/// <summary>
/// Server服务实例向Client服务实例Notify当前周期的Mission对象
/// </summary>
/// <returns></returns>
public IEnumerator <ITask> MissionParaNotification()
{
// Notify all subscribers.
MissionPara announce = new MissionPara();
// 将当前仿真使命的通用Mission对象拷贝一份用于策略调用的参数传递
Mission mission = (Mission)MyMission.Instance().MissionRef.Clone();
for (int i = 0; i < mission.CommonPara.TeamCount; i++)
{// 循环对每条仿真机器鱼施加图像处理干扰 LiYoubing 20110617
for (int j = 0; j < mission.CommonPara.FishCntPerTeam; j++)
{
RoboFish f = mission.TeamsRef[i].Fishes[j];
Interference.ImageProcessInterference(ref f.PositionMm, ref f.BodyDirectionRad,
f.VelocityMmPs, f.AngularVelocityRadPs);
}
}
for (int i = 0; i < mission.EnvRef.Balls.Count; i++)
{// 循环对所有仿真水球施加图像处理干扰 LiYoubing 20110617
Ball b = mission.EnvRef.Balls[i];
float tmp = 0;
Interference.ImageProcessInterference(ref b.PositionMm, ref tmp, b.VelocityMmPs, b.AngularVelocityRadPs);
}
announce.Body = new MissionParaRequest(mission);
//announce.Body = new MissionParaRequest(MyMission.Instance().MissionRef);//modified 20101203
base.SendNotification(_submgrPort, announce);
announce.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
private void ReadInterference(Interference itf)
{
double[] k_svt_alpha = { 0, 20.0D, 40.0D, 60.0D, 80.0D, 100.0D, 120.0D,
140.0D, 160.0D, 180.0D, 200.0D, 220.0D, 240.0D, 260.0D, 280.0D,
300.0D, 320.0D, 340.0D, 360.0D };
double[] k_svt_wg_k_svt = new double[19];
double[] k_svt_ht_k_svt = new double[19];
int i;
for (i = 0; i < k_svt_alpha.Length; i++)
{
k_svt_alpha[i] = MathTool.DegToRad(k_svt_alpha[i]);
}
Pass("k_SVtail_Wing_stall(alpha) = ");
for (i = 0; i < 19; i++)
{
k_svt_wg_k_svt[i] = ReadDouble();
}
itf.k_SVtail_Wing_stall = new Function2D(k_svt_alpha, k_svt_wg_k_svt);
Pass("k_SVtail_Htail_stall(alpha) = ");
for (i = 0; i < 19; i++)
{
k_svt_ht_k_svt[i] = ReadDouble();
}
itf.k_SVtail_Htail_stall = new Function2D(k_svt_alpha, k_svt_ht_k_svt);
}
public void Add(Identifier id1, Identifier id2)
{
if (id1 != id2)
{
Interference i = new Interference(id1, id2);
if (!intf.ContainsKey(i))
intf.Add(i, i);
}
}
/// <summary>
/// 指示是否已经发生过策略调用异常true是false否
/// 20110820废弃 策略代码中存在条件性除零/数组越界等异常时 不必要直接结束掉策略运行
/// </summary>
//bool _strategyExceptionFlag = false;
/// <summary>
/// 进行策略调用 获取指定id对应队伍的决策数据
/// </summary>
/// <param name="teamId">待获取决策数据的队伍id(从0开始)</param>
void GetLocalDecision(int teamId)
{
MyMission myMission = MyMission.Instance();
Decision[] decisions = null;
if (_serverControlBoard.TeamStrategyControls[teamId].StrategyInterface != null
/*&& _strategyExceptionFlag == false*/)
{// 进行null检查确保不出异常 LiYoubing 20110511
// 将当前仿真使命的通用Mission对象拷贝一份用于策略调用的参数传递
Mission mission = (Mission)MyMission.Instance().MissionRef.Clone();
for (int i = 0; i < mission.CommonPara.TeamCount; i++)
{// 循环对每条仿真机器鱼施加图像处理干扰 LiYoubing 20110617
for (int j = 0; j < mission.CommonPara.FishCntPerTeam; j++)
{
RoboFish f = mission.TeamsRef[i].Fishes[j];
Interference.ImageProcessInterference(ref f.PositionMm, ref f.BodyDirectionRad,
f.VelocityMmPs, f.AngularVelocityRadPs);
}
}
for (int i = 0; i < mission.EnvRef.Balls.Count; i++)
{// 循环对所有仿真水球施加图像处理干扰 LiYoubing 20110617
Ball b = mission.EnvRef.Balls[i];
float tmp = 0;
Interference.ImageProcessInterference(ref b.PositionMm, ref tmp, b.VelocityMmPs, b.AngularVelocityRadPs);
}
// 交换半场后交换策略处理 LiYoubing 20110711
// 交换半场后TeamsRef[0]/[1]代表交换前右/左半场的队伍因此应该分别调用第1/0号控件所加载的策略
int strategyId = myMission.ParasRef.IsExchangedHalfCourt ? (teamId + 1) % 2 : teamId;
try
{
decisions = _serverControlBoard.TeamStrategyControls[strategyId].StrategyInterface.GetDecision(
mission, teamId);
}
catch
{
//_strategyExceptionFlag = true;
MessageBox.Show("Remoting object timeout.\nThe instance of class Strategy has been released."
+ "\nYour simulated robofish will not be controlled.",
"Confirming", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
//decision = _serverControlBoard.TeamStrategyControls[teamId].StrategyInterface.GetDecision(
// mission, teamId);
//decision = _serverControlBoard.TeamStrategyControls[teamId].StrategyInterface.GetDecision(
// myMission.MissionRef, teamId);
}
if (decisions == null)
{
return;
}
for (int j = 0; j < myMission.TeamsRef[teamId].Fishes.Count; j++)
{
myMission.DecisionRef[teamId, j] = decisions[j];
}
}
public AirPlane(String path)
{
plane = new PlaneGeneral();
n_fuselage = 0;
fuslage = new Fuselage[7, 2];
n_wing = 0;
wing = new Wing[1];
n_htail = 0;
htail = new Wing[1];
n_vtail = 0;
vtail = new Wing[1];
n_canard = 0;
canard = new Wing[1];
n_fin = 0;
fin = new Wing[5];
n_aileron = 0;
aileron = new ControlPlane[1, 2];
n_elevator = 0;
elevator = new ControlPlane[1, 2];
n_rudder = 0;
rudder = new ControlPlane[1, 2];
n_l_flap = 0;
l_flap = new ControlPlane[1, 2];
n_t_flap = 0;
t_flap = new ControlPlane[1, 2];
n_canard_elevator = 0;
canard_elevator = new ControlPlane[1, 2];
n_powerPlant = 0;
powerPlant = new PowerPlant[4];
n_LandingGear = 0;
landing_gear = new LandingGear[3, 2];
airbrake = new AirBrake();
interference = new Interference();
pilot = new Pilot();
force = new Vector3D();
torque = new Vector3D();
a_force = new Vector3D();
a_torque = new Vector3D();
f_force = new Vector3D();
f_torque = new Vector3D();
n_force = new Vector3D();
n_torque = new Vector3D();
t_force = new Vector3D();
t_torque = new Vector3D();
flag_landing_gear = 1;
flag_land = 1;
crash_point = -1;
MakeObject();
AirPlaneFile apsf = new AirPlaneFile(this, path);
Init();
}
public void InterfSymmetry()
{
var id1 = new Identifier("id1", PrimitiveType.Word32, null);
var id2 = new Identifier("id2", PrimitiveType.Word32, null);
var intf1 = new Interference(id1, id2);
var intf2 = new Interference(id1, id2);
