public Sensor(int dir)
{
battery = DEFAULT_CAPACITY;
Random rnd = new Random();
discharge = (uint)rnd.Next(1, 100);
state = true;
sdir = (SensorDirection)dir;
}
//Constructor
public Sensor()
{
battery = DEFAULT_CAPACITY;
Random rnd = new Random();
discharge = 1;//(uint)rnd.Next(1,100);
state = true;
sdir = 0;
}
private void OnOrientation(float x, float y, float z)
{
// �����ֻ���ת�Ƕ�
orientation = 0;
magnitude = x * x + y * y;
if (magnitude * 4 >= z * z)
{
float angle = MathUtils.Atan2(-y, x) * MathUtils.RAD_TO_DEG;
orientation = 90 - MathUtils.Round(angle);
while (orientation >= 360)
{
orientation -= 360;
}
while (orientation < 0)
{
orientation += 360;
}
}
// ���ֻ���ת�Ƕ�תΪ�ֻ�����
if (CheckAngle(0, orientation) || CheckAngle(360, orientation))
{
_all_direction = Config.TUP;
_direction = SensorDirection.UP;
}
else if (CheckAngle(45, orientation))
{
_all_direction = Config.LEFT;
_direction = SensorDirection.LEFT;
}
else if (CheckAngle(90, orientation))
{
_all_direction = Config.TLEFT;
_direction = SensorDirection.LEFT;
}
else if (CheckAngle(135, orientation))
{
_all_direction = Config.DOWN;
_direction = SensorDirection.LEFT;
}
else if (CheckAngle(180, orientation))
{
_all_direction = Config.TDOWN;
_direction = SensorDirection.DOWN;
}
else if (CheckAngle(225, orientation))
{
_all_direction = Config.RIGHT;
_direction = SensorDirection.RIGHT;
}
else if (CheckAngle(270, orientation))
{
_all_direction = Config.TRIGHT;
_direction = SensorDirection.RIGHT;
}
else if (CheckAngle(315, orientation))
{
_all_direction = Config.UP;
_direction = SensorDirection.RIGHT;
}
else
{
_all_direction = Config.EMPTY;
_direction = SensorDirection.EMPTY;
}
}
private void GravityToKey(SensorDirection d)
{
SetKeyUp(Key.LEFT);
SetKeyUp(Key.RIGHT);
SetKeyUp(Key.DOWN);
SetKeyUp(Key.UP);
if (d == SensorDirection.LEFT)
{
SetKeyDown(Key.LEFT);
}
else if (d == SensorDirection.RIGHT)
{
SetKeyDown(Key.RIGHT);
}
else if (d == SensorDirection.UP)
{
SetKeyDown(Key.UP);
}
else if (d == SensorDirection.DOWN)
{
SetKeyDown(Key.DOWN);
}
}
public void OnSensorChanged(LProcess.AccelerometerState e)
{
if (isLock || isClose || !isLoad)
{
return;
}
lock (this)
{
long curTime = JavaRuntime.CurrentTimeMillis();
if ((curTime - lastUpdate) > 30)
{
long diffTime = (curTime - lastUpdate);
lastUpdate = curTime;
currentX = e.Acceleration.X;
currentY = e.Acceleration.Y;
currentZ = e.Acceleration.Z;
currenForce = Math.Abs(currentX + currentY + currentZ - lastX
- lastY - lastZ)
/ diffTime * 10000;
if (currenForce > 500)
{
OnShakeChanged(currenForce);
}
float absx = Math.Abs(currentX);
float absy = Math.Abs(currentY);
float absz = Math.Abs(currentZ);
if (LSystem.SCREEN_LANDSCAPE)
{
// PS:横屏时上下朝向非常容易同左右混淆,暂未发现有效的解决方案(不是无法区分,
// 而是横屏操作游戏时用户难以保持水平,而一晃就是【左摇右摆】……) ,所以现阶段横屏只取左右
double type = Math.Atan(currentY / currentZ);
if (type <= -accelOffset)
{
if (landscapeUpdate > -accelOffset)
{
direction = SensorDirection.LEFT;
}
}
else if (type >= accelOffset)
{
if (landscapeUpdate < accelOffset)
{
direction = SensorDirection.RIGHT;
}
}
else
{
if (landscapeUpdate <= -accelOffset)
{
direction = SensorDirection.LEFT;
}
else if (landscapeUpdate >= accelOffset)
{
direction = SensorDirection.RIGHT;
}
}
landscapeUpdate = type;
}
else
{
if (absx > absy && absx > absz)
{
if (currentX > accelOffset)
{
direction = SensorDirection.LEFT;
}
else
{
direction = SensorDirection.RIGHT;
}
}
else if (absz > absx && absz > absy)
{
if (currentY < -accelOffset)
{
direction = SensorDirection.DOWN;
}
else
{
direction = SensorDirection.UP;
}
}
}
lastX = currentX;
lastY = currentY;
lastZ = currentZ;
if (isGravityToKey)
{
GravityToKey(direction);
}
OnDirection(direction, currentX, currentY, currentZ);
}
}
}
public virtual void OnDirection(SensorDirection direction, float x, float y, float z)
{
}
private void OnOrientation(float x, float y, float z)
{
// 换算手机翻转角度
orientation = 0;
magnitude = x * x + y * y;
if (magnitude * 4 >= z * z)
{
float angle = MathUtils.Atan2(-y, x) * MathUtils.RAD_TO_DEG;
orientation = 90 - MathUtils.Round(angle);
while (orientation >= 360)
{
orientation -= 360;
}
while (orientation < 0)
{
orientation += 360;
}
}
// 将手机翻转角度转为手机朝向
if (CheckAngle(0, orientation) || CheckAngle(360, orientation))
{
_all_direction = Config.TUP;
_direction = SensorDirection.UP;
}
else if (CheckAngle(45, orientation))
{
_all_direction = Config.LEFT;
_direction = SensorDirection.LEFT;
}
else if (CheckAngle(90, orientation))
{
_all_direction = Config.TLEFT;
_direction = SensorDirection.LEFT;
}
else if (CheckAngle(135, orientation))
{
_all_direction = Config.DOWN;
_direction = SensorDirection.LEFT;
}
else if (CheckAngle(180, orientation))
{
_all_direction = Config.TDOWN;
_direction = SensorDirection.DOWN;
}
else if (CheckAngle(225, orientation))
{
_all_direction = Config.RIGHT;
_direction = SensorDirection.RIGHT;
}
else if (CheckAngle(270, orientation))
{
_all_direction = Config.TRIGHT;
_direction = SensorDirection.RIGHT;
}
else if (CheckAngle(315, orientation))
{
_all_direction = Config.UP;
_direction = SensorDirection.RIGHT;
}
else
{
_all_direction = Config.EMPTY;
_direction = SensorDirection.EMPTY;
}
}
//Pre: next valid direction to move in the grid
//Post: updated direction for the sensor to move with the robot.
public void changeDirection(robotDirection newDir)
{
sdir = (SensorDirection)newDir;
}
