public ElectrocuteAction(RobotController controller, List<Goal> goals, Label target)
: base(controller, goals, target.labelHandle) {
this.name = "electrocute";
this.target = target;
requiredComponents = new System.Type[] { };
}
public PursueAction(RobotController controller, List<Goal> goals, Label target)
: base(controller, goals, target.gameObject)
{
this.target = target;
this.name = "pursue";
requiredComponents = new System.Type[] {typeof(HoverJet)};
}
public override Endeavour constructEndeavour(RobotController controller) {
if(parent == null) {
return null;
}
return new GuardAction(controller, goals, parent);
}
public void ResetRobotObject()
{
Vector3 robotPosition = Vector3.zero;
Quaternion robotRotation = Quaternion.identity;
Quaternion cameraRotation = Quaternion.identity;
cameraRotation.x = 90f;
//Start by trying to find a robot if it already exists.
robotObject = GameObject.Find("Robot");
//If the robot does exist, destroy it.
if (robotObject != null)
{
robotManager.DestroySensors();
Destroy(robotObject);
RobotManager.robotCam.transform.SetParent(null);
RobotManager.cameraAudioListener.enabled = true;
Debug.Log("ResetRobotObject() - cameraAudioListener.enabled? " + RobotManager.cameraAudioListener.enabled);
//RobotController.initialized = false;
}
//Whether a previous robot existed or not, instantiate a new one.
robotObject = GameObject.Instantiate(robotPrefab, robotPosition, robotRotation);
robotController = robotObject.GetComponent <RobotController>();
robotManager.InitializeRobot();
SetupCameraPOV();
Debug.Log(RobotManager.robotCam.name + " has parent " + RobotManager.robotCam.transform.parent.name);
//Debug.Log("ResetRobotObject(): position - " + robotObject.transform.position.ToString() + " orientation - " + robotObject.transform.rotation.ToString());
//robotObject.transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
}
//Testing if the Robot Index action returns a non null view
public void TestNotNullRobotIndex()
{
var robCon = new RobotController();
ViewResult result = robCon.Index("") as ViewResult;
Assert.NotNull(result);
}
public void Update()
{
unlocked = DocumentClass.noGenerators == 0;
Collider[] collide = Physics.OverlapSphere(this.transform.position, RangeConst);
bool ok = false;
foreach (Collider c in collide)
{
RobotController rc = c.GetComponentInParent <RobotController> ();
if (rc != null)
{
ok = true;
}
}
if (!ok)
{
return;
}
Debug.Log("gen: " + DocumentClass.noGenerators);
if (unlocked)
{
GetComponentInParent <DocumentClass> ().GetComponentInChildren <ChangeText>().chgtxt("You won!");
//Debug.Log(1/(DocumentClass.noGenerators));
}
}
private void TextBoxDirectCommands_KeyDown(object sender, KeyEventArgs e)
{
if (e.Key == Key.Return)
{
try
{
// Add the command identifier and a wait time, if it was not supplied
string command = TextBoxDirectCommands.Text;
if (!command.StartsWith(RobotMessageResultServer.IDENTIFIER_GO))
{
command =
RobotMessageResultServer.IDENTIFIER_GO + CommunicationConstants.MSG_SUB_DELIMITER +
"0" + CommunicationConstants.MSG_SUB_DELIMITER +
command;
}
// Check whether the translation would raise an exception
RobotTranslator.DecodeTo(command);
// Submit the command
RobotController.SubmitCommand(command);
// Clear message window
TextBoxDirectCommands.Text = "";
}
catch (Exception)
{
LogMessage("Invalid command!");
}
}
}
private void Start()
{
if (target == null)
{
target = FindObjectOfType <RobotController>();
}
if (ErrorText == null)
{
SetupErrorText();
}
SPRITE_SHEET = Resources.LoadAll <Sprite>("software_minigame/Sprites/greenSheet");
draggableList = GetComponent <GenericDraggableList>();
playButton.EventHandler += Play;
stopButton.EventHandler += Stop;
stopButton.GetComponent <Image>().color = new Color(.6f, .6f, .6f);
if (LevelGenerator == null)
{
