public void SinglePUpdate(TimeSpan elapsedGameTime)
{
//Plan
if (planRRT && predictor != null && predictor.CharactersReady())
{
controlling = false;
planSolution();
}
else if (getDebugInfo)
{
if (cutplan)
{
debugInfo = RRT.getDebugInfo(T, pathPlan.cleanPlan(obstaclesInfo, Diamonds, area, circleInfo.Radius, true, true)).ToArray();
}
else
{
debugInfo = RRT.getDebugInfo(T, pathPlan.debugCleanPlan()).ToArray();
}
//debugInfo = RRT.getDebugInfo(T, null).ToArray();
getDebugInfo = false;
}
else if (!getDebugInfo)
{
debugInfo = null;
}
//Control - if there is a plan then execute it
if (pathPlan.getPathPoints() != null && pathPlan.getPathPoints().Count != 0 && hasStarted)
{
controlling = true;
planExecution();
}
else if (pathPlan.getTotalCollectibles() != 0 && controlling && pathPlan.getTotalCollectibles() == uncaughtCollectibles.Count)
{
//if currently the number of uncaught collectibles is the same as the one supposed to be at the end of the plan, stop the agent and replan
replan(false);
}
//make sure the agent replans when missing the last action
else if (pathPlan.getPathPoints().Count == 0 && controlling)// && lastAction)
{
lastActionReplan();
}
//if it none of the above work and the too much time has already passed, replan
else if (controlling && (gameTime.ElapsedMilliseconds * 0.001f * gSpeed > pointTimeMargin * gSpeed))
{
replan(true);
}
else if (pathPlan.getPathPoints().Count == 0 && !controlling && !planRRT)
{
planRRT = true;
newPlan = true;
}
}
//implements abstract circle interface: updates the agent state logic and predictions
public override void Update(TimeSpan elapsedGameTime)
{
// Execute an action every 'moveStep' cycles
if (iterationCount == moveStep)
{
DecideAction();
iterationCount = 0;
}
iterationCount++;
//check if any collectible was caught
lock (remaining)
{
if (remaining.Count > 0)
{
List <CollectibleRepresentation> toRemove = new List <CollectibleRepresentation>();
foreach (CollectibleRepresentation item in uncaughtCollectibles)
{
if (!remaining.Contains(item))
{
caughtCollectibles.Add(item);
toRemove.Add(item);
}
}
foreach (CollectibleRepresentation item in toRemove)
{
uncaughtCollectibles.Remove(item);
//PARA TESTAR
Node circleNextNode = this.graph.diamondNodes[nextDiamondIndex];
Point point = new Point((int)item.X, (int)item.Y);
Node caughtNode = new Node(point.X, point.Y, Node.Type.Diamond);
if (point == circleNextNode.location)
{
updateNextDiamond(caughtNode);
SendRequest(new Request(new Command.DeleteDiamond(caughtNode)));
}
else
{
SendRequest(new Request(new Command.CatchNextDiamond(caughtNode)));
deleteDiamond(caughtNode);
}
}
}
}
//predict what will happen to the agent given the current state and current action
if (predictor != null) //predictions are only possible where the agents manager provided
{
/*
* 1) simulator can only be properly used when the Circle and Rectangle characters are ready, this must be ensured for smooth simulation
* 2) in this implementation we only wish to simulate a future state when whe have a fresh simulator instance, i.e. the generated debug information is empty
*/
if (predictor.CharactersReady() && predictor.SimulationHistoryDebugInformation.Count == 0)
{
List <CollectibleRepresentation> simCaughtCollectibles = new List <CollectibleRepresentation>();
//keep a local reference to the simulator so that it can be updated even whilst we are performing simulations
ActionSimulator toSim = predictor;
//prepare the desired debug information (to observe this information during the game press F1)
toSim.DebugInfo = true;
//you can also select the type of debug information generated by the simulator to circle only, rectangle only or both as it is set by default
//toSim.DebugInfoSelected = ActionSimulator.DebugInfoMode.Circle;
//setup the current circle action in the simulator
toSim.AddInstruction(currentAction);
//register collectibles that are caught during simulation
toSim.SimulatorCollectedEvent += delegate(Object o, CollectibleRepresentation col) { simCaughtCollectibles.Add(col); };
//simulate 2 seconds (predict what will happen 2 seconds ahead)
toSim.Update(2);
//prepare all the debug information to be passed to the agents manager
List <DebugInformation> newDebugInfo = new List <DebugInformation>();
//clear any previously passed debug information (information passed to the manager is cumulative unless cleared in this way)
newDebugInfo.Add(DebugInformationFactory.CreateClearDebugInfo());
//add all the simulator generated debug information about circle/rectangle predicted paths
newDebugInfo.AddRange(toSim.SimulationHistoryDebugInformation);
// see nodes considered by A*
Graph.ShowNodes(newDebugInfo, this.graph);
// see initial paths created by A*
if (Utils.AIAD_DEMO_A_STAR_INITIAL_PATHS)
{
this.graph.showAllKnownPaths(newDebugInfo, this.type);
}
//see current path
else
{
Graph.showPath(newDebugInfo, this.nextDiamondPath.path, this.type);
