protected override IProtocol ExecuteUKitCommands(ICommand command)
{
ExploreProtocol result = ExploreProtocol.CreateResponse(ProtocolCode.Failure, command); do
{
if (command is UKitCommands.ColorRecognitionCommand)
{
debug = command.debug;
var cmd = (UKitCommands.ColorRecognitionCommand)command;
if (LineTrace(out var distance, out Color rgb))
{
result.SetDatas(Misc.Nearly(cmd.color, rgb));
result.code = 0;
DebugUtility.Log(LoggerTags.Project, "ColorRecognitionCommand Reacted : {0}m", distance);
}
break;
}
if (command is UKitCommands.ColorRecognitionRGBCommand)
{
debug = command.debug;
//var cmd = (UKitCommands.UltrasonicCommand)command;
if (LineTrace(out var distance, out Color rgb))
{
result.SetDatas((int)(rgb.r * 255), (int)(rgb.g * 255), (int)(rgb.b * 255));
result.code = 0;
DebugUtility.Log(LoggerTags.Project, "ColorRecognitionRGBCommand Reacted : {0}m", distance);
}
break;
}
} while (false);
return(result);
}
private IProtocol ExecuteSoundCommands(ICommand command)
{
ExploreProtocol result = ExploreProtocol.CreateResponse(ProtocolCode.Failure, command);
do
{
// 播放音调
if (command is SoundCommands.PlayPitchCommand)
{
var cmd = (SoundCommands.PlayPitchCommand)command;
PlayPitch(cmd.pitch, cmd.duration);
result.code = 0;
break;
}
// 播放频率
if (command is SoundCommands.PlayFrequencyCommand)
{
var cmd = (SoundCommands.PlayFrequencyCommand)command;
PlayFrequency(cmd.frequency, cmd.duration);
result.code = 0;
break;
}
// 停止播放
if (command is SoundCommands.StopCommand)
{
// var cmd = (SoundCommands.StopCommand)command;
StopPlay();
result.code = 0;
break;
}
}while (false);
return(result);
}
private IProtocol ExecuteMotorCommands(ICommand command)
{
ExploreProtocol result = ExploreProtocol.CreateResponse(ProtocolCode.Failure, command);
do
{
if (command is MotorCommands.VelocitySettingCommand)
{
var cmd = (MotorCommands.VelocitySettingCommand)command;
jobStatus = WorkStatus.RotationAlways;
var job = (RotationAlwaysJob)currentJob;
job.velocity = cmd.velocity;
result.code = 0;
break;
}
if (command is MotorCommands.PWMSettingCommand)
{
var cmd = (MotorCommands.PWMSettingCommand)command;
jobStatus = WorkStatus.RotationAlways;
var job = (RotationAlwaysJob)currentJob;
job.velocity = cmd.pwm;
result.code = 0;
break;
}
if (command is MotorCommands.ReadVelocityCommand)
{
var cmd = (MotorCommands.ReadVelocityCommand)command;
int v = 0;
if (jobStatus == WorkStatus.RotationAlways)
{
var job = (RotationAlwaysJob)currentJob;
v = (int)job.velocity;
}
result.SetDatas((int)v);
result.code = 0;
break;
}
if (command is MotorCommands.StopCommand)
{
var cmd = (MotorCommands.StopCommand)command;
Stop();
result.code = 0;
break;
}
} while (false);
return(result);
}
protected bool ExecuteUKitCommands(ICommand command, out IProtocol result)
{
bool resImme = true;
var result2 = ExploreProtocol.CreateResponse(ProtocolCode.Failure, command);
do
{
if (command is UKitCommands.ButtonCommand)
{
debug = command.debug;
if (!Populate(result2))
{
resImme = false;
}
break;
}
} while (false);
result = result2;
return(resImme);
}
protected override IProtocol ExecuteUKitCommands(ICommand command)
{
