public async Task StartSimulationAsync(uint stepsToRun = 0)
{
if (CoreProxy == null)
{
Log.Error("Cannot start simulation, not connected to a core");
throw new InvalidOperationException("Core proxy does not exist, cannot start");
}
Log.Info("Starting simulation");
await CoreProxy.RunAsync(stepsToRun);
}
public async Task PerformBrainStepAsync()
{
if (CoreProxy == null)
{
Log.Error("Cannot perform brain step, not connected to a core");
throw new InvalidOperationException("Core proxy does not exist, cannot step");
}
Log.Info("Performing brain step");
await CoreProxy.RunAsync(1);
}
private void FinishDisconnect()
{
CoreState oldState = CoreProxy.State;
UnregisterCoreEvents();
CoreProxy.Dispose();
CoreProxy = null;
StateChanged?.Invoke(this, new StateChangedEventArgs(oldState, CoreState.Disconnected));
Log.Info("Disconnected from core");
}
public async Task ShutdownAsync()
{
if (!IsConnected)
{
Log.Warn("Cannot shut down, not connected.");
return;
}
if ((CoreProxy != null) && m_isCoreLocal)
{
Log.Info("Shutting down the core");
await CoreProxy.ShutdownAsync();
}
AfterShutdown();
}
public async Task ClearBlueprintAsync()
{
Log.Info("Clearing blueprint");
await CoreProxy.ClearAsync();
}
public async Task RunToBodyStepAsync()
{
Log.Info("Running to next body step");
await CoreProxy.RunAsync(runToBodyStep : true);
}
public async Task PauseSimulationAsync()
{
Log.Info("Pausing simulation");
await CoreProxy.PauseAsync();
}
private async Task SendConfigurationAsync(CoreConfiguration coreConfiguration)
{
Log.Info("Sending core configuration");
await CoreProxy.SendConfigurationAsync(coreConfiguration);
}
public async Task LoadBlueprintAsync(string blueprint)
{
Log.Info("Loading blueprint");
await CoreProxy.LoadBlueprintAsync(blueprint);
}
