/// <summary>
/// Server服务实例向Client服务实例Notify当前周期的Mission对象
/// </summary>
/// <returns></returns>
public IEnumerator <ITask> MissionParaNotification()
{
// Notify all subscribers.
MissionPara announce = new MissionPara();
// 将当前仿真使命的通用Mission对象拷贝一份用于策略调用的参数传递
Mission mission = (Mission)MyMission.Instance().MissionRef.Clone();
for (int i = 0; i < mission.CommonPara.TeamCount; i++)
{// 循环对每条仿真机器鱼施加图像处理干扰 LiYoubing 20110617
for (int j = 0; j < mission.CommonPara.FishCntPerTeam; j++)
{
RoboFish f = mission.TeamsRef[i].Fishes[j];
Interference.ImageProcessInterference(ref f.PositionMm, ref f.BodyDirectionRad,
f.VelocityMmPs, f.AngularVelocityRadPs);
}
}
for (int i = 0; i < mission.EnvRef.Balls.Count; i++)
{// 循环对所有仿真水球施加图像处理干扰 LiYoubing 20110617
Ball b = mission.EnvRef.Balls[i];
float tmp = 0;
Interference.ImageProcessInterference(ref b.PositionMm, ref tmp, b.VelocityMmPs, b.AngularVelocityRadPs);
}
announce.Body = new MissionParaRequest(mission);
//announce.Body = new MissionParaRequest(MyMission.Instance().MissionRef);//modified 20101203
base.SendNotification(_submgrPort, announce);
announce.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
/// <summary>
/// 指示是否已经发生过策略调用异常true是false否
/// 20110820废弃 策略代码中存在条件性除零/数组越界等异常时 不必要直接结束掉策略运行
/// </summary>
//bool _strategyExceptionFlag = false;
/// <summary>
/// 进行策略调用 获取指定id对应队伍的决策数据
/// </summary>
/// <param name="teamId">待获取决策数据的队伍id(从0开始)</param>
void GetLocalDecision(int teamId)
{
MyMission myMission = MyMission.Instance();
Decision[] decisions = null;
if (_serverControlBoard.TeamStrategyControls[teamId].StrategyInterface != null
/*&& _strategyExceptionFlag == false*/)
{// 进行null检查确保不出异常 LiYoubing 20110511
// 将当前仿真使命的通用Mission对象拷贝一份用于策略调用的参数传递
Mission mission = (Mission)MyMission.Instance().MissionRef.Clone();
for (int i = 0; i < mission.CommonPara.TeamCount; i++)
{// 循环对每条仿真机器鱼施加图像处理干扰 LiYoubing 20110617
for (int j = 0; j < mission.CommonPara.FishCntPerTeam; j++)
{
RoboFish f = mission.TeamsRef[i].Fishes[j];
Interference.ImageProcessInterference(ref f.PositionMm, ref f.BodyDirectionRad,
f.VelocityMmPs, f.AngularVelocityRadPs);
}
}
for (int i = 0; i < mission.EnvRef.Balls.Count; i++)
{// 循环对所有仿真水球施加图像处理干扰 LiYoubing 20110617
Ball b = mission.EnvRef.Balls[i];
float tmp = 0;
Interference.ImageProcessInterference(ref b.PositionMm, ref tmp, b.VelocityMmPs, b.AngularVelocityRadPs);
}
// 交换半场后交换策略处理 LiYoubing 20110711
// 交换半场后TeamsRef[0]/[1]代表交换前右/左半场的队伍因此应该分别调用第1/0号控件所加载的策略
int strategyId = myMission.ParasRef.IsExchangedHalfCourt ? (teamId + 1) % 2 : teamId;
try
{
decisions = _serverControlBoard.TeamStrategyControls[strategyId].StrategyInterface.GetDecision(
mission, teamId);
}
catch
{
//_strategyExceptionFlag = true;
MessageBox.Show("Remoting object timeout.\nThe instance of class Strategy has been released."
+ "\nYour simulated robofish will not be controlled.",
"Confirming", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
//decision = _serverControlBoard.TeamStrategyControls[teamId].StrategyInterface.GetDecision(
// mission, teamId);
//decision = _serverControlBoard.TeamStrategyControls[teamId].StrategyInterface.GetDecision(
// myMission.MissionRef, teamId);
}
if (decisions == null)
{
return;
}
for (int j = 0; j < myMission.TeamsRef[teamId].Fishes.Count; j++)
{
myMission.DecisionRef[teamId, j] = decisions[j];
}
}
