public override (Wheel[], ControlInfo) GetInstruction(Field field)
{
if (_strategy == null)
{
throw new DllNotFoundException();
}
var nativeField = new Native.Field(field);
if (ReverseCoordinate)
{
nativeField.Reverse();
}
var env = new Native.Legacy.Environment(nativeField, whosball, gameState, userData);
try
{
_strategy(ref env);
userData = env.UserData;
}
catch (Exception e)
{
throw new DllException("Strategy", e);
}
var controlInfo = new ControlInfo {
Command = ControlType.Continue
};
var wheel = env.SelfRobots.Select(x => new Wheel()
{
LeftSpeed = (float)x.VelocityLeft,
RightSpeed = (float)x.VelocityRight
}).ToArray();
return(wheel, controlInfo);
}
public override bool Load(string dllPath, bool reverse, out Exception exception)
{
if (IsLoaded)
{
exception = new Exception("DLL has loaded.");
return(false);
}
ReverseCoordinate = reverse;
_lastDllPath = dllPath;
var hModule = LoadLibrary(dllPath);
var errorCode = Marshal.GetLastWin32Error();
if (hModule == IntPtr.Zero)
{
exception = new Exception($"Error load {dllPath}, code {errorCode}");
return(false);
}
CurrentModule = hModule;
try
{
//BEGIN UNMANAGED FUNCTIONS
_create = LoadFunction <LegacyStrategyDelegate>("Create");
_strategy = LoadFunction <LegacyStrategyDelegate>("Strategy");
_destroy = LoadFunction <LegacyStrategyDelegate>("Destroy");
//END UNMANAGED FUNCTIONS
}
catch (ArgumentNullException e)
{
Unload();
exception = new Exception("Missing function", e);
return(false);
}
var env = new Native.Legacy.Environment()
{
CurrentBall = new Native.Legacy.Ball {
Position = new Native.Legacy.Vector3 {
x = 50, y = 41.5
}
},
SelfRobots =
new[] {
new Native.Legacy.Robot {
Position = new Native.Legacy.Vector3 {
x = 90.5, y = 42
}
},
new Native.Legacy.Robot {
Position = new Native.Legacy.Vector3 {
x = 81, y = 23
}
},
new Native.Legacy.Robot {
Position = new Native.Legacy.Vector3 {
x = 81, y = 61
}
},
new Native.Legacy.Robot {
Position = new Native.Legacy.Vector3 {
x = 62, y = 23
}
},
new Native.Legacy.Robot {
Position = new Native.Legacy.Vector3 {
x = 62, y = 61
}
},
}
};
_create?.Invoke(ref env);
userData = env.UserData;
exception = null;
return(true);
}