LevelGenerator = FindObjectOfType <SoftwareLevelGenerator>();
}
}
private void Start()
{
animator = GetComponent <Animator>();
karelController = transform.root.GetComponent <RobotController>();
controls = transform.root.GetComponent <ThirdPersonUserControl>();
charControl = transform.root.GetComponent <ThirdPersonCharacter>();
}
public void Run_NullStreams_NoThrow()
{
var robot = new Robot();
var controller = new RobotController(robot);
controller.Run(null, null);
}
protected void applyPlayerKnowledge(RobotController controller)
{
Player[] players = FindObjectsOfType<Player>();
foreach(Player player in players) {
controller.addKnownLocation(player.GetComponent<Label>());
}
}
//Testing if the Robot RobotArrows action returns a non null view
public void TestNotNullRobotArrows()
{
var controller = new RobotController();
ViewResult result = controller.RobotArrows(1) as ViewResult;
Assert.NotNull(result);
}
public override void Execute(RobotController target, InstructionExecutor executor)
{
instructionExecutor = executor;
this.target = target;
t = 0;
start = target.transform.position;
end = start;
switch (moveDirection)
{
case Directions.Up:
end += new Vector3(0, 1, 0);
break;
case Directions.Down:
end += new Vector3(0, -1, 0);
break;
case Directions.Left:
end += new Vector3(-1, 0, 0);
break;
case Directions.Right:
end += new Vector3(1, 0, 0);
break;
}
moving = true;
}
void UpdateTarget()
{
GameObject[] enemies = GameObject.FindGameObjectsWithTag(enemyTag);
float shortestDistance = Mathf.Infinity;
GameObject nearestEnemy = null;
foreach (GameObject enemy in enemies)
{
float distanceToEnemy = Vector3.Distance(transform.position, enemy.transform.position);
if (distanceToEnemy < shortestDistance)
{
shortestDistance = distanceToEnemy;
nearestEnemy = enemy;
}
}
if (nearestEnemy != null && shortestDistance <= range)
{
target = nearestEnemy.transform;
targetEnemy = nearestEnemy.GetComponent <RobotController>();
}
else
{
target = null;
}
}
public void PlaceRobot(RobotController robot, int x, int y)
{
TileController loc = FindTile(x, y);
loc.LoadRobotOnTileMesh(robot.isOpponent);
robot.transform.localPosition = new Vector3(loc.transform.localPosition.x, loc.transform.localPosition.y, -loc.transform.localScale.z * 0.1f);
}
public void loopTask()
{
double[] inputs = GetMovement();
RobotController associatedController = associatedObject.GetComponent(typeof(RobotController)) as RobotController;
associatedController.drive(inputs[0], inputs[1]);
}
void Start()
{
xpos = xstart;
ypos = ystart;
randomize = 0;
prevUDP = 17; // some out of range number
gridNumber = xpos + (ypos - 1) * 10;
robot = GameObject.Find("Robot").gameObject.GetComponent <RobotController>();
ball = GameObject.Find("Ball 1").gameObject.GetComponent <BallController>();
// Initialize the reference for other game objects (Implementation Specific)
ic1 = GameObject.Find("Indicator 1").gameObject.GetComponent <IndicatorController>();
ic2 = GameObject.Find("Indicator 2").gameObject.GetComponent <IndicatorController>();
ic3 = GameObject.Find("Indicator 3").gameObject.GetComponent <IndicatorController>();
ic4 = GameObject.Find("Indicator 4").gameObject.GetComponent <IndicatorController>();
// ic5 = GameObject.Find("Indicator 5").gameObject.GetComponent<IndicatorController>();
timingBar = GameObject.Find("Timing Bar").gameObject.GetComponent <TimingBarFiveController>();
// Define grid color
color.r = 0.5f;
color.g = 0.5f;
color.b = 0.5f;
Debug.Log("Test: Ball " + randomize.ToString());
ignore = 0;
}
public HoldAction(RobotController controller, Label target, GameObject source)
: base(controller, new List<Goal>{new Goal(GoalEnum.Offense, 3), new Goal(GoalEnum.Protection, 3)}, source)
{
this.target = target;
this.name = "grab";
requiredComponents = new System.Type[] {typeof(RobotArms)};
}
