private void SetCameraWindowMode(CalibrationMode mode)
{
_viewModel.Mode = mode;
switch (mode)
{
case CalibrationMode.ShowNotCalibrated:
_viewModel.CalibrationResult = null;
_viewModel.Samples.Clear();
ActionButton.Content = "Find Corners";
ShowResultSection(false);
Flyout.IsOpen = true;
CollectedCount.Visibility = Visibility.Collapsed;
break;
case CalibrationMode.CollectingSamples:
ActionButton.Content = "Stop";
CollectedCount.Visibility = Visibility.Visible;
break;
case CalibrationMode.ReadyCalibrating:
ActionButton.Content = "Calibrate";
CollectedCount.Visibility = Visibility.Collapsed;
break;
case CalibrationMode.Calibrating:
Calibrate();
SetImageWindowMode(CalibrationMode.ShowCalibrated);
break;
case CalibrationMode.ShowCalibrated:
ActionButton.Content = "Recalibrate";
CopySettings();
ShowResultSection(true);
break;
}
}
private void SetImageWindowMode(CalibrationMode mode)
{
_viewModel.Mode = mode;
switch (mode)
{
case CalibrationMode.CollectingSamples:
_viewModel.CalibrationResult = null;
ActionButton.Content = "Find Corners";
Flyout.IsOpen = true;
ShowResultSection(false);
LoadImages();
break;
case CalibrationMode.ReadyCalibrating:
FindChessboardCornersOnSamples();
ActionButton.Content = "Calibrate";
break;
case CalibrationMode.Calibrating:
Calibrate();
SetImageWindowMode(CalibrationMode.ShowCalibrated);
break;
case CalibrationMode.ShowCalibrated:
ActionButton.Content = "Recalibrate";
CopySettings();
ShowResultSection(true);
break;
}
}
private void SetImageWindowMode(CalibrationMode mode)
{
_viewModel.Mode = mode;
switch (mode)
{
case CalibrationMode.CollectingSamples:
_viewModel.CalibrationResult = null;
ActionButton.Content = "Find Corners";
Flyout.IsOpen = true;
ShowResultSection(false);
LoadImages();
break;
case CalibrationMode.ReadyCalibrating:
FindChessboardCornersOnSamples();
ActionButton.Content = "Calibrate";
break;
case CalibrationMode.Calibrating:
Calibrate();
SetImageWindowMode(CalibrationMode.ShowCalibrated);
break;
case CalibrationMode.ShowCalibrated:
ActionButton.Content = "Recalibrate";
CopySettings();
ShowResultSection(true);
break;
}
}
/// <summary>
/// Loads calibration settings
/// </summary>
public void LoadValues()
{
calibrationPoints = new Point[2];
calibrationPoints[0] = CalibrationSettings.Instance().CALIBRATION_POINT_A;
calibrationPoints[1] = CalibrationSettings.Instance().CALIBRATION_POINT_C;
if (calibrationPoints[0].X != calibrationPoints[1].X && calibrationPoints[0].Y != calibrationPoints[1].Y)
{
pointCounter = 2;
rotation = CalibrationSettings.Instance().CALIBRATION_ROTATION;
perspective = CalibrationSettings.Instance().CALIBRATION_PERSPECTIVE;
if (perspective != 1)
{
perspectiveRadio.IsChecked = true;
mode = CalibrationMode.PERSPECTIVE;
}
else
{
mode = CalibrationMode.RECTANGLE;
rectangleRadio.IsChecked = true;
}
DrawPoint((int)calibrationPoints[0].X, (int)calibrationPoints[0].Y, 0);
DrawPoint((int)calibrationPoints[1].X, (int)calibrationPoints[1].Y, 1);
CreateLines();
}
CaptureImage();
}
public void IControlUpdate()
{
manager.modeStringEnum = GameManager.ModeString.Main_Menu;
if (control.AL())
{
CalibrationMode.Instance().SetupMode();
}
}
public bool Equals(CalibrationMode other)
{
return
(zone_size == other.zone_size &&
max_zones_count == other.max_zones_count &&
considered_zones_count == other.considered_zones_count &&
update_period_ms == other.update_period_ms &&
multidimension_calibration_type == other.multidimension_calibration_type &&
multi_dimensions_detalization == other.multi_dimensions_detalization);
}
/// <summary>
/// Change of the mode
/// </summary>
private void rectangleRadio_Checked(object sender, RoutedEventArgs e)
{
// pokud byl predchozi mod perspective ,musime zacit odznova
if (mode == CalibrationMode.PERSPECTIVE)
{
resetBut_Click(null, null);
}
this.mode = CalibrationMode.RECTANGLE;
perspective = 1;
}
//----------------------- Calibration routines -----------------------//
public int EnterCalibrationMode(CalibrationMode calMode)
{
UInt64 frame;
frame = (UInt32)calMode;
frame <<= 8;
frame |= (byte)ParamEnum.EnterCalibration;
int status = CTRE.Native.CAN.Send(PARAM_SET | _deviceId, frame, 5, 0);
return(status);
}
public static CalibrationMode Instance()
{
if (instance == null)
{
instance = new CalibrationMode();
