void Awake ()
{
body = GetComponent<Rigidbody> ();
motors = GetComponent<Motors>();
selfLeveling = GetComponent<SelfLeveling>();
hover = (body.mass * Physics.gravity.y) / -4;
}
public async Task StartAstro(Motors motors, AstroDirection direction, AstroSpeed speed, float gearReduction)
{
await _commService
.SendAndReceiveAsync(new MoCoBusMainCommandFrame(
_address,
MoCoBusMainCommand.Start,
new[] { (byte)motors, (byte)direction, (byte)speed }.Concat(BitConverter.GetBytes(gearReduction).Reverse()).ToArray()))
.ConfigureAwait(false);
}
public async Task StartAstro(Motors motors, AstroDirection direction, AstroSpeed speed, GearType gear)
{
await _commService
.SendAndReceiveAsync(new MoCoBusMainCommandFrame(
_address,
MoCoBusMainCommand.Start,
new[] { (byte)motors, (byte)direction, (byte)speed, (byte)gear }))
.ConfigureAwait(false);
}
public void MotorControl(Motors which, uint speed, bool direction)
{
if (speed >= 100)
speed = 100;
switch (which)
{
case Motors.M3: // This motor can have its speed controlled through PWM
if (speed == 0) Motor2A.SetDutyCycle(0);
else
{
latch_state = (byte) ((latch_state & 0xBE) | (direction ? 1 : 64));
latch_tx();
Motor2A.SetDutyCycle(speed);
}
break;
case Motors.M4: // This motor can have its speed controlled through PWM
if (speed == 0) Motor2B.SetDutyCycle(0);
else
{
latch_state = (byte) ((latch_state & 0x5F) | (direction ? 32 : 128));
latch_tx();
Motor2B.SetDutyCycle(speed);
}
break;
}
}
public async Task ReverseAllMotorsStartStopPoints(Motors motors)
{
await _commService
.SendAndReceiveAsync(new MoCoBusMainCommandFrame(_address, MoCoBusMainCommand.ReverseAllMotorsStartStopPoints, new[] { (byte)motors }))
.ConfigureAwait(false);
}
public async Task SetProgramStopPoint(Motors motors)
{
await _commService
.SendAndReceiveAsync(new MoCoBusMainCommandFrame(_address, MoCoBusMainCommand.SetProgramStopPoint, new[] { (byte)motors }))
.ConfigureAwait(false);
}
public Motor GetMotorById(long motorId)
{
return(Motors.FirstOrDefault(m => m.Id == motorId));
}
void Awake ()
{
body = GetComponent<Rigidbody> ();
motors = GetComponent<Motors>();
}
private async void Delete(object value)
{
#if XBAP
MessageBoxResult result = MessageBox.Show("确定要删除?", "删除", MessageBoxButton.OK, MessageBoxImage.Warning);
#else
MessageBoxResult result = Xceed.Wpf.Toolkit.MessageBox.Show("确定要删除?", "删除", MessageBoxButton.OKCancel, MessageBoxImage.Warning);
#endif
if (result == MessageBoxResult.OK)
{
if (DevicesIsSelected == true)
{
T_DeviceDiagnose t_model = DeviceDiagnoseClass.ConvertToDB(SelectedDevice);
if (t_model.id != -1)
{
await _databaseComponent.Delete <T_DeviceDiagnose>(ServerIP, t_model.id);
}
Devices.Remove(SelectedDevice);
}
else if (ShaftsIsSelected == true)
{
T_Shaft t_model = ShaftClass.ConvertToDB(SelectedShaft);
if (t_model.id != -1)
{
await _databaseComponent.Delete <T_Shaft>(ServerIP, t_model.id);
}
Shafts.Remove(SelectedShaft);
}
else if (BearingsIsSelected == true)
{
T_Bearing t_model = BearingClass.ConvertToDB(SelectedBearing);
if (t_model.id != -1)
{
await _databaseComponent.Delete <T_Bearing>(ServerIP, t_model.id);
}
Bearings.Remove(SelectedBearing);
}
else if (BeltsIsSelected == true)
{
Belts.Remove(SelectedBelt);
T_Belt t_model = BeltClass.ConvertToDB(SelectedBelt);
