public override (Wheel[], ControlInfo) GetInstruction(Field field)
{
if (_strategy == null)
{
throw new DllNotFoundException();
}
var nativeField = new Native.Field(field);
if (ReverseCoordinate)
{
nativeField.Reverse();
}
var env = new Native.Legacy.Environment(nativeField, whosball, gameState, userData);
try
{
_strategy(ref env);
userData = env.UserData;
}
catch (Exception e)
{
throw new DllException("Strategy", e);
}
var controlInfo = new ControlInfo {
Command = ControlType.Continue
};
var wheel = env.SelfRobots.Select(x => new Wheel()
{
LeftSpeed = (float)x.VelocityLeft,
RightSpeed = (float)x.VelocityRight
}).ToArray();
return(wheel, controlInfo);
}
public override (Wheel[], ControlInfo) GetInstruction(Field field)
{
if (_getInstruction == null)
{
throw new DllNotFoundException();
}
// 将 Proto 的结构转为本地结构
var nativeField = new Native.Field(field);
var controlInfo = new ControlInfo();
if (ReverseCoordinate)
{
// 翻转，获得黄方坐标
nativeField.Reverse();
}
try
{
_getInstruction(ref nativeField);
}
catch (Exception e)
{
throw new DllException("GetInstruction", e);
}
return(nativeField.SelfRobots.Select(x => (Wheel)x.wheel).ToArray(), GetControlInfo(controlInfo));
}
public override Placement GetPlacement(Field field)
{
if (_getPlacement == null)
{
throw new DllNotFoundException();
}
var nativeField = new Native.Field(field);
if (ReverseCoordinate)
{
nativeField.Reverse();
}
try
{
_getPlacement(ref nativeField);
}
catch (Exception e)
{
throw new DllException("GetPlacement", e);
}
return(new Placement
{
Ball = (Ball)nativeField.ball,
Robots =
{
from x in nativeField.SelfRobots
select(Robot)(ReverseCoordinate ? x.Reverse() : x)
}
});
}
public Environment(Native.Field field, V5RPC.Proto.Team whosball, ResultType gamestate, IntPtr userData)
{
WhosBall = ToLegacyWhosball(whosball);
GameState = ToLegacyGameState(gamestate);
SelfRobots = new Legacy.Robot[5];
OpponentRobots = new Legacy.OpponentRobot[5];
for (int i = 0; i < 5; i++)
{
SelfRobots[i] = new Legacy.Robot(field.SelfRobots[i]);
OpponentRobots[i] = new Legacy.OpponentRobot(field.opponentRobots[i]);
}
CurrentBall = new Legacy.Ball()
{
Position = new Legacy.Vector3(field.ball.position)
};
UserData = userData;
// Useless field, just become 0
LastBall = new Legacy.Ball();
PredictedBall = new Legacy.Ball();
FieldBounds = new Legacy.Bounds();
GoalBounds = new Legacy.Bounds();
}