manager = SL.Get <GameManager>();
control = SL.Get <IVRControl>();
shared = SL.Get <WorldBuilderMain>();
}
return(instance);
}
/// <summary>
///
/// </summary>
/// <param name="calibrationMode"></param>
/// <param name="delta"></param>
public void Calibrate(CalibrationMode calibrationMode, object calibrationObj)
{
switch (calibrationMode)
{
case CalibrationMode.TachoCountPerStep:
CalibrateForTachoCountPerStep(calibrationObj);
break;
case CalibrationMode.DistancePerStep:
CalibrateForDistancePerStep(calibrationObj);
break;
}
}
public bool Equals(CalibrationMode other)
{
return
(zone_size == other.zone_size &&
max_zones_count == other.max_zones_count &&
considered_zones_count == other.considered_zones_count &&
size_of_opaque_sector_in_percents == other.size_of_opaque_sector_in_percents &&
shade_thickness_in_pixels == other.shade_thickness_in_pixels &&
considered_zones_count_v1 == other.considered_zones_count_v1 &&
correction_fade_out_distance == other.correction_fade_out_distance &&
algorithm == other.algorithm &&
additional_dimensions_configuration.Equals(other.additional_dimensions_configuration));
}
/* static */
public string ToString(CalibrationMode cm)
{
string retval = "Unknown";
switch (cm)
{
case CalibrationMode.BootTareGyroAccel:
return("BootTareGyroAccel");
case CalibrationMode.Temperature:
return("Temperature");
case CalibrationMode.Magnetometer12Pt:
return("Magnetometer12Pt");
case CalibrationMode.Magnetometer360:
return("Magnetometer360");
case CalibrationMode.Accelerometer:
return("Accelerometer");
}
return(retval);
}
private void SetCameraWindowMode(CalibrationMode mode)
{
_viewModel.Mode = mode;
switch (mode)
{
case CalibrationMode.ShowNotCalibrated:
_viewModel.CalibrationResult = null;
_viewModel.Samples.Clear();
ActionButton.Content = "Find Corners";
ShowResultSection(false);
Flyout.IsOpen = true;
CollectedCount.Visibility = Visibility.Collapsed;
break;
case CalibrationMode.CollectingSamples:
ActionButton.Content = "Stop";
CollectedCount.Visibility = Visibility.Visible;
break;
case CalibrationMode.ReadyCalibrating:
ActionButton.Content = "Calibrate";
CollectedCount.Visibility = Visibility.Collapsed;
break;
case CalibrationMode.Calibrating:
Calibrate();
SetImageWindowMode(CalibrationMode.ShowCalibrated);
break;
case CalibrationMode.ShowCalibrated:
ActionButton.Content = "Recalibrate";
CopySettings();
ShowResultSection(true);
break;
}
}
void Start()
{
KeyboardMode.Hook();
int i = Application.dataPath.LastIndexOf("/");
Globals.WORLDPATH = Application.dataPath.Substring(0, i) + "/Worlds/";
Directory.CreateDirectory(Globals.WORLDPATH);
Globals.BACKUPS = Application.dataPath.Substring(0, i) + "/BackupFiles/";
Directory.CreateDirectory(Globals.BACKUPS);
Globals.BUNDLEPATH = Application.dataPath.Substring(0, i) + "/ArtPacks/";
Directory.CreateDirectory(Globals.BUNDLEPATH);
Globals.TEMPFOLDER = Application.dataPath.Substring(0, i) + "/DWTemp/";
Directory.CreateDirectory(Globals.TEMPFOLDER);
Globals.TODPATH = Application.dataPath.Substring(0, i) + "/tod2.tbl";
Globals.LEGACYPATH = Application.dataPath.Substring(0, i) + "/all.tbl";
Globals.FAVPATH = Application.dataPath.Substring(0, i) + "/dw.fav";
favorites = TODV2.LoadGeneric <List <int> >(Globals.FAVPATH);
if (favorites == default(List <int>))
{
favorites = new List <int>();
}
if (Application.isEditor)
{
AssetBundleCreateRequest a = AssetBundleManager.Polygon_Adventure;
}
else
{
AssetBundleManager.Prewarm();
}
SL.Add <GameManager>(this);
SL.Add <Keyboard>(keyboard);
hmd = rig.GetComponent <IVRHmd>();
hmd.Init();
SL.Add <IVRHmd>(hmd);
control = rig.GetComponent <IVRControl>();
control.Init(this);
SL.Add <IVRControl>(control);
poserWidget.SetActive(false);
if (control.GetControlStyle() == ControlerStyle.ViveWand)
{
lb1 = "Down";
lb2 = "Up";
rb1 = "Down";
rb2 = "Up";
}
else if (control.GetControlStyle() == ControlerStyle.RiftTouch)
{
lb1 = "X";
lb2 = "Y";
rb1 = "A";
rb2 = "B";
}
activeFM.Init(this);
SL.Add <FileManagerV2>(activeFM);
SetPrefs();
DeactivateStarter();
mode = WorldBuilderMain.Instance();
if (startPoint.position == Vector3.zero)
{
CalibrationMode.Instance().SetupMode();
}
else
{
TitleScreenMode.Instance().SetupMode();
}
}
/**
* Get the status of the current (or previousley complete) calibration.
