static void Main()
{
//Test Data
Garage garage = new Garage();
garage.Add(new Car("Car 1", 1));
garage.Add(new Car("Car 2", 2));
garage.Add(new Car("Car 3", 3));
garage.Add(new Car("Car 4", 4));
//Anonymous decleration
garage.PerformCustomOperation(delegate(Car car) { car.Travel(10); });
//lambada
garage.PerformCustomOperation((c) => c.IsDirty = (c.LicencseId % 2 == 0) ? true : false);
//Declare Car Action delegate
CarAction printCarInfo = new CarAction(PrintCarName);
//Add a method to the delegate invoke list
printCarInfo += PrintCarLicencse;
printCarInfo += PrintCarDistance;
printCarInfo += PrintCarDirty;
//calla method that takes a delegate (will invoke all of the methods in the invoking list)
garage.PerformCustomOperation(printCarInfo);
}
// The following method takes a parameter of the delegate type
// we just defined, and invokes the delegate for each car in
// the garage.
//
public void PerformCustomOperation(CarAction carAction)
{
foreach (Car car in _cars)
{
carAction(car);
}
}
internal CarAction getActionAndReset()
{
CarAction r = new CarAction(accel, turn);
accel = turn = 0;
return(r);
}
public void SetNextCarAction(CarAction carAction)
{
switch (carAction)
{
case CarAction.Nothing:
break;
case CarAction.Forward:
MoveFrontal(1.0f);
break;
case CarAction.Backward:
MoveFrontal(-1.0f);
break;
case CarAction.Right:
MoveLateral(1.0f);
break;
case CarAction.Left:
MoveLateral(-1.0f);
break;
case CarAction.Break:
Break(1.0f);
break;
}
}
public CarAction update(GameState state)
{
CallScript("Update");
CarAction action = carapi.getActionAndReset();
if (state.enteredNewSegment)
{
CallScript("NewSection");
state.enteredNewSegment = false;
}
return(action);
}
public virtual bool update()
{
try {
CarAction action = simulator.update(state);
controller.Move(controller.CurrentSteerAngle / 20 + action.turn * 0.05f, action.accel, 0, 0);
state.setTurnAngle(controller.CurrentSteerAngle);
state.setPosition(car.transform.position);
state.setPosition(carFront.transform.position);
state.setVelocity(controller.CurrentVelocity);
state.setFacingAngle(car.transform.eulerAngles.y);
} catch (NLua.Exceptions.LuaException e) {
instance.ShowErrorAndQuit("LUA ERROR: " + e.ToString());
} catch (Exception e) {
Debug.Log("internal error " + e);
}
return(finishedRace);
}
public CarAction DoAction(CarAction action)
{
return(Post <CarAction, CarAction>("api/caractions", action));
}
public static void Main(string[] args)
{
Double ZoneDistance = 0.0;
try
{
Console.BackgroundColor = System.ConsoleColor.Black;
Console.ForegroundColor = System.ConsoleColor.Blue;
LogIt.WriteLine("Self version " + AppVersion + " - Copyright SMA Technologies 2020", true);
if (args.Length < 2 || args[1] == "-help" || args[1] == "-?")
