// Use this for initialization
public SpiderBody()
{
legs = new SpiderLeg[6];
futures = new Queue <Future <object> >();
executor = new ImmediateExecutor();
SharedParams sharedParams = new SharedParams();
for (int i = 0; i < legs.Length; i++)
{
legs[i] = new SpiderLeg(ref executor, ref sharedParams, (i * 3) + 1);
}
}
/// <summary>
/// Überprüft alle RobotParts auf ihre TerrainCompatability.
/// Wenn die TerrainTypen mit dem TerrainTypen des übergebenen tiles übereinstimmen, wird true, sonst wird false zurückgegeben.
/// </summary>
/// <param name="tile"></param>
/// <returns></returns>
public bool CanWalkOn(GroundTile tile)
{
bool canWalk = false;
foreach (RobotPart part in parts)
{
if (part is BasicLeg)
{
BasicLeg leg = part as BasicLeg;
if (leg.TerrainCompatability == tile.terrainType)
{
canWalk = true;
break;
}
}
else if (part is SpiderLeg)
{
SpiderLeg leg = part as SpiderLeg;
if (leg.TerrainCompatability == tile.terrainType)
{
canWalk = true;
break;
}
}
else if (part is Boat)
{
Boat leg = part as Boat;
if (leg.TerrainCompatability == tile.terrainType)
{
canWalk = true;
break;
}
}
}
return(canWalk);
}
/// <summary>
/// Erstellt die Für den Test nötigen Objekte.
/// </summary>
public void TestSolve()
{
//Robot1
GameObject robot1Object = robotManager.CreateRobot(-6, 3);
robotManager.TurnRobotStartingDirection(robot1Object);
robotManager.TurnRobotStartingDirection(robot1Object);
ShreddingTool tool1 = new ShreddingTool(robot1Object.GetComponent <Robot>());
BasicLeg leg1 = new BasicLeg(robot1Object.GetComponent <Robot>());
TextAsset text = Resources.Load <TextAsset>("Texts/Robot 1Actions");
string scriptCode = text.text;
robot1Object.GetComponent <Robot>().ChangeScriptCode(scriptCode);
//Robot2
GameObject robot2Object = robotManager.CreateRobot(-7, 5);
BasicArm tool2 = new BasicArm(robot2Object.GetComponent <Robot>());
SpiderLeg leg2 = new SpiderLeg(robot2Object.GetComponent <Robot>());
BasicSensor sensor2 = new BasicSensor(robot2Object.GetComponent <Robot>());
text = Resources.Load <TextAsset>("Texts/Robot 2Actions");
scriptCode = text.text;
robot2Object.GetComponent <Robot>().ChangeScriptCode(scriptCode);
//Robot3
GameObject robot3Object = robotManager.CreateRobot(-7, 2);
robotManager.TurnRobotStartingDirection(robot3Object);
robotManager.TurnRobotStartingDirection(robot3Object);
BasicArm tool3 = new BasicArm(robot3Object.GetComponent <Robot>());
Boat leg3 = new Boat(robot3Object.GetComponent <Robot>());
BasicSensor sensor3 = new BasicSensor(robot3Object.GetComponent <Robot>());
GroundSensor sensor3_2 = new GroundSensor(robot3Object.GetComponent <Robot>());
text = Resources.Load <TextAsset>("Texts/Robot 3Actions");
scriptCode = text.text;
robot3Object.GetComponent <Robot>().ChangeScriptCode(scriptCode);
//Robot4
GameObject robot4Object = robotManager.CreateRobot(-7, -2);
robotManager.TurnRobotStartingDirection(robot4Object);
robotManager.TurnRobotStartingDirection(robot4Object);
BasicArm tool4 = new BasicArm(robot4Object.GetComponent <Robot>());
BasicLeg leg4 = new BasicLeg(robot4Object.GetComponent <Robot>());
BasicSensor sensor4 = new BasicSensor(robot4Object.GetComponent <Robot>());
text = Resources.Load <TextAsset>("Texts/Robot 4Actions");
scriptCode = text.text;
robot4Object.GetComponent <Robot>().ChangeScriptCode(scriptCode);
//Robot5
GameObject robot5Object = robotManager.CreateRobot(-2, -3);
robotManager.TurnRobotStartingDirection(robot5Object);
BasicArm tool5 = new BasicArm(robot5Object.GetComponent <Robot>());
SpiderLeg leg5 = new SpiderLeg(robot5Object.GetComponent <Robot>());
BasicSensor sensor5 = new BasicSensor(robot5Object.GetComponent <Robot>());
text = Resources.Load <TextAsset>("Texts/Robot 5Actions");
scriptCode = text.text;
robot5Object.GetComponent <Robot>().ChangeScriptCode(scriptCode);
//Robot6
GameObject robot6Object = robotManager.CreateRobot(4, -1);
WeldingTool tool6 = new WeldingTool(robot6Object.GetComponent <Robot>());
SpiderLeg leg6 = new SpiderLeg(robot6Object.GetComponent <Robot>());
BasicSensor sensor6 = new BasicSensor(robot6Object.GetComponent <Robot>());
Scanner sensor6_2 = new Scanner(robot6Object.GetComponent <Robot>());
text = Resources.Load <TextAsset>("Texts/Robot 6Actions");
scriptCode = text.text;
robot6Object.GetComponent <Robot>().ChangeScriptCode(scriptCode);
//Robot7
GameObject robot7Object = robotManager.CreateRobot(0, -1);
robotManager.TurnRobotStartingDirection(robot7Object);