* @param statusToFill
*/
public ErrorCode GetGeneralStatus(GeneralStatus statusToFill)
{
ErrorCode errCode = (ErrorCode)ReceiveCAN(COND_STATUS_1 | (int)_baseArbId);
byte b3 = (byte)(_cache >> 0x18);
byte b5 = (byte)(_cache >> 0x28);
byte iCurrMode = (byte)((b5 >> 4) & 0xF);
CalibrationMode currentMode = (CalibrationMode)(iCurrMode);
/* shift up bottom nibble, and back down with sign-extension */
int calibrationErr = b5 & 0xF;
calibrationErr <<= (32 - 4);
calibrationErr >>= (32 - 4);
int noMotionBiasCount = (byte)(_cache >> 0x24) & 0xF;
int tempCompensationCount = (byte)(_cache >> 0x20) & 0xF;
int upTimSec = (byte)(_cache >> 0x38);
statusToFill.currentMode = currentMode;
statusToFill.calibrationError = calibrationErr;
statusToFill.bCalIsBooting = ((b3 & 1) == 1);
statusToFill.state = GetState((int)errCode, _cache);
statusToFill.tempC = (float)GetTemp(_cache);
statusToFill.noMotionBiasCount = noMotionBiasCount;
statusToFill.tempCompensationCount = tempCompensationCount;
statusToFill.upTimeSec = upTimSec;
statusToFill.lastError = errCode;
/* build description string */
if (errCode != 0)
{ // same as NoComm
statusToFill.description = "Status frame was not received, check wired connections and web-based config.";
}
else if (statusToFill.bCalIsBooting)
{
statusToFill.description = "Pigeon is boot-caling to properly bias accel and gyro. Do not move Pigeon. When finished biasing, calibration mode will start.";
}
else if (statusToFill.state == PigeonState.UserCalibration)
{
/* mode specific descriptions */
switch (currentMode)
{
case CalibrationMode.BootTareGyroAccel:
statusToFill.description = "Boot-Calibration: Gyro and Accelerometer are being biased.";
break;
case CalibrationMode.Temperature:
statusToFill.description = "Temperature-Calibration: Pigeon is collecting temp data and will finish when temp range is reached. Do not move Pigeon.";
break;
case CalibrationMode.Magnetometer12Pt:
statusToFill.description = "Magnetometer Level 1 calibration: Orient the Pigeon PCB in the 12 positions documented in the User's Manual.";
break;
case CalibrationMode.Magnetometer360:
statusToFill.description = "Magnetometer Level 2 calibration: Spin robot slowly in 360' fashion. ";
break;
case CalibrationMode.Accelerometer:
statusToFill.description = "Accelerometer Calibration: Pigeon PCB must be placed on a level source. Follow User's Guide for how to level surfacee. ";
break;
}
}
else if (statusToFill.state == PigeonState.Ready)
{
/* definitely not doing anything cal-related. So just instrument the motion driver state */
statusToFill.description = "Pigeon is running normally. Last CAL error code was ";
statusToFill.description += calibrationErr;
statusToFill.description += ".";
}
else if (statusToFill.state == PigeonState.Initializing)
{
/* definitely not doing anything cal-related. So just instrument the motion driver state */
statusToFill.description = "Pigeon is boot-caling to properly bias accel and gyro. Do not move Pigeon.";
}
else
{
statusToFill.description = "Not enough data to determine status.";
}
return(SetLastError(errCode));
}
//----------------------- Calibration routines -----------------------//
public ErrorCode EnterCalibrationMode(CalibrationMode calMode, int timeoutMs)
{
ErrorCode errCode = ConfigSetWrapper(ParamEnum.eEnterCalibration, (int)calMode, timeoutMs);
return(SetLastError(errCode));
}
/// <summary>
