void Awake()
{
State = _state.Idle;
NextState = State;
paused = false;
miscStats = new PropertyStats();
}
void Die()
{
NextState = _state.Dead;
dieTimer = Time.time;
this.SendMessage("SetAction", UnitAnimation._action.Die, SendMessageOptions.DontRequireReceiver);
this.SendMessage("StartAnimation", null, SendMessageOptions.DontRequireReceiver);
}
void AttackUnit()
{
this.SendMessage("SetAction", weapon.actionAnim, SendMessageOptions.DontRequireReceiver);
this.SendMessage("StartAnimation", null, SendMessageOptions.DontRequireReceiver);
NextState = _state.Engage;
attackTimer = Time.time;
}
void EngageUnit()
{
if ((attackTimer + weapon.rechargeTime) < Time.time)
{
NextState = _state.Idle;
}
}
public void Throw()
{
Debug.Log("I am being thrown!");
if (state == _state.Held)
{
state = _state.Throwing;
Vector3 pos = heldBy.transform.position;
PlayerController nearest=heldBy;
float nearestDist = float.MaxValue;
foreach (PlayerController player in PlayerController.players)
{
if (player == heldBy) continue;
float currentDist = Vector3.Distance(player.transform.position, heldBy.transform.position);
if (nearestDist > currentDist)
{
nearestDist=currentDist;
nearest=player;
}
}
//ThrowStriaght();
ThrowAt(nearest.transform.position);
heldBy.state = PlayerState.NOT_HOLDING;
}
}
public void disconnect()
{
arduino_serial.DiscardInBuffer();
arduino_serial.DiscardOutBuffer();
arduino_serial.Close();
state = _state.DISCONNECTED;
}
public void PickUp(PlayerController pc)
{
if (state == _state.OnGround || state == _state.Falling || state == _state.Throwing)
{
heldBy = pc;
state = _state.Held;
pc.state = PlayerState.HOLDING;
//transform.position = heldBy.eggNode.transform.position;
}
}
public void ThrowToPlayer(Vector3 receivingPlayer)
{
Debug.Log ("Throwing to a player");
if (state == _state.Held) {
state = _state.Throwing;
//Vector3 distance = receivingPlayer - this.transform.position;
ThrowAt(receivingPlayer);
//delta = Vector3.Normalize ((distance) + Vector3.up) * 5.0f;
heldBy = null;
}
}
private void serial_data_received(object sender, SerialDataReceivedEventArgs e)
{
String command_feedback;
try
{
command_feedback = arduino_serial.ReadLine();
//Console.WriteLine(command_feedback);
}
catch
{
return;
}
if (command_checker == null)
{
return;
}
if (!command_feedback.Contains(command_checker))
{
//throw new InvalidOperationException("Invalid command feedback");
}
else
{
command_valid = true;
if (command_feedback.IndexOf('(') > -1 && command_feedback.IndexOf(',') > -1 && command_feedback.IndexOf(')') > -1)
{
int startchar = command_feedback.IndexOf('(') + 1;
int numlength = (command_feedback.IndexOf(',') - startchar);
values_received[0] = Convert.ToInt64(command_feedback.Substring(startchar, numlength));
startchar = command_feedback.IndexOf(',') + 1;
numlength = (command_feedback.IndexOf(')') - startchar);
values_received[1] = Convert.ToInt64(command_feedback.Substring(startchar, numlength));
}
if (command_checker == "InoCtrl")
{
state = _state.CONTROLLING;
}
}
if (command_feedback.Contains("Homming"))
{
command_type = command_types.HOME;
}
else if (command_feedback.Contains("Start"))
{
command_type = command_types.START;
