// TODO need service
//private IEnumerator PublishMsg()
//{
// while (true)
// {
// yield return new WaitForSecondsRealtime(publishRate);
// if (Bridge == null || Bridge.Status != Ros.Status.Connected) yield return null;
// string msg = "";
// string rate = "";
// switch (currentLEDMode)
// {
// case LEDModeTypes.None:
// msg = "c";
// break;
// case LEDModeTypes.All:
// msg = "a";
// break;
// case LEDModeTypes.Blink:
// msg = "b";
// rate = (blinkRate * 1000).ToString("0000");
// break;
// case LEDModeTypes.Fade:
// msg = "f";
// rate = (fadeRate * 1000).ToString("0000");
// break;
// case LEDModeTypes.Right:
// msg = "r";
// rate = (blinkRate * 1000).ToString("0000");
// break;
// case LEDModeTypes.Left:
// msg = "l";
// rate = (blinkRate * 1000).ToString("0000");
// break;
// default:
// break;
// }
// if (msg != "c")
// {
// switch (currentLEDColor)
// {
// case LEDColorTypes.White:
// msg += "w";
// break;
// case LEDColorTypes.Green:
// msg += "g";
// break;
// case LEDColorTypes.Red:
// msg += "r";
// break;
// case LEDColorTypes.Blue:
// msg += "b";
// break;
// case LEDColorTypes.Orange:
// msg += "o";
// break;
// case LEDColorTypes.Rainbow:
// msg += "R";
// rate = (rainbowRate * 1000).ToString("0000");
// break;
// default:
// break;
// }
// msg += rate;
// }
// //Bridge.Publish(ledTopicName, new Ros.LED()
// //{
// // msg = msg
// //});
// //Debug.Log(msg);
// }
//}
private void SetLEDMode(LEDModeTypes modeIndex)
{
if (isFirstEnabled)
{
isFirstEnabled = false;
AgentSetup agentSetup = GetComponentInParent <AgentSetup>();
if (agentSetup != null && agentSetup.NeedsBridge != null)
{
agentSetup.AddToNeedsBridge(this);
}
}
currentLEDMode = modeIndex;
}
private void SetLEDMode(LEDModeTypes modeIndex)
{
currentLEDMode = modeIndex;
}
private void ApplyLEDMode(LEDModeTypes mode)
{
if (currentLEDColor == LEDColorTypes.Rainbow)
{
lerpedColor = Color.Lerp(lerpedColor, ledColors[rainbowIndex], rainbowRate);
ledColors[(int)LEDColorTypes.Rainbow] = lerpedColor;
if (currentRainbowRate < 1)
{
currentRainbowRate += Time.deltaTime / rainbowRate;
}
else
{
currentRainbowRate = 0f;
rainbowIndex = rainbowIndex < ledColors.Count - 2 ? rainbowIndex + 1 : rainbowIndex = 0;
}
}
switch (mode)
{
case LEDModeTypes.None:
ledMatRight.material.DisableKeyword("_EMISSION");
ledMatLeft.material.DisableKeyword("_EMISSION");
ledMatRight.material.SetTexture("_EmissionMap", null);
ledMatLeft.material.SetTexture("_EmissionMap", null);
foreach (var item in ledLightsRight)
{
item.enabled = false;
}
foreach (var item in ledLightsLeft)
{
item.enabled = false;
}
break;
case LEDModeTypes.All:
ledMatRight.material.EnableKeyword("_EMISSION");
ledMatLeft.material.EnableKeyword("_EMISSION");
ledMatRight.material.SetTexture("_EmissionMap", null);
ledMatLeft.material.SetTexture("_EmissionMap", null);
ledMatRight.material.SetColor("_EmissionColor", ledColors[(int)currentLEDColor] * 1f);
ledMatLeft.material.SetColor("_EmissionColor", ledColors[(int)currentLEDColor] * 1f);
foreach (var item in ledLightsRight)
{
item.color = ledColors[(int)currentLEDColor];
item.enabled = true;
}
foreach (var item in ledLightsLeft)
{
item.color = ledColors[(int)currentLEDColor];
item.enabled = true;
}
break;
case LEDModeTypes.Blink:
