public void Update()
{
switch (state)
{
case RobotStates.GