public override void OnExit()
{
attackDone = false;
navObstacle.enabled = false;
navAgent.enabled = true;
currentPulseGenerator = null;
}
public override void OnEnter()
{
currentPulseGenerator = null;
navAgent.enabled = false;
navObstacle.enabled = true;
attackDone = false;
animator.SetInteger(Strings.ANIMATIONSTATE, (int)AnimationStates.Attack1);
Attack();
}
public Apu()
{
Pulse1 = new PulseGenerator(1);
Pulse2 = new PulseGenerator(2);
Triangle = new TriangleGenerator();
Noise = new NoiseGenerator();
Dmc = new DmcGenerator();
filterChain = new FilterChain();
}
private void Attack()
{
//Make sure the kamikaze is not stunned
if (myStats.health <= myStats.skinnableHealth)
{
StopPulse();
controller.UpdateState(EAIState.Stun);
controller.DeActivateAI();
}
pulseGenerator = ObjectPool.Instance.GetObject(PoolObjectType.KamikazePulseGenerator);
if (pulseGenerator)
{
pulseGenerator.transform.position = controller.transform.position;
currentPulseGenerator = pulseGenerator.GetComponent <PulseGenerator>();
currentPulseGenerator.SetPulseGeneratorStats(properties.maxPulses, properties.pulseRate, properties.scaleRate, properties.maxScale, myStats.attack);
}
SFXManager.Instance.Play(SFXType.KamikazePulse, velBody.transform.position);
}
public void Separate(int index, bool bManual = false)
{
double pos = GetStationPointDic()["剥料起始位"].pointY;
double posz = 0, posy = 0;
WaranResult waranResult;
Info(string.Format("{0} {1}次剥料", bManual?"手动":"自动", index));
if (index > 6)
{
return;
}
switch (index)
{
case 0:
#region 压
ParamSetMgr.GetInstance().SetBoolParam("右剥料归位", false);
retry_pressup:
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", false);
waranResult = CheckIobyName("右剥料后压紧气缸原位", true, "右剥料：Separate：右剥料后压紧气缸原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressup;
}
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", false);
//waranResult = CheckIobyName("右剥料压紧气缸原位", true, "右剥料：Separate：右剥料压紧气缸原位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressup;
IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", false);
waranResult = CheckIobyName("右剥料夹料气缸原位", true, "右剥料：Separate：右剥料夹料气缸原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressup;
}
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", true);
double xpos = GetStationPointDic()["剥料下压位"].pointX;
double ypos = GetStationPointDic()["剥料下压位"].pointY;
Info("右剥料:Y轴 去剥料下压位,RBZ轴 去剥料前压位");
//MoveSigleAxisPosWaitInpos(AxisY, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisY).VelH, 20, bManual, this);
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisY }, new double[] { xpos, ypos }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 20, bManual, this, 60000);
retry_pressdown:
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", true);
waranResult = CheckIobyName("右剥料后压紧气缸到位", true, "右剥料：Separate：右剥料后压紧气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressdown;
}
#if false
IOMgr.GetInstace().WriteIoBit("右剥料前推压紧气缸电磁阀", true);
waranResult = CheckIobyName("右剥料前推压紧气缸到位", true, "右剥料：Separate：右剥料前推压紧气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressdown;
}
#endif
ypos = GetStationPointDic()["剥料前压位"].pointY;
Info("去剥料前压位");
MoveSigleAxisPosWaitInpos(AxisY, ypos, (double)SpeedType.High, 20, bManual, this);
retry_pushfront_:
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", true);
waranResult = CheckIobyName("右剥料气缸到位", true, "右剥料：Separate：右剥料气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pushfront_;
}
#if false
retry_push:
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", true);
waranResult = CheckIobyName("右剥料气缸到位", true, "右剥料：Separate：右剥料气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_push;
}
#endif
Info("右剥料 下拉");
xpos = GetStationPointDic()["剥料前压位"].pointX;
Info("去剥料前压位下压");
MoveSigleAxisPosWaitInpos(AxisX, xpos, (double)SpeedType.High, 20, bManual, this);
