToString();
});
// Move Tello to the next point (node)
await Flight.Move.MoveBetweenTwoPoints(current, step);
IsUseLastStep = true;
}
}
}
