/// <summary>
/// 痉挛复位
/// </summary>
/// <param name="Pos">复位点位置</param>
/// <param name="Speed">复位速度</param>
/// <param name="Deviation">误差</param>
/// <returns></returns>
IEnumerator WaitForSpasmReset(Vector2 Pos, int Speed, int Deviation)
{
//如果有痉挛，清除痉挛
if (CommandFunctions.IsCaution)
{
DynaLinkHS.CmdClearAlm();
}
float waittime = 0;
do
{
yield return(new WaitForSeconds(0.5f));
waittime += 0.5f;
DynaLinkHS.CmdClearAlm();
}while (CommandFunctions.IsCaution && waittime <= 2f);
if (waittime > 2)
{
Debug.Log("清除痉挛失败");
CommandFunctions.spasmState = CommandFunctions.SpasmState.Recovering;
yield break;
}
DynaLinkHS.CmdServoOff();
Ienumerator = CommandFunctions.WaitForResetting(Pos, Speed, Deviation);
//等待复位到上一个点
yield return(StartCoroutine(Ienumerator));
//如果痉挛复位中出现断开连接或者急停，停止复位，并把状态重新切换为在痉挛复位阶段
if (CommandFunctions.IsEmrgencyStop || !CommandFunctions.IsConnected || CommandFunctions.IsCaution)
{
Debug.Log("出现急停或者断开连接,ResettingFailed");
//把状态重新切换为在痉挛复位阶段
CommandFunctions.spasmState = CommandFunctions.SpasmState.Recovering;
yield break;
}
if (CommandFunctions.IsFault)
{
if (CommandFunctions.IsCaution)
{
DynaLinkHS.CmdClearAlm();
}
}
Debug.Log("痉挛复位完成");
//复位完成，痉挛处理过程结束，切换标志位
ControlSpasmAgain = false;
//CommandFunctions.IsSpasmFinished = true;
CommandFunctions.spasmState = CommandFunctions.SpasmState.NoSpasm;
}
/// <summary>
/// 游戏结束后复位
/// </summary>
/// <param name="Pos">复位点位置</param>
/// <param name="Speed">复位速度</param>
/// <param name="Deviation">误差</param>
/// <returns></returns>
IEnumerator WaitForEndReset(Vector2 Pos, int Speed, int Deviation)
{
//开始等待复位完成
yield return(StartCoroutine(CommandFunctions.WaitForResetting(Pos, Speed, Deviation)));
//如果是出现断开连接或者急停或者痉挛，停止复位，等故障清除后重新复位
if (CommandFunctions.IsEmrgencyStop || !CommandFunctions.IsConnected || CommandFunctions.IsCaution || CommandFunctions.IsPause)
{
Debug.Log("出现急停或者断开连接,ResettingFailed");
CommandFunctions.resettingState = CommandFunctions.ResettingState.EndResetting;
yield break;
}
//复位结束，改变游戏结束复位标志位。
Debug.Log("ResettingFinished");
CommandFunctions.resettingState = CommandFunctions.ResettingState.ResetFinshed;
CommandFunctions.IsInReset = false;
CommandFunctions.IsResetEndFinished = true;
MainCore.Instance.IsGaming = false;
}