public void StartSimulation(bool startLoaded = false)
{
DnaEngine.LoadSysVars();
if (!startLoaded)
{
SimOpt.SimOpts.TotBorn = 0;
}
if (!startLoaded)
{
_shotsManager = new ShotsManager();
_bucketManager = new BucketManager(SimOpt.SimOpts);
_robotsManager = new RobotsManager(_bucketManager, _shotsManager);
}
var standardRadius = SimOpt.SimOpts.FixedBotRadii ? Robot.RobSize / 2.0 : 415.475;
_shotsManager.MaxBotShotSeparation = Math.Pow(standardRadius, 2) +
Math.Pow(SimOpt.SimOpts.MaxVelocity * 2 + Robot.RobSize / 3.0, 2);
if (!startLoaded)
{
LoadRobots();
}
else
{
Vegs.CoolDown = -SimOpt.SimOpts.RepopCooldown;
Vegs.TotalVegs = -1;
}
_active = true;
Main();
}
private DataAccessHelper()
{
// load connection string
var connectionString = NaoCoopApp.Properties.Settings.Default.NaoCoopDbConnectionString;
// initialize managers
RobotsManager = new RobotsManager(connectionString);
OperationsManager = new OperationsManager(connectionString);
OperationRobotsManager = new OperationRobotsManager(connectionString);
OperationRobotStatesManager = new OperationRobotStatesManager(connectionString);
StatesManager = new StatesManager(connectionString);
StateTasksManager = new StateTasksManager(connectionString);
TasksManager = new TasksManager(connectionString);
SettingsManager = new SettingsManager(connectionString);
RobotVersionsManager = new RobotVersionsManager(connectionString);
RequirementsManager = new RequirementsManager(connectionString);
OperationRequirementsManager = new OperationRequirementsManager(connectionString);
ExecutionsManager = new ExecutionsManager(connectionString);
ExecutionRobotsManager = new ExecutionRobotsManager(connectionString);
UsersManager = new UsersManager(connectionString);
}
