/// <summary>
/// Implements the "Recovering" state.
/// </summary>
private void Recover()
{
LogInfo("TrackRoamerBehaviorsService: Recover()");
Kata kata = KataHelper.KataByCollisionState(_state.collisionState, "avoid to").FirstOrDefault();
if (kata != null)
{
Talker.Say(5, "Kata " + kata.name);
SpawnIterator <Kata, Handler>(
kata,
delegate()
{
//Talker.Say(5, "kata success: " + kata.success + " count: " + kata.successfulStepsCount);
//Talker.Say(5, "kata success");
Tracer.Trace("kata " + kata.name + " success");
},
KataRunner); // KataRunner sets MovingState to MovingState.InTransition
}
else
{
Talker.Say(10, "no kata!");
LogError("DriveBehaviorServiceBase: BehaviorKata() - cannot find appropriate Kata");
}
LogInfo("DriveBehaviorServiceBase: BehaviorKata() finished");
}
protected IEnumerator <ITask> BehaviorKata()
{
LogInfo("DriveBehaviorServiceBase: BehaviorKata() Started");
Talker.Say(2, "starting Behavior Kata");
// Wait for settling time
yield return(Timeout(15000));
/*
* SpawnIterator<TurnAndMoveParameters, Handler>(
* new TurnAndMoveParameters()
* {
* rotateAngle = 30,
* rotatePower = MaximumTurnPower,
* speed = (int)Math.Round(ModerateForwardVelocity),
* desiredMovingState = MovingState.FreeForwards
* },
* delegate()
* {
* },
* TurnAndMoveForward);
* */
/*
* Kata kata = new Kata() { name="My Kata" };
*
* kata.Add(new KataStep()
* {
* name = "Turn 30 backup 400",
* rotateAngle = 30,
* rotatePower = MaximumTurnPower,
* speed = (int)Math.Round(ModerateForwardVelocity),
* distance = -400,
* desiredMovingState = MovingState.Unknown
* }
* );
*
* kata.Add(new KataStep()
* {
* name = "Turn -30 forward 400",
* rotateAngle = -30,
* rotatePower = MaximumTurnPower,
* speed = (int)Math.Round(ModerateForwardVelocity),
* distance = 400,
* desiredMovingState = MovingState.Unknown
* }
* );
*/
Kata kata = KataHelper.KataByName("avoid.*").FirstOrDefault();
if (kata != null)
{
Talker.Say(5, "kata " + kata.name);
SpawnIterator <Kata, Handler>(
kata,
delegate()
{
Talker.Say(5, "kata success: " + kata.success + " count: " + kata.successfulStepsCount);
},
KataRunner);
}
else
{
LogError("DriveBehaviorServiceBase: BehaviorKata() - cannot find appropriate Kata");
}
LogInfo("DriveBehaviorServiceBase: BehaviorKata() finished");
}