Info("右剥料 预剥料完成");
retry_camp:
IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", true);
waranResult = CheckIobyName("右剥料夹料气缸到位", true, "右剥料：Separate：右剥料夹料气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_camp;
}
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料压紧气缸到位", true, "右剥料：Separate：右剥料压紧气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressdown;
break;
#endregion
case 6:
#region 弃料
//retry_pressbackdown:
//IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料后压紧气缸到位", true, "右剥料：Separate：右剥料后压紧气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressbackdown;
//retry_Spressup2:
//IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料夹料气缸到位", true, "右剥料：Separate：右剥料夹料气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_Spressup2;
retry_pressbackup:
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", false);
waranResult = CheckIobyName("右剥料后压紧气缸原位", true, "右剥料：Separate：右剥料后压紧气缸原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressbackup;
}
posz = GetStationPointDic()["剥料弃料位"].pointX;
// posy= GetStationPointDic()["剥料弃料位"].pointY;
Info("右剥料：去弃料位");
MoveSigleAxisPosWaitInpos(AxisX, posz, MotionMgr.GetInstace().GetAxisMovePrm(AxisX).VelH, 20, bManual, this);
// MoveLine2DWaitInpos("右剥料YZ", new double[] { posz, posy }, 20, bManual);
IOMgr.GetInstace().WriteIoBit("右剥料上吹气电磁阀", true);
IOMgr.GetInstace().WriteIoBit("右剥料下吹气电磁阀", true);
retry_SFront2:
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", false);
waranResult = CheckIobyName("右剥料气缸原位", true, "右剥料：Separate：右剥料气缸原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_SFront2;
}
PulseGenerator pulseGenerator = new PulseGenerator(200, 8, new Action <int>((nCount) => {
if (nCount % 2 == 0)
{
IOMgr.GetInstace().WriteIoBit("右剥料下吹气电磁阀", false);
}
else
{
IOMgr.GetInstace().WriteIoBit("右剥料下吹气电磁阀", true);
}
}), new Action(() => {
IOMgr.GetInstace().WriteIoBit("右剥料下吹气电磁阀", false);
}));
retry_Spressup3:
IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", false);
waranResult = CheckIobyName("右剥料夹料气缸原位", true, "右剥料：Separate：右剥料夹料气缸原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_Spressup3;
}
pulseGenerator.StartPulseGenerator();
//retry_pressfrontpressup2:
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", false);
// waranResult = CheckIobyName("右剥料压紧气缸原位", true, "右剥料：Separate：右剥料前推压紧气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressfrontpressup2;
//retry_frontpush:
//IOMgr.GetInstace().WriteIoBit("右剥料前推压紧气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料前推压紧气缸到位", true, "右剥料：Separate：右剥料前推压紧气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_frontpush;
//retry_pressbackdown2:
//IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料后压紧气缸到位", true, "右剥料：Separate：右剥料后压紧气缸原位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressbackdown2;
// retry_pressfrontup:
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", false);
// waranResult = CheckIobyName("右剥料压紧气缸原位", true, "右剥料：Separate：右剥料压紧气缸原位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressfrontup;
retry_pressbackup5:
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", false);
waranResult = CheckIobyName("右剥料后压紧气缸原位", true, "右剥料：Separate：右剥料后压紧气缸原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressbackup5;
}
pos = GetStationPointDic()["剥料准备位"].pointY;
double posX = GetStationPointDic()["剥料准备位"].pointX;
Info("右剥料：回剥料准备位");
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisY }, new double[] { posX, pos }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 20, bManual, this, 60000);
IOMgr.GetInstace().WriteIoBit("右剥料上吹气电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右剥料下吹气电磁阀", false);
ParamSetMgr.GetInstance().SetBoolParam("右剥料归位", true);
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState = PlaneState.None;
break;
#endregion
default:
