void getNextCommand()
{
mazeCoverageStr = exploration.GetCoverage().ToString();
pointsScoredStr = exploration.GetPoints().ToString();
mazeCoverage = Int32.Parse(mazeCoverageStr);
pointsScored = Int32.Parse(pointsScoredStr);
if (checkRunTimeStatus())
{
int matrixSize = (currentSensor == 1 || currentSensor == 5)? 3:5;
sensor.Update_Maze_Data(getMazeData(matrixSize), robotDirection);
updateUISensorData(getMazeData(matrixSize));
int[,] sensorReading = sensor.Get_Obstacle_Matrix();
updateUISensorData(sensorReading);
String robotCommand = exploration.GetNextCommand(sensorReading, currentSensor, currentAlgorithm);
moveInDirection(robotCommand);
}
else
{
CancelInvoke("getNextCommand");
isSimulationComplete = true;
endTime = DateTime.Now.ToString(@"hh\:mm\:ss");
runTime = calculateRunTime();
backButton.interactable = true;
Debug.Log("END TIME : " + runTime);
Debug.Log("Battery Life : " + batteryLife);
Debug.Log("Points : " + pointsScored);
sendDateToExpDesign();
Debug.Log("Maze Coverage : " + mazeCoverage);
}
}
//returns the sensor data and update it on the screen
int[,] getSensorData()
{
int matrixSize = (currentSensor == 1 || currentSensor == 5)? 3:5;
sensor.Update_Obstacles(robotMain, getMazeData(matrixSize), robotDirection);
int[,] sensorReading = sensor.Get_Obstacle_Matrix();
if (currentSensor == 3)
{
sensorReading = Exploration.RotateSensorData(sensorReading, robotDirection);
}
updateUISensorData(sensorReading);
return(sensorReading);
}
void getNextCommand()
{
healthBar.value = batteryLife;
mazeCoverageStr = exploration.GetCoverage().ToString();
pointsScoredStr = exploration.GetPoints().ToString();
mazeCoverage = Int32.Parse(mazeCoverageStr);
pointsScored = Int32.Parse(pointsScoredStr);
if (checkRunTimeStatus())
{
int matrixSize = (currentSensor == 1 || currentSensor == 5)? 3:5;
Debug.Log(robotMain);
sensor.Update_Obstacles(sensor.GetRoverObject(), getMazeData(matrixSize), robotDirection);
//updateUISensorData(getMazeData(matrixSize));
int[,] sensorReading = sensor.Get_Obstacle_Matrix();
updateUISensorData(sensorReading);
String robotCommand = exploration.GetNextCommand(sensorReading, currentSensor);
moveInDirection(robotCommand);
}
else
{
CancelInvoke("getNextCommand");
isSimulationComplete = true;
endTime = DateTime.Now.ToString(@"hh\:mm\:ss");
runTime = calculateRunTime();
//enable back button
backButton.interactable = true;
// calculate end time
Debug.Log("END TIME : " + runTime);
// store the info in DB
Debug.Log("Battery Life : " + batteryLife);
Debug.Log("Points : " + pointsScored);
sendDateToExpDesign();
Debug.Log("Maze Coverage : " + mazeCoverage);
mazeCreated = false;
currentX = 1;
currentY = 1;
mazeCoverage = 0;
batteryLife = 3600;
pointsScored = 0;
GameObject[] mazeObjects = arrayOfGameObjects[arrayCounter];
//Destroy UI
for (int i = 0; i < mazeObjects.Length; i++)
{
Destroy(mazeObjects[i]);
}
arrayCounter++;
if (expCounter < PlayerPrefs.GetInt("Iteration"))
{
Begin();
}
else
{
experimentText.text = "";
statusText.text = "Trails are completed.";
}
}
}
// Update is called once per frame
void Update()
{
changePosRover();
sensor.Update_Obstacles(Cube);
int[,] matrix = sensor.Get_Obstacle_Matrix();
testProximityMatrix(matrix);
//Debug.Log("Getting matrix of Size:"+matrix.Length);
}
void getNextCommand()
{
healthBar.value = batteryLife;
mazeCoverageStr = exploration.GetCoverage().ToString();
pointsScoredStr = exploration.GetPoints().ToString();
mazeCoverage = Int32.Parse(mazeCoverageStr);
pointsScored = Int32.Parse(pointsScoredStr);
