public override void InitializeAgent()
{
ammoInf = true;
base.InitializeAgent();
roboState = GetComponent <RoboState>();
roboMovement = GetComponent <RoboMovement>();
roboShooter = GetComponent <RoboShooter>();
rayPer = GetComponent <RoboRayPerception>();
if (gameObject.CompareTag("redAgent"))
{
myTeam = tag;
myShield = "redShield";
myReload = "redReload";
enemyTeam = "blueAgent";
enemyShield = "blueShield";
enemyReload = "blueReload";
}
else if (gameObject.CompareTag("blueAgent"))
{
myTeam = tag;
myShield = "blueShield";
myReload = "blueReload";
enemyTeam = "redAgent";
enemyShield = "redShield";
enemyReload = "redReload";
}
}
// Update is called once per frame
void Update()
{
if (Input.GetMouseButtonDown(0))
{
Vector3 ray = main_cam.ScreenToWorldPoint(Input.mousePosition);
RaycastHit2D hit = Physics2D.Raycast(ray, Vector2.zero, LayerMask.GetMask("Robot"));
if (hit.collider != null && RobotsList.Contains(hit.transform.gameObject))
{
hold_state = hit.transform.gameObject.GetComponent <RoboState>();
//clone a robot
gettheClone(hit.transform.gameObject);
hold_state.setState(2);
}
}
else if (Input.GetMouseButtonUp(0) && hold_state != null)
{
int num = getRobotNum(hold_state.gameObject);
home_point = new Vector3(3.01f + num * 0.78f, -3.26f, 0f);
if (roboClone.transform.position.y < homeline && roboClone.transform.position != home_point)
{
roboClone.transform.position = home_point;
}
hold_state.setState(4);
//send command to serial port. moving robot.
//Update send info
send_id = System.Convert.ToInt16(num);
send_x = roboClone.transform.position.x;
send_y = roboClone.transform.position.y;
send_v = 5f;
isSend = true;
hold_state = null;
}
}
private Bitmap blueF(Bitmap image)
{
//Create Filter and set value ranges
AForge.Imaging.Filters.HSLFiltering filter = new AForge.Imaging.Filters.HSLFiltering();
filter.Hue = new AForge.IntRange(200, 240);
filter.Saturation = new AForge.Range(0.3f, 1);
filter.Luminance = new AForge.Range(0.1f, 1);
filter.ApplyInPlace(image);
AForge.Imaging.BlobCounter extractor = new AForge.Imaging.BlobCounter();
extractor.MinHeight = 5;
extractor.MinWidth = 5;
extractor.FilterBlobs = true;
extractor.ProcessImage(image);
//Create a blob counter to search through the image
Rectangle[] rects = extractor.GetObjectsRectangles();
if (rects.Length > 0)
{
Rectangle objectRect = rects[0];
Graphics g = Graphics.FromImage(image);
using (Pen pen = new Pen(Color.FromArgb(160, 255, 160), 2))
{
g.DrawRectangle(pen, objectRect);
}
g.Dispose();
//Get the direction and change state.
if (currentState != RoboState.FOLLOW_RED && currentState != RoboState.FOLLOW_GREEN)
{
currentState = RoboState.SEARCH;
}
}
return(image);
}
//Filter to find red
private Bitmap redF(Bitmap image)
{
//Create Filter and set value ranges
AForge.Imaging.Filters.HSLFiltering filter = new AForge.Imaging.Filters.HSLFiltering();
filter.Hue = new AForge.IntRange(350, 25);
filter.Saturation = new AForge.Range(0.5f, 1);
filter.Luminance = new AForge.Range(0.15f, 1);
filter.ApplyInPlace(image);
//Create a blob counter to search through the image
AForge.Imaging.BlobCounter extractor = new AForge.Imaging.BlobCounter();
extractor.MinHeight = 5;
extractor.MinWidth = 5;
extractor.FilterBlobs = true;
extractor.ProcessImage(image);
//Gets the rectangles so that we can draw around them
Rectangle[] rects = extractor.GetObjectsRectangles();
if (rects.Length > 0)
{
Rectangle objectRect = rects[0];
Graphics g = Graphics.FromImage(image);
using (Pen pen = new Pen(Color.FromArgb(160, 255, 160), 2))
{
g.DrawRectangle(pen, objectRect);
}
g.Dispose();
//Get the direction and change state.
