GenericGridWorldDynamicState> > Compute(
GenericGridWorldStaticState StaticState,
GenericGridWorldDynamicState DynamicState,
Goal <GenericGridWorldStaticState, GenericGridWorldDynamicState> Goal,
Operator <GenericGridWorldStaticState,
GenericGridWorldDynamicState>[] Actions)
{
while (true)
{
while (Operators.Count == 0)
{
Thread.Sleep(100);
if (this.sv != null)
{
sv.VisualizeAlg(StaticState, StaticState.InitialDynamicState, new OpenGLStateVisualizer.OpenGlVisulizationData( ));
Glut.glutPostRedisplay( );
Glut.glutMainLoopEvent( );
Gl.glFinish( );
}
}
var op = Operators.Dequeue( );
System.Console.WriteLine("Got Op --> {0}", op);
if (op.IsValidOn(StaticState.InitialDynamicState, StaticState, false))
{
System.Console.WriteLine("Trying Op --> {0}", op);
yield return(GridWorldOperator.MakePath(op));
}
}
}
public override void VisualizeAlg(GenericGridWorldStaticState StaticState,
GenericGridWorldDynamicState DynamicState, object AlgData)
{
lock (this) {
PriorityQueue <Metric, GenericGridWorldDynamicState> OL = null;
if (this.vd != null)
{
OL = vd.OL;
}
this.vd = (OpenGLStateVisualizer.OpenGlVisulizationData)AlgData;
if (this.vd != null && this.vd.OL == null)
{
vd.OL = OL;
}
}
while (!nextAction && !nextPlanning)
{
if (continuous && fast_continuous)
{
break;
}
Glut.glutPostRedisplay( );
Glut.glutMainLoopEvent( );
if (continuous)
{
break;
}
}
nextPlanning = false;
}
/**
* loop metodi menee eri threadiin
*/
void loop()
{
while (running)
{
Glut.glutMainLoopEvent();
Glut.glutPostRedisplay(); // kamat ruudulle
Thread.Sleep(1);
}
}
public override void Visualize(GenericGridWorldStaticState StaticState,
GenericGridWorldDynamicState DyanmicState)
{
lock (this) {
this.DyanmicState = DyanmicState;
this.StaticState = StaticState;
}
while (!nextAction && !nextPlanning)
{
Glut.glutPostRedisplay( );
Glut.glutMainLoopEvent( );
if (continuous)
{
break;
}
}
nextAction = false;
nextPlanning = false;
}