#region 剥料（1 2 3 4 5）
ParamSetMgr.GetInstance().SetBoolParam("右剥料归位", false);
#if false
retry_pressfrontpressup:
IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", true);
waranResult = CheckIobyName("右剥料压紧气缸到位", true, "右剥料：Separate：右剥料压紧气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressfrontpressup;
}
retry_pressfrontfront2:
IOMgr.GetInstace().WriteIoBit("右剥料前推压紧气缸电磁阀", false);
waranResult = CheckIobyName("右剥料前推压紧气缸原位", true, "右剥料：Separate：右剥料前推压紧气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressfrontfront2;
}
#endif
#if true
retry_Sback:
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", true);
waranResult = CheckIobyName("右剥料气缸到位", true, "右剥料：Separate：右剥料气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_Sback;
}
#else
retry_push2:
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", false);
waranResult = CheckIobyName("右剥料气缸原位", true, "右剥料：Separate：右剥料气缸电原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_push2;
}
#endif
//retry_SFront:
//IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", false);
//waranResult = CheckIobyName("右剥料气缸原位", true, "右剥料：Separate：右剥料气缸原位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_SFront;
retry_Spressup:
IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", true);
waranResult = CheckIobyName("右剥料夹料气缸到位", true, "右剥料：Separate：右剥料夹料气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_Spressup;
}
pos = GetStationPointDic()["剥料起始位"].pointY;
double lenstep = ParamSetMgr.GetInstance().GetDoubleParam("剥料步长");
posy = pos - (int)((index - 1) * lenstep * nResolutionY);
pos = GetStationPointDic()["剥料起始位"].pointX;
posz = pos - (int)((index - 1) * lenstep * nResolutionX);
MoveLine2DWaitInpos("右剥料YZ", new double[] { posz, posy }, 10, bManual);
//Info("去剥料起始位Y");
//MoveSigleAxisPosWaitInpos(AxisY, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisY).VelH, 20, bManual, this);
//Info("去剥料起始位LZ");
//MoveSigleAxisPosWaitInpos(AxisX, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisX).VelH, 20, bManual, this);
Info("压紧气缸下压");
retry_pressbackdownagain:
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", true);
waranResult = CheckIobyName("右剥料后压紧气缸到位", true, "右剥料：Separate：右剥料后压紧气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressbackdownagain;
}
//retry_pressfrontfront:
// IOMgr.GetInstace().WriteIoBit("右剥料前推压紧气缸电磁阀", true);
// waranResult = CheckIobyName("右剥料前推压紧气缸到位", true, "右剥料：Separate：右剥料前推压紧气缸到位 到位失败", bManual);
// if (waranResult == WaranResult.Retry)
// goto retry_pressfrontfront;
//retry_pressfrontpressdown:
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料压紧气缸到位", true, "右剥料：Separate： 右剥料压紧气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressfrontpressdown;
//retry_Spressdown:
//IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料夹料气缸到位", true, "右剥料：Separate：右剥料夹料气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_Spressdown;
//Thread.Sleep(ParamSetMgr.GetInstance().GetIntParam("下压延时"));
//retry_Sback:
// IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", true);
// waranResult = CheckIobyName("右剥料气缸到位", true, "右剥料：Separate：右剥料气缸到位 到位失败", bManual);
// if (waranResult == WaranResult.Retry)
// goto retry_Sback;
// Thread.Sleep(ParamSetMgr.GetInstance().GetIntParam("拨料延时"));
//retry_pressfrontpressup3:
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", false);
//waranResult = CheckIobyName("右剥料压紧气缸原位", true, "右剥料：Separate：右剥料压紧气缸原位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressfrontpressup3;
//retry_pressfrontback:
//IOMgr.GetInstace().WriteIoBit("右剥料前推压紧气缸电磁阀", false);
//waranResult = CheckIobyName("右剥料前推压紧气缸原位", true, "右剥料：Separate：右剥料前推压紧气缸原位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressfrontback;
double currentpos = MotionMgr.GetInstace().GetAxisPos(AxisX);