}
else if (command_feedback.Contains("Normal"))
{
command_type = command_types.NORMAL;
}
//if(command_feedback.Contains("Apertou"))
//Console.WriteLine("Received Data: "+ command_feedback);
}
//public resetButton resetButton;
public controlPanel()
{
state = _state.beforeStart;
buttonA = new buttonA();
buttonB = new buttonB();
//resetButton = new resetButton();
this.Controls.Add(buttonA);
this.Controls.Add(buttonB);
//this.Controls.Add(resetButton);
buttonA.Left = 2;
buttonB.Left = buttonA.Left + buttonA.Width + 2;
this.Height = buttonA.Height + 2;
this.Width = buttonA.Width + 4;
buttonB.Visible = false;
}
void SetupMoveUnit()
{
UnitAnimation._direction dir;
int tileXDelta;
int tileYDelta;
tileXDelta = (int)moveTile.x - (int)curTile.x;
tileYDelta = (int)moveTile.y - (int)curTile.y;
if ((tileXDelta == 0) && (tileYDelta == 0))
{
return;
}
deltaX = (float)tileXDelta * moveXScale;
deltaY = (float)tileYDelta * moveXScale;
if (Mathf.Abs(tileXDelta) > Mathf.Abs(tileYDelta))
{
if (tileXDelta > 0)
{
dir = UnitAnimation._direction.DirRight;
}
else
{
dir = UnitAnimation._direction.DirLeft;
}
}
else
{
if (tileYDelta > 0)
{
dir = UnitAnimation._direction.DirUp;
}
else
{
dir = UnitAnimation._direction.DirDown;
}
}
this.SendMessage("SetDirection", dir, SendMessageOptions.DontRequireReceiver);
this.SendMessage("SetAction", UnitAnimation._action.Walk, SendMessageOptions.DontRequireReceiver);
this.SendMessage("StartAnimation", null, SendMessageOptions.DontRequireReceiver);
NextState = _state.Move;
}
public bool connect(String port_name)
{
try
{
arduino_serial.PortName = port_name;
arduino_serial.BaudRate = 115200;
arduino_serial.Handshake = Handshake.RequestToSend;
arduino_serial.DtrEnable = true;
arduino_serial.RtsEnable = true;
arduino_serial.Open();
//arduino_serial = new SerialPort(port_name, 9600);//, Parity.None, 8, StopBits.One);
}
catch
{
return(false);
}
state = _state.INITIALIZING;
state_init = _state_init.NOT_READY;
state_ctrl = _state_ctrl.CONTROLLING;
return(true);
}
void Awake()
{
//Application.targetFrameRate = 30;
Screen.SetResolution(1080, 1920, true);
//Application.targetFrameRate = 60;
//QualitySettings.vSyncCount = 0;
cam = Camera.Instantiate(mainCamera);
playerDataController = transform.GetComponent <PlayerDataController>();
playerDataController.LoadPlayerData();
Debug.Log(playerDataController.playerData.lastLevel);
dataController = transform.GetComponent <DataController>();
dataController.LoadGameData();
gameState = _state.intro;
Object.DontDestroyOnLoad(transform);
Object.DontDestroyOnLoad(cam);
soundController = GetComponent <SoundController>();
musicController = GetComponent <MusicController>();
pauseMenuEnabled = true;
paused = false;
helperEnabled = true;
if (playerDataController.playerData.sfxOnOff == 1)
{
soundController.SoundFXOn = true;
}
else
{
soundController.SoundFXOn = false;
}
if (playerDataController.playerData.musicOnOff == 1)
{
musicController.MusicOn = true;
}
else
{
musicController.MusicOn = false;
}
}
private void OnLevelFinishLoading(Scene scene, LoadSceneMode mode)
{
if (scene.name == "Board")
{
gameState = _state.board;
StartBoard();
LevelPostStart();
