/// <summary>
/// Sets the mode of the car
/// </summary>
/// <param name="mode"></param>
public override void SetCarMode(CarMode mode)
{
if (this.ClientArbiter != null)
{
try
{
this.DynamicsVehicle.SetRunMode(mode);
Console.WriteLine("Set dynamics vehicle run mode to: " + mode.ToString());
}
catch (Exception e)
{
Console.WriteLine("Error setting dynamics vehicle run mode to: " + mode.ToString() + "\n" + e.ToString());
}
}
}
/// <summary>
/// Jumpstarts the ai with a new road network and mission if we can
/// </summary>
/// <param name="roadNetwork"></param>
/// <param name="mission"></param>
public override void JumpstartArbiter(ArbiterRoadNetwork roadNetwork, ArbiterMissionDescription mission)
{
try
{
ArbiterOutput.Output("Jumpstarting Arbiter");
// warn if carmode not correct
CarMode carMode = CoreCommon.Communications.GetCarMode();
if (carMode != CarMode.Pause && carMode != CarMode.Human)
{
ArbiterOutput.Output("Warning: Vehicle is in CarMode: " + carMode.ToString());
}
if (roadNetwork != null && mission != null)
{
// destroy intelligence if exists
this.intelligenceCore.DestroyIntelligence();
// create roads and mission
roadNetwork.SetSpeedLimits(mission.SpeedLimits);
roadNetwork.GenerateVehicleAreas();
this.arbiterRoadNetwork = roadNetwork;
this.arbiterMissionDescription = mission;
CoreCommon.RoadNetwork = roadNetwork;
CoreCommon.Mission = mission;
// startup ai
this.intelligenceCore.Jumpstart();
}
else
{
ArbiterOutput.Output("RoadNetwork and Mission must both have value");
}
}
catch (Exception ex)
{
ArbiterOutput.Output("JumpstartArbiter(ArbiterRoadNetwork roadNetwork, ArbiterMissionDescription mission) Failed", ex);
}
}
/// <summary>
/// Updates the ai with a new mission if can
/// </summary>
/// <param name="mission"></param>
/// <returns></returns>
public override bool UpdateMission(ArbiterMissionDescription mission)
{
try
{
ArbiterOutput.Output("Setting new mission");
CarMode carMode = CoreCommon.Communications.GetCarMode();
if (carMode == CarMode.Pause || carMode == CarMode.Human)
{
if (mission != null)
{
// create roads and mission
CoreCommon.RoadNetwork.SetSpeedLimits(mission.SpeedLimits);
this.arbiterMissionDescription = mission;
CoreCommon.Mission = mission;
return(true);
}
else
{
ArbiterOutput.Output("Mission must have value");
}
}
else
{
ArbiterOutput.Output("Cannot set mission when car is in CarMode: " + carMode.ToString());
}
}
catch (Exception ex)
{
ArbiterOutput.Output("UpdateMission(ArbiterMissionDescription mission) Failed", ex);
}
return(false);
}
/// <summary>
/// Sets the mode of the car
/// </summary>
/// <param name="mode"></param>
public override void SetCarMode(CarMode mode)
{
if (this.ClientArbiter != null)
{
try
{
this.DynamicsVehicle.SetRunMode(mode);
Console.WriteLine("Set dynamics vehicle run mode to: " + mode.ToString());
}
catch (Exception e)
{
Console.WriteLine("Error setting dynamics vehicle run mode to: " + mode.ToString() + "\n" + e.ToString());
}
}
}