}
//create additional debug information to visualize collectibles that have been predicted to be caught by the simulator
foreach (CollectibleRepresentation item in simCaughtCollectibles)
{
newDebugInfo.Add(DebugInformationFactory.CreateCircleDebugInfo(new PointF(item.X - debugCircleSize / 2, item.Y - debugCircleSize / 2), debugCircleSize, GeometryFriends.XNAStub.Color.Red));
newDebugInfo.Add(DebugInformationFactory.CreateTextDebugInfo(new PointF(item.X, item.Y), "Predicted catch!", GeometryFriends.XNAStub.Color.White));
}
//create additional debug information to visualize collectibles that have already been caught by the agent
foreach (CollectibleRepresentation item in caughtCollectibles)
{
newDebugInfo.Add(DebugInformationFactory.CreateCircleDebugInfo(new PointF(item.X - debugCircleSize / 2, item.Y - debugCircleSize / 2), debugCircleSize, GeometryFriends.XNAStub.Color.GreenYellow));
}
//set all the debug information to be read by the agents manager
debugInfo = newDebugInfo.ToArray();
}
}
}
//implements abstract circle interface: updates the agent state logic and predictions
public override void Update(TimeSpan elapsedGameTime)
{
//Every second one new action is choosen
if (lastMoveTime == 60)
{
lastMoveTime = 0;
}
if ((lastMoveTime) <= (DateTime.Now.Second) && (lastMoveTime < 60))
{
if (!(DateTime.Now.Second == 59))
{
RandomAction();
lastMoveTime = lastMoveTime + 1;
//DebugSensorsInfo();
}
else
{
lastMoveTime = 60;
}
}
//check if any collectible was caught
lock (remaining)
{
if (remaining.Count > 0)
{
List <CollectibleRepresentation> toRemove = new List <CollectibleRepresentation>();
foreach (CollectibleRepresentation item in uncaughtCollectibles)
{
if (!remaining.Contains(item))
{
caughtCollectibles.Add(item);
toRemove.Add(item);
}
}
foreach (CollectibleRepresentation item in toRemove)
{
uncaughtCollectibles.Remove(item);
}
}
}
//predict what will happen to the agent given the current state and current action
if (predictor != null) //predictions are only possible where the agents manager provided
{
/*
* 1) simulator can only be properly used when the Circle and Rectangle characters are ready, this must be ensured for smooth simulation
* 2) in this implementation we only wish to simulate a future state when whe have a fresh simulator instance, i.e. the generated debug information is empty
*/
if (predictor.CharactersReady() && predictor.SimulationHistoryDebugInformation.Count == 0)
{
List <CollectibleRepresentation> simCaughtCollectibles = new List <CollectibleRepresentation>();
//keep a local reference to the simulator so that it can be updated even whilst we are performing simulations
ActionSimulator toSim = predictor;
//prepare the desired debug information (to observe this information during the game press F1)
toSim.DebugInfo = true;
//you can also select the type of debug information generated by the simulator to circle only, rectangle only or both as it is set by default
//toSim.DebugInfoSelected = ActionSimulator.DebugInfoMode.Circle;
//setup the current circle action in the simulator
toSim.AddInstruction(currentAction);
//register collectibles that are caught during simulation
toSim.SimulatorCollectedEvent += delegate(Object o, CollectibleRepresentation col) { simCaughtCollectibles.Add(col); };
//simulate 2 seconds (predict what will happen 2 seconds ahead)
toSim.Update(2);
//prepare all the debug information to be passed to the agents manager
List <DebugInformation> newDebugInfo = new List <DebugInformation>();
//clear any previously passed debug information (information passed to the manager is cumulative unless cleared in this way)
newDebugInfo.Add(DebugInformationFactory.CreateClearDebugInfo());
//add all the simulator generated debug information about circle/rectangle predicted paths
newDebugInfo.AddRange(toSim.SimulationHistoryDebugInformation);
//create additional debug information to visualize collectibles that have been predicted to be caught by the simulator
foreach (CollectibleRepresentation item in simCaughtCollectibles)
{
newDebugInfo.Add(DebugInformationFactory.CreateCircleDebugInfo(new PointF(item.X - debugCircleSize / 2, item.Y - debugCircleSize / 2), debugCircleSize, GeometryFriends.XNAStub.Color.Red));
newDebugInfo.Add(DebugInformationFactory.CreateTextDebugInfo(new PointF(item.X, item.Y), "Predicted catch!", GeometryFriends.XNAStub.Color.White));
}
//create additional debug information to visualize collectibles that have already been caught by the agent
foreach (CollectibleRepresentation item in caughtCollectibles)
{
newDebugInfo.Add(DebugInformationFactory.CreateCircleDebugInfo(new PointF(item.X - debugCircleSize / 2, item.Y - debugCircleSize / 2), debugCircleSize, GeometryFriends.XNAStub.Color.GreenYellow));
}
//set all the debug information to be read by the agents manager
debugInfo = newDebugInfo.ToArray();
}
}
}