public WalkStraightExperiment(
WorldInputInterface Wii,
WorldOutputInterface Woi
)
: base(Wii, Woi)
{
sensorNames = new List<string>();
}
private bool moveRandom = false; // whether or not the leader should move randomly
#endregion Fields
#region Constructors
public DFSExperiment(
WorldInputInterface Wii,
WorldOutputInterface Woi)
: base(Wii, Woi)
{
//Note the sensorNames list is being generated in the code here
//However it can easily be extended to read from a Configuration File from the disk
sensorNames = new List<string>();
//sensorNames.Add("RobotSensor");
sensorNames.Add("DFSSensor");
sensorNames.Add("GridSensor");
sensorNames.Add("BoundarySensor");
}
/// <summary>
/// Constructor. Initialize the robots. Initialize the world state.
/// </summary>
/// <param name="Wii"></param>
/// <param name="Woi"></param>
public ControlLoop(WorldInputInterface Wii, WorldOutputInterface Woi)
{
this.Wii = Wii;
this.Woi = Woi;
worldState = Wii.ws;
List<Robot> robots = worldState.robots;
List<PhysObject> worldObjects = worldState.physobjects;
foreach (Robot robot in robots)
{
Robots.Add(robot.Id,robot);
}
foreach (PhysObject obj in worldObjects)
{
WorldObjects.Add(obj.Id, obj);
}
// Assume default for now. Experiment class can change after
globalAlgorithm = new DefaultGlobalAlgorithm();
}
public void RunExperiment()
{
ControlLoop cl = new ControlLoop(Wii, Woi);
if(globalAlg != null)
cl.setGlobalAlgorithm(globalAlg);
while (true)
{
try
{
Console.WriteLine("Running Control Loop");
cl.RunLoop();
//Thread.Sleep(1000);
}
catch (AlgorithmFinishedException e)
{
//This may need to be cleared out. This is if one robot finds a food source, but we may
//want other stop criterion
Console.WriteLine("Experiment Finished by Robot: " + e.robotid);
// Check for batch mode
if (Wii.GetType() == typeof(SimulatorInputInterface))
{
CS266.SimCon.Simulator.OurSimulator osNew = ((SimulatorInputInterface)Wii).getOurSimulator().Finished();
if (osNew == null)
{
// We're done
break;
}
else
{
Wii = new SimulatorInputInterface(osNew);
Woi = new SimulatorOutputInterface(osNew);
SetupExperiment();
RunExperiment();
break;
}
}
}
catch (GlobalAlgorithmFinishedException e)
{
Console.WriteLine("Experiment Finished globally");
// Check for batch mode
if (Wii.GetType() == typeof(SimulatorInputInterface))
{
CS266.SimCon.Simulator.OurSimulator osNew = ((SimulatorInputInterface)Wii).getOurSimulator().Finished();
if (osNew == null)
{
// We're done
break;
}
else
{
Wii = new SimulatorInputInterface(osNew);
Woi = new SimulatorOutputInterface(osNew);
SetupExperiment();
RunExperiment();
break;
}
}
}
Thread.Sleep(3000);
}
}
//Boolean used to return whether or not the experiment has finished running
//Used to tell the control loop to stop looping
//public Boolean isRunning = true;
public Experiment(WorldInputInterface Wii, WorldOutputInterface Woi)
{
this.Wii = Wii;
this.Woi = Woi;
//this.numRobots = Wii.GetRobots().Count;
}