/// <summary>
/// Decide on action to be taken for each rod
/// </summary>
/// <param name="currentCoordinates">Current ball coordinates and vector</param>
/// <returns>List of actions per each rod</returns>
public List <RodAction> Decide(BallCoordinates currentCoordinates)
{
if (!IsInitialized)
{
Initialize();
}
if (currentCoordinates == null)
{
throw new ArgumentException(String.Format("[{0}] Coordinates received from vector calculation unit are null",
MethodBase.GetCurrentMethod().Name));
}
//Convert pts and pts/sec to mm and mm/sec
currentCoordinates = _surveyor.PtsToMm(currentCoordinates);
//Calculate Actual Possible Action Time
DateTime timeOfAction = DateTime.Now + SystemDelays;
//Calculate ball future coordinates
BallCoordinates bfc = _predictor.FindBallFutureCoordinates(currentCoordinates, timeOfAction);
List <RodAction> actions = new List <RodAction>();
foreach (IRod rod in _controlledRods)
{
//Calculate dynamic sectors
rod.CalculateDynamicSector(currentCoordinates);
//Draw dynamic sector, better to use on one rod at a time because together is chaos on the screen
Marks.DrawSector(rod.RodType, rod.DynamicSector);
//Calculate intersection point
rod.CalculateSectorIntersection(bfc);
//Decide on action
RodAction action = _decisionTree.Decide(rod, bfc);
actions.Add(action);
//if (rod.RodType == eRod.GoalKeeper) Log.Common.Debug(action.Linear + ": " + action.DcCoordinate);
}
return(actions);
}
