public void ResetControls()
{
navStateForward = NavState.Off;
navStateBack = NavState.Off;
navStateLeft = NavState.Off;
navStateRight = NavState.Off;
navValForward = 0;
navValBack = 0;
navValLeft = 0;
navValRight = 0;
navStateForwardLeft = NavState.Off;
navStateForwardRight = NavState.Off;
navStateBackLeft = NavState.Off;
navStateBackRight = NavState.Off;
navValForwardLeft = 0;
navValForwardRight = 0;
navValBackLeft = 0;
navValBackRight = 0;
forwardKey = false;
backKey = false;
inputVert = 0f;
inputHorz = 0f;
}
protected virtual void OnEnable()
{
m_state = serializedObject.targetObject as NavState;
m_transitions = serializedObject.FindProperty("Transitions");
m_transitionList = new ReorderableList(serializedObject, m_transitions, true, false, true, true);
m_transitionList.drawElementCallback = DrawElement;
m_transitionList.drawHeaderCallback = DrawHeader;
}
private void WebService_OnDisconnected(string ip)
{
Debug.Log("Disconnected: " + ip);
if (ip == firstConnectedIP)
{
// Searchシーンに戻る
NavigationState = NavState.Ready;
actionDoMainThreads.Enqueue(() =>
{
SceneManager.LoadScene("Search");
});
}
}
private void ChangeState(NavState state)
{
switch (state)
{
case NavState.GREEN:
spriteRenderer.sprite = AntennaSprites[0];
break;
case NavState.YELLOW:
spriteRenderer.sprite = AntennaSprites[1];
break;
case NavState.RED:
spriteRenderer.sprite = AntennaSprites[2];
break;
case NavState.LOSTSIGNAL:
spriteRenderer.sprite = AntennaSprites[3];
Value = 5;
GameOver();
break;
}
}
private void OnRotateComplete(dynamic json)
{
if (subState == NavState.Rotating && ((string)json.V).Equals("1"))
{
Trace.t(cc.Good, "Rotate completed");
subState = NavState.MoveStart;
}
}
void OnNavigating()
{
float distToMove;
if (CurrentWayPoint.isAction)
distToMove = DistanceToWayPoint - .6F;
else
distToMove = DistanceToWayPoint;
if (distToMove < 0)
distToMove = 0;
if (subState == NavState.MoveStart)
{
Trace.t(cc.Norm, "Navigating MoveStart");
lastHdg = hdgToWayPoint;
if (CurrentWayPoint.isAction)
{
if (distToMove > 0)
{
Trace.t(cc.Norm, string.Format("action moving {0}", distToMove));
Program.Pilot.Send(new { Cmd = "MOV", Pwr = moveSpeed, Hdg = hdgToWayPoint, Dist = distToMove });
}
else
{
Trace.t(cc.Norm, "action moving; BeginApproach");
BeginApproach();
}
}
else
{
Trace.t(cc.Norm, string.Format("moving {0}", distToMove));
Program.Pilot.Send(new { Cmd = "MOV", Pwr = moveSpeed, Hdg = hdgToWayPoint, Dist = distToMove });
}
lastMoveCmdAt = DateTime.Now;
subState = NavState.Moving;
}
else if (subState == NavState.Moving)
{
if (DateTime.Now > lastMoveCmdAt + moveCmdInterval)
{
Trace.t(cc.Norm, "Move (update)");
Program.Pilot.Send(new { Cmd = "MOV", Pwr = moveSpeed, Hdg = hdgToWayPoint, Dist = distToMove });
lastMoveCmdAt = DateTime.Now;
}
}
}
void OnIdle()
{
Trace.t(cc.Norm, "OnIdle");
if (Program.WayPoints == null || Program.WayPoints.Count == 0)
{
Program.Pilot.Send(new { Cmd = "MOV", M1 = 0, M2 = 0 }); // make sure we're stopped
Trace.t(cc.Norm, "Finished");
Program.State = RobotState.Finished;
CurrentWayPoint = null;
Program.Pilot.Send(new { Cmd = "ROT", Hdg = 0 }); // todo for convience, rotate to 0 at end
}
else
{
Trace.t(cc.Norm, "Pop Waypoint");
CurrentWayPoint = Program.WayPoints.Pop();
if (EscapeInProgress && CurrentWayPoint == EscapeWaypoint)
EscapeInProgress = false;
Program.State = RobotState.Navigating;
if (DistanceToWayPoint > .05)
{
subState = NavState.Rotating;
Timeout = DateTime.Now + rotateTimeout;
lastHdg = hdgToWayPoint;
Trace.t(cc.Norm, "Rotating");
Program.Pilot.Send(new { Cmd = "ROT", Hdg = lastHdg });
subState = NavState.Rotating;
}
else
{
Trace.t(cc.Norm, "Moving");
subState = NavState.MoveStart;
}
}
}
void OnBumperEvent(dynamic json)
{
//? should not get here during approach, because our spin flag will be set
if (((string)json.V).Equals("1") )
{
// obstacle!!!!!
