public override void Define()
{
DistanceEvent @event = null;
When()
.Match(() => @event);
Then()
.Do(ctx => ctx.Event(@event));
}
public static DistanceEvent Create(GameObject gameObject, float distance)
{
DistanceEvent e = new DistanceEvent();
e.Type = QuarkEventType.Distance;
e.Id = gameObject.GetInstanceID();
e.Tag = gameObject.tag;
e.Distance = distance;
return(e);
}
public override void AddReward(BaseAgent agent, float[] vectorActions)
{
if (TagAGameObject == null || TagBGameObject == null)
{
FindTags(agent);
}
else
{
float sqrmag = (TagAGameObject.transform.position - TagBGameObject.transform.position).sqrMagnitude;
float byMaxDist = sqrmag / (MaxDistance * MaxDistance);
float scaledReward = Mathf.Max((1 - byMaxDist) * Reward, 0) / Mathf.Max((float)agent.agentParameters.maxStep, 1);
agent.AddReward(scaledReward);
if (agent.area.EventSystem != null)
{
agent.area.EventSystem.RaiseEvent(DistanceEvent.Create(agent.gameObject, sqrmag));
}
}
}
/// <summary>
/// Sets up the notifications;
/// Will call Status
/// </summary>
/// <param name="notifyType"></param>
/// <returns>true if the notify was set up. </returns>
public async Task <bool> NotifyDistanceAsync(GattClientCharacteristicConfigurationDescriptorValue notifyType = GattClientCharacteristicConfigurationDescriptorValue.Notify)
{
if (!await EnsureCharacteristicAsync())
{
return(false);
}
var ch = Characteristics[6];
if (ch == null)
{
return(false);
}
GattCommunicationStatus result = GattCommunicationStatus.ProtocolError;
try
{
result = await ch.WriteClientCharacteristicConfigurationDescriptorAsync(notifyType);
if (!NotifyDistance_ValueChanged_Set)
{
// Only set the event callback once
NotifyDistance_ValueChanged_Set = true;
ch.ValueChanged += (sender, args) =>
{
var datameaning = "U8^20_/_2.54_*|HEX|Distance|cm";
var parseResult = BluetoothDeviceController.BleEditor.ValueParser.Parse(args.CharacteristicValue, datameaning);
Distance = parseResult.ValueList.GetValue("Distance").AsDouble;
DistanceEvent?.Invoke(parseResult);
};
}
}
catch (Exception e)
{
Status.ReportStatus($"NotifyDistance: {e.Message}", result);
return(false);
}
Status.ReportStatus($"NotifyDistance: set notification", result);
return(true);
}
