public bool CheckAnswerAllBox(Arah arah)
{
bool isTrue = false;
List <GameObject> box = new List <GameObject>();
box.Add(this.gameObject);
switch (arah)
{
case Arah.Vertical:
isTrue = (nextVertical != null ? nextVertical.CheckAnswerAllBox(arah, ref box, true):true) && (prevVertical != null ? prevVertical.CheckAnswerAllBox(arah, ref box, false):true) && _currentAnswer == boxAnswer;
break;
case Arah.Horizontal:
isTrue = (nextHorizontal != null ? nextHorizontal.CheckAnswerAllBox(arah, ref box, true) : true) && (prevHorizontal != null ? prevHorizontal.CheckAnswerAllBox(arah, ref box, false) : true) && _currentAnswer == boxAnswer;
break;
}
Debug.Log("Answer is : " + isTrue);
if (isTrue)
{
foreach (GameObject b in box)
{
b.GetComponent <BoxTTS>().wasAnswer = true;
}
}
return(isTrue);
}
public bool CheckAnswerAllBox(Arah arah, ref List <GameObject> box, bool toNext)
{
bool isTrue = false;
box.Add(this.gameObject);
switch (arah)
{
case Arah.Vertical:
if (toNext)
{
isTrue = (nextVertical != null ? nextVertical.CheckAnswerAllBox(arah, ref box, true) : true) && _currentAnswer == boxAnswer;
}
else
{
isTrue = (prevVertical != null ? prevVertical.CheckAnswerAllBox(arah, ref box, false) : true) && _currentAnswer == boxAnswer;
}
break;
case Arah.Horizontal:
if (toNext)
{
isTrue = (nextHorizontal != null ? nextHorizontal.CheckAnswerAllBox(arah, ref box, true) : true) && _currentAnswer == boxAnswer;
}
else
{
isTrue = (prevHorizontal != null ? prevHorizontal.CheckAnswerAllBox(arah, ref box, false) : true) && _currentAnswer == boxAnswer;
}
break;
}
return(isTrue);
}
public void activateSelected(Arah arah, bool toNext, ref List <GameObject> allBoxObj, ref BoxTTS prior)
{
allBoxObj.Add(this.gameObject);
backCol.gameObject.SetActive(true);
if (_currentAnswer == "")
{
prior = this;
}
switch (arah)
{
case Arah.Horizontal:
if (toNext)
{
if (nextHorizontal != null)
{
nextHorizontal.activateSelected(Arah.Horizontal, true, ref allBoxObj, ref prior);
}
else
{
prior = this;
}
}
else
{
if (prevHorizontal != null)
{
prevHorizontal.activateSelected(Arah.Horizontal, false, ref allBoxObj, ref prior);
}
}
break;
case Arah.Vertical:
if (toNext)
{
if (nextVertical != null)
{
nextVertical.activateSelected(Arah.Vertical, true, ref allBoxObj, ref prior);
}
else
{
prior = this;
}
}
else
{
if (prevVertical != null)
{
prevVertical.activateSelected(Arah.Vertical, false, ref allBoxObj, ref prior);
}
}
break;
}
}
static void client_MqttMsgPublishReceived(object sender, MqttMsgPublishEventArgs e)
{
string Message = new string(Encoding.UTF8.GetChars(e.Message));
if (Message.IndexOf(":") < 1)
{
return;
}
// handle message received
Debug.Print("Message Received = " + Message);
string[] CmdStr = Message.Split(':');
if (CmdStr[0] == "MOVE")
{
switch (CmdStr[1])
{
case "Forward":
jalan = Arah.Maju;
break;
case "Backward":
jalan = Arah.Mundur;
break;
case "Left":
jalan = Arah.Kiri;
break;
case "Right":
jalan = Arah.Kanan;
break;
case "Stop":
jalan = Arah.Berhenti;
break;
}
if (lastDirection == jalan)
{
if (Speed == 0)
{
Speed = HalfSpeed;
}
else
{
Speed = FullSpeed;
}
}
else
{
