/// <summary>
/// Main test loop. (Coroutine)
/// </summary>
/// <returns>
/// The <see cref="IEnumerator"/>.
/// </returns>
public IEnumerator MainNHTestLoop()
{
CurrentMapIndex = 0;
foreach (var txa in allMaps)
{
/* Update the map and recompute the map. */
BDPMap.Instance.MapFile = txa;
BDPMap.Instance.ComputeMap();
var bd = new BenchmarkData(this) { TMin = Windows };
while (!BDPMap.Instance.MapIsLoaded)
{
yield return new WaitForSeconds(0.5f);
}
agent.CleanBelief();
#if PATHTESTER_DEBUG_LOG
Debug.Log(string.Format("[MAINLOOP] Starting Iteration on map {0}", txa.name));
#endif
CurrentMapIteration = 0;
agent.CurrentPosition = this.RandomFreePosition();
RandomStrategy.Init();
while (CurrentMapIteration < NumberOfRuns)
{
#if PATHTESTER_DEBUG_LOG
Debug.Log("--------------------------------------------------");
Debug.Log(string.Format("[MAINLOOP] Computing Path {0} of {1}", CurrentMapIteration + 1, NumberOfRuns));
#endif
// Debug.Log("Iteration " + counter);
if (CurrentMapIteration % ScrambleRate == 0)
{
#if PATHTESTER_DEBUG_LOG
Debug.Log("[MAINLOOP] Randomizing Portals");
#endif
StepCounter.Increase();
RandomStrategy.RandomizeWorldPortals();
}
var targetPos = this.DraftRandomTargetPos();
/* BENCHMARK */
InitializeSRD(agent.CurrentPosition, targetPos);
/* ********* */
UpdateAllPortalInArea(agent.CurrentPosition);
var startTime = 0;
var valid = true;
while (agent.CurrentPosition != targetPos)
{
startTime++;
this.executionError = false;
if (startTime > 30)
{
srd.PathFound = false;
Debug.Log("[MAINLOOP] Time out! Go to next pick.");
valid = false;
break;
}
#if PATHTESTER_DEBUG_LOG
Debug.Log(string.Format("[MAINLOOP] Execution Step from {0} to {1}", agent.CurrentPosition, targetPos));
#endif
if (ThePathfinder.AgentBelief.Hierarchical)
{
ThePathfinder.AgentBelief.CurrentTarget = targetPos;
}
if (!Caching) {
agent.ReviewBeliefOlderThan(Windows);
}
var path = ThePathfinder.PathFind(agent.CurrentPosition, targetPos);
/* BENCHMARK */
UpdateSRD();
if (path == null)
{
Debug.Log("[MAINLOOP] No path found! Try to perform belief revision.");
if (ThePathfinder.AgentBelief.Hierarchical)
{
Debug.Log("[MAINLOOP] Starting Belief Revision Loop");
path = BeliefRevisionLoop(agent.CurrentPosition, targetPos);
}
if (path == null)
{
srd.PathFound = false;
#if PATHTESTER_DEBUG_LOG
Debug.Log("[MAINLOOP] No path found! Go to next pick.");
#endif
break;
}
}
srd.PathFound = true;
/* ********* */
var pathList = Path2MapSquareList(path);
//Debug.Log("[MAINLOOP] Path Found. Start Execution.");
if (ThePathfinder.AgentBelief.Hierarchical)
{
yield return StartCoroutine(ExecuteHierarchicalPath(pathList));
}
else
{
yield return StartCoroutine(ExecutePath(pathList));
}
}
if (true)
{
CurrentMapIteration++;
bd.RunsData.Add(srd);
}
yield return new WaitForSeconds(0.1f);
}
bd.PrintToFile();
CurrentMapIndex++;
}
#if PATHTESTER_DEBUG_LOG
myLogger.Log("[MAINLOOP] TEST COMPLETED");
#endif
}
