public override void Fire()
{
Init(); //be sure to leave this here to enable use of the na variable
if (countDown > 0)
{
countDown--;
return;
}
//Input is an object in the model
//generate some alternate points of view (current position is the first)
//for each points of view
////can dest be seen?
////record distance
//if shortest distance > 0
///1) go to pov
///2) go to dest
///else recursive?
///
ModuleView naBehavior = MainWindow.theNeuronArray.FindModuleByLabel("ModuleBehavior");
if (naBehavior == null)
{
return;
}
ModuleBehavior nmBehavior = (ModuleBehavior)naBehavior.TheModule;
ModuleView naModel = theNeuronArray.FindModuleByLabel("Module2DModel");
Module2DModel nmModel = (Module2DModel)naModel.TheModule;
if (!nmBehavior.IsIdle())
{
return;
}
if (pvTry != null)
{
PointPlus pvTargetSave = new PointPlus {
P = pvTarget.P
};
pvTarget.X -= pvTry.X;
pvTarget.Y -= pvTry.Y;
pvTarget.Theta -= pvTry.Theta;
PointPlus pv1 = nmModel.CanISGoStraightTo(pvTarget, out Segment obstacle);
nmModel.ImagineEnd();
if (pv1 != null)
{
pvTry.Theta = -pvTry.Theta;
nmBehavior.TurnTo(pvTry.Theta);
nmBehavior.MoveTo(pvTry.R);
//SetNeuronValue("ModuleBehavior", "TurnTo", 1);
//SetNeuronValue("ModuleBehavior", "Theta", (float)pvTry.Theta);
//SetNeuronValue("ModuleBehavior", "MoveTo", 1);
//SetNeuronValue("ModuleBehavior", "R", (float)pvTry.R);
//SetNeuronValue("ModuleBehavior", "Done", 0);
//we made a partial move...update the target
pointsToTry.Clear();
tryAgain = true;
countDown = 5;
}
else
{
pvTarget = pvTargetSave;
}
pvTry = null;
return;
}
if (pointsToTry.Count > 0 && !nmModel.imagining)
{
pvTry = pointsToTry[0];
pointsToTry.RemoveAt(0);
nmModel.ImagineStart(pvTry, 0);
countDown = 15;
return;
}
if (GetNeuronValue(null, "Go") == 0 && !tryAgain)
{
return;
}
if (GetNeuronValue("ModuleBehavior", "Done") == 0)
{
return;
}
if (!tryAgain)
{
pvTarget = new PointPlus
{
R = GetNeuronValue(null, "R"),
Theta = GetNeuronValue(null, "Theta")
};
SetNeuronValue(null, "Go", 0);
SetNeuronValue(null, "R", 0);
SetNeuronValue(null, "Theta", 0);
}
// if (pvTarget.R == 0)
// pvTarget = nmModel.FindGreen().MidPoint();
if (pvTarget != null)
{
PointPlus pv1 = nmModel.CanISGoStraightTo(pvTarget, out Segment obstacle);
if (pv1 != null)
{
SetNeuronValue("ModuleBehavior", "TurnTo", 1);
SetNeuronValue("ModuleBehavior", "Theta", (float)-pv1.Theta);
SetNeuronValue("ModuleBehavior", "MoveTo", 1);
SetNeuronValue("ModuleBehavior", "R", (float)pv1.R);
tryAgain = false;
pvTry = null;
}
else
{
PointPlus pvTry1 = Utils.ExtendSegment(obstacle.P1.P, obstacle.P2.P, 0.5f, true);
PointPlus pvTry2 = Utils.ExtendSegment(obstacle.P1.P, obstacle.P2.P, 0.5f, false);
pointsToTry.Add(pvTry1);
pointsToTry.Add(pvTry2);
}
}
}