Speed = HalfSpeed;
}
PublishMessage("/robot/status", "Robot Status:" + CmdStr[1]);
}
else if (CmdStr[0] == "REQUEST" && CmdStr[1] == "STATUS")
{
PublishMessage("/robot/state", "ONLINE");
}
}
public Setting()
{
Width = 0;
Height = 0;
Score = 0;
Speed = 0;
Points = 0;
GameOver = false;
arah = Arah.Down;
}
public BoxTTS getPrevBox(Arah arah)
{
if (arah == Arah.Horizontal)
{
return(prevHorizontal != null ? prevHorizontal : this);
}
else
{
return(prevVertical != null ? prevVertical : this);
}
}
public void activateSelected(Arah arah, bool toNext, ref List <GameObject> allBoxObj)
{
allBoxObj.Add(this.gameObject);
backCol.gameObject.SetActive(true);
setToSelected();
switch (arah)
{
case Arah.Horizontal:
if (toNext)
{
if (nextHorizontal != null)
{
nextHorizontal.activateSelected(Arah.Horizontal, true, ref allBoxObj);
}
}
else
{
if (prevHorizontal != null)
{
prevHorizontal.activateSelected(Arah.Horizontal, false, ref allBoxObj);
}
}
break;
case Arah.Vertical:
if (toNext)
{
if (nextVertical != null)
{
nextVertical.activateSelected(Arah.Vertical, true, ref allBoxObj);
}
}
else
{
if (prevVertical != null)
{
prevVertical.activateSelected(Arah.Vertical, false, ref allBoxObj);
}
}
break;
}
}
public BoxTTS ClearAll(Arah arah, bool toNext)
{
if (wasAnswer)
{
Debug.Log("Tidak Dapat Dihapus");
setToSelected();
}
else
{
currentAnswer = "";
}
if (arah == Arah.Vertical)
{
if (nextVertical != null && toNext)
{
nextVertical.ClearAll(arah, true);
}
if (prevVertical != null && !toNext)
{
return(prevVertical.ClearAll(arah, false));
}
else if (!toNext)
{
return(this);
}
}
else
{
if (nextHorizontal != null && toNext)
{
nextHorizontal.ClearAll(arah, true);
}
if (prevHorizontal != null && !toNext)
{
return(prevHorizontal.ClearAll(arah, false));
}
else if (!toNext)
{
return(this);
}
}
return(null);
}
public BoxTTS getNextBox(Arah arah)
{
if (arah == Arah.Horizontal)
{
if (nextHorizontal != null && nextHorizontal.currentAnswer != "")
{
return(nextHorizontal.getNextBox(arah));
}
return(nextHorizontal != null?nextHorizontal:this);
}
else
{
if (nextVertical != null && nextVertical.currentAnswer != "")
{
return(nextVertical.getNextBox(arah));
}
return(nextVertical != null ? nextVertical : this);
}
}
public void SetObjSelected(BoxTTS box, Arah arah)
{
SoundBase.MAIN.PlaySound("Klik");
if (Mathf.Abs(RightSoal.localPosition.x) < 1)
{
ShowRight();
}
int count = boxSelectedParent.childCount;
for (int i = 0; i < count; i++)
{
boxSelectedParent.GetChild(0).GetComponent <BoxTTS>().setToSelected();
boxSelectedParent.GetChild(0).GetChild(1).gameObject.SetActive(false);
boxSelectedParent.GetChild(0).SetParent(boxNotSelectedParent);
}
List <GameObject> allObj = new List <GameObject>();
box.activateSelected(ref allObj, ref currentArah, ref currentBtts, arah);
if (currentBtts == null)
{
Debug.Log("BTTS NULL");
return;
}
foreach (GameObject obj in allObj)
{
obj.transform.SetParent(boxSelectedParent);
}
currentBtts.setToFocus();
cameraTarget = currentBtts.transform.position;
cameraTarget.z = -10;
cameraTarget.y -= 3;
movingCamera = true;
}
private static Block TransposisiBackward(Block b)