MoveSigleAxisPosWaitInpos(AxisX, currentpos + ParamSetMgr.GetInstance().GetDoubleParam("剥料后拉距离") * nResolutionY, (double)SpeedType.High, 20, bManual, this, 60000);
break;
#endregion
}
ParamSetMgr.GetInstance().SetIntParam("右剥料次数", ++index);
}
//Methods
public void Run()
{
//Filter test
RealFeatureFilter rff = new RealFeatureFilter(new Interval(-1, 1));
for (int i = 1; i <= 1500; i++)
{
rff.Update(_rand.NextDouble() * _rand.Next(0, 10000));
}
double featureValue = 0.5;
double filterValue = rff.ApplyFilter(featureValue);
double reverseValue = rff.ApplyReverse(filterValue);
Console.WriteLine($"Feature: {featureValue} Filter: {filterValue} Reverse: {reverseValue}");
//Pulse generator test
BasicStat sampleStat = new BasicStat();
sampleStat.Reset();
PulseGeneratorSettings modSettings = new PulseGeneratorSettings(1, 1.5, PulseGeneratorSettings.TimingMode.Poisson);
IGenerator generator = new PulseGenerator(modSettings);
int steps = 10000;
double period = 0;
for (int i = 0; i < steps; i++)
{
++period;
double sample = generator.Next();
//Console.WriteLine(sample);
if (sample != 0)
{
sampleStat.AddSampleValue(period);
period = 0;
}
}
Console.WriteLine($"Mean: {sampleStat.ArithAvg} StdDev: {sampleStat.StdDev} Min: {sampleStat.Min} Max: {sampleStat.Max}");
Console.ReadLine();
//Random distributions test
BasicStat rStat = new BasicStat();
for (int i = 0; i < 200; i++)
{
double r = _rand.NextFilterredGaussianDouble(0.5, 1, -0.5, 1);
rStat.AddSampleValue(r);
Console.WriteLine(r);
}
Console.WriteLine($"Mean: {rStat.ArithAvg} StdDev: {rStat.StdDev} Min: {rStat.Min} Max: {rStat.Max}");
Console.ReadLine();
//Activation tests
double fadingSum = 0;
for (int i = 0; i < 1000; i++)
{
fadingSum *= (1d - 0.1);
fadingSum += 1d;
Console.WriteLine(fadingSum);
}
Console.ReadLine();
IActivationFunction testAF = ActivationFactory.Create(new SimpleIFSettings(refractoryPeriods: 0), new Random(0));
TestActivation(testAF, 100, 3.5, 10, 70);
SimpleIFSettings setup = new SimpleIFSettings();
FindAFInputBorders(ActivationFactory.Create(setup, new Random(0)),
-0.1,
20
);
//Linear algebra test
double[] flatData =
{
0.2, 5, 17.3, 1.01, 54, 7,
2.2, 5.5, 12.13, 11.57, 5.71, -85,
-70.1, 15, -18.3, 0.3, 42, -6.25,
0.042, 1, 7.75, -81.01, -21.29, 5.44,
0.1, 4, -4.3, 18.01, 7.12, -3.14,
-80.1, 24.4, 4.3, 12.03, 2.789, -13
};
Matrix testM = new Matrix(6, 6, flatData);
/*
* //Inversion test
* Matrix resultM = new Matrix(testM);
* resultM.SingleThreadInverse();
*/
/*
* //Transpose test
* Matrix resultM = testM.Transpose();
*/
/*
* //Multiply test
* Matrix resultM = Matrix.Multiply(testM, testM);
* for (int i = 0; i < resultM.NumOfRows; i++)
* {
* Console.WriteLine($"{resultM.Data[i][0]}; {resultM.Data[i][1]}; {resultM.Data[i][2]}; {resultM.Data[i][3]}; {resultM.Data[i][4]}; {resultM.Data[i][5]}");
* }
*/
;
int numOfweights = 3;
int xIdx, dIdx = 0;
double[][] data = new double[3][];
data[dIdx] = new double[numOfweights];
xIdx = -1;
data[dIdx][++xIdx] = 2;
data[dIdx][++xIdx] = 1;
data[dIdx][++xIdx] = 3;
++dIdx;
data[dIdx] = new double[numOfweights];
xIdx = -1;
data[dIdx][++xIdx] = 1;
data[dIdx][++xIdx] = 3;
data[dIdx][++xIdx] = -3;
++dIdx;
data[dIdx] = new double[numOfweights];
xIdx = -1;
data[dIdx][++xIdx] = -2;
data[dIdx][++xIdx] = 4;
data[dIdx][++xIdx] = 4;
//Matrix M = new Matrix(data, true);
//Matrix I = M.Inverse(false);
//Matrix identity = M * I; //Must lead to identity matrix
Matrix I = new Matrix(3, 3);
I.AddScalarToDiagonal(1);
Matrix X = new Matrix(I);
X.Multiply(0.1);
Matrix XT = X.Transpose();
Matrix R = XT * X;
Console.ReadLine();
///*
SimpleIFSettings settings = new SimpleIFSettings(new RandomValueSettings(15, 15),
new RandomValueSettings(0.05, 0.05),
new RandomValueSettings(5, 5),
new RandomValueSettings(20, 20),
0
);
IActivationFunction af = ActivationFactory.Create(settings, new Random(0));
//*/
TestActivation(af, 800, 0.15, 10, 600);
return;
}
