public override void InitializeAgent()
{
environment.InitializeEnvironment();
rb = GetComponent <Rigidbody>();
wheels = GetComponent <WheelDrive>();
if (useSimplePhysics)
{
Destroy(wheels);
WheelCollider[] wheelColliders = FindObjectsOfType <WheelCollider>();
foreach (WheelCollider wheelCollider in wheelColliders)
{
Destroy(wheelCollider);
}
rb.constraints = RigidbodyConstraints.FreezeRotation;
}
shovel = GetComponent <ShovelControl>();
vision = GetComponent <RobotVision>();
vision.InitializeDebrisArray(environment);
sensors = GetComponent <RobotSensors>();
dropZone = environment.GetDropZone();
displayRewards = FindObjectOfType <DisplayRewards>();
startPosition = transform.position;
startRotation = transform.rotation;
lastCheckedPosition = startPosition;
//AgentReset();
}
/// <summary>
/// Dada una expresion, reconoce los nombres de sensores presentes en ella,
/// y sustituye esos literales por sus valores.
/// </summary>
/// <param name="expression"></param>
/// <returns></returns>
private string ParseSensorData(string expression)
{
if (expression == null || expression == "")
{
return("");
}
Tokenizer tokenizer = new Tokenizer(expression);
var enumerator = tokenizer.GetTokens().GetEnumerator();
while (enumerator.MoveNext())
{
Token current = enumerator.Current;
string possibleSensorName = "";
string possibleSensorProperty = "";
if (current != null && current.Type == TokenType.Name)
{
possibleSensorName = current.Value;
enumerator.MoveNext();
if (enumerator.Current.Type == TokenType.Dot)
{
enumerator.MoveNext();
if (enumerator.Current.Type == TokenType.Name)
{
possibleSensorProperty = enumerator.Current.Value;
}
else
{
throw new Exception("Invalid expression");
}
}
}
if (possibleSensorName != "" && possibleSensorProperty != "")
{
string fullSensorLiteral = possibleSensorName + "." + possibleSensorProperty;
possibleSensorName = possibleSensorName.ToLower();
possibleSensorProperty = possibleSensorProperty.ToLower();
bool ok = false;
//Comienza por parsear los colores.
if (possibleSensorName == "color")
{
Color c = Color.FromName(possibleSensorProperty);
if (c.IsKnownColor)
{
expression.Replace(fullSensorLiteral, c.ToArgb().ToString());
}
else
{
throw new Exception("A specified color is not supported or does not exist.");
}
}
else
{
// Se usa Reflection para obtener todos los sensores del robot con sus correspondientes valores.
RobotSensors conjunto = Robot.Sensors;
var typeOfSensores = conjunto.GetType();
PropertyInfo[] sensoresProperties = typeOfSensores.GetProperties();
string result = "";
foreach (PropertyInfo info in sensoresProperties)
{
var l = info.GetValue(conjunto, null);
Type currentSensorType = l.GetType();
if (currentSensorType.Name.ToLower() == possibleSensorName)
{
foreach (PropertyInfo sensorProperties in currentSensorType.GetProperties())
{
if (sensorProperties.Name.ToLower() == possibleSensorProperty)
{
var value = sensorProperties.GetValue(l, null);
if (value != null)
{
result = value.ToString();
expression = expression.Replace(fullSensorLiteral, result);
ok = true;
break;
}
}
}
}
}
if (!ok)
{
throw new Exception("A specified sensor or property does not exist.");
}
}
}
}
return(expression);
}