public override void OnActionReceived(float[] vectorAction)
{
RobotController robotController = robotArm.GetComponent <RobotController>();
PincherController pincherController = robotHand.GetComponent <PincherController>();
for (int i = 0; i < robotController.joints.Length + 1; i++)
{
float inputVal = vectorAction[i];
if (i == 7)
{
pincherController.gripState = GripStateForInput(inputVal);
}
else
{
if (Mathf.Abs(inputVal) > 0)
{
RotationDirection direction = GetRotationDirection(inputVal);
robotController.RotateJoint(i, direction);
return;
}
}
}
robotController.StopAllJointRotations();
if (cube.position.y < 0.778f)
{
EndEpisode();
}
}
public void Turn(RobotController other)
{
/*direction = rc.dire >= 3 ? 0 : rc.dire + 1;
rc.Turn(direction);
rc.Zoning();*/
GetComponent<Turn>().RunPanel(other.gameObject);
}
public void setShooter(GameObject shooter)
{
this.shooter = shooter;
RobotController rc = this.shooter.GetComponent <RobotController>();
rc.health += this.shooterHealthChange;
}
private void ChangeLayer(RobotController r, int l)
{
if (r != null)
{
ChangeLayer(r.gameObject, l);
}
}
public void Save(RobotController robot)
{
nivel = robot.level - 1;
player = PlayerPrefs.GetInt("UserNumber") + 1;
if (PlayerPrefs.HasKey("First" + player + nivel))
{
PlayerPrefs.SetFloat("TimeTotal" + nivel + player, PlayerPrefs.GetFloat("TimeTotal" + nivel + player) + robot.floatCount);
}
if (!PlayerPrefs.HasKey("First" + player + nivel))
{
PlayerPrefs.SetString("Player" + player, PlayerPrefs.GetString("User"));
PlayerPrefs.SetInt("Level" + nivel + player, nivel);
PlayerPrefs.SetInt("Stars" + nivel + player, robot.stars);
PlayerPrefs.SetInt("Check" + player, nivel);
PlayerPrefs.SetFloat("Time" + nivel + player, robot.floatCount);
PlayerPrefs.SetInt("First" + player + nivel, 1);
PlayerPrefs.SetFloat("TimeTotal" + nivel + player, robot.floatCount);
}
else if (robot.unlock == 2 && robot.floatCount < PlayerPrefs.GetFloat("Time" + nivel + player))
{
PlayerPrefs.SetString("Player" + player, PlayerPrefs.GetString("User"));
PlayerPrefs.SetInt("Level" + nivel + player, nivel);
PlayerPrefs.SetInt("Stars" + nivel + player, robot.stars);
PlayerPrefs.SetFloat("Time" + nivel + player, robot.floatCount);
if (robot.level > PlayerPrefs.GetInt("Check" + player))
{
PlayerPrefs.SetInt("Check" + player, nivel);
}
}
}
public RechargeAction(EndeavourFactory factory, RobotController controller, List<Goal> goals, Dictionary<TagEnum, Tag> tagMap, Battery battery)
: base(factory, controller, goals, tagMap)
{
powerStation = getTagOfType<Tag>(TagEnum.PowerStation);
this.name = "recharge";
this.battery = battery;
}
protected virtual void Start()
{
robotController = GetComponent <RobotController>();
robotCharacter = GetComponent <RobotCharacter>();
robotWeapon = GetComponent <RobotWeapon>();
robotMovement = GetComponent <RobotMovement>();
}
public InvestigateAction(RobotController controller, List<Goal> goals, LabelHandle parent)
: base(controller, goals, parent)
{
creationTime = System.DateTime.Now;
this.name = "investigate";
requiredComponents = new System.Type[] { typeof(HoverJet) };
}
public override bool Execute(ExecutionInfo exInfo = null)
{
Result = false;
if (FilePath.IsValid && Write)
{
if (Options == null)
{
Options = new RobotConversionOptions(true);
}
Document.Model.GenerateNodes(new NodeGenerationParameters());
var robot = new RobotController();
robot.Message += HandleMessage;
RobotIDMappingTable idMap = null;
if (Document.IDMappings.ContainsKey(FilePath))
{
idMap = Document.IDMappings[FilePath] as RobotIDMappingTable;
}
if (idMap == null)
{
idMap = Document.IDMappings.GetLatest(".rtd") as RobotIDMappingTable;
}
if (idMap == null)
{
idMap = new RobotIDMappingTable();
Document.IDMappings.Add(FilePath, idMap);
}
robot.UpdateRobotFromModel(FilePath, Model, ref idMap, Options);