sceneHandler = null;
//background = GameObject.Instantiate(backgroundPrefabs[currentLevel % backgroundPrefabs.Count]);
background = GameObject.Instantiate((GameObject)Resources.Load("Backgrounds/" + backgrounds[currentLevel % backgrounds.Count]));
}
if (scene.name == "World")
{
if (board)
{
Destroy(board);
}
if (worldController == null)
{
worldController = GameObject.Instantiate(worldControllerPrefab);
}
worldController.GetComponent <WorldController>().DoRender();
}
}
void Move(Vector2 newTile)
{
NextState = _state.SetupMove;
moveTile = newTile;
}
} // end of parce of tree
/// <summary>
/// Парсинг скобочного дерева 1С
/// </summary>
/// <param name="text"></param>
/// <param name="path"></param>
/// <returns></returns>
public static Tree Parse_1Ctext(String text, String path)
{
StringBuilder __curvalue__ = new StringBuilder("");
String curvalue = "";
Tree ret = new Tree("", Node_Type.nd_list, null);
Tree t = ret;
int len = text.Length;
int i = 0;
char sym = '0';
Node_Type nt = Node_Type.nd_unknown;
_state state = _state.s_value;
//for (i = 0; i <= len-1; i++)
for (i = 1; i < len; i++)
{
sym = text[i];
if (String.IsNullOrEmpty(sym.ToString()))
{
break;
}
switch (state)
{
case _state.s_value:
switch (sym)
{
case ' ': // space
case '\t':
case '\r':
case '\n':
break;
case '"':
__curvalue__.Clear();
state = _state.s_string;
break;
case '{':
t = new Tree("", Node_Type.nd_list, t);
break;
case '}':
if (t.Get_First() != null)
{
t.AddChild("", Node_Type.nd_empty);
}
t = t.Get_Parent();
if (t == null)
{
//if (msreg) msreg->AddError("Ошибка формата потока. Лишняя закрывающая скобка }.", "Позиция", i, "Путь", path);
//delete ret;
//String msreg = $"Ошибка формата потока. Лишняя закрывающая скобка. Позиция: { i }, Путь: {path}";
ShowMessage("Ошибка формата потока. Лишняя закрывающая скобка }. Позиция " + i + ", Путь " + path);
ret = null;
return(null);
}
state = _state.s_delimitier;
break;
case ',':
t.AddChild("", Node_Type.nd_empty);
break;
default:
__curvalue__.Clear();
__curvalue__.Append(sym);
state = _state.s_nonstring;
break;
}
break;
case _state.s_delimitier:
switch (sym)
{
case ' ': // space
case '\t':
case '\r':
case '\n':
break;
case ',':
state = _state.s_value;
break;
case '}':
t = t.Get_Parent();
if (t == null)
{
/*
* if (msreg) msreg->AddError("Ошибка формата потока. Лишняя закрывающая скобка }.",
* "Позиция", i,
* "Путь", path);
*/
ShowMessage("Ошибка формата потока. Лишняя закрывающая скобка }. Позиция " + i + ", Путь " + path);
ret = null;
return(null);
}
break;
default:
/*
* if (msreg) msreg->AddError("Ошибка формата потока. Ошибочный символ в режиме ожидания разделителя.",
* "Символ", sym,
* "Код символа", tohex(sym),
* "Путь", path);
*/
ShowMessage("Ошибка формата потока. Ошибочный символ в режиме ожидания разделителя. Символ " + sym + ", Код символа " + sym.ToString() + ", Путь " + path);
ret = null;
return(null);
}
break;
case _state.s_string:
if (sym == '"')
{
state = _state.s_quote_or_endstring;
}
else
{
__curvalue__.Append(sym);
}
break;
case _state.s_quote_or_endstring:
if (sym == '"')
{
__curvalue__.Append(sym);
state = _state.s_string;
}
else
{
