added low perfomance option

README.md

@@ -38,6 +38,7 @@ Some behaviors can be configured in Program.cs file:
   - `StartY`: Agent start Y position (>=0, <`EnvConfig.Height`)
   - `AutoAdjustThinkTimeInterval`: Indicate if agent should try to auto adjust think time interval (`AgConfig.ThinkTimeInterval`)
   - `ThinkTimeInterval`: Default think time interval in ms (>=0). This variable controls how often the agent will re-evaluate the situation
+  - `LowPerfomance`: Value that indicate when the performance should be considered as too low. If current performance is less or equal, the agent will bypass `AgConfig.ThinkTimeInterval` and re-evaluate the situation anyway
   
 How it works
 ------------

uqac-ia-aspirobot/Agent/AgAgent.cs

@@ -30,6 +30,7 @@ namespace uqac_ia_aspirobot.Agent
 
         private readonly AgState _state;
         private readonly IUi _ui;
+        private readonly IAgPerformanceSensor _agPerformanceSensor;
 
         private static Thread _thread;
 
@@ -70,7 +71,7 @@ namespace uqac_ia_aspirobot.Agent
         }
 
         public AgAgent(IOptions<AgConfig> options,
-            IEnvironment environment, AgState state, IUi ui,
+            IEnvironment environment, AgState state, IUi ui, IAgPerformanceSensor agPerformanceSensor,
             IAgEngineEffector engineEffector, IAgVaccumEffector vaccumEffector)
         {
             _engineEffector = engineEffector;
@@ -79,6 +80,7 @@ namespace uqac_ia_aspirobot.Agent
             _environment = environment;
             _state = state;
             _ui = ui;
+            _agPerformanceSensor = agPerformanceSensor;
 
             _options = options.Value;
             _state.LastThinkTime = DateTime.MinValue;
@@ -130,7 +132,7 @@ namespace uqac_ia_aspirobot.Agent
         public void Think()
         {
             var now = DateTime.Now;
-            if (_state.LastThinkTime.AddMilliseconds(_state.ThinkTimeInterval) <= now)
+            if (_state.LastThinkTime.AddMilliseconds(_state.ThinkTimeInterval) <= now || _agPerformanceSensor.Performance <= _options.LowPerformance)
             {
                 if (_state.Destination == null && _state.DustyRooms.Any())
                 {

uqac-ia-aspirobot/Agent/AgConfig.cs

@@ -8,6 +8,8 @@
 
         public int ThinkTimeInterval { get; set; }
 
+        public float LowPerformance { get; set; }
+
         public int StartX { get; set; }
 
         public int StartY { get; set; }
@@ -17,6 +19,7 @@
             other.AutoAdjustThinkTimeInterval = AutoAdjustThinkTimeInterval;
             other.SleepTime = SleepTime;
             other.ThinkTimeInterval = ThinkTimeInterval;
+            other.LowPerformance = LowPerformance;
             other.StartX = StartX;
             other.StartY = StartY;
         }

uqac-ia-aspirobot/Program.cs

@@ -36,7 +36,8 @@ namespace uqac_ia_aspirobot
                 StartX = 0,
                 StartY = 0,
                 AutoAdjustThinkTimeInterval = true,
-                ThinkTimeInterval = 10000
+                ThinkTimeInterval = 10000,
+                LowPerformance = -1
             }, arConfig);
 
             AgAgent.Join();