Trace.t(cc.Bad, "Unexpected Bumper");
Program.Pilot.Send(new { Cmd = "Mov", M1 = 0, M2 = 0 });
subState = NavState.BumperReverse;
Program.Pilot.Send(new { Cmd = "Mov", Pwr = -30, Dist = .5F });
Program.Pilot.waitForEvent();
// todo obstacle during escape
Program.State = RobotState.eStop;
// todo add avoidance
return;
// save current waypoint
// if !escaping:
// (re)push current
// push new Waypoint for avoid
// escaping = true
if (!EscapeInProgress)
{
Program.WayPoints.Push(CurrentWayPoint);
EscapeInProgress = true;
EscapeWaypoint = CurrentWayPoint; // when we get there we'll know the escape worked
}
WayPoint bypassWaypoint = new WayPoint { }; // todo finish
Program.WayPoints.Push(bypassWaypoint);
Program.State = RobotState.Idle;
}
}
private void UpdateNavChannel(NavState previousNavState, float previousNavVal, bool keyPressed, float incStep, float decStep)
{
newNavState = previousNavState;
newNavVal = previousNavVal;
switch (previousNavState)
{
case NavState.Off:
if (keyPressed)
{
newNavState = NavState.Inc;
newNavVal = previousNavVal + incStep;
if (newNavVal >= 1f)
{
newNavState = NavState.Full;
newNavVal = 1f;
}
}
else
{
newNavVal = 0f;
}
break;
case NavState.Inc:
if (keyPressed)
{
newNavVal = previousNavVal + incStep;
if (newNavVal >= 1f)
{
newNavState = NavState.Full;
newNavVal = 1f;
}
}
else
{
newNavState = NavState.Dec;
newNavVal = previousNavVal - decStep;
if (newNavVal <= 0f)
{
newNavState = NavState.Off;
newNavVal = 0f;
}
}
break;
case NavState.Full:
if (keyPressed)
{
newNavVal = 1f;
}
else
{
newNavState = NavState.Dec;
newNavVal = previousNavVal - decStep;
if (newNavVal <= 0f)
{
newNavState = NavState.Off;
newNavVal = 0f;
}
}
break;
case NavState.Dec:
if (keyPressed)
{
newNavState = NavState.Inc;
newNavVal = previousNavVal + incStep;
if (newNavVal >= 1f)
{
newNavState = NavState.Full;
newNavVal = 1f;
}
}
else
{
newNavVal = previousNavVal - decStep;
if (newNavVal <= 0f)
{
newNavState = NavState.Off;
newNavVal = 0f;
}
}
break;
}
}
//===================================
//===================================
// CONTROL PROCESSING
//===================================
//===================================
//--------------------------------------------
// ProcessControls()
//
// This is the main entry point for input
// processing, called at the beginning of
// the main Update() function in LevelManager
//--------------------------------------------
public void ProcessControls(string gameState)
{
// initialize key states to 'off'
bool keyStateForward = false;
bool keyStateBack = false;
bool keyStateDiagLeft = false;
bool keyStateDiagRight = false;
bool keyStateTurnLeft = false;
bool keyStateTurnRight = false;
// check for pressed mouse within any of the onscreen rects
if (Input.GetMouseButton(0))
{
float mouseX = Input.mousePosition.x;
float mouseY = Screen.height - Input.mousePosition.y;
if (mouseX >= rectForward.xMin && mouseX <= rectForward.xMax && mouseY >= rectForward.yMin && mouseY <= rectForward.yMax)
{
keyStateForward = true;
}
if (mouseX >= rectBack.x && mouseX <= rectBack.x + rectBack.width && mouseY >= rectBack.y && mouseY <= rectBack.y + rectBack.height)
