public Moves Move(Utils.Direction direction, Utils.Quantifier speed)
{
Moves move = Moves.NO_ACTION;
Utils.Quantifier Moving_In_Pretended_Direction;
Moves Move_Direction, Move_Oposite_Direction;
if (direction == Utils.Direction.RIGHT)
{
Moving_In_Pretended_Direction = this.agentStatus.MOVING_RIGHT;
Move_Direction = Moves.MOVE_RIGHT;
Move_Oposite_Direction = Moves.MOVE_LEFT;
}
else
{
Moving_In_Pretended_Direction = this.agentStatus.MOVING_LEFT;
Move_Direction = Moves.MOVE_LEFT;
Move_Oposite_Direction = Moves.MOVE_RIGHT;
}
if (Moving_In_Pretended_Direction == speed + 1) //TODO REDUDANT, NEEDS TO REFACTOR. I JUST COPIED IT FROM CIRCLE XD
{
move = Move_Oposite_Direction;
}
else if (Moving_In_Pretended_Direction <= speed)
{
move = Move_Direction;
}
else
{
move = Move_Oposite_Direction;
}
return(move);
}
private Moves Roll(Utils.Direction direction, Utils.Quantifier speed)
{
Moves move = Moves.NO_ACTION;
Utils.Quantifier Moving_In_Pretended_Direction;
Moves Roll_Pretended_Direction, Roll_Oposite_Direction;
//Define directions
if (direction == Utils.Direction.RIGHT)
{
Moving_In_Pretended_Direction = this.agentStatus.MOVING_RIGHT;
Roll_Pretended_Direction = Moves.ROLL_RIGHT;
Roll_Oposite_Direction = Moves.ROLL_LEFT;
}
else
{
Moving_In_Pretended_Direction = this.agentStatus.MOVING_LEFT;
Roll_Pretended_Direction = Moves.ROLL_LEFT;
Roll_Oposite_Direction = Moves.ROLL_RIGHT;
}
//Decide action
if (this.predictor != null)
{
//TODO Remove this first condition. This is the same as Else condition
if (Moving_In_Pretended_Direction == speed + 1) //If Agent is moving with a little bit excessive speed
{
Log.LogInformation("SPEED: Good enough - " + Enum.GetName(typeof(Utils.Quantifier), Moving_In_Pretended_Direction).ToString());
//move = Moves.NO_ACTION;
move = Roll_Oposite_Direction;
}
else if (Moving_In_Pretended_Direction <= speed) //When the agent is moving with not enough speed
{
Log.LogInformation("SPEED: Still not enough - " + Enum.GetName(typeof(Utils.Quantifier), Moving_In_Pretended_Direction).ToString());
move = Roll_Pretended_Direction;
}
else //When the agent is moving with too much speed and needs to brake (> speed + 1)
{
Log.LogInformation("SPEED: Too much! Rolling backwards - " + Enum.GetName(typeof(Utils.Quantifier), Moving_In_Pretended_Direction).ToString());
move = Roll_Oposite_Direction;
}
}
return(move);
}