{
Usage();
Environment.Exit(0);
}
else
{
Applicant = args[0];
MyCourse = Convert.ToUInt16(args[1]);
if (MyCourse < 1 || MyCourse > 3)
{
Usage();
MyCourse = 1;
}
}
LogIt.WriteLine("Hi! I am CarAnnA, your new car. Wish me good luck as I go to the Endpoint to retrieve road details and learn about myself.", true);
LogIt.WriteLine("STEP 1: I am going to register myself by requesting for a token.", true);
SelfDrivingCarRestClient Driver = new SelfDrivingCarRestClient(5000);
Driver.Register(new TokenRequest {
Name = Applicant, CourseLayout = MyCourse
});
CarAction MyCarAct = new CarAction();
MyCarAct.Action = "IgnitionOn";
Driver.DoAction(MyCarAct);
Car MyCar = Driver.GetCar();
Road MyRoad = Driver.GetRoad();
LogIt.WriteLine("CarAnnA received a token for Applicant " + Applicant + " ,Road Course " + MyCourse + ". Current speed limit is " + MyRoad.CurrentSpeedLimit.Min + "-" + MyRoad.CurrentSpeedLimit.Max + " m/s.", true);
LogIt.WriteLine("Hi, this is CarAnnA again. My engine is " + MyCar.Engine.State + " at the moment, but I will take you on a long drive now. Let's begin...", true);
LogIt.WriteLine("For details of variable car and road parameters during the course, check the log SelfLOG.txt after CarAnnA finishes the driving session.", true);
CruiseControl(10);
while ((MyCar.Ignition == "On" || MyCar.Engine.State == "Running"))
{
if (MyRoad.CurrentSpeedLimit.Max == 0 && MyRoad.CurrentSpeedLimit.Min == 0 && MyRoad.SpeedLimitAhead.Max == null)
{
MyCarAct.Action = "Brake";
MyCarAct.Force = 6;
Driver.DoAction(MyCarAct);
LogIt.WriteLine("CarAnnA's driving session is over. I drove " + MyCar.TotalDistanceTravelled + " miles in " + MyCar.TotalTimeTravelled + " seconds at an average speed of " + SelfAvgSpeed, true);
MyCarAct.Action = "IgnitionOff";
Driver.DoAction(MyCarAct);
break;
}
else if (Convert.ToDouble(MyCar.CurrentVelocity) <= MyRoad.CurrentSpeedLimit.Min)
{
LogIt.WriteLine("Stepping up on that accelerator!", true);
MyCarAct.Action = "Accelerate";
MyCarAct.Force = 6;
Driver.DoAction(MyCarAct);
}
else if (Convert.ToDouble(MyCar.CurrentVelocity) <= MyRoad.CurrentSpeedLimit.Max) //&& MyRoad.SpeedLimitAhead.RemainingDistanceToEnforcement > STOPSIGNDISTANCE)
{
LogIt.WriteLine("I can go a bit faster than that...", true);
MyCarAct.Action = "Accelerate";
MyCarAct.Force = 3;
Driver.DoAction(MyCarAct);
}
//7. If the car is approaching a stop sign, it will have a future speed limit maximum and minimum of 0 m/s.
// It will be this way for 50 meters. Once in the zone, the future speed limit will return to a standard speed limit with the new speed.
else if (MyRoad.SpeedLimitAhead.Max == 0 && MyRoad.SpeedLimitAhead.Min == 0)
{
ZoneDistance = (Double)MyCar.TotalDistanceTravelled;
while ((Double)MyCar.TotalDistanceTravelled - ZoneDistance < STOPSIGNDISTANCE)
{
LogIt.WriteLine("Approaching STOP sign...", true);
MyCarAct.Action = "Brake";
MyCarAct.Force = 4;
Driver.DoAction(MyCarAct);
MyCar = Driver.GetCar();
MyRoad = Driver.GetRoad();
}
MyCarAct.Action = "Brake";
MyCarAct.Force = 6;
Driver.DoAction(MyCarAct);
LogIt.WriteLine("Stopped at the STOP sign...", true);
}
else // CASE: (Convert.ToDouble(MyCar.CurrentVelocity) > MyRoad.CurrentSpeedLimit.Min)
{
LogIt.WriteLine("Slowing down to stay within limits...", true);
MyCarAct.Action = "Brake";
MyCarAct.Force = 6;
Driver.DoAction(MyCarAct);
}
//Refresh Details
MyCar = Driver.GetCar();
MyRoad = Driver.GetRoad();
SelfAvgSpeed = (SelfAvgSpeed + Convert.ToDouble(MyCar.CurrentVelocity)) / 2;
LogIt.WriteLine("CarAnnA Progress: Current Speed: " + MyCar.CurrentVelocity + "; Average speed : " + SelfAvgSpeed + " ; Distance traveled: " + MyCar.TotalDistanceTravelled + " ; Time spent on road : " + MyCar.TotalTimeTravelled, false);
} // While
LogIt.WriteLine("", true);
LogIt.WriteLine("Hope you enjoyed the drive. Please check SelfLOG*.txt to see how well I drove, and give your feedback. Good Bye!", true);
CruiseControl(10);
}
catch (Exception e)
{
LogIt.errorout("Main", e.Message, -2, true);
}
LogIt.CloseLog();
}