if (t_model.id != -1)
{
await _databaseComponent.Delete <T_Belt>(ServerIP, t_model.id);
}
}
else if (GearsIsSelected == true)
{
T_Gear t_model = GearClass.ConvertToDB(SelectedGear);
if (t_model.id != -1)
{
await _databaseComponent.Delete <T_Gear>(ServerIP, t_model.id);
}
Gears.Remove(SelectedGear);
}
else if (ImpellersIsSelected == true)
{
T_Impeller t_model = ImpellerClass.ConvertToDB(SelectedImpeller);
if (t_model.id != -1)
{
await _databaseComponent.Delete <T_Impeller>(ServerIP, t_model.id);
}
Impellers.Remove(SelectedImpeller);
}
else if (MotorsIsSelected == true)
{
T_Motor t_model = MotorClass.ConvertToDB(SelectedMotor);
if (t_model.id != -1)
{
await _databaseComponent.Delete <T_Motor>(ServerIP, t_model.id);
}
Motors.Remove(SelectedMotor);
}
}
}
private void Add(object value)
{
if (DevicesIsSelected == true)
{
SelectedDevice = new DeviceDiagnoseClass()
{
Name = "新建设备"
};
Devices.Add(SelectedDevice);
}
else if (ShaftsIsSelected == true)
{
SelectedShaft = new ShaftClass()
{
Name = "新建轴"
};
Shafts.Add(SelectedShaft);
}
else if (BearingsIsSelected == true)
{
SelectedBearing = new BearingClass()
{
Name = "新建轴承"
};
Bearings.Add(SelectedBearing);
}
else if (BeltsIsSelected == true)
{
SelectedBelt = new BeltClass()
{
Name = "新建皮带"
};
Belts.Add(SelectedBelt);
}
else if (GearsIsSelected == true)
{
SelectedGear = new GearClass()
{
Name = "新建齿轮"
};
Gears.Add(SelectedGear);
}
else if (ImpellersIsSelected == true)
{
SelectedImpeller = new ImpellerClass()
{
Name = "新建叶轮"
};
Impellers.Add(SelectedImpeller);
}
else if (MotorsIsSelected == true)
{
SelectedMotor = new MotorClass()
{
Name = "新建电机"
};
Motors.Add(SelectedMotor);
}
ShowWin();
//立即更新到服务器
}
/// <summary>
/// Sets the state of a motor
/// </summary>
/// <param name="Motor">The motor to change</param>
/// <param name="Speed">The speed to move with; -100 (full speed backward) to 100 (full speed forward)</param>
public void SetState(Motors Motor, sbyte Speed)
{
// We expect a value between -100 and 100
if (Speed < -100 || Speed > 100)
{
throw new System.ArgumentOutOfRangeException();
}
// Gets the direction straight
bool PinA = false;
bool PinB = true;
if (Speed < 0)
{
// Makes it positive again
Speed = (sbyte)(0 - Speed);
PinA = true;
PinB = false;
}
else if (Speed == 0)
{
// No speed at all
PinA = false;
PinB = false;
}
switch (Motor)
{
case Motors.Motor1:
if (this._Motor1Pwm == null) throw new InvalidOperationException("Can't drive motor 1 without PWM pin");
this._Motor1aPin.Write(PinA);
this._Motor1bPin.Write(PinB);
this._Motor1Pwm.SetDutyCycle((uint)Speed);
break;
case Motors.Motor2:
if (this._Motor2Pwm == null) throw new InvalidOperationException("Can't drive motor 2 without PWM pin");
this._Motor2aPin.Write(PinA);
this._Motor2bPin.Write(PinB);
this._Motor2Pwm.SetDutyCycle((uint)Speed);
break;
case Motors.Motor3:
if (this._Motor3Pwm == null) throw new InvalidOperationException("Can't drive motor 3 without PWM pin");
this._Motor3aPin.Write(PinA);
this._Motor3bPin.Write(PinB);
this._Motor3Pwm.SetDutyCycle((uint)Speed);
break;
case Motors.Motor4:
if (this._Motor4Pwm == null) throw new InvalidOperationException("Can't drive motor 4 without PWM pin");
this._Motor4aPin.Write(PinA);