//robot.WriteModelToRobot(FilePath, Document.Model, ref idMap);
robot.Close();
robot.Release();
Result = true;
}
return(true);
}
// Start is called before the first frame update
void Start()
{
Controller = FindObjectOfType(typeof(RobotController)) as RobotController;
Target = null;
TargetFoundBy = null;
LineFoundBy = new List <LineSensor>();
}
private List <Command> AddCommands(RobotController robot)
{
robot.commands.ForEach(c => c.robotId = robot.id);
uiController.ColorCommandsSubmitted(robot.id, robot.isOpponent);
uiController.ChangeToBoardLayer(robot);
return(robot.commands);
}
private void ButtonTakeDebugSnapshot_Click(object sender, RoutedEventArgs e)
{
if (_captureInProgress)
{
RobotController.TakeDebugSnapshot();
}
}
private void RobotController_OnRobotDeath(RobotController robot)
{
robotAlive = false;
Image img = GetComponent <Image>();
img.fillAmount = 0;
}
public RechargeAction(RobotController controller, List <Goal> goals, Label target, Battery battery) : base(controller, goals, target.labelHandle)
{
powerStation = target;
this.name = "recharge";
requiredComponents = new System.Type[] { typeof(HoverJet) };
this.battery = battery;
}
private void initBullet(Vector3 direction, GameObject target)
{
RaycastHit hit;
if (Physics.Raycast(new Ray(transform.position, direction), out hit))
{
if (target && hit.collider.gameObject != target)
{
return;
}
RobotController robot = hit.collider.GetComponent <RobotController>();
if (robot != null)
{
robot.Damage();
}
GuardController guard = hit.collider.GetComponent <GuardController>();
if (guard != null)
{
guard.Damage(1);
}
LineRenderer lineRenderer = GetComponent <LineRenderer>();
lineRenderer.SetVertexCount(2);
lineRenderer.SetPosition(0, transform.position);
lineRenderer.SetPosition(1, hit.point);
Instantiate(Resources.Load("Sparks") as GameObject, hit.point, Quaternion.identity);
}
}
private void BuildClassTabs()
{
foreach (var cl in root.classes)
{
int columnCount = RobotController.GetHorizontalCount(cl.Layout);
int rowCount = RobotController.GetVerticalCount(cl.Layout);
dgv_class.AutoSizeColumnsMode = DataGridViewAutoSizeColumnsMode.Fill;
dgv_class.ScrollBars = ScrollBars.None;
dgv_class.RowTemplate.Height = (dgv_class.Height - dgv_class.ColumnHeadersHeight) / rowCount;
dgv_class.RowHeadersWidth = 50;
dgv_class.AllowUserToOrderColumns = false;
dgv_class.AllowUserToResizeColumns = false;
dgv_class.AllowUserToResizeRows = false;
for (int i = 0; i < columnCount + 1; i++)
{
dgv_class.Columns.Add(i.ToString(), i.ToString());
}
dgv_class.Rows.Add(rowCount);
for (int i = 0; i < dgv_class.Rows.Count; i++)
{
dgv_class.Rows[i].HeaderCell.Value = i.ToString();
}
PopulateView(cl.Layout);
lbl_teacherName.Text = cl.Teacher;
lbl_classId.Text = cl.ClassId;
lbl_roomId.Text = cl.Room;
lbl_date.Text = DateTime.Today.ToString("dd-MM-yyyy");
}
}
public ElectrocuteAction(RobotController controller, List <Goal> goals, Label target)
: base(controller, goals, target.labelHandle)
{
this.name = "electrocute";
this.target = target;
requiredComponents = new System.Type[] { };
}
public void UpdateHealthBarSprite(RobotController robot, SpriteRenderer healthBarSprite)
{
// robot = GameObject.Find ("Robot").GetComponent<RobotController> ();
// healthBarSprite = GameObject.Find ("HealthBar").GetComponent<SpriteRenderer> ();
if (robot == null)
{
healthBarSprite.sprite = fiveHealth;
}
switch (robot.health)
{
case 5:
healthBarSprite.sprite = fiveHealth;
break;
case 4:
healthBarSprite.sprite = fourHealth;
break;
case 3:
healthBarSprite.sprite = threeHealth;
break;
case 2:
healthBarSprite.sprite = twoHealth;
break;
case 1:
healthBarSprite.sprite = oneHealth;
break;
}
}
static void Main(string[] args)
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
double cosTeta = 0.649352561565284; //teta=49.50...