t.AddChild(__curvalue__.ToString(), Node_Type.nd_string);
switch (sym)
{
case ' ': // space
case '\t':
case '\r':
case '\n':
state = _state.s_delimitier;
break;
case ',':
state = _state.s_value;
break;
case '}':
t = t.Get_Parent();
if (t == null)
{
/*
* if (msreg) msreg->AddError("Ошибка формата потока. Лишняя закрывающая скобка }.",
* "Позиция", i,
* "Путь", path);
*/
ShowMessage("Ошибка формата потока. Лишняя закрывающая скобка }. Позиция " + i.ToString() + ", Путь " + path);
ret = null;
return(null);
}
state = _state.s_delimitier;
break;
default:
/*
* if (msreg) msreg->AddError("Ошибка формата потока. Ошибочный символ в режиме ожидания разделителя.",
* "Символ", sym,
* "Код символа", tohex(sym),
* "Путь", path);
*/
ShowMessage("Ошибка формата потока. Ошибочный символ в режиме ожидания разделителя. Символ " + sym + ", Код символа " + sym.ToString() + ", Путь " + path);
ret = null;
return(null);
}
}
break;
case _state.s_nonstring:
switch (sym)
{
case ',':
curvalue = __curvalue__.ToString();
nt = ClassificationValue(curvalue);
if (nt == Node_Type.nd_unknown)
{
/*
* if (msreg) msreg->AddError("Ошибка формата потока. Неизвестный тип значения.",
* "Значение", curvalue,
* "Путь", path);
*/
ShowMessage("Ошибка формата потока. Неизвестный тип значения. Значение " + curvalue + ", Путь " + path);
}
t.AddChild(curvalue, nt);
state = _state.s_value;
break;
case '}':
curvalue = __curvalue__.ToString();
nt = ClassificationValue(curvalue);
if (nt == Node_Type.nd_unknown)
{
//if (msreg) msreg->AddError("Ошибка формата потока. Неизвестный тип значения.", "Значение", curvalue, "Путь", path);
ShowMessage("Ошибка формата потока. Неизвестный тип значения. Значение " + curvalue + ", Путь " + path);
}
t.AddChild(curvalue, nt);
t = t.Get_Parent();
if (t == null)
{
/*
* if (msreg) msreg->AddError("Ошибка формата потока. Лишняя закрывающая скобка }.",
* "Позиция", i,
* "Путь", path);
*/
ShowMessage("Ошибка формата потока. Лишняя закрывающая скобка. Позиция " + i.ToString() + ", Путь " + path);
ret = null;
return(null);
}
state = _state.s_delimitier;
break;
default:
__curvalue__.Append(sym);
break;
}
break;
default:
/*
* if (msreg) msreg->AddError("Ошибка формата потока. Неизвестный режим разбора.",
* "Режим разбора", tohex(state),
* "Путь", path);
*/
ShowMessage("Ошибка формата потока. Неизвестный режим разбора. Режим разбора " + state.ToString() + ", Путь " + path);
ret = null;
return(null);
}
}
if (state == _state.s_nonstring)
{
curvalue = __curvalue__.ToString();
nt = ClassificationValue(curvalue);
if (nt == Node_Type.nd_unknown)
{
/*
* if (msreg) msreg->AddError("Ошибка формата потока. Неизвестный тип значения.",
* "Значение", curvalue,
* "Путь", path);
*/
ShowMessage("Ошибка формата потока. Неизвестный тип значения. Значение: " + curvalue + ", Путь " + path);
}
t.AddChild(curvalue, nt);
}
else
if (state == _state.s_quote_or_endstring)
{
t.AddChild(__curvalue__.ToString(), Node_Type.nd_string);
}
else
if (state != _state.s_delimitier)
{
/*
* if (msreg) msreg->AddError("Ошибка формата потока. Незавершенное значение",
* "Режим разбора", tohex(state),
* "Путь", path);
*/
ShowMessage("Ошибка формата потока. Незавершенное значение. Режим разбора: " + state.ToString() + ", Путь " + path);