ExploreProtocol result = ExploreProtocol.CreateResponse(ProtocolCode.Failure, command);
do
{
if (command is UKitCommands.SoundCommand)
{
debug = command.debug;
if (GetEnvironment(out var env))
{
//var cmd = (UKitCommands.SoundCommand)command;
result.SetDatas(Mathf.CeilToInt(env.soundVolume));
result.code = 0;
DebugUtility.Log(LoggerTags.Project, "SoundCommand Reacted : {0}", env.soundVolume);
}
break;
}
} while (false);
return(result);
}
protected override IProtocol ExecuteUKitCommands(ICommand command)
{
ExploreProtocol result = ExploreProtocol.CreateResponse(ProtocolCode.Failure, command);
do
{
if (command is UKitCommands.InfraredCommand)
{
debug = command.debug;
if (LineTrace(out var distance))
{
result.SetDatas((int)(distance * 100.0f));
result.code = 0;
DebugUtility.Log(LoggerTags.Project, "InfraredCommand Reacted : {0}m", distance);
}
break;
}
} while (false);
return(result);
}
protected override IProtocol ExecuteUKitCommands(ICommand command)
{
ExploreProtocol result = ExploreProtocol.CreateResponse(ProtocolCode.Failure, command);
do
{
if (command is UKitCommands.TemperatureCommand)
{
debug = command.debug;
if (GetEnvironment(out var env))
{
var cmd = (UKitCommands.TemperatureCommand)command;
if (cmd.mode == 0)
{
var temp = Mathf.CeilToInt(env.temperature);
result.SetDatas(temp);
DebugUtility.Log(LoggerTags.Project, "TemperatureCommand Reacted : {0}C", temp.ToString());
}
else if (cmd.mode == 1)
{
var f = Mathf.CeilToInt(C2F(env.temperature));
result.SetDatas(f);
DebugUtility.Log(LoggerTags.Project, "TemperatureCommand Reacted : {0}F", f.ToString());
}
else if (cmd.mode == 2)
{
var f = Mathf.CeilToInt(env.humidity);
result.SetDatas(f);
DebugUtility.Log(LoggerTags.Project, "TemperatureCommand Reacted : {0}%", f.ToString());
}
result.code = 0;
}
break;
}
} while (false);
return(result);
}
protected virtual IProtocol ExecutePatrolCommands(ICommand command)
{
ExploreProtocol result = ExploreProtocol.CreateResponse(ProtocolCode.Failure, command);
do
{
if (command is PatrolSensorCommands.PatrolSensorBasicCommand)
{
debug = command.debug;
var cmd = (PatrolSensorCommands.PatrolSensorBasicCommand)command;
if (LineTrace(out var distance, out Color rgb))
{
float gray = Misc.ToGray(rgb);
result.SetDatas(gray >= 0.5f && cmd.isGray);
result.code = 0;
DebugUtility.Log(LoggerTags.Project, "PatrolSensorBasicCommand Reacted : {0}m", distance);
}
break;
}
} while (false);
return(result);
}
private IProtocol ExecuteCommand(ICommand command)
{
var result = ExploreProtocol.CreateResponse(ProtocolCode.Failure, command);
if (command is EyeCommands.DisableLightCommand)
{
LightOff();
result.code = 0;
}
else if (command is EyeCommands.EnableLightCommand)
{
var cmd = (EyeCommands.EnableLightCommand)command;
LightUp(cmd.color);
result.code = 0;
}
else if (command is EyeCommands.CustomLightCommand)
{
var cmd = (EyeCommands.CustomLightCommand)command;
ShowCustomLight(cmd.colors, cmd.duration);
result.code = 0;
}
else if (command is EyeCommands.PredefineLightColorCommand)
{
var cmd = (EyeCommands.PredefineLightColorCommand)command;
ShowPredefineLight(cmd.mode, cmd.count);
result.code = 0;
}
else if (command is EyeCommands.ExpressionCommand)