{
Block result = new Block();
int row, col, i;
int N = (int)(Math.Floor(Math.Sqrt(b.Count - 1)) + 1); // Ukuran grid NxN dari block yang disusun 2 dimensi
// Menyediakan grid kosong
int[][] grid = new int[N][];
for (row = 0; row < N; row++)
{
grid[row] = new int[N];
for (col = 0; col < N; col++)
{
grid[row][col] = -1;
}
}
// Menyediakan grid kosong untuk hasil transposisi
int[][] grid2 = new int[N][];
for (row = 0; row < N; row++)
{
grid2[row] = new int[N];
for (col = 0; col < N; col++)
{
grid2[row][col] = -1;
}
}
// Mengisi grid dengan block
row = 0;
col = 0;
i = 0;
while (i < b.Count)
{
grid[row][col] = b[i];
col++;
if (col >= N)
{
col = 0;
row++;
}
i++;
}
//Console.WriteLine("Before:");
//for (row = 0; row < N; row++)
//{
// for (col = 0; col < N; col++)
// {
// Console.Write(String.Format("{0:D3} ", grid[row][col]));
// }
// Console.WriteLine();
//}
// Menggeser grid dengan aturan ant sebanyak -1 shift
row = 0;
col = 0;
int passed = 2; // Cell yang telah dilewati
Arah arah = Arah.Kanan;
int rowToFill = 0;
int colToFill = 0;
while (passed <= N * N)
{
// Geser cell dan tentukan arah gerakan berikutnya
switch (arah)
{
case Arah.Atas:
row--;
if (row == 0)
{
arah = Arah.Kanan; // Setelah ke atas pasti ke kanan
}
break;
case Arah.Kanan:
col++;
if (row == 0) // Ke bawah jika di row ke-0
{
arah = Arah.Bawah;
}
else if (grid2[row - 1][col] == -1) // Sebaliknya, ke atas
{
arah = Arah.Atas;
}
break;
case Arah.Bawah:
row++;
if (col == 0) // Ke kanan jika di col ke-0
{
arah = Arah.Kanan;
}
else if (grid2[row][col - 1] == -1) // Sebaliknya, ke kiri
{
arah = Arah.Kiri;
}
break;
case Arah.Kiri:
col--;
if (col == 0)
{
arah = Arah.Bawah; // Setelah ke kiri pasti ke bawah
}
break;
}
// Isi cell baru dengan toFill jika cell baru tidak kosong, persiapkan toFill berikutnya
if (grid[row][col] != -1)
{
grid2[rowToFill][colToFill] = grid[row][col];
rowToFill = row;
colToFill = col;
}
else
{
grid2[row][col] = -2; // Tandai dengan -2 (sudah pernah dikunjungi, namun tidak ada isinya
}
passed++;
}
// Isi cell awal dengan toFill yang terakhir
grid2[rowToFill][colToFill] = grid[0][0];
//Console.WriteLine("After:");
//for (row = 0; row < N; row++)
//{
// for (col = 0; col < N; col++)
// {
// Console.Write(String.Format("{0:D3} ", grid2[row][col]));
// }
// Console.WriteLine();
//}
// Mengisi hasil transposisi ke result
for (row = 0; row < N; row++)
{
for (col = 0; col < N; col++)
{
if (grid2[row][col] != -2)
{
result.Add((byte)grid2[row][col]);
}
}
}
return(result);
}
public void activateSelected(ref List <GameObject> allBoxObj, ref Arah currArah, ref BoxTTS prior, Arah arah)
{
allBoxObj.Add(this.gameObject);
backCol.gameObject.SetActive(true);
setToSelected();
if (_currentAnswer == "")
{
prior = this;
}
if (arah == Arah.Horizontal)
{
currArah = Arah.Horizontal;
if (nextHorizontal != null && _currentAnswer != "")
{
nextHorizontal.activateSelected(Arah.Horizontal, true, ref allBoxObj, ref prior);
}
else if (nextHorizontal != null)
{
nextHorizontal.activateSelected(Arah.Horizontal, true, ref allBoxObj);
}
else
{
prior = this;
}