ret = null;
return(null);
}
if (t != ret)
{
/*
* if (msreg) msreg->AddError("Ошибка формата потока. Не хватает закрывающих скобок } в конце текста разбора.",
* "Путь", path);
*/
ShowMessage("Ошибка формата потока. Не хватает закрывающих скобок в конце текста разбора, путь " + path);
ret = null;
return(null);
}
return(ret);
} // End parse_1Ctext
public static Tree Parse_1Cstream(Stream str, string err, string path)
{
StringBuilder __curvalue__ = new StringBuilder("");
string curvalue = "";
_state state = _state.s_value;
int i = 0;
Char sym = '0';
int _sym = 0;
Node_Type nt = Node_Type.nd_unknown;
Tree ret = new Tree("", Node_Type.nd_list, null);
Tree t = ret;
//StreamReader reader = new StreamReader(str, true);
StreamReader reader = new StreamReader(str, Encoding.ASCII, true); // т.к. файл в кодировке win1251
for (i = 1, _sym = reader.Read(); _sym >= 0; i++, _sym = reader.Read())
{
sym = (Char)_sym;
//if(i % 0x100000 == 0) if(err) err->Status(String(i/0x100000) + L" MB");
switch (state)
{
case _state.s_value:
switch (sym)
{
case ' ': // space
case '\t':
case '\r':
case '\n':
break;
case '"':
__curvalue__.Clear();
state = _state.s_string;
break;
case '{':
t = new Tree("", Node_Type.nd_list, t);
break;
case '}':
if (t.Get_First() != null)
{
t.AddChild("", Node_Type.nd_empty);
}
t = t.Get_Parent();
//if (t != null)
if (t is null)
{
// Ошибка формата потока. Лишняя закрывающая скобка }.
ShowMessage("Ошибка формата потока. Лишняя закрывающая скобка }");
ret = null;
return(null);
}
state = _state.s_delimitier;
break;
case ',':
t.AddChild("", Node_Type.nd_empty);
break;
default:
__curvalue__.Clear();
__curvalue__.Append(sym);
state = _state.s_nonstring;
break;
}
break;
case _state.s_delimitier:
switch (sym)
{
case ' ': // space
case '\t':
case '\r':
case '\n':
break;
case ',':
state = _state.s_value;
break;
case '}':
t = t.Get_Parent();
//if (t != null)
if (t is null)
{
// Ошибка формата потока. Лишняя закрывающая скобка }.
ShowMessage("Ошибка формата потока. Лишняя закрывающая скобка }");
ret = null;
return(null);
}
//state = _state.s_delimitier;
break;
default:
// Ошибка формата потока. Ошибочный символ в режиме ожидания разделителя.
ShowMessage("Ошибка формата потока. Ошибочный символ в режиме ожидания разделителя.");
__curvalue__.Clear();
__curvalue__.Append(sym);
ret = null;
return(null);
}
break;
case _state.s_string:
if (sym == '"')
{
state = _state.s_quote_or_endstring;
}
else
{
__curvalue__.Append(sym);
}
break;
case _state.s_quote_or_endstring:
if (sym == '"')
{
__curvalue__.Append(sym);
state = _state.s_string;
}
else
{
t.AddChild(__curvalue__.ToString(), Node_Type.nd_string);
switch (sym)
{
case ' ':
case '\t':
case '\r':
case '\n':
state = _state.s_delimitier;
break;
case ',':
state = _state.s_value;
break;
case '}':
t = t.Get_Parent();
//if (t != null)
if (t is null)
{
// Ошибка формата потока. Лишняя закрывающая скобка }.
ShowMessage("Ошибка формата потока. Лишняя закрывающая скобка }.");
ret = null;
return(null);
}
state = _state.s_delimitier;
break;
default:
// Ошибка формата потока. Ошибочный символ в режиме ожидания разделителя.