objDirectionRed(objectRect, image.Width);
currentState = RoboState.FOLLOW_RED;
}
return(image);
}
private int maxAmmoCapacity = 200; // 탄창 용량
private void OnEnable()
{
currentHeat = 0f;
roboState = GetComponent <RoboState>();
ammoRemain = roboState.ammoRemain;
moveInput = GetComponent <MoveInput>();
vGimbalPivot = transform.Find("Gimbal/V Gimbal Pivot");
}
//Controller for the state machine when it is in the SEARCH state
private void searchSpace()
{
while (currentState == RoboState.SEARCH)
{
this.Drive.Forward(1);
this.Drive.RotateLeft(10);
currentState = RoboState.FIND;
}
}
//Controller for the state machine when it is in the FOLLOW_RED state
private void followRED()
{
while (currentState == RoboState.FOLLOW_RED)
{
switch (redPos)
{
case ObjectPosition.OBJ_INFRONT:
if (!this.IRSensor.Detection)
{
this.Drive.Forward(10);
//this.Drive.Stop();
redPos = ObjectPosition.OBJ_UNKNOWN;
currentState = RoboState.FIND;
break;
}
else
{
redPos = ObjectPosition.OBJ_UNKNOWN;
currentState = RoboState.FIND;
break;
}
case ObjectPosition.OBJ_LEFT:
this.API.Movement.ManualDrive.RotateLeft(10);
//this.Drive.Stop();
redPos = ObjectPosition.OBJ_UNKNOWN;
currentState = RoboState.FIND;
break;
case ObjectPosition.OBJ_RIGHT:
this.API.Movement.ManualDrive.RotateRight(10);
//this.Drive.Stop();
redPos = ObjectPosition.OBJ_UNKNOWN;
currentState = RoboState.FIND;
break;
case ObjectPosition.OBJ_UNKNOWN:
redPos = ObjectPosition.OBJ_UNKNOWN;
currentState = RoboState.FIND;
break;
default:
currentState = RoboState.FIND;
break;
}
}
}
//Controller for the state machine when it is in the FOLLOW_GREEN state
private void followGREEN()
{
while (currentState == RoboState.FOLLOW_GREEN)
{
switch (greenPos)
{
case ObjectPosition.OBJ_INFRONT:
if (!this.IRSensor.Detection)
{
this.Drive.Forward(10);
greenPos = ObjectPosition.OBJ_UNKNOWN;
currentState = RoboState.FIND;
break;
}
else
{
greenPos = ObjectPosition.OBJ_UNKNOWN;
currentState = RoboState.FIND;
break;
}
case ObjectPosition.OBJ_LEFT:
this.Drive.StraightLeft(10);
greenPos = ObjectPosition.OBJ_UNKNOWN;
currentState = RoboState.FIND;
break;
case ObjectPosition.OBJ_RIGHT:
this.Drive.StraightRight(10);
greenPos = ObjectPosition.OBJ_UNKNOWN;
currentState = RoboState.FIND;
break;
case ObjectPosition.OBJ_UNKNOWN:
greenPos = ObjectPosition.OBJ_UNKNOWN;
currentState = RoboState.FIND;
break;
default:
currentState = RoboState.FIND;
break;
}
}
}
private void objDirectionGreen(Rectangle rect, int imWidth)
{
if (imWidth * 0.3 > (rect.X + rect.Width))
{
greenPos = ObjectPosition.OBJ_LEFT;
}
else if (imWidth * 0.6 < (rect.X + rect.Width))
{
greenPos = ObjectPosition.OBJ_RIGHT;
}
else
{
greenPos = ObjectPosition.OBJ_INFRONT;
if (rect.Height > 90)
{
currentState = RoboState.CAPTURED;
}
}
}
void OnEnable()
{
roboState = transform.parent.parent.GetComponent <RoboState>();
}