var intf3 = new Interference(id2, id1);
Assert.AreEqual(intf1.GetHashCode(), intf2.GetHashCode());
Assert.AreEqual(intf1.GetHashCode(), intf3.GetHashCode());
Assert.AreEqual(intf2.GetHashCode(), intf3.GetHashCode());
Assert.AreEqual(intf1, intf2, "1 compared 2");
Assert.AreEqual(intf1, intf3, "1 compared 3");
Assert.AreEqual(intf2, intf3, "2 compared 3");
}
public void InterfSymmetry()
{
var id1 = new Identifier("id1", PrimitiveType.Word32, null);
var id2 = new Identifier("id2", PrimitiveType.Word32, null);
var intf1 = new Interference(id1, id2);
var intf2 = new Interference(id1, id2);
var intf3 = new Interference(id2, id1);
Assert.AreEqual(intf1.GetHashCode(), intf2.GetHashCode());
Assert.AreEqual(intf1.GetHashCode(), intf3.GetHashCode());
Assert.AreEqual(intf2.GetHashCode(), intf3.GetHashCode());
Assert.AreEqual(intf1, intf2, "1 compared 2");
Assert.AreEqual(intf1, intf3, "1 compared 3");
Assert.AreEqual(intf2, intf3, "2 compared 3");
}
private void btInterference_Click(object sender, EventArgs e)
{
if (cmbAssembly.Text == "胀缩法")
{
//调用过盈计算并给变量赋值
Interference infe = new Interference();
infe.T = double.Parse(txtT.Text);
infe.Df = double.Parse(txtDf.Text);
infe.Lf = double.Parse(txtLf.Text);
infe.Mu = double.Parse(txtMu.Text);
infe.Da = double.Parse(txtDa.Text);
infe.Di = double.Parse(txtDi.Text);
infe.Ea = double.Parse(txtEa.Text);
infe.Ei = double.Parse(txtEi.Text);
infe.Va = double.Parse(txtVa.Text);
infe.Vi = double.Parse(txtVi.Text);
infe.Sigmasa = double.Parse(txtSigmasa.Text);
infe.Sigmasi = double.Parse(txtSigmasi.Text);
// 求解
txtPfmin.Text = infe.Pfmin().ToString("f4");
txtQa.Text = infe.Qa().ToString("f4");
txtQi.Text = infe.Qi().ToString("f4");
txtEamin.Text = infe.Eamin().ToString("f4");
txtEimin.Text = infe.Eimin().ToString("f4");
txtDeltaemin.Text = infe.Deltaemin().ToString("f4");
txtDeltamin.Text = infe.Deltamin().ToString("f4");
txtPfamax.Text = infe.Pfamax().ToString("f4");
txtPfimax.Text = infe.Pfimax().ToString("f4");
txtPfmax.Text = infe.Pfmax().ToString("f4");
txtFt.Text = infe.Ft().ToString("f4");
txtEamax.Text = infe.Eamax().ToString("f4");
txtEimax.Text = infe.Eimax().ToString("f4");
txtDeltaemax.Text = infe.Deltaemax().ToString("f4");
txtDeltab.Text = infe.Deltab().ToString("f4");
}
}
public bool Interfere(Identifier id1, Identifier id2)
{
Interference i = new Interference(id1, id2);
return intf.ContainsKey(i);
}
public InterferenceObject(Interference Interferenceinstance)
{
InterferenceInstance = Interferenceinstance;
}
// Use this for initialization
void Start()
{
// Initialization of photon
inter = (GameObject.Find ("/UI/Window")).GetComponent<Interference> ();
PhotonNetwork.ConnectUsingSettings ("0.1");
caution = (GameObject.Find ("/UI/Caution/CautionMark")).GetComponent<CautionManager> ();
selectedName = CharacterSelect.SelectedCharacter.Name;
}
