private void prepareActuators(List <IMonoBehaviourSensor> sensors, List <SimpleActuator> actuators, MethodInfo[] methods)
{
foreach (ActuatorConfiguration conf in actuatorsConfigurations)
{
actuators.Add(new SimpleActuator(conf));
////MyDebugger.MyDebug(conf.configurationName+" added");
}
actuatorsManager.registerActuators(this, actuators);
if (!actuatorsManager.applyCoroutinStarted)
{
StartCoroutine(actuatorsManager.applyActuators());
actuatorsManager.applyCoroutinStarted = true;
}
foreach (MethodInfo mI in methods)
{
if (mI.Name.Equals(applyActuatorsCondition))
{
MyDebugger.MyDebug("apply actuators on " + mI.Name);
applyActuatorsMethod = mI;
}
}
}
void initBrain()
{
List <AdvancedSensor> sensors = new List <AdvancedSensor>();
List <SimpleActuator> actuators = new List <SimpleActuator>();
embasp = new SolverExectuor(this);
triggerClass = ScriptableObject.CreateInstance("Trigger");
MethodInfo[] methods = triggerClass.GetType().GetMethods();
//Debug.Log("creating sensors");
foreach (SensorConfiguration conf in sensorsConfigurations)
{
sensors.Add(new AdvancedSensor(conf));
//Debug.Log(conf.configurationName+" added");
}
sensorManager.registerSensors(this, sensors);
foreach (ActuatorConfiguration conf in actuatorsConfigurations)
{
actuators.Add(new SimpleActuator(conf));
//Debug.Log(conf.configurationName+" added");
}
actuatorsManager.registerActuators(this, actuators);
if (!actuatorsManager.applyCoroutinStarted)
{
StartCoroutine(actuatorsManager.applyActuators());
actuatorsManager.applyCoroutinStarted = true;
}
if (executeReasonerOn.Equals("When Sensors are ready"))
{
StartCoroutine("pulseOnSensorsReady");
}
else
{
foreach (MethodInfo mI in methods)
{
if (mI.Name.Equals(updateSensorsOn))
{
//Debug.Log(mI.Name);
reasonerMethod = mI;
StartCoroutine("pulseOn");
}
}
}
//Debug.Log("trigger method is "+triggerMethod);
if (executeRepeatedly)
{
InvokeRepeating("UpdateSensors", startIn, brainUpdateFrequency);
}
else if (!updateSensorsOn.Equals(""))
{
foreach (MethodInfo mI in methods)
{
if (mI.Name.Equals(updateSensorsOn))
{
//Debug.Log(mI.Name);
sensorsUpdateMethod = mI;
StartCoroutine("UpdateSensorsOnTrigger");
}
}
}
foreach (MethodInfo mI in methods)
{
if (mI.Name.Equals(applyActuatorsCondition))
{
//Debug.Log(mI.Name);
applyActuatorsMethod = mI;
}
}
executionThread = new Thread(() => {
Thread.CurrentThread.IsBackground = true;
embasp.Run();
});
executionThread.Start();
}
