// Done!
#region .Ctor
// Done!
internal HardwareHistoryItem(HardwareHistoryType actionType, HardwareActionStatus actionStatus, HardwareStatus status, float degrees, float speed, Vector heading)
{
this.ActionType = actionType;
this.ActionStatus = actionStatus;
this.Status = status;
this.Degrees = degrees;
this.Speed = speed;
this.Heading = heading;
}
// Done!
#region Implementation of IHardwareAgent
// Done!
public HardwareActionStatus Rotate(float radians, float speed)
{
var prediction = this.PredictRotation(radians, speed, this.agent.Status.Batery);
var real = this.agent.Rotate(radians, speed);
if (HardwareActionStatus.CompareOnPrediction(prediction, real) == false)
{
//this.rotationNetwork.Train(prediction, real);
}
return(real);
}
// Done!
public HardwareActionStatus Move(Vector heading, float speed)
{
if (isConnected == false)
{
return(new HardwareActionStatus(
TimeSpan.FromSeconds(0),
new FuzzyBool(0),
"Failure: Not Connected"));
}
var d = Vector.Distance(this.position, heading);
var actionStatus = new HardwareActionStatus(
TimeSpan.FromSeconds(d * speed),
new FuzzyBool(g.NextSingle(80, 100)),
"Sucess");
this.History.AddMove(this, actionStatus, heading, speed);
this.position += heading;
return(actionStatus);
}
// Done!
#region Implementation of IHardwareAgent
// Done!
public HardwareActionStatus Rotate(float radians, float speed)
{
if (isConnected == false)
{
return(new HardwareActionStatus(
TimeSpan.FromSeconds(0),
new FuzzyBool(0),
"Failure: Not Connected"));
}
float t = (float)(5 / (System.Math.PI / 2f) * radians);
var actionStatus = new HardwareActionStatus(
TimeSpan.FromSeconds(t),
new FuzzyBool(g.NextSingle(80, 100)),
"Sucess");
this.History.AddRotation(this, actionStatus, radians, speed);
this.angle = Functions.Angle(this.angle + radians);
return(actionStatus);
}
// Done!
public void AddMove(IHardwareAgent agent, HardwareActionStatus actionStatus, Vector heading, float speed)
{
this.Add(new HardwareHistoryItem(HardwareHistoryType.Rotate, actionStatus, Helpers.Clone(agent.Status), 0, speed, heading));
}
// Done!
#region Methods
// Done!
public void AddRotation(IHardwareAgent agent, HardwareActionStatus actionStatus, float angle, float speed)
{
this.Add(new HardwareHistoryItem(HardwareHistoryType.Rotate, actionStatus, Helpers.Clone(agent.Status), angle, speed, null));
}