/// Change of the mode
/// </summary>
private void perspectiveRadio_Checked(object sender, RoutedEventArgs e)
{
this.mode = CalibrationMode.PERSPECTIVE;
}
void ctrl_KeyDown(object sender, KeyEventArgs e)
{
switch (e.KeyCode)
{
case Keys.D0:
// 0
calibrationMode = CalibrationMode.CLEAR;
break;
case Keys.D1:
calibrationMode = CalibrationMode.CALIBRATION;
break;
case Keys.D2:
// 2
calibrationMode = CalibrationMode.MEASUREMENT;
break;
case Keys.D6:
colorMode = (colorMode == ColorMode.GRAYSCALE) ? ColorMode.COLOR : ColorMode.GRAYSCALE;
contextLabelColor.Description = (colorMode == ColorMode.GRAYSCALE) ? Resources.Color : Resources.Grayscale;
break;
case Keys.Up:
case Keys.Down:
// Arrow Up Down
this.panelButton.Visible = (panelTemperatute.Visible) ? true : false;
this.panelTemperatute.Visible = (panelButton.Visible) ? false : true;
if (panelButton.Visible)
{
contextLabelColor.Description = (colorMode == ColorMode.GRAYSCALE) ? Resources.Color : Resources.Grayscale;
contextLabelStop.Description = measurementProgress ? Resources.Stop : " " + Resources.Start;
contextLabelStop.Number = measurementProgress ? "*" : "En";
}
break;
case (Keys)190:
if (measurementProgress)
{
timer.Enabled = false;
measurementProgress = false;
contextLabelStop.Description = " " + Resources.Start;
contextLabelStop.Number = "En";
}
break;
case Keys.Enter:
if (!timer.Enabled && !measurementProgress && !firstMeasurementProgress)
{
timer.Enabled = true;
measurementProgress = true;
labelStart.Text = Resources.Stop + ": *";
}
break;
case Keys.Escape:
if (m_helpControl.Visible)
{
m_helpControl.Visible = false;
this.m_helpControl.Focus();
if (measurementProgress)
{
timer.Enabled = true;
}
break;
}
exitThermalImagerPage();
break;
case Keys.A:
timer.Enabled = false;
GetHelp(sender);
break;
}
}
// ----------------------- Calibration routines -----------------------//
/**
* Enters the Calbration mode. See the Pigeon IMU documentation for More
* information on Calibration.
*
* @param calMode Calibration to execute
* @param timeoutMs
* Timeout value in ms. If nonzero, function will wait for
* config success and report an error if it times out.
* If zero, no blocking or checking is performed.
* @return Error Code generated by function. 0 indicates no error.
*/
public ErrorCode EnterCalibrationMode(CalibrationMode calMode, int timeoutMs)
{
ErrorCode retval = _ll.EnterCalibrationMode(calMode, timeoutMs);
return(retval);
}
public void ReturnToLastMode()
{
mode = CalibrationMode.Instance();
}
private void ProcessMessage(ref uOSC.Message message)
{
//メッセージアドレスがない、あるいはメッセージがない不正な形式の場合は処理しない
if (message.address == null || message.values == null)
{
StatusMessage = "Bad message.";
return;
}
if (message.address == "/VMC/Ext/OK" &&
(message.values[0] is int))
{
Available = (int)message.values[0];
if (Available == 0)
{
StatusMessage = "Waiting for [Load VRM]";
}
else
{
StatusMessage = "OK";
}
//V2.5 キャリブレーション状態
if ((message.values[1] is int) && (message.values[2] is int))
{
calibrationState = (CalibrationState)message.values[1];
calibrationMode = (CalibrationMode)message.values[2];
}
}
//データ送信時刻
else if (message.address == "/VMC/Ext/T" &&
(message.values[0] is float))
{
time = (float)message.values[0];
}
//V2.4 受信情報
else if (message.address == "/VMC/Ext/Rcv" &&
(message.values[0] is int) &&
(message.values[1] is int))
{
ReceiveEnable = (int)message.values[0] != 0;
ReceivePort = (int)message.values[1];