this._Motor4bPin.Write(PinB);
this._Motor4Pwm.SetDutyCycle((uint)Speed);
break;
default:
// Should never happen!! :-)
throw new System.ArgumentOutOfRangeException();
}
}
public void SetOffset(Motors motor, int value)
{
_motorCommand[(int)motor] = value;
}
public IEnumerable <Motor> GetMotorsByCategoryId(long categoryId)
{
return(Motors.Where(m => m.Category.Id == categoryId));
}
public IEnumerable <Motor> GetMotorsByBrandId(long brandId)
{
return(Motors.Where(m => m.Brand.Id == brandId));
}
/// <summary>
/// Enables or disables the specified motor. (TestMode Only)
/// </summary>
/// <param name="motor">Motor to toggle.</param>
/// <param name="enable">True to enable, false to disable specified motor.</param>
public void ToggleMotor(Motors motor, bool enable)
{
if (!this.neato.TestMode)
{
throw new NotInTestModeException("ToggleMotor : SetMotor");
}
string parameters = null;
switch (motor)
{
case Motors.Brush:
parameters = enable ? "BrushEnable" : "BrushDisable";
this.neato.MotorBrushEnabled = enable;
break;
case Motors.LeftWheel:
parameters = enable ? "LWheelEnable" : "LWheelDisable";
this.neato.MotorLWheelEnabled = enable;
break;
case Motors.RightWheel:
parameters = enable ? "RWheelEnable" : "RWheelDisable";
this.neato.MotorRWheelEnabled = enable;
break;
}
this.neato.Connection.SendCommand("SetMotor " + parameters, true);
}
/// <summary>
/// Sets the state of a motor
/// </summary>
/// <param name="Motor">The motor to change</param>
/// <param name="Speed">The speed to move with; -100 (full speed backward) to 100 (full speed forward)</param>
public void SetState(Motors Motor, sbyte Speed)
{
// We expect a value between -100 and 100
if (Speed < -100 || Speed > 100)
{
throw new System.ArgumentOutOfRangeException();
}
switch (Motor)
{
case Motors.Motor1:
// When Speed is below zero, the direction pin is true
this._Motor1Direction.Write(Speed < 0);
// When Speed is below zero, it will be set to positive (double negative; 0 - -100 = 100)
this._Motor1Speed.StopPulse();
this._Motor1Speed.SetDutyCycle((uint)(Speed < 0 ? 100 - (0 - Speed) : Speed));
this._Motor1Speed.StartPulse();
break;
case Motors.Motor2:
// Same as for Motor1
this._Motor2Direction.Write(Speed < 0);
this._Motor2Speed.StopPulse();
this._Motor2Speed.SetDutyCycle((uint)(Speed < 0 ? 100 - (0 - Speed) : Speed));
this._Motor2Speed.StartPulse();
break;
default:
// Should never happen!! :-)
throw new System.ArgumentOutOfRangeException();
}
}
public GunSightMotor(Motors m) : base(m)
{
_motors.ActionManager.AddAction(CameraActionType.Enter, SubCameraMotorType.View, (int)ModeId,
(player, state) =>
{
if (!player.hasAppearanceInterface)
{
return;
}
if (!player.appearanceInterface.Appearance.IsFirstPerson)
{
player.appearanceInterface.Appearance.SetFirstPerson();
player.characterBoneInterface.CharacterBone.SetFirstPerson();
player.UpdateCameraArchorPostion();
}
});
_motors.ActionManager.AddAction(CameraActionType.Enter, SubCameraMotorType.View, (int)ModeId,
(player, state) =>
{
if (!player.hasAppearanceInterface)
{
return;
}
var playerUtils = EffectUtility.GetEffect(player.RootGo(), "PlayerUtils");
if (playerUtils != null)
{
playerUtils.SetParam("GunViewBegin", (object)player.RootGo().gameObject);
}
});
