protected async Task ReportAsync(string description)
{
var report = new VectorBehaviourPlusReport()
{
Description = description,
Controller = controller,
Robot = controller.Robot,
Behaviour = this
};
await controller.ReportAsync(report);
}
public async Task StartMainLoopAsync(CancellationToken cancel, char?haltOn = ' ')
{
mainLoopRunning = true;
var examineConsole = true;
char?lastKeyPress = null;
while (!cancel.IsCancellationRequested && mainLoopRunning && (haltOn == null || lastKeyPress != haltOn))
{
await Task.Delay(100);
try
{
if (examineConsole)
{
lastKeyPress = Console.KeyAvailable ? Console.ReadKey().KeyChar : (char?)null;
if (lastKeyPress.HasValue)
{
OnKeyPress?.Invoke(lastKeyPress.Value);
await OfferKeypressToBehavioursAsync(lastKeyPress.Value);
}
}
}
catch (InvalidOperationException e)
{
await ReportAsync(VectorBehaviourPlusReport.FromException(e));
examineConsole = false;
}
if (AnyBehavioursNeedCameraProcessing)
{
ProcessCameraFrame();
}
if (AnyBehavioursNeedPermanentObjectMonitoring)
{
UpdateObjectMonitoring();
}
}
}
public async Task ReportAsync(VectorBehaviourPlusReport report)
{
Reports.Add(report);
OnBehaviourReport?.Invoke(report);
}