double sinTeta = 0.760487508634168; // sinTeta = System.Math.Cos(45);
while (true)
{
double rX = Robot.GetCurrentPosition().X *cosTeta - Robot.GetCurrentPosition().Y *sinTeta;
double rY = Robot.GetCurrentPosition().X *sinTeta + Robot.GetCurrentPosition().Y *cosTeta;
//while((30 <= rX <= -30)&&(30 <= rY <= -20)&&(Robot.GetCurrentPosition().Z < 5))
//if ((-300 >= rX) && (rX >= 300) && (-200 >= rY) && (rY >= 300) && (Robot.GetCurrentPosition().Z <= 50))
if ((-200 <= rX) && (rX <= 800) && (130 <= rY) && (rY <= 790) && (Robot.GetCurrentPosition().Z >= 50))
{
//move robot
Console.WriteLine("Robot reste dans la zone de securité YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
Console.WriteLine(" Rotation de X : " + rX + "; Y : " + rY);
}
else
{
//robot s'arrete
Console.WriteLine("!!! Robot a sorti de la zone de securité !!!!!!!!!!!!!!!!!!!!!!!");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
Console.WriteLine(" Rotation de X : " + rX + "; Y : " + rY);
}
System.Threading.Thread.Sleep(2000);
}
}
public void ResetRobotObject()
{
Vector3 robotPosition = Vector3.zero;
Quaternion robotRotation = Quaternion.identity;
Quaternion cameraRotation = Quaternion.identity;
cameraRotation.x = 90f;
if (robotObject != null)
{
robotManager.DestroySensors();
RobotManager.robotCam.transform.SetParent(null);
RobotManager.cameraAudioListener.enabled = true;
//RobotController.initialized = false;
Destroy(robotObject);
}
robotObject = GameObject.Instantiate(robotPrefab, robotPosition, robotRotation);
robotController = robotObject.GetComponent <RobotController>();
robotManager.InitializeRobot();
RobotManager.robotCam.transform.SetParent(robotObject.transform);
RobotManager.robotCam.transform.position = robotObject.transform.position + new Vector3(0f, 500f, 0f);
RobotManager.robotCam.transform.rotation = robotObject.transform.rotation;
RobotManager.robotCam.transform.Rotate(new Vector3(90f, 0f, 0f));
Debug.Log(RobotManager.robotCam.name + " has parent " + RobotManager.robotCam.transform.parent.name);
//Debug.Log("ResetRobotObject(): position - " + robotObject.transform.position.ToString() + " orientation - " + robotObject.transform.rotation.ToString());
//robotObject.transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
}
static void Main(string[] args)
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
double cosTeta = 0.649352561565284; //teta=49.50...
double sinTeta = 0.760487508634168; // sinTeta = System.Math.Cos(45);
while(true)
{
double rX = Robot.GetCurrentPosition().X * cosTeta - Robot.GetCurrentPosition().Y * sinTeta;
double rY = Robot.GetCurrentPosition().X * sinTeta + Robot.GetCurrentPosition().Y * cosTeta;
//while((30 <= rX <= -30)&&(30 <= rY <= -20)&&(Robot.GetCurrentPosition().Z < 5))
//if ((-300 >= rX) && (rX >= 300) && (-200 >= rY) && (rY >= 300) && (Robot.GetCurrentPosition().Z <= 50))
if ((-200 <= rX) && (rX <= 800) && (130 <= rY) && (rY <= 790) && (Robot.GetCurrentPosition().Z >= 50))
{
//move robot
Console.WriteLine("Robot reste dans la zone de securité YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
Console.WriteLine(" Rotation de X : " + rX +"; Y : " + rY);
}
else
{
//robot s'arrete
Console.WriteLine("!!! Robot a sorti de la zone de securité !!!!!!!!!!!!!!!!!!!!!!!");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
Console.WriteLine(" Rotation de X : " + rX + "; Y : " + rY);
}
System.Threading.Thread.Sleep(2000);
}
}
public void Recover(RobotController other)
{
other.hp += 10;
if(other.mhpCurrent< other.hp)
{
other.hp = other.mhpCurrent;
}
}
public int getConcurrentExecutions(RobotController executor, System.Type endeavourType)
{
HashSet<RobotController> endeavourExecutors = getExecutors(endeavourType);
if (endeavourExecutors.Contains(executor)) {