robotManager.TurnRobotStartingDirection(robot7Object);
robotManager.TurnRobotStartingDirection(robot7Object);
BasicArm tool7 = new BasicArm(robot7Object.GetComponent <Robot>());
SpiderLeg leg7 = new SpiderLeg(robot7Object.GetComponent <Robot>());
BasicSensor sensor7 = new BasicSensor(robot7Object.GetComponent <Robot>());
text = Resources.Load <TextAsset>("Texts/Robot 7Actions");
scriptCode = text.text;
robot7Object.GetComponent <Robot>().ChangeScriptCode(scriptCode);
}
/**
** Sequence parsing logic, use executeSequence() to run a sequence file
**/
IEnumerator parseSequence(string filecontent, bool validate, int repeat, float speedModifier)
{
bool hasHeader = false;
int lineNr = 0;
string[] lines = filecontent.Split('\n');
Dictionary <int, SpiderLeg.LegMovement> tmpFrame = null;
int tmpFrameMillis = -1;
for (int i = 0; i < repeat; i++)
{
foreach (string line in lines)
{
lineNr += 1;
if (line.TrimStart(' ').StartsWith("#"))
{
continue;
}
string cleanline = line.Replace("\r", string.Empty);
string[] words = cleanline.Split(' ');
string command = words[0];
if (!hasHeader && !words[0].ToLower().Equals("sequence"))
{
Debug.Log("Sequencefile has an invalid header, it should start with 'Sequence <sequencename>'");
yield break;
}
else if (lineNr == 1)
{
hasHeader = true;
if (words.Length > 3)
{
this.offset = int.Parse(words[3]);
}
else
{
this.offset = 0;
}
continue;
}
if (speedModifier < 0)
{
if (command == "framebegin")
{
command = "frameend";
}
else if (command == "frameend")
{
command = "framebegin";
}
}
if (words[0].ToLower().Equals("framebegin"))
{
if (words.Length > 1)
{
tmpFrameMillis = int.Parse(words[1]);
}
tmpFrame = new Dictionary <int, SpiderLeg.LegMovement>();
}
else
if (words[0].ToLower().Equals("frameend"))
{
if (tmpFrame == null)
{
continue;
}
SpiderLeg.SequenceFrame sf = SpiderLeg.newSequenceFrame(tmpFrame, tmpFrameMillis);
tmpFrameMillis = -1;
for (int x = 1; x < 7; x++)
{
SpiderLeg.LegMovement mov;
bool hasMov = sf.movements.TryGetValue(x, out mov);
if (!hasMov)
{
mov = new SpiderLeg.LegMovement();
mov.empty = true;
}
mov.maxExecTime = sf.maxMaxExecTime;
legs[x - 1].addMove(mov);
}
tmpFrame.Clear();
tmpFrame = null;
}
else
if (words[0].ToLower().Equals("delay"))
{
if (words.Length != 2)
{
Debug.Log("No argument given for delay at line: " + lineNr);
yield break;
}
float seconds = int.Parse(words[1]) / 1000f;
if (!validate)
{
Debug.Log("Will delay " + seconds + " seconds");
yield return(new WaitForSeconds(seconds * delayModifier));
}
}
else
if (words[0].ToLower().StartsWith("waitlegs"))
{
//bool shouldBlock = true;
bool allEmpty = false;
while (!allEmpty)
{
float maxExec = 0f;
foreach (SpiderLeg leg in legs)
{
allEmpty = true;
maxExec = Mathf.Max(maxExec, leg.maxExecTime);
if (leg.hasMovesOnQueue())
{
allEmpty = false;
yield return(new WaitForSeconds(maxExec));
}
}
}
}
if (words[0].ToLower().StartsWith("s:"))
{
if (words.Length < 2 || words.Length > 3)
{
Debug.Log("Wrong amount of arguments for servo control: " + words.Length + " at line: " + lineNr);
yield break;
}
int servoID = int.Parse(words[0].Split(':')[1]);
string[] coords = words[1].Split(',');
int speed = -1;
if (words.Length == 3)
{
speed = int.Parse(words[2]);
}
speed = (int)(speed * speedModifier);
if (!validate)
{
float newAngle = float.Parse(coords[0]);
//Debug.Log("Will control servo " + servoID + ", coords: " + newAngle + ", speed: " + speed);
foreach (SpiderLeg leg in legs)
{
leg.moveByServoID(servoID, newAngle, speed, false);
}
//#hier de servocontroller aanroepen met de variabelen wanneer not validate
}
}
else
//Controll legs
if (words[0].ToLower().StartsWith("l:"))
{
if (words.Length < 2 || words.Length > 3)
{
Debug.Log("Wrong amount of arguments for servo control: " + words.Length + " at line: " + lineNr);
yield break;
}
int legID = int.Parse(words[0].Split(':')[1]);
string[] coords = words[1].Split(",".ToCharArray());
if (coords.Length != 3)
{
Debug.Log("Wrong amount of coords: " + coords.Length + " at line: " + lineNr);
yield break;
}
int speed = -1;
if (words.Length == 3)
{
speed = (int)(int.Parse(words[2]));
}
speed = (int)(speed * speedModifier);
if (!validate)
{
//Debug.Log("Will control leg " + legID + ", coords: " + words[1] + ", speed: " + speed);
SpiderLeg.LegMovement lm = setServoPos(float.Parse(coords[0]), float.Parse(coords[1]), float.Parse(coords[2]), legID, speed);
if (tmpFrame == null)
{
this.legs[legID - 1].addMove(lm);
}
else
{
tmpFrame.Add(legID, lm);
}
}
}
}
}
}