{
keyStateBack = true;
}
if (mouseX >= rectDiagLeft.x && mouseX <= rectDiagLeft.x + rectDiagLeft.width && mouseY >= rectDiagLeft.y && mouseY <= rectDiagLeft.y + rectDiagLeft.height)
{
keyStateDiagLeft = true;
}
if (mouseX >= rectDiagRight.x && mouseX <= rectDiagRight.x + rectDiagRight.width && mouseY >= rectDiagRight.y && mouseY <= rectDiagRight.y + rectDiagRight.height)
{
keyStateDiagRight = true;
}
if (mouseX >= rectTurnLeft.x && mouseX <= rectTurnLeft.x + rectTurnLeft.width && mouseY >= rectTurnLeft.y && mouseY <= rectTurnLeft.y + rectTurnLeft.height)
{
keyStateTurnLeft = true;
}
if (mouseX >= rectTurnRight.x && mouseX <= rectTurnRight.x + rectTurnRight.width && mouseY >= rectTurnRight.y && mouseY <= rectTurnRight.y + rectTurnRight.height)
{
keyStateTurnRight = true;
}
}
// check for relevant keys pressed on the physical keyboard
if (Input.GetKey(KeyCode.I) || Input.GetKey(KeyCode.UpArrow))
{
keyStateForward = true;
}
if (Input.GetKey(KeyCode.K) || Input.GetKey(KeyCode.DownArrow))
{
keyStateBack = true;
}
if (Input.GetKey(KeyCode.U))
{
keyStateDiagLeft = true;
}
if (Input.GetKey(KeyCode.O))
{
keyStateDiagRight = true;
}
if (Input.GetKey(KeyCode.J) || Input.GetKey(KeyCode.LeftArrow))
{
keyStateTurnLeft = true;
}
if (Input.GetKey(KeyCode.L) || Input.GetKey(KeyCode.RightArrow))
{
keyStateTurnRight = true;
}
// set the heading to either straight ahead or diagonal
if (keyStateForward == true)
{
levelManager.pumaHeadingOffset = 0f;
}
if (keyStateDiagLeft == true)
{
levelManager.pumaHeadingOffset = -60f;
keyStateForward = true;
}
else if (keyStateDiagRight == true)
{
levelManager.pumaHeadingOffset = 60f;
keyStateForward = true;
}
// deal with interactions between forward and back keys
if (inputVert == 0)
{
if (forwardKey == false)
{
forwardKey = keyStateForward;
}
if (forwardKey == false)
{
backKey = keyStateBack;
}
}
else if (inputVert > 0)
{
if (forwardKey == false)
{
forwardKey = keyStateForward;
}
else if (keyStateBack == true)
{
forwardKey = false;
}
}
else
{
if (backKey == false)
{
backKey = keyStateBack;
}
else if (keyStateForward == true)
{
backKey = false;
}
}
// now do main input processing
UpdateNavChannel(navStateForward, navValForward, forwardKey, Time.deltaTime * 3, Time.deltaTime * 3);
navStateForward = newNavState;
navValForward = newNavVal;
UpdateNavChannel(navStateBack, -navValBack * 2, backKey, Time.deltaTime * 3, Time.deltaTime * 3);
navStateBack = newNavState;
navValBack = -newNavVal / 2;
UpdateNavChannel(navStateLeft, -navValLeft, keyStateTurnLeft, Time.deltaTime * ((gameState == "gameStateStalking") ? 3f : 4.4f), Time.deltaTime * 3);
navStateLeft = newNavState;
navValLeft = -newNavVal;
UpdateNavChannel(navStateRight, navValRight, keyStateTurnRight, Time.deltaTime * ((gameState == "gameStateStalking") ? 3f : 4.4f), Time.deltaTime * 3);
navStateRight = newNavState;
navValRight = newNavVal;
//inputVert = navValForward; // disable backward motion
inputVert = navValForward + navValBack; // enable backward motion
inputHorz = navValRight + navValLeft;
if (inputVert == 0)
{
// reset heading when puma stopped
levelManager.pumaHeadingOffset = 0;
}
}