// Update is called once per frame
void FixedUpdate()
{
/*if (path.Count > 0)
* {
* Vector3 position = path.Pop();
* if (this.transform.position != position)
* {
* Debug.Log("Position = " + position);
* controller.GoToPoint(position);
* }
* }*/
controller.GoToPoint(new Vector3(50, 5, 50));
List <byte[]> messageToSend = new List <byte[]>();
byte[] message;
foreach (Message m in targets)
{
message = DataToByte(m.position, m.tag);
messageToSend.Add(message);
}
List <GameObject> robots = wifi.getRobotAround();
foreach (GameObject g in robots)
{
Debug.Log("I am " + this.tag + " rover, I detect " + g.tag + " rover");
foreach (byte[] m in messageToSend)
{
wifi.Send(g, m);
Debug.Log("I will send him a target pos " + ByteToData(m).position);
}
}
byte[] messageReceived;
if (wifi.isWaiting())
{
messageReceived = wifi.getMessage();
Message m = ByteToData(messageReceived);
if (m.tag == this.tag)
{
Debug.Log("I am " + this.tag + ", Another robot send me this message " + m.position);
}
}
}
// Update is called once per frame
void FixedUpdate()
{
/*if (targetList != null)
{
target = FindTarget(targetList);
Vector3 targetPos = GetPosition(target);
Debug.Log("I am " + this.tag + " rover, I detect this target " + targetPos);
if (obstaclesList != null)
{
Vector2[] obst = GetObstacleVect(obstaclesList);
robotPosX = this.transform.position.x;
robotPosY = this.transform.position.z;
targetPosX = targetPos.x;
targetPosY = targetPos.z;
Vector2 p = potentialField(robotPosX, robotPosY, targetPosX, targetPosY, obst);
GoTo(p);
}
else
{
GoTo(GetPosition(target));
}
}
else
{
controller.ChangeMotorSpeed(1.0f, -1.0f);
}
data = lidarRotative.GetData();
/*targetList.Union(FindTargets(data));
obstaclesList.Union(FindObstacles(data));*/
Vector3 pos;
List<byte[]> messageToSend = new List<byte[]>();
byte[] message;
foreach (Triple t in objectList)
{
pos = GetPosition(t);
message = DataToByte(pos, t.Tag);
messageToSend.Add(message);
}
List<GameObject> robots = wifi.getRobotAround();
foreach(GameObject g in robots)
{
Debug.Log("I am " + this.tag + " rover, I detect " + g.tag + " rover");
foreach(byte[] m in messageToSend)
{
wifi.Send(g, m);
Debug.Log("I will send him a target pos " + ByteToData(m).position);
}
}
byte[] messageReceived;
if (wifi.isWaiting())
{
messageReceived = wifi.getMessage();
Message m = ByteToData(messageReceived);
if (m.tag == this.tag)
{
Debug.Log("I am " + this.tag + " rover, Another robot send me this message " + m);
targetPosList.Add(m.position);
}
}
objectList = FindObjects(data);
}