protected AbstractVectorActionPlus(IVectorBehaviourPlus behaviour, TimeSpan?timeout, bool needsControl)
{
Behaviour = behaviour;
Created = DateTime.Now;
State = ActionState.Pending;
StartTimeout = timeout;
NeedsControl = needsControl;
}
public async Task AddBehaviourAsync(IVectorBehaviourPlus behaviour)
{
if (!Behaviours.Any(b => b.UniqueReference == behaviour.UniqueReference))
{
Behaviours.Add(behaviour);
UpdateFrameProcessors();
if (Connection == ConnectedState.Connected)
{
await ActOnAnyBehaviourPermanentRequirements();
await RegisterBehavioursAsync(new[] { behaviour });
}
if (behaviour.ActionOnAdded != null)
{
EnqueueAction(behaviour.ActionOnAdded);
}
OnBehaviourEvent?.Invoke(Behaviours, BehaviourEvent.Add);
}
}
public StopAllMotorsAction(IVectorBehaviourPlus behaviour, TimeSpan?timeout) : base(behaviour, timeout, true)
{
}
public SimpleSpeechAction(IVectorBehaviourPlus behaviour, string speech) : base(behaviour, TimeSpan.FromSeconds(15), true)
{
this.speech = speech;
}
public TurnToFaceAction(IVectorBehaviourPlus behaviour, TimeSpan?timeout, Face face) : base(behaviour, timeout, true)
{
this.face = face;
}
public static VectorBehaviourPlusReport FromException(Exception e, Robot robot = null, IVectorControllerPlus controller = null, IVectorBehaviourPlus behaviour = null)
{
return(new VectorBehaviourPlusReport()
{
Description = e.Message,
Controller = controller,
Robot = robot,
Behaviour = behaviour
});
}
public BirthdaySongAction(IVectorBehaviourPlus behaviour, TimeSpan?timeout) : base(behaviour, timeout, true)
{
}
public ExterminateAction(IVectorBehaviourPlus behaviour, TimeSpan?timeout) : base(behaviour, timeout, true)
{
}
public OfferTeaAction(IVectorBehaviourPlus behaviour, TimeSpan?timeout, string name = null) : base(behaviour, timeout, true)
{
this.name = name;
}
public FaceSomeoneAction(IVectorBehaviourPlus behaviour, TimeSpan?timeout) : base(behaviour, timeout, true)
{
}