ShowMessage("Ошибка формата потока. Ошибочный символ в режиме ожидания разделителя.");
ret = null;
return(null);
}
}
break;
case _state.s_nonstring:
switch (sym)
{
case ',':
curvalue = __curvalue__.ToString();
nt = ClassificationValue(curvalue);
if (nt == Node_Type.nd_unknown)
{
// Ошибка формата потока. Неизвестный тип значения.
ShowMessage("Ошибка формата потока. Неизвестный тип значения.");
}
t.AddChild(curvalue, nt);
state = _state.s_value;
break;
case '}':
curvalue = __curvalue__.ToString();
nt = ClassificationValue(curvalue);
if (nt == Node_Type.nd_unknown)
{
// Ошибка формата потока. Неизвестный тип значения.
ShowMessage("Ошибка формата потока. Неизвестный тип значения.");
}
t.AddChild(curvalue, nt);
t = t.Get_Parent();
//if (t != null)
if (t is null)
{
// Ошибка формата потока. Лишняя закрывающая скобка }.
ShowMessage("Ошибка формата потока. Лишняя закрывающая скобка }.");
ret = null;
return(null);
}
state = _state.s_delimitier;
break;
default:
__curvalue__.Append(sym);
break;
}
break;
default:
if (1 != 1)
{
// Ошибка формата потока. Неизвестный режим разбора.
ShowMessage("Ошибка формата потока. Неизвестный режим разбора.");
}
ret = null;
return(null);
}
} // end of for
if (state == _state.s_nonstring)
{
curvalue = __curvalue__.ToString();
nt = ClassificationValue(curvalue);
if (nt == Node_Type.nd_unknown)
{
// Ошибка формата потока. Неизвестный тип значения.
ShowMessage("Ошибка формата потока. Неизвестный тип значения.");
}
t.AddChild(curvalue, nt);
}
if (state == _state.s_quote_or_endstring)
{
t.AddChild(__curvalue__.ToString(), Node_Type.nd_string);
}
if (state != _state.s_delimitier)
{
ret = null;
return(null);
}
if (t != ret)
{
// Ошибка формата потока. Не хватает закрывающих скобок } в конце текста разбора.
ShowMessage("Ошибка формата потока. Не хватает закрывающих скобок } в конце текста разбора. ");
ret = null;
return(null);
}
return(ret);
} // end of parce of tree
void MoveUnit()
{
float xSpeed;
float ySpeed;
xSpeed = 0;
ySpeed = 0;
if (deltaX > 0)
{
xSpeed = speed * Time.deltaTime;
deltaX -= xSpeed;
if (deltaX < 0)
{
xSpeed = deltaX;
deltaX = 0;
}
}
else if (deltaX < 0)
{
xSpeed = speed * Time.deltaTime * -1;
deltaX -= xSpeed;
if (deltaX > 0)
{
xSpeed = -deltaX;
deltaX = 0;
}
}
if (deltaY > 0)
{
ySpeed = speed * Time.deltaTime;
deltaY -= ySpeed;
if (deltaY < 0)
{
ySpeed = deltaY;
deltaY = 0;
}
}
else if (deltaY < 0)
{
ySpeed = speed * Time.deltaTime * -1;
deltaY -= ySpeed;
if (deltaY > 0)
{
ySpeed = -deltaY;
deltaY = 0;
}
}
//Debug.Log(xSpeed + ":" + ySpeed + "> <" + deltaX + ":" + deltaY);
if ((deltaX == 0) && (deltaY == 0))
{
curTile = moveTile;
NextState = _state.Idle;
State = NextState;
world.GetComponent <WorldController>().UnitAI((int)curTile.y, (int)curTile.x);
}
transform.position = new Vector3(transform.position.x + xSpeed, transform.position.y + ySpeed, transform.position.z);
}
void Update()
{
// Instantiate the health bars
if ((HpLeftBar == null) && (BarEmptyLeft != null))
{
HpLeftBar = Instantiate(BarEmptyLeft, HpBarPos, Quaternion.identity) as GameObject;
HpMidBar = Instantiate(BarEmptyMid, HpBarPos + new Vector3(0.3f * transform.localScale.x, 0, 0), Quaternion.identity) as GameObject;