_motors.ActionManager.AddAction(CameraActionType.Enter, SubCameraMotorType.View, (int)ModeId,
(player, state) =>
{
if (!player.hasAppearanceInterface)
{
return;
}
var speed = player.WeaponController().HeldWeaponAgent.CmrFocusSpeed;
player.stateInterface.State.SetSight(speed);
Logger.InfoFormat("Enter sight!");
});
_motors.ActionManager.AddAction(CameraActionType.Enter, SubCameraMotorType.View, (int)ModeId,
(player, state) =>
{
if (!player.hasAppearanceInterface)
{
return;
}
player.AudioController().PlaySimpleAudio(EAudioUniqueId.SightOpen, true);
});
_motors.ActionManager.AddAction(CameraActionType.Enter, SubCameraMotorType.View, (int)ModeId,
(player, state) =>
{
if (!player.hasAppearanceInterface)
{
return;
}
OpenDepthOfField(player);
});
_motors.ActionManager.AddAction(CameraActionType.Leave, SubCameraMotorType.View, (int)ModeId,
(player, state) =>
{
var speed = player.WeaponController().HeldWeaponAgent.CmrFocusSpeed;
player.stateInterface.State.CancelSight(speed);
Logger.InfoFormat("Leave sight!");
});
_motors.ActionManager.AddAction(CameraActionType.Leave, SubCameraMotorType.View, (int)ModeId,
(player, state) =>
{
var playerUtils = EffectUtility.GetEffect(player.RootGo(), "PlayerUtils");
if (playerUtils != null)
{
playerUtils.SetParam("GunViewEnd", (object)player.RootGo().gameObject);
}
});
_motors.ActionManager.AddAction(CameraActionType.Leave, SubCameraMotorType.View, (int)ModeId,
(player, state) =>
{
player.AudioController().PlaySimpleAudio(EAudioUniqueId.SightClose, true);
});
_motors.ActionManager.AddAction(CameraActionType.Leave, SubCameraMotorType.View, (int)ModeId,
(player, state) =>
{
CloseDepthOfField(player);
});
}
private async void SwapStartStop(Motors motors)
{
try
{
await _protocolService.Main.ReverseAllMotorsStartStopPoints(motors).ConfigureAwait(false);
_sliderStartPos = await _protocolService.MotorSlider.GetProgramStartPoint().ConfigureAwait(false);
_panStartPos = await _protocolService.MotorPan.GetProgramStartPoint().ConfigureAwait(false);
_tiltStartPos = await _protocolService.MotorTilt.GetProgramStartPoint().ConfigureAwait(false);
_sliderStopPos = await _protocolService.MotorSlider.GetProgramStopPoint().ConfigureAwait(false);
_panStopPos = await _protocolService.MotorPan.GetProgramStopPoint().ConfigureAwait(false);
_tiltStopPos = await _protocolService.MotorTilt.GetProgramStopPoint().ConfigureAwait(false);
_dispatcherHelper.RunOnUIThread(() =>
{
RaisePropertyChanged(() => SliderStartPosition);
RaisePropertyChanged(() => PanStartPosition);
RaisePropertyChanged(() => TiltStartPosition);
RaisePropertyChanged(() => SliderStopPosition);
RaisePropertyChanged(() => PanStopPosition);
RaisePropertyChanged(() => TiltStopPosition);
});
}
catch (TimeoutException toe)
{
Insights.Report(toe);
}
}
public static Motors CraeteMotors(Contexts contexts, CameraConfig config)
{
Motors motors = new Motors();
var pose = motors.GetDict(SubCameraMotorType.Pose);
pose[(int)ECameraPoseMode.Stand] = new NormalPoseMotor(ECameraPoseMode.Stand,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance),
new ThirdPersonActice(), motors);
pose[(int)ECameraPoseMode.Crouch] = new NormalPoseMotor(ECameraPoseMode.Crouch,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance),