if (checkRunTimeStatus())
{
updateSensorsData(getSensorsData());
// updateSensorsTeamData();
int[,] sensorMatrix = sensor.Get_Obstacle_Matrix();
int[,] matrix = getSensorsData();
updateSensorMaze(sensorMatrix, matrix);
Int32 unixTimestamp = (Int32)(DateTime.UtcNow.Subtract(new DateTime(1970, 1, 1))).TotalSeconds;
// update SensorType here
resultcode = dbm.SetSensorMatrixById(unixTimestamp, 1, sensorMatrix);
String robotCommand = exploration.GetNextCommand(sensorMatrix);
moveInDirection(robotCommand);
}
else
{
CancelInvoke("getNextCommand");
isSimulationComplete = true;
endTime = DateTime.Now.ToString(@"hh\:mm\:ss");
runTime = calculateRunTime();
// Debug.Log("RUN TIME : " + calculateRunTime());
//enable back button
backButton.interactable = true;
// calculate end time
Debug.Log("END TIME : " + runTime);
// store the info in DB
Debug.Log("Battery Life : " + batteryLife);
Debug.Log("Points : " + pointsScored);
sendDateToExpDesign();
Debug.Log("Maze Coverage : " + mazeCoverage);
if (resultcode == 1)
{
Debug.Log("Sensors Data has been successfully logged into rover.db");
}
else
{
Debug.LogError("Could not log Sensor Data to rover.db");
}
}
}
void getNextCommand()
{
updateSensorsData(getSensorsData());
// updateSensorsTeamData();
int[,] sensorMatrix = sensor.Get_Obstacle_Matrix();
int[,] matrix = getSensorsData();
updateSensorMaze(sensorMatrix, matrix);
String robotCommand = exploration.GetNextCommand(sensorMatrix);
moveInDirection(robotCommand);
// if(checkRunTimeStatus()){
// updateSensorsData(getSensorsData());
// // updateSensorsTeamData();
// int[,] sensorMatrix = sensor.Get_Obstacle_Matrix();
// int[,] matrix = getSensorsData();
// updateSensorMaze(sensorMatrix, matrix);
// String robotCommand = exploration.GetNextCommand(sensorMatrix);
// moveInDirection(robotCommand);
// }
// else{
// CancelInvoke("getNextCommand");
// }
}
void getNextCommand()
{
healthBar.value = batteryLife;
mazeCoverageStr = exploration.GetCoverage().ToString();
pointsScoredStr = exploration.GetPoints().ToString();
mazeCoverage = Int32.Parse(mazeCoverageStr);
pointsScored = Int32.Parse(pointsScoredStr);
if (checkRunTimeStatus())
{
updateSensorsData(getSensorsData());
// updateSensorsTeamData();
int[,] sensorMatrix = sensor.Get_Obstacle_Matrix();
int[,] matrix = getSensorsData();
updateSensorMaze(sensorMatrix, matrix);
Int32 unixTimestamp = (Int32)(DateTime.UtcNow.Subtract(new DateTime(1970, 1, 1))).TotalSeconds;
// update SensorType here
//dbm.SetSensorMatrixById(unixTimestamp, 1, sensorMatrix);
String robotCommand = exploration.GetNextCommand(sensorMatrix);
moveInDirection(robotCommand);
}
else
{
CancelInvoke("getNextCommand");
isSimulationComplete = true;
endTime = DateTime.Now.ToString(@"hh\:mm\:ss");
runTime = calculateRunTime();
// Debug.Log("RUN TIME : " + calculateRunTime());
//enable back button
backButton.interactable = true;
// calculate end time
Debug.Log("END TIME : " + runTime);
// store the info in DB
Debug.Log("Battery Life : " + batteryLife);
Debug.Log("Points : " + pointsScored);
sendDateToExpDesign();
Debug.Log("Maze Coverage : " + mazeCoverage);
mazeCreated = false;
currentX = 1;
currentY = 1;
mazeCoverage = 0;
batteryLife = 3600;
pointsScored = 0;
GameObject[] mazeObjects = arrayOfGameObjects[arrayCounter];
//Destroy UI
for (int i = 0; i < mazeObjects.Length; i++)
{
Destroy(mazeObjects[i]);
}
arrayCounter++;
if (expCounter < PlayerPrefs.GetInt("Iteration"))
{
Begin();
}
/* if (expCounter == PlayerPrefs.GetInt("Iteration"))
* expCounter = 0;*/
}
}