{
var cmd = (EyeCommands.ExpressionCommand)command;
ShowExpression(cmd.mode, cmd.color, cmd.count);
result.code = 0;
}
return(result);
}
private IProtocol ExecuteServoCommands(ICommand command)
{
ExploreProtocol result = ExploreProtocol.CreateResponse(ProtocolCode.Failure, command);
do
{
// 舵机角模式
if (command is ServoCommands.RotateCommand)
{
var cmd = (ServoCommands.RotateCommand)command;
jobStatus = WorkStatus.Rotation;
var job = (RotationJob)currentJob;
job.accumulationTime = 0.0f;
job.duration = cmd.duration;
var rawAngle = localEulerAnglesY;
rawAngle = Misc.Convert(convertMode, rawAngle);
job.startAngle = rawAngle;
job.endAngle = cmd.angel;
result.code = 0;
break;
}
// 舵机轮模式
if (command is ServoCommands.RotationAlwaysCommand)
{
var cmd = (ServoCommands.RotationAlwaysCommand)command;
jobStatus = WorkStatus.RotationAlways;
var job = (RotationAlwaysJob)currentJob;
if (cmd.forward)
{
job.velocity = cmd.velocity;
}
else
{
job.velocity = cmd.velocity * -1.0f;
}
result.code = 0;
break;
}
// 停止舵机
if (command is ServoCommands.StopCommand)
{
var cmd = (ServoCommands.StopCommand)command;
Stop();
result.code = 0;
break;
}
// 读取舵机角度
if (command is ServoCommands.ReadRotationCommand)
{
var cmd = (ServoCommands.ReadRotationCommand)command;
if (!cmd.enable)
{
jobStatus = WorkStatus.Idle;
}
Vector2 angleRange = new Vector2(-118.0f, 118.0f);
float angle = localEulerAnglesY;
angle = Misc.Convert(convertMode, angle);
ProtocolCode code = ProtocolCode.Success;
if (angle < angleRange.x || angle > angleRange.y)
{
code = ProtocolCode.Failure;
}
result.SetDatas((int)angle);
result.code = code == ProtocolCode.Success ? 0 : 1;
break;
}
} while (false);
return(result);
}
protected virtual IProtocol ExecuteUKitCommands(ICommand command)
{
ExploreProtocol result = ExploreProtocol.CreateResponse(ProtocolCode.Failure, command);
return(result);
}
public IProtocol ExecuteMainControlCommands(ICommand command)
{
ExploreProtocol result = ExploreProtocol.CreateResponse(ProtocolCode.Failure, command);
do
{
if (command is MiscCommands.SetIDCommand)
{
var cmd = (MiscCommands.SetIDCommand)command;
result.code = ChangeID(cmd.targetDevice, cmd.oldID, cmd.newID);
break;
}
if (command is MiscCommands.QueryDeviceCommand)
{
var cmd = (MiscCommands.QueryDeviceCommand)command;
result.code = QueryDevice(result);
break;
}
if (command is MiscCommands.QueryDeviceUpgradableCommand)
{
var cmd = (MiscCommands.QueryDeviceUpgradableCommand)command;
break;
}
if (command is MiscCommands.StopAllDevicesCommand)
{
var cmd = (MiscCommands.StopAllDevicesCommand)command;
Stop();
result.code = 0;
break;
}
if (command is MiscCommands.GetVersionCommand)
{
var cmd = (MiscCommands.GetVersionCommand)command;
result.SetDatas("v1.2.4", "v2");
result.code = 0;
break;
}
if (command is MiscCommands.StartUpgradeCommand)
{
var cmd = (MiscCommands.StartUpgradeCommand)command;
break;
}
if (command is MiscCommands.TickUpgradeCommand)
{
var cmd = (MiscCommands.TickUpgradeCommand)command;
break;
}
if (command is MiscCommands.EndUpgradeCommand)
{
var cmd = (MiscCommands.EndUpgradeCommand)command;
break;
}
}while (false);
return(result);
}