new CrouchActice(), motors);
pose[(int)ECameraPoseMode.Prone] = new NormalPoseMotor(ECameraPoseMode.Prone,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance),
new ProneActice(), motors);
pose[(int)ECameraPoseMode.Swim] = new NormalPoseMotor(ECameraPoseMode.Swim,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance), new SwimActice(),
motors);
pose[(int)ECameraPoseMode.Dying] = new NormalPoseMotor(ECameraPoseMode.Dying,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance),
new DyingActice(), motors);
pose[(int)ECameraPoseMode.Dead] = new DeadPoseMotor(ECameraPoseMode.Dead,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance), new DeadActice(),
config.GetRoleConfig().DeadConfig, motors);
pose[(int)ECameraPoseMode.Parachuting] = new NormalPoseMotor(ECameraPoseMode.Parachuting,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance),
new ParachutingActice(), motors);
pose[(int)ECameraPoseMode.ParachutingOpen] = new NormalPoseMotor(ECameraPoseMode.ParachutingOpen,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance),
new ParachutingOpenActice(), motors);
pose[(int)ECameraPoseMode.Gliding] = new GlidingPoseMotor(ECameraPoseMode.Gliding,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance),
new GlidingActice(), motors);
pose[(int)ECameraPoseMode.DriveCar] = new DrivePoseMotor(ECameraPoseMode.DriveCar,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance), contexts.vehicle,
contexts.freeMove, motors);
pose[(int)ECameraPoseMode.AirPlane] = new AirplanePoseMotor(ECameraPoseMode.AirPlane,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance), contexts.vehicle,
contexts.freeMove, motors);
pose[(int)ECameraPoseMode.Climb] = new NormalPoseMotor(ECameraPoseMode.Climb,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance),
new ClimbActive(), motors);
pose[(int)ECameraPoseMode.Rescue] = new NormalPoseMotor(ECameraPoseMode.Rescue,
new HashSet <ECameraPoseMode>(CommonIntEnumEqualityComparer <ECameraPoseMode> .Instance),
new RescueActive(), motors);
var free = motors.GetDict(SubCameraMotorType.Free);
free[(int)ECameraFreeMode.On] = new FreeOnMotor(motors);
free[(int)ECameraFreeMode.Off] = new FreeOffMotor(config.GetRoleConfig().FreeConfig.TransitionTime, motors);
var peek = motors.GetDict(SubCameraMotorType.Peek);
peek[(int)ECameraPeekMode.Off] = new PeekOffMotor(config.GetRoleConfig().PeekConfig.TransitionTime, motors);
peek[(int)ECameraPeekMode.Left] = new PeekOnMotor(false, config.GetRoleConfig().PeekConfig, motors);
peek[(int)ECameraPeekMode.Right] = new PeekOnMotor(true, config.GetRoleConfig().PeekConfig, motors);
var view = motors.GetDict(SubCameraMotorType.View);
view[(int)ECameraViewMode.FirstPerson] = new FirstViewMotor(motors);
view[(int)ECameraViewMode.GunSight] = new GunSightMotor(motors);
view[(int)ECameraViewMode.ThirdPerson] = new ThirdViewMotor(motors);
motors.ActionManager.AddAction(CameraActionType.Enter, SubCameraMotorType.Pose,
(int)ECameraPoseMode.Parachuting, (player, state) =>
{
var cameraEulerAngle = player.cameraFinalOutputNew.EulerAngle;
var carEulerAngle = player.cameraArchor.ArchorEulerAngle;
var t = cameraEulerAngle - carEulerAngle;
state.FreeYaw = t.y;
state.FreePitch = t.x;
});
return(motors);
}
