private void ForwardCompReport(UrbanChallenge.Behaviors.CompletionReport.CompletionReport report)
{
if (forwardPackets)
{
ForwardObject(report, false, compReportStream);
}
}
public void SendCompletionReport(UrbanChallenge.Behaviors.CompletionReport.CompletionReport report)
{
//OperationalTrace.WriteInformation("sending completion report {0}, listener {1}", report, listener == null ? "<null>" : listener.ToString());
OperationalListener l = listener;
if (l != null)
{
try {
l.OnCompletionReport(report);
OperationalTrace.WriteVerbose("completion report succeeded");
}
catch (Exception ex) {
OperationalTrace.WriteWarning("completion report send failed: {0}", ex);
}
ForwardCompReport(report);
}
}
public abstract void OnCompletionReport(CompletionReport report);
protected override void ForwardCompletionReport(CompletionReport report)
{
// we only want to forward success completion reports
if (report is SuccessCompletionReport) {
base.ForwardCompletionReport(report);
}
else {
// otherwise, we have a blockage
// if it's dynamically infeasible, then we want to do a reverse and try again
Console.WriteLine("zone trizavel: intercepted blockage report");
if (reverseGear) {
Console.WriteLine("in reverse, switch to forward");
// we're in reverse, switch back to forward
reverseGear = false;
lastDynInfeasibleTime = null;
prevCurvature = double.NaN;
}
else {
if (arcMode) {
Console.WriteLine("arc mode blocked, switch to reverse");
reverseGear = true;
lastDynInfeasibleTime = null;
prevCurvature = double.NaN;
InitializeReverse();
}
else {
Console.WriteLine("switch to arc mode");
arcMode = true;
lastDynInfeasibleTime = null;
arcModeTimer = Stopwatch.StartNew();
prevCurvature = double.NaN;
}
}
}
}
protected override void ForwardCompletionReport(CompletionReport report)
{
if (reverseGear && report is TrajectoryBlockedReport) {
// just because we're assholes, replace the blockage with a success when we're in reverse and
// execute a hold brake
Services.BehaviorManager.Execute(new HoldBrakeBehavior(), null, true);
base.ForwardCompletionReport(new SuccessCompletionReport(typeof(StayInLaneBehavior)));
}
else {
base.ForwardCompletionReport(report);
}
}
public CompletionReport TestBehavior(Behavior b)
{
IOperationalBehavior operBehavior = null;
try {
testMode = true;
Console.WriteLine("Testing behavior " + b.ToString() + " -- type " + b.GetType().Name);
cachedCompletionReport = new SuccessCompletionReport(b.GetType());
HandleDecorators(b.Decorators);
operBehavior = MapBehavior(b);
operBehavior.Initialize(b);
operBehavior.Process(null);
Console.WriteLine("Result: " + cachedCompletionReport.ToString());
cachedCompletionReport.BehaviorId = b.UniqueId();
return cachedCompletionReport;
}
catch (Exception ex) {
TraceSource.TraceEvent(TraceEventType.Error, 0, "error testing behavior {0}: {1}", b.GetType(), ex);
throw;
}
finally {
if (operBehavior != null && operBehavior is IDisposable) {
((IDisposable)operBehavior).Dispose();
}
}
}
public void ForwardCompletionReport(CompletionReport report)
{
if (testMode) {
cachedCompletionReport = report;
Console.WriteLine("forward comp report: " + report.ToString());
}
else {
if (report is TrajectoryBlockedReport) {
((TrajectoryBlockedReport)report).SAUDILevel = saudiLevel;
}
if (Services.Operational != null) {
Services.Operational.SendCompletionReport(report);
}
}
}
protected virtual void ForwardCompletionReport(CompletionReport report)
{
Services.BehaviorManager.ForwardCompletionReport(report);
}