return endeavourExecutors.Count - 1;
}
return endeavourExecutors.Count;
}
public Endeavour constructEndeavour(RobotController controller, List<Tag> tags)
{
Dictionary<TagEnum, Tag> tagMap = new Dictionary<TagEnum, Tag>();
foreach (Tag tag in tags) {
tagMap.Add(tag.type, tag);
}
return createEndeavour(controller, tagMap);
}
public RechargeAction(RobotController controller, List<Goal> goals, Label target, Battery battery)
: base(controller, goals, target.labelHandle)
{
powerStation = target;
this.name = "recharge";
requiredComponents = new System.Type[] { typeof(HoverJet) };
this.battery = battery;
}
public InvestigateAction(EndeavourFactory factory, RobotController controller, List<Goal> goals, Dictionary<TagEnum, Tag> tags)
: base(factory, controller, goals, tags)
{
//creationTime = System.DateTime.Now;
creationTime = Time.time;
this.name = "investigate";
sound = getTagOfType<Tag>(TagEnum.Sound);
}
public override Endeavour constructEndeavour(RobotController controller) {
Battery battery = controller.GetComponentInChildren<Battery>();
if (parent == null || battery == null) {
return null;
}
RechargeAction action = new RechargeAction(controller, goals, parent, battery);
action.rechargePoint = rechargePoint;
return action;
}
public void addListener(RobotController listener)
{
RobotAntenna antenna = listener.getRobotComponent<RobotAntenna>();
if (antenna != null) {
forceAddListener(listener);
} else {
Debug.LogWarning("Cannot add robot without antenna to CRC: " + listener.name);
}
}
public override Endeavour constructEndeavour (RobotController controller) {
if (parent == null) {
return null;
}
//Goal[] goals = new Goal[2];
//goals [0] = new Goal ("protection", 3);
//goals [1] = new Goal ("offense", 3);
return new PursueAction(controller, goals, parent);
}
public override Endeavour constructEndeavour (RobotController controller) {
if (parent == null || getPoints() == null || getPoints().Count == 0) {
if(getPoints().Count == 0) {
Debug.LogWarning("Patrol route '"+parent.name+"' has no route points");
}
return null;
}
return new PatrolAction(controller, goals, getPointHandles(), parent);
}
public RobotController getController()
{
if (roboController == null) {
roboController = GetComponentInParent<RobotController>();
if (roboController == null)
Debug.LogWarning("Robot component '" + name + "' is not attached to a robot controller!");
}
return roboController;
}
public override Endeavour constructEndeavour (RobotController controller) {
if (parent == null) {
return null;
}
//Goal[] goals = new Goal[2];
//goals[0] = new Goal ("protection", 5);
//goals[1] = new Goal ("offense", 5);
//Debug.Log ("get drop");
return new DropKickAction(controller, goals, parent.labelHandle);
}
void Start()
{
this.shooterMode = this.GetComponent<KaneShooterController> ();
this.robotMode = this.GetComponent<RobotController> ();
this.robotMode.enabled = this.starts [0];
this.shooterMode.enabled = this.starts [1];
this.shooterMode.start ();
}
protected override Endeavour createEndeavour(RobotController controller, Dictionary<TagEnum, Tag> tags)
{
Battery battery = controller.GetComponentInChildren<Battery>();
if (battery == null) {
return null;
}
RechargeAction action = new RechargeAction(this, controller, goals, tags, battery);
action.rechargePoint = rechargePoint;
return action;
}
public PatrolAction(EndeavourFactory factory, RobotController controller, List<Goal> goals, Dictionary<TagEnum, Tag> tagMap)
: base(factory, controller, goals, tagMap)
{
this.name = "patrol";
PatrolTag patrolTag = getTagOfType<PatrolTag>(TagEnum.PatrolRoute);
if (patrolTag.getPoints() == null || patrolTag.getPoints().Count == 0) {
Debug.LogWarning("Patrol route '" + patrolTag.getLabelHandle().label.name + "' has no route points");