ledMatRight.material.SetTexture("_EmissionMap", null);
ledMatLeft.material.SetTexture("_EmissionMap", null);
if (currentBlinkTime < 1)
{
currentBlinkTime += Time.deltaTime / blinkRate;
if (isBlinkOn)
{
ledMatRight.material.EnableKeyword("_EMISSION");
ledMatLeft.material.EnableKeyword("_EMISSION");
ledMatRight.material.SetColor("_EmissionColor", ledColors[(int)currentLEDColor] * 1f);
ledMatLeft.material.SetColor("_EmissionColor", ledColors[(int)currentLEDColor] * 1f);
foreach (var item in ledLightsRight)
{
item.color = ledColors[(int)currentLEDColor];
item.enabled = true;
}
foreach (var item in ledLightsLeft)
{
item.color = ledColors[(int)currentLEDColor];
item.enabled = true;
}
}
else
{
ledMatRight.material.DisableKeyword("_EMISSION");
ledMatLeft.material.DisableKeyword("_EMISSION");
foreach (var item in ledLightsRight)
{
item.enabled = false;
}
foreach (var item in ledLightsLeft)
{
item.enabled = false;
}
}
}
else
{
currentBlinkTime = 0f;
isBlinkOn = !isBlinkOn;
}
break;
case LEDModeTypes.Fade:
fadeOffset = Time.time * -fadeRate;
ledMatRight.material.EnableKeyword("_EMISSION");
ledMatLeft.material.EnableKeyword("_EMISSION");
ledMatRight.material.SetTexture("_EmissionMap", fadeLEDEmitTexture);
ledMatLeft.material.SetTexture("_EmissionMap", fadeLEDEmitTexture);
ledMatRight.material.SetColor("_EmissionColor", ledColors[(int)currentLEDColor] * 2f);
ledMatLeft.material.SetColor("_EmissionColor", ledColors[(int)currentLEDColor] * 2f);
ledMatRight.material.SetTextureOffset("_MainTex", new Vector2(0, fadeOffset));
ledMatLeft.material.SetTextureOffset("_MainTex", new Vector2(0, fadeOffset));
foreach (var item in ledLightsRight)
{
item.color = ledColors[(int)currentLEDColor];
item.enabled = true;
}
foreach (var item in ledLightsLeft)
{
item.color = ledColors[(int)currentLEDColor];
item.enabled = true;
}
break;
case LEDModeTypes.Right:
ledMatRight.material.SetTexture("_EmissionMap", null);
ledMatLeft.material.DisableKeyword("_EMISSION");
foreach (var item in ledLightsLeft)
{
item.enabled = false;
}
if (currentBlinkTime < 1)
{
currentBlinkTime += Time.deltaTime / blinkRate;
if (isBlinkOn)
{
ledMatRight.material.EnableKeyword("_EMISSION");
ledMatRight.material.SetColor("_EmissionColor", ledColors[(int)currentLEDColor] * 1f);
foreach (var item in ledLightsRight)
{
item.color = ledColors[(int)currentLEDColor];
item.enabled = true;
}
}
else
{
ledMatRight.material.DisableKeyword("_EMISSION");
foreach (var item in ledLightsRight)
{
item.enabled = false;
}
}
}
else
{
currentBlinkTime = 0f;
isBlinkOn = !isBlinkOn;
}
break;
case LEDModeTypes.Left:
ledMatLeft.material.SetTexture("_EmissionMap", null);
ledMatRight.material.DisableKeyword("_EMISSION");
foreach (var item in ledLightsRight)
{
item.enabled = false;
}
if (currentBlinkTime < 1)
{
currentBlinkTime += Time.deltaTime / blinkRate;
if (isBlinkOn)
{
ledMatLeft.material.EnableKeyword("_EMISSION");
ledMatLeft.material.SetColor("_EmissionColor", ledColors[(int)currentLEDColor] * 1f);
foreach (var item in ledLightsLeft)
{
item.color = ledColors[(int)currentLEDColor];
item.enabled = true;
}
}
else
{
ledMatLeft.material.DisableKeyword("_EMISSION");
foreach (var item in ledLightsLeft)
{
item.enabled = false;
}
}
}
else
{
currentBlinkTime = 0f;
isBlinkOn = !isBlinkOn;
}
break;
default:
break;
}
}
