public Drone(int droneId, Vector3 initPos)
{
this.droneId = droneId;
this.isPaused = false;
this.safetyStatus = SafetyStatus.NOT_SAFE;
this.parkingPos = this.curPos = initPos;
this.hoverPos = this.parkingPos + hoverShift;
this.status = DroneStatus.PARKED;
this.isWarning = false;
this.isCollided = false;
// create game object
// Debug.Log("Created new drone with id: " + droneId);
GameObject baseObject = TrafficControl.worldobject.GetComponent <TrafficControl>().droneBaseObject;
gameObjectPointer = Object.Instantiate(baseObject, initPos, Quaternion.identity);
gameObjectPointer.GetComponent <DroneProperties>().classPointer = this;
gameObjectPointer.name = string.Concat("Drone", droneId.ToString());
gameObjectPointer.layer = 2;
// gameObjectPointer.gameObject.tag = string.Concat("Drone", droneId.ToString());
gameObjectPointer.transform.parent = TrafficControl.worldobject.transform;
GameObject arrow1 = gameObjectPointer.GetComponent <DroneProperties>().Arrows;
arrows1 = Object.Instantiate(arrow1, initPos, Quaternion.Euler(0f, -90f, 0f));
arrows1.transform.parent = TrafficControl.worldobject.transform;
GameObject arrow2 = gameObjectPointer.GetComponent <DroneProperties>().Arrows;
arrows2 = Object.Instantiate(arrow2, initPos, Quaternion.Euler(0f, -270f, 0f));
arrows2.transform.parent = TrafficControl.worldobject.transform;
arrows1.SetActive(false);
arrows2.SetActive(false);
ring_2 = gameObjectPointer.transform.Find("warningSphere").gameObject;
}
/// <summary>
/// Update the status of drone and Move
/// </summary>
/// <returns>
/// drone paused: 0;
/// end of to_shelf trip: 1;
/// end of whole trip: 2;
/// otherwise: -1
/// </returns>
public MoveStatus Move()
{
MoveStatus flag = MoveStatus.OTHER;
if (isPaused)
{
// if (pauseCounter-- == 0)
// {
// isPaused = false;
// }
return(flag);
}
// curPos = status == 0 ? gameObjectPointer.transform.position : gameObjectPointer.transform.position + direction * SPEED;
// direction = Utility.shelves[eventId] - curPos;
// direction = GameObject.Find("Event" + eventId.ToString()).transform.position - curPos;
curPos = status == DroneStatus.PARKED ? curPos : curPos + direction * SPEED;
// Debug.Log("Move drone " + droneId + " with dir: " + direction + " to pos: " + curPos);
// New Code
if (safetyStatus == SafetyStatus.TO_SAFE_ZONE)
{
if (curPos.y >= 30.0f)
{
safetyStatus = SafetyStatus.SAFE;
safetyFlightStartTime = Time.time;
}
else
{
//Directionally Upward:
curPos = curPos + new Vector3(0, SPEED * safetySpeedMultiplier, 0);
// Straight Upward:
//Vector3 orgPos = curPos - direction * SPEED;
//curPos = orgPos + new Vector3(0, SPEED*safetySpeedMultiplier, 0);
}
}
else if (safetyStatus == SafetyStatus.SAFE)
{
//Debug.Log("Safe zone");
if (Time.time - safetyFlightStartTime > safetyTime)
{
safetyStatus = SafetyStatus.TO_NONSAFE_ZONE;
safetyFlightStartTime = 0;
}
else
{
Vector3 orgPos = curPos - direction * SPEED;
curPos = orgPos + new Vector3(direction.x * SPEED, 0, direction.z * SPEED);
}
}
else if (safetyStatus == SafetyStatus.TO_NONSAFE_ZONE)
{
//Debug.Log("Non-safe zone");
if (curPos.y < 30.0f)
{
safetyStatus = SafetyStatus.NOT_SAFE;
}
}
// End of New code
flag = MoveStatus.OTHER;
if (status != DroneStatus.PARKED && Utility.IsLessThan(curPos - dstPos, epsilon))
{
// Debug.Log(status + " " + curPos + " " + dstPos + " " + hoverPos + " " + parkingPos + " " + eventPos);
if (Utility.IsLessThan(dstPos - hoverPos, epsilon))
{
if (status == DroneStatus.TAKEOFF) // end of takeoff
{
Utility.DeleteChild(this.gameObjectPointer, "Line");
status = DroneStatus.TO_SHELF;
dstPos = eventPos;
// Debug.Log(droneId + "end of takeoff, now to event: " + eventPos + "cur: " + curPos);
}
}
else if (Utility.IsLessThan(dstPos - eventPos, epsilon)) // Drone Reached the event
{
// cur_s = 2 --> 3
// end of to_shelf trip
status = DroneStatus.PARKED;
curPos = parkingPos;
flag = MoveStatus.END_TO_SHELF;
}
}
gameObjectPointer.transform.position = curPos;
// gameObjectPointer.transform.rotation = Quaternion.identity;
// gameObjectPointer.transform.rotation = TrafficControl.worldobject.transform.rotation;
if (EnableArrows)
{
DisplayArrow();
}
return(flag);
}
// new code start
public void RaiseDrone()
{
safetyStatus = SafetyStatus.TO_SAFE_ZONE;
//Debug.Log("Raising Drone");
}
public void LowerDrone()
{
safetyStatus = SafetyStatus.TO_NONSAFE_ZONE;
//Debug.Log("Lowering Drone");
}
public static float GetCellStatus(GoBoard lGoBoard, GoCell lCell, GnuGoStatus objGnugoStatus)
{
float toReturn = 0.5F;
SafetyStatus lSafetyStatus = lGoBoard.GetSafetyStatus(lCell.Index);
if (!lSafetyStatus.IsUndecided)
{
if (lSafetyStatus.IsBlack)
{
toReturn = 1;
}
else if (lSafetyStatus.IsWhite)
{
toReturn = 0;
}
if (lSafetyStatus.IsDead)
{
toReturn = 1 - toReturn;
}
}
else
{
if (lCell.Color == Color.Black)
{
//if (lGoBoard.GetBlockLibertyCount(lCell.Index) > 1)
if (objGnugoStatus.CellsByStatus[SafetyFlag.Dead].Contains(lCell.Index))
{
toReturn = 0;
}
else
{
toReturn = 1;
}
}
else if (lCell.Color == Color.White)
{
//if (lGoBoard.GetBlockLibertyCount(lCell.Index) > 1)
if (objGnugoStatus.CellsByStatus[SafetyFlag.Dead].Contains(lCell.Index))
{
toReturn = 1;
}
else
{
toReturn = 0;
}
}
else
{
if (objGnugoStatus.CellsByStatus[GnuGoStatus.BlackTerritory].Contains(lCell.Index))
{
toReturn = 1;
}
else if (objGnugoStatus.CellsByStatus[GnuGoStatus.WhiteTerritory].Contains(lCell.Index))
{
toReturn = 0;
}
else
{
foreach (int cellIdx in ((GoEmptyBlock)(lCell.Block)).MemberList)
{
if (objGnugoStatus.CellsByStatus[GnuGoStatus.BlackTerritory].Contains(cellIdx))
{
toReturn = 1;
break;
}
else if (objGnugoStatus.CellsByStatus[GnuGoStatus.WhiteTerritory].Contains(cellIdx))
{
toReturn = 0;
break;
}
}
}
}
}
return(toReturn);
}