HpRightBar = Instantiate(BarEmptyRight, HpBarPos + new Vector3(0.6f * transform.localScale.x, 0, 0), Quaternion.identity) as GameObject;
HpBarFill = Instantiate(HpBarColor, HpBarPos + new Vector3(0.3f * transform.localScale.x, 0, 0), Quaternion.identity) as GameObject;
HpBarFill.transform.localScale = new Vector3(HpBarMidScale, 0.4f * transform.localScale.x, 1);
// Make the health bars follow the unit
HpLeftBar.transform.parent = transform;
HpMidBar.transform.parent = transform;
HpRightBar.transform.parent = transform;
HpBarFill.transform.parent = transform;
}
// Don't update the unit until the animation has been changed
if (NextState != State)
{
if ((GetComponent <UnitAnimation>() != null) && (GetComponent <UnitAnimation>().isAnimationChanged() == true))
{
State = NextState;
}
else
{
return;
}
}
if (paused)
{
return;
}
// Apply unit regen
if (regenRate > 0)
{
if (nextRegenTick < Time.time)
{
if (health < getStats().maxHealth)
{
health += regenRate;
if (health > getStats().maxHealth)
{
health = getStats().maxHealth;
}
updateHealthBars();
nextRegenTick = Time.time + 1;
}
}
}
switch (State)
{
case _state.Idle:
this.SendMessage("SetDirection", idleDir, SendMessageOptions.DontRequireReceiver);
this.SendMessage("SetAction", UnitAnimation._action.Idle, SendMessageOptions.DontRequireReceiver);
this.SendMessage("StartAnimation", null, SendMessageOptions.DontRequireReceiver);
break;
case _state.SetupMove:
SetupMoveUnit();
break;
case _state.Move:
MoveUnit();
break;
case _state.Advance:
break;
case _state.Attacking:
AttackUnit();
break;
case _state.Engage:
EngageUnit();
break;
case _state.Dead:
DeadUnit();
break;
}
}
//public void ShowPauseButton()
//{
// if (!pauseButton)
// {
// pauseButton = GameObject.Instantiate(pauseButtonPrefab);
// }
// pauseButton.SetActive(true);
//}
public void IntroOnClick()
{
SceneManager.LoadScene(1);
gameState = _state.world;
}
private void arduino_admin_func(Object source, ElapsedEventArgs e)
{
if (arduino_serial != null)
{
if (!arduino_serial.IsOpen)
{
state = _state.DISCONNECTED;
}
}
admin_clock++;
if (arduino_serial.IsOpen)
{
if (arduino_serial.BytesToRead > 0)
{
this.serial_data_received(null, null);
}
}
switch (state)
{
case _state.DISCONNECTED:
/*if (arduino_serial.IsOpen)
* {
* state = _state.INITIALIZING;
* return;
* }*/
/*if (!comboBox1.InvokeRequired)
* {
* String[] ports = SerialPort.GetPortNames();
* if (this.actual_ports.Length == 255)
* {
* foreach (String port in ports)
* comboBox1.Items.Add(port);
* comboBox1.Refresh();
* }
* else if (!this.actual_ports.SequenceEqual(ports))
* {
* comboBox1.Items.Clear();
* foreach (String port in ports)
* comboBox1.Items.Add(port);
* comboBox1.Refresh();
* }
* this.actual_ports = ports;
* }*/
break;
case _state.INITIALIZING:
switch (state_init)
{
case _state_init.NOT_READY:
if (command_valid)
{
state_init++;
command_valid = false;
command_timeout = 0;
command_checker = "";
return;
}
if (command_checker == "" || admin_clock > command_timeout)
{
//Console.WriteLine("ReadyPc");
arduino_serial.WriteLine("ReadyPc");
command_checker = "ReadyAr";
command_timeout = admin_clock + 10;
calibrate_counter = 0;
}
break;
case _state_init.GETTING_DATA:
