public LocalGridSensor(ControllerWorldState worldState, int rows, int cols)
{
this.worldState = worldState;
localgrid = new double[rows, cols];
localnumrows = rows;
localnumcols = cols;
}
// constructor gets a reference to the world state
public Grid(ControllerWorldState ws, double WorldWidth, double WorldHeight, int numX, int numY)
{
this.prevLocations = new Dictionary<Robot, Coordinates>();
this.prevLocationsForMark = new Dictionary<Robot, Coordinates>();
this.WorldWidth = WorldWidth;
this.WorldHeight = WorldHeight;
this.NumSquaresX = numX;
this.NumSquaresY = numY;
cellData = new CellData[NumSquaresX, NumSquaresY];
for (int i = 0; i < NumSquaresX; i++)
{
for (int j = 0; j < NumSquaresY; j++)
{
cellData[i, j] = new CellData(i,j);
}
}
}
/// <summary>
/// Constructor. Initialize the robots. Initialize the world state.
/// </summary>
/// <param name="Wii"></param>
/// <param name="Woi"></param>
public ControlLoop(WorldInputInterface Wii, WorldOutputInterface Woi)
{
this.Wii = Wii;
this.Woi = Woi;
worldState = Wii.ws;
List<Robot> robots = worldState.robots;
List<PhysObject> worldObjects = worldState.physobjects;
foreach (Robot robot in robots)
{
Robots.Add(robot.Id,robot);
}
foreach (PhysObject obj in worldObjects)
{
WorldObjects.Add(obj.Id, obj);
}
// Assume default for now. Experiment class can change after
globalAlgorithm = new DefaultGlobalAlgorithm();
}
/// <summary>
/// Updates the states of robots and objects with new information
/// 1. Get's the world state from the world input interface
/// 2. update each robot's local view by updating that robots' sensors
/// </summary>
private void GetInput()
{
worldState = Wii.GetWorldState();
// Console.WriteLine("Control Loop WS Angle before sensor: "+ worldState.robots[0].Orientation);
// Console.WriteLine("controloop con");
//Console.WriteLine("*****Number of objects in the world: " + (worldState.physobjects.Count) + "*******");
//Console.WriteLine("**********Number of food objects in the world: " + (worldState.foodlist.Count) + "*******");
//update robot orientation and location
foreach (Robot z in worldState.robots)
{
if (Robots.ContainsKey(z.Id))
{
Robots[z.Id].Orientation = z.Orientation;
Robots[z.Id].Location = z.Location;
}
}
foreach (Robot r in Robots.Values)
{
foreach (InputSensor sensor in r.Sensors.Values)
{
sensor.UpdateWorldState(worldState);
// Console.WriteLine("SENSOR AFTER WORLD STATE UPDATE: " + sensor.worldState.robots[0].Orientation);
sensor.UpdateSensor();
}
}
}
public LocalGridSensor(ControllerWorldState worldState)
{
this.worldState = worldState;
}
