public WorldObject CreateRobotObj(World world, Point point)
{
var camera = _robotCamera ?? InitializeRobotCamera(world);
NavigationSystem nav;
IStrategy strategy;
if (Settings != null)
{
nav = new NavigationSystem(world)
{
ElevationStd = Settings.EstimatedElevationStd,
RotationStd = Settings.EstimatedRotationStd,
TranslationStd = Settings.EstimatedTranslationStd,
MeasurementSuccessProb = Settings.EstimatedCameraSuccessProb
};
strategy = new WanderStrategy(_random)
{
ElevateProb = Settings.DecideElevateProb,
TranslateProb = Settings.DecideTranslateProb,
RotateProb = Settings.DecideRotateProb,
IsExact = false,
Settings = Settings
};
}
else
{
nav = new NavigationSystem(world);
strategy = new WanderStrategy(_random)
{
IsExact = false
};
}
var model = new Robot(camera, nav, strategy);
int orientation = _random.Next(0, 4) * 90;
var obj = new WorldObject(model, Size, point, orientation);
return(obj);
}
public SimulationViewModel()
{
_worldObjects = new ObservableCollection <WorldObject>();
FloorObjects = new ObservableCollection <UIElement>();
LocalizationIndicators = new ObservableCollection <UIElement>();
NewSimCommand = new RelayCommand <object>(p =>
{
_worldObjects.CollectionChanged -= WorldObjects_CollectionChanged;
_worldObjects.Clear();
var generator = new WorldGenerator(CanvasSize);
string[,,] map = WorldGenerator.ParseMapFromJson("Map.json");
generator.Settings = ProbabilitySettings.ParseFromJson("Settings.json");
World world = generator.Generate(map, _worldObjects);
_worldObjects.CollectionChanged += WorldObjects_CollectionChanged;
if (generator.Robot != null)
{
if (_navigationSystem != null)
{
_navigationSystem.LocalizationUpdated -= NavigationSystem_LocalizationUpdated;
}
_navigationSystem = generator.Robot.NavigationSystem;
_navigationSystem.LocalizationUpdated += NavigationSystem_LocalizationUpdated;
_localizationWindow?.Close();
}
_simulation = new Engine(world);
_floor = 0;
UpdateFloorObjects(_floor);
StartSimulationWrapper();
CommandManager.InvalidateRequerySuggested();
}, p =>
{
return(!_isSimulating);
});
ContinueSimCommand = new RelayCommand <object>(p =>
{
StartSimulationWrapper();
CommandManager.InvalidateRequerySuggested();
}, p =>
{
return(!_isSimulating && _simulation != null);
});
StepSimCommand = new RelayCommand <object>(p =>
{
StartSimulationStepWrapper();
CommandManager.InvalidateRequerySuggested();
}, p =>
{
return(!_isSimulating && _simulation != null);
});
StopSimCommand = new RelayCommand <object>(p =>
{
var source = _stopSimSource;
object locker = new object();
lock (locker)
{
if (source != null && !source.IsCancellationRequested)
{
source.Cancel(false);
}
}
}, p =>
{
return(_stopSimSource != null);
});
ChangeFloorCommand = new RelayCommand <object>(p =>
{
_floor += (int)p;
UpdateFloorObjects(_floor);
UpdateLocalizationIndicators(_floor);
CommandManager.InvalidateRequerySuggested();
}, p =>
{
var world = _simulation?.World;
if (world == null)
{
return(false);
}
int destination = (int)p + _floor;
return(destination >= 0 && destination <= world.UpperBound.Z);
});
OpenLocalizationCommand = new RelayCommand <object>(p =>
{
LocalizationWindow window = _localizationWindow;
if (window == null)
{
_localizationWindow = window = new LocalizationWindow(this);
window.Closed += LocalizationWindow_Closed;
window.Show();
UpdateLocalizationIndicators(_floor);
}
else
{
window.Focus();
}
}, p =>
{
return(_simulation != null);
});
}
public Robot(Camera camera, NavigationSystem navigationSystem, IStrategy strategy)
{
_camera = camera;
_strategy = strategy;
NavigationSystem = navigationSystem;
}