if (prevHorizontal != null && _currentAnswer == "")
{
prevHorizontal.activateSelected(Arah.Horizontal, false, ref allBoxObj, ref prior);
}
else if (prevHorizontal != null)
{
prevHorizontal.activateSelected(Arah.Horizontal, false, ref allBoxObj);
}
}
else if (arah == Arah.Vertical)
{
currArah = Arah.Vertical;
if (nextVertical != null && _currentAnswer != "")
{
nextVertical.activateSelected(Arah.Vertical, true, ref allBoxObj, ref prior);
}
else if (nextVertical != null)
{
nextVertical.activateSelected(Arah.Vertical, true, ref allBoxObj);
}
else
{
prior = this;
}
if (prevVertical != null && _currentAnswer == "")
{
prevVertical.activateSelected(Arah.Vertical, false, ref allBoxObj, ref prior);
}
else if (prevVertical != null)
{
prevVertical.activateSelected(Arah.Vertical, false, ref allBoxObj);
}
}
}
public void activateSelected(ref List <GameObject> allBoxObj, ref Arah currArah, ref BoxTTS prior)
{
// Jika dia adalah persimpangan
if ((nextHorizontal != null || prevHorizontal != null) && (nextVertical != null || prevVertical != null))
{
this.gameObject.name = "persimpangan";
Debug.Log("Persimpangan");
return;
}
allBoxObj.Add(this.gameObject);
backCol.gameObject.SetActive(true);
setToSelected();
if (_currentAnswer == "")
{
prior = this;
}
if (nextHorizontal != null || prevHorizontal != null)
{
currArah = Arah.Horizontal;
if (nextHorizontal != null && _currentAnswer != "")
{
nextHorizontal.activateSelected(Arah.Horizontal, true, ref allBoxObj, ref prior);
}
else if (nextHorizontal != null)
{
nextHorizontal.activateSelected(Arah.Horizontal, true, ref allBoxObj);
}
else
{
prior = this;
}
if (prevHorizontal != null && _currentAnswer == "")
{
prevHorizontal.activateSelected(Arah.Horizontal, false, ref allBoxObj, ref prior);
}
else if (prevHorizontal != null)
{
prevHorizontal.activateSelected(Arah.Horizontal, false, ref allBoxObj);
}
}
else if (nextVertical != null || prevVertical != null)
{
currArah = Arah.Vertical;
if (nextVertical != null && _currentAnswer != "")
{
nextVertical.activateSelected(Arah.Vertical, true, ref allBoxObj, ref prior);
}
else if (nextVertical != null)
{
nextVertical.activateSelected(Arah.Vertical, true, ref allBoxObj);
}
else
{
prior = this;
}
if (prevVertical != null && _currentAnswer == "")
{
prevVertical.activateSelected(Arah.Vertical, false, ref allBoxObj, ref prior);
}
else if (prevVertical != null)
{
prevVertical.activateSelected(Arah.Vertical, false, ref allBoxObj);
}
}
}
public static void Main()
{
//distance sensor
//triger (12), echo (13), 5V + G
HC_SR04 sensor = new HC_SR04(Pins.GPIO_PIN_D12, Pins.GPIO_PIN_D13);
//buzzer
OutputPort Klakson = new OutputPort(Pins.GPIO_PIN_D0, false);
//motor driver
HBridge MotorDriver = new HBridge(SecretLabs.NETMF.Hardware.Netduino.PWMChannels.PWM_PIN_D5, Pins.GPIO_PIN_D4, SecretLabs.NETMF.Hardware.Netduino.PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D7);
//led indicator if there is an object in the front of robot
OutputPort WarningLed = new OutputPort(Pins.GPIO_PIN_D1, false);
OutputPort GoLed = new OutputPort(Pins.GPIO_PIN_D2, false);
//waiting till connect...