}
//V2.4 背景色情報
else if (message.address == "/VMC/Ext/Setting/Color" &&
(message.values[0] is float) &&
(message.values[1] is float) &&
(message.values[2] is float) &&
(message.values[3] is float))
{
backgroundColor = new Color((float)message.values[0], (float)message.values[1], (float)message.values[2], (float)message.values[3]);
}
//V2.4 ウィンドウ情報
else if (message.address == "/VMC/Ext/Setting/Win" &&
(message.values[0] is int) &&
(message.values[1] is int) &&
(message.values[2] is int) &&
(message.values[3] is int))
{
IsTopMost = (int)message.values[0] != 0;
IsTransparent = (int)message.values[1] != 0;
WindowClickThrough = (int)message.values[2] != 0;
HideBorder = (int)message.values[3] != 0;
}
//V2.5 読み込み済み設定ファイルパス情報
else if (message.address == "/VMC/Ext/Config" &&
(message.values[0] is string))
{
LoadedConfigPath = (string)message.values[0];
}
}
private void Awake()
{
_appStateBroker = AppStateBroker.Instance;
AutoTest = AutoTest_External;
#if !UNITY_EDITOR
DevMode = false;
#endif
//Debug msg binding
Observable
.EveryUpdate()
.Select(_ => TargetLane)
.DistinctUntilChanged()
.Subscribe(_ =>
{
TargetLane_External = _;
}).AddTo(gameObject);
Observable
.EveryUpdate()
.Select(_ => TargetObject)
.DistinctUntilChanged()
.Subscribe(_ =>
{
TargetObject_External = _;
}).AddTo(gameObject);
//to reset
ResetApp
.Where(b => b)
.Take(1)
.Subscribe(x =>
{
ResetApp.Value = false;
AppStateBroker.Instance.ComOutGoingStream.OnNext("{state:30}");
Observable.Timer(TimeSpan.FromSeconds(1f))
.Subscribe(_ => SceneManager.LoadScene(SceneManager.GetActiveScene().name))
.AddTo(gameObject);
})
.AddTo(gameObject);
//to clibration
CalibrationMode
.Where(b => b)
.Take(1)
.Subscribe(x =>
{
CalibrationMode.Value = false;
AppStateBroker.Instance.ComOutGoingStream.OnNext("{state:30}");
Observable.Timer(TimeSpan.FromSeconds(1f))
.Subscribe(_ => SceneManager.LoadScene(Open4thLane?"MainScene_4Lane_Cal":"MainScene_3Lane_Cal"))
.AddTo(gameObject);
})
.AddTo(gameObject);
//to main game
GameMode
.Where(b => b)
.Take(1)
.Subscribe(x =>
{
GameMode.Value = false;
AppStateBroker.Instance.ComOutGoingStream.OnNext("{state:30}");
Observable.Timer(TimeSpan.FromSeconds(1f))
.Subscribe(_ =>
{
SceneManager.LoadScene(Open4thLane ? "MainScene_4Lane" : "MainScene_3Lane");
})
.AddTo(gameObject);
})
.AddTo(gameObject);
//auto test
if (AutoTest)
{
DebugOutputObjects.SetActive(true);
ManualTeamSelectAllowed = ManualTeamSelectAllowedExternal = false;
Observable.EveryUpdate().Select(_ => TestCount).Subscribe(x =>
{
DubugOutput.text = x.ToString();
ThrowAllowed.gameObject.SetActive(TestCount % 2 != 0);
}).AddTo(gameObject);
_appStateBroker
.CurrentRound
.Subscribe(round =>
{
switch (round)
{
case Rounds.Idle:
Observable.Timer(TimeSpan.FromSeconds(2f))
.Take(1)
.Subscribe(_ =>
{
var len = Open4thLane ? 4 : 3;
for (int i = 0; i < len; i++)
{
var client = new ORTCPEventParams();
var team = AutoTestIndexProvider.GetTeamIndex();
client.message = "{\"state\":10,\"station_id\":" + i + ",\"team\":" + team + "}";
_appStateBroker.ComReceivingStream.OnNext(client);
}
DelayedSanp();
}).AddTo(gameObject);
break;
case Rounds.R1:
case Rounds.R2:
case Rounds.R3:
DelayedSanp();
break;
case Rounds.Finish:
DelayedSanp();
TestCount++;
Debug.LogFormat("[{0}] Testing Count : {1}", name, TestCount);
break;
}
})
.AddTo(gameObject);
}
else
{
DebugOutputObjects.SetActive(false);
}
}
