/// <summary>
/// Creates an immutable copy of the interface's current state.
/// </summary>
/// <returns>
/// The state.
/// </returns>
public CarState CreateState()
{
CarState state = new CarState();
state.Accelerometer = new AccelerometorSensor();
state.Accelerometer.SetValues(Accelerometor.X, Accelerometor.Y, Accelerometor.Z);
state.RearUltrasonicSensor = new UltrasonicSensor();
state.RearUltrasonicSensor.DistanceReadingCM = RearUltrasonicSensor.DistanceReadingCM;
state.FrontUltrasonicSensors = new UltrasonicSensor[] {
new UltrasonicSensor(),
new UltrasonicSensor(),
new UltrasonicSensor()
};
state.FrontUltrasonicSensors[(int)UltrasonicSensorIndex.FrontLeft].DistanceReadingCM = FrontUltrasonicSensors[(int)UltrasonicSensorIndex.FrontLeft].DistanceReadingCM;
state.FrontUltrasonicSensors[(int)UltrasonicSensorIndex.FrontMiddle].DistanceReadingCM = FrontUltrasonicSensors[(int)UltrasonicSensorIndex.FrontMiddle].DistanceReadingCM;
state.FrontUltrasonicSensors[(int)UltrasonicSensorIndex.FrontRight].DistanceReadingCM = FrontUltrasonicSensors[(int)UltrasonicSensorIndex.FrontRight].DistanceReadingCM;
state.SteeringServo = new Servo(null);
state.SteeringServo.Value = SteeringServo.Value;
state.ThrottleServo = new Servo(null);
state.ThrottleServo.Value = ThrottleServo.Value;
return state;
}
public virtual bool ShouldTriggerInterruptWithState(CarState state)
{
return false;
}
public virtual bool PerformAIWork(CarState state, double cumulativeThrottleValue, double cumulativeSteeringValue, out double computedThrottleValue, out double computedSteeringValue)
{
computedSteeringValue = cumulativeSteeringValue;
computedThrottleValue = cumulativeThrottleValue;
return false;
}