if (!Microsoft.SPOT.Net.NetworkInformation.NetworkInterface.GetAllNetworkInterfaces()[0].IsDhcpEnabled)
{
// using static IP
while (!System.Net.NetworkInformation.NetworkInterface.GetIsNetworkAvailable())
{
; // wait for network connectivity
}
}
else
{
// using DHCP
while (IPAddress.GetDefaultLocalAddress() == IPAddress.Any)
{
; // wait for DHCP-allocated IP address
}
}
//Debug print our IP address
Debug.Print("Device IP: " + Microsoft.SPOT.Net.NetworkInformation.NetworkInterface.GetAllNetworkInterfaces()[0].IPAddress);
// create mqtt client instance
client = new MqttClient(IPAddress.Parse(MQTT_BROKER_ADDRESS));
string clientId = Guid.NewGuid().ToString();
client.Connect(clientId);
SubscribeMessage();
PublishMessage("/robot/state", "ONLINE");
while (true)
{
long ticks = sensor.Ping();
if (ticks > 0L)
{
double inches = sensor.TicksToInches(ticks);
Debug.Print("jarak ke object :" + inches);
if (inches < 4)
{
jalan = Arah.Berhenti;
Klakson.Write(true);
WarningLed.Write(true);
GoLed.Write(false);
PublishMessage("/robot/status", "Watchout there is an object in the front of robot!");
}
else
{
Klakson.Write(false);
WarningLed.Write(false);
GoLed.Write(true);
}
}
//stop first before change direction or turn
if (lastDirection != jalan)
{
//stop before start new direction
MotorDriver.SetState(HBridge.Motors.Motor1, 0);
MotorDriver.SetState(HBridge.Motors.Motor2, 0);
}
switch (jalan)
{
case Arah.Maju:
MotorDriver.SetState(HBridge.Motors.Motor1, Speed);
MotorDriver.SetState(HBridge.Motors.Motor2, Speed);
break;
case Arah.Mundur:
MotorDriver.SetState(HBridge.Motors.Motor1, (sbyte)(-Speed));
MotorDriver.SetState(HBridge.Motors.Motor2, (sbyte)(-Speed));
break;
case Arah.Kiri:
MotorDriver.SetState(HBridge.Motors.Motor1, -50);
MotorDriver.SetState(HBridge.Motors.Motor2, 50);
break;
case Arah.Kanan:
MotorDriver.SetState(HBridge.Motors.Motor1, 50);
MotorDriver.SetState(HBridge.Motors.Motor2, -50);
break;
case Arah.Berhenti:
MotorDriver.SetState(HBridge.Motors.Motor1, 0);
MotorDriver.SetState(HBridge.Motors.Motor2, 0);
break;
}
lastDirection = jalan;
}
}
public static void Main()
{
//distance sensor
//triger (12), echo (13), 5V + G
HC_SR04 sensor = new HC_SR04(Pins.GPIO_PIN_D12, Pins.GPIO_PIN_D13);
//buzzer
OutputPort Klakson = new OutputPort(Pins.GPIO_PIN_D0, false);
//motor driver
HBridge MotorDriver = new HBridge(SecretLabs.NETMF.Hardware.Netduino.PWMChannels.PWM_PIN_D5, Pins.GPIO_PIN_D4, SecretLabs.NETMF.Hardware.Netduino.PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D7);
//led indicator if there is an object in the front of robot
OutputPort WarningLed = new OutputPort(Pins.GPIO_PIN_D1, false);
OutputPort GoLed = new OutputPort(Pins.GPIO_PIN_D2, false);
//waiting till connect...
if (!Microsoft.SPOT.Net.NetworkInformation.NetworkInterface.GetAllNetworkInterfaces()[0].IsDhcpEnabled)
{
// using static IP
while (!System.Net.NetworkInformation.NetworkInterface.GetIsNetworkAvailable()) ; // wait for network connectivity
}
else
{
// using DHCP
while (IPAddress.GetDefaultLocalAddress() == IPAddress.Any) ; // wait for DHCP-allocated IP address
}
//Debug print our IP address
Debug.Print("Device IP: " + Microsoft.SPOT.Net.NetworkInformation.NetworkInterface.GetAllNetworkInterfaces()[0].IPAddress);
// create mqtt client instance
client = new MqttClient(IPAddress.Parse(MQTT_BROKER_ADDRESS));
string clientId = Guid.NewGuid().ToString();
client.Connect(clientId);
SubscribeMessage();
PublishMessage("/robot/state", "ONLINE");
while (true)
{
long ticks = sensor.Ping();
if (ticks > 0L)
{
double inches = sensor.TicksToInches(ticks);
Debug.Print("jarak ke object :" + inches);
if (inches < 4)
{
jalan = Arah.Berhenti;
Klakson.Write(true);
WarningLed.Write(true);
GoLed.Write(false);
PublishMessage("/robot/status", "Watchout there is an object in the front of robot!");
}
else
{
Klakson.Write(false);
WarningLed.Write(false);
GoLed.Write(true);
}
}
//stop first before change direction or turn
if (lastDirection != jalan)
{
//stop before start new direction
MotorDriver.SetState(HBridge.Motors.Motor1, 0);
MotorDriver.SetState(HBridge.Motors.Motor2, 0);
}
switch (jalan)
{
case Arah.Maju:
MotorDriver.SetState(HBridge.Motors.Motor1, Speed);
MotorDriver.SetState(HBridge.Motors.Motor2, Speed);
break;
case Arah.Mundur:
MotorDriver.SetState(HBridge.Motors.Motor1,(sbyte)(-Speed));
MotorDriver.SetState(HBridge.Motors.Motor2, (sbyte)(-Speed));
break;
case Arah.Kiri:
MotorDriver.SetState(HBridge.Motors.Motor1, -50);
MotorDriver.SetState(HBridge.Motors.Motor2, 50);
break;
case Arah.Kanan:
MotorDriver.SetState(HBridge.Motors.Motor1, 50);
MotorDriver.SetState(HBridge.Motors.Motor2, -50);
break;
case Arah.Berhenti:
MotorDriver.SetState(HBridge.Motors.Motor1, 0);
MotorDriver.SetState(HBridge.Motors.Motor2, 0);
break;
}
lastDirection = jalan;
}
}
static void client_MqttMsgPublishReceived(object sender, MqttMsgPublishEventArgs e)
{
string Message = new string(Encoding.UTF8.GetChars(e.Message));
if (Message.IndexOf(":") < 1) return;
// handle message received
Debug.Print("Message Received = " + Message);
string[] CmdStr = Message.Split(':');
if (CmdStr[0] == "MOVE")
{
switch (CmdStr[1])
{
case "Forward":
jalan = Arah.Maju;
break;
case "Backward":
jalan = Arah.Mundur;
break;
case "Left":
jalan = Arah.Kiri;
break;
case "Right":
jalan = Arah.Kanan;
break;
case "Stop":
jalan = Arah.Berhenti;
break;
}
if (lastDirection == jalan)
{
if (Speed == 0) Speed = HalfSpeed;
else Speed = FullSpeed;
}
else
{
Speed = HalfSpeed;
}
PublishMessage("/robot/status", "Robot Status:" + CmdStr[1]);
}
else if(CmdStr[0]=="REQUEST" && CmdStr[1]=="STATUS")
{
PublishMessage("/robot/state", "ONLINE");
}
}