}
routePoints = patrolTag.getPointHandles();
}
public virtual List<Endeavour> getAvailableEndeavours(RobotController controller)
{
List<Endeavour> availableEndeavours = new List<Endeavour> ();
foreach (EndeavourFactory endeavour in endeavours) {
Endeavour newEndeavour = endeavour.constructEndeavour(controller);
if(newEndeavour != null) {
availableEndeavours.Add(newEndeavour);
}
}
return availableEndeavours;
}
// Use this for initialization
void Awake () {
roboController = GetComponentInParent<RobotController> ();
if (roboController == null) {
Debug.LogWarning("Robot component '" + name + "' is not attached to a robot controller!");
} else {
powerSource = roboController.GetComponentInChildren<AbstractPowerSource>();
}
if (roboController == null) {
Debug.LogWarning("Robot component '" + name + "' has no power source!");
}
}
public PatrolAction(RobotController controller, List<Goal> goals, List<LabelHandle> route, Label target)
: base(controller, goals, target.labelHandle) {
//this.route = route;
this.name = "patrol";
requiredComponents = new System.Type[] {typeof(HoverJet)};
//this.points = route;
//routePoints = new List<Label> ();
routePoints = route;
/*foreach (GameObject point in points) {
Label label = point.GetComponent<Label>();
if (label != null) {
routePoints.Add(label);
}
}*/
}
// Constructeur permettant de ce connecter au robot
public Class_Kuka_Manager()
{
if (debug)
{
robot = new RobotController();
try
{
robot.Connect("192.168.1.1");
Console.WriteLine("coonected");
}
catch (IOException e)
{
Console.WriteLine(e);
}
}
}
static void Main(string[] args)
{
RobotController Robot = new RobotController();
Robot.Connect("192.168.1.1");
Console.WriteLine("Robot connecté ... ");
Console.WriteLine("Robot position : x:" + Robot.GetCurrentPosition().X + "; y:" + Robot.GetCurrentPosition().Y + "; z: " + Robot.GetCurrentPosition().Z);
List<CartesianPosition> Trajectoire = new List<CartesianPosition>();
for (int i = 1; i <= 100; i++)
{
Trajectoire.Add(new CartesianPosition
{
X = i + Robot.GetCurrentPosition().X,
Y = i + Robot.GetCurrentPosition().Y,
Z = i + Robot.GetCurrentPosition().Z,
A = 0 + Robot.GetCurrentPosition().A,
B = 0 + Robot.GetCurrentPosition().B,
C = 0 + Robot.GetCurrentPosition().C
});
}
//Robot.PlayTrajectory(Trajectoire);
Robot.StartRelativeMovement();
CartesianPosition Test = new CartesianPosition
{
X = -1,
Y = 0,
Z = 0,
A = 0,
B = 0,
C = 0
};
Robot.SetRelativeMovement(Test);
System.Threading.Thread.Sleep(2000);
Robot.StopRelativeMovement();
Device Mouse = new Device();
}
void Update() {
if(isScanning()) {
currentScanTime += Time.deltaTime;
}
if(currentScanTime > scanTime) {
currentScanTime = 0;
stopScan();
if(currentController == null) {
currentController = GetComponentInParent<RobotController>();
}
currentController.enqueueMessage(new RobotMessage(RobotMessage.MessageType.ACTION, "target scanned", null, new Vector3(), null));
}
if(active) {
if(!soundEmitter.isPlaying) {
//soundEmitter.clip = scanSound;
soundEmitter.PlayOneShot(scanSound);
}
float movementRate = 4f*movementRange/(scanTime);
drawLines();
if(movingUp) {
upness += Time.deltaTime * movementRate;
if(upness > movementRange) {
movingUp = false;
}
} else {
upness -= Time.deltaTime * movementRate;
if(Mathf.Abs(upness) > movementRate) {
movingUp = true;
}
}
} else {
if(soundEmitter.isPlaying) {
soundEmitter.Stop();
}
clearLines();
}
}
/// <summary>
/// あらかじめ指定されたパネル効果を実行
/// </summary>
public void Run(RobotController other)
{
if (mikata == other.Mikata && !process)
{
switch (targetNo)
{
case 0://移動
Turn(other);
break;
case 1:
Destruct(other);
break;
case 2:
Stop(other);
break;
case 3:
Recover(other);
break;
}
process = true;
GetComponent<Animator>().SetTrigger("PanelEffect");
}
}