if (command_valid)
{
calibrate_counter++;
//motors[0].position = ((motors[0].position * (calibrate_counter - 1)) + values_received[0])/ calibrate_counter;
//motors[1].position = ((motors[1].position * (calibrate_counter - 1)) + values_received[1]) / calibrate_counter;
motors[0].position = values_received[0];
motors[1].position = values_received[1];
if (calibrate_counter > 128)
{
motors[0].setpoint = motors[0].position;
motors[1].setpoint = motors[1].position;
state_init++;
}
command_valid = false;
command_timeout = 0;
command_checker = "";
}
if (command_checker == "" || admin_clock > command_timeout)
{
arduino_serial.WriteLine("GetData");
command_checker = "SendData";
command_timeout = admin_clock + 10;
}
break;
case _state_init.DATA_READY:
if (command_valid)
{
state++;
command_valid = false;
command_timeout = 0;
command_checker = "";
return;
}
if (command_checker == "" || admin_clock > command_timeout)
{
arduino_serial.WriteLine("DataSetup");
command_checker = "ArduinoSetup";
command_timeout = admin_clock + 10;
}
break;
}
break;
case _state.CONTROLLING:
if (command_valid)
{
if (command_checker.Equals("SetpointSetted"))
{
motors[0].position = values_received[0];
motors[1].position = values_received[1];
}
else if (command_checker.Equals("BrakeSetted"))
{
if (motors[0].brake != values_received[0] || motors[1].brake != values_received[1])
{
;
}
}
else if (command_checker.Equals("HomeSetted"))
{
if (motors[0].home != values_received[0] || motors[1].home != values_received[1])
{
;
}
}
command_valid = false;
command_timeout = 0;
command_checker = "";
return;
}
if (command_checker == "" || admin_clock > command_timeout)
{
switch (state_ctrl)
{
case _state_ctrl.CONTROLLING:
arduino_serial.WriteLine(String.Format("Controlling({0},{1})", motors[0].setpoint, motors[1].setpoint));
command_checker = "SetpointSetted";
break;
case _state_ctrl.SETBRAKE:
arduino_serial.WriteLine(String.Format("setbrake({0},{1})", motors[0].brake, motors[1].brake));
command_checker = "BrakeSetted";
state_ctrl = _state_ctrl.CONTROLLING;
break;
case _state_ctrl.SETHOME:
arduino_serial.WriteLine(String.Format("sethome({0},{1})", motors[0].home, motors[1].home));
command_checker = "HomeSetted";
state_ctrl = _state_ctrl.CONTROLLING;
break;
}
}
break;
case _state.HOMMING_LOCK:
if (command_checker == "" || admin_clock > command_timeout)
{
arduino_serial.WriteLine("TesteIno");
command_checker = "InoCtrl";
command_timeout += admin_clock + 10;
}
break;
}
}
public void notReady()
{
this.state = _state.beforeStart;
buttonA.notReady();
buttonB.notReady();
}
private void DetectGroundHit()
{
transform.position += delta * Time.deltaTime;
delta.y -= gravity * Time.deltaTime;
RaycastHit fallingHitinfo;
if(Physics.Raycast(new Ray(transform.position, Vector3.down), out fallingHitinfo)) {
if(fallingHitinfo.collider.gameObject.layer == LayerMask.NameToLayer("Terrain")) {
if(fallingHitinfo.distance < 0.2f){
state = _state.OnGround;
transform.position = fallingHitinfo.point;
return;
}
}
}
}
public void Reset()
{
transform.position = spawnPos;
state = _state.OnGround;
}
set => SetProperty(ref _state, value);
void Attack()
{
NextState = _state.Attacking;
}
