public CD(string str)
{ // Wei Chen -- old code from str
string[] words = str.Split(' ');
if (words.Length != 3)
{
head = (concept)concept.all_concepts["find"];
PropList = new Hashtable();
return;
}
head = (concept)concept.all_concepts["find_object"];
if (head == null)
{
throw (new System.Exception("New CD: attempt to create from unkown concept: " + str));
}
PropList = new Hashtable();
CD obj = new CD();
obj.head = (concept)concept.all_concepts[concept.all_nouns[words[2]]];
obj.PropList.Add(concept.all_modifiers[words[1]], words[1]);
PropList.Add("object:", obj);
}
public void find_object()
{
CD target_CD = (CD)taskArgs.PropList["object:"];
if (target_CD == null)
{
// myMind.mySynth.SpeakAsync("No target specified");
return;
}
AliveObject target;
float conf;
int fx, fy; //frontier point coordinates
Console.WriteLine("Looking for: " + target_CD.ToSexp());
bool new_objects_flag = true;
for (int i = 0; i < 10; i++)
{
if (new_objects_flag)
{
conf = dogTricks.selectKnowObject(myMind, target_CD, out target);
if (conf == 0 || target == null)
{
Console.WriteLine("Known objects do not match the description");
}
else
{
Console.WriteLine(target.name + " matches with conf " + conf.ToString());
}
if (conf > .3)
{
Console.WriteLine(target.name + " is the best target with conf " + conf.ToString());
dogTricks.walk_to_point(myMind, target);
myMind.myDog.TurnTo(target.X, target.Y);
myMind.myContext.last_focus = target;
Console.WriteLine("At the target");
// Wei Chen 2010-04-21
if (myMind.myDog.PickupObject(target))
{
Console.WriteLine("Carried the target");
}
// Wei Chen 2010-04-21
dogTricks.walk_to_point(myMind, Convert.ToSingle(128), Convert.ToSingle(128));
myMind.myDog.DropObject(target);
return;
}
}
Console.WriteLine("Explore new ground");
if (dogTricks.find_unexplored(myMind, target_CD, out fx, out fy, 25) == false)
{
break;
}
dogTricks.walkTo(myMind, fx, fy, 10);
myMind.update_explored();
if (myMind.myContext.new_objects == null || myMind.myContext.new_objects.Count == 0)
{
new_objects_flag = false;
}
}
// myMind.mySynth.SpeakAsync("I can't find the right target");
Console.WriteLine("Gave up on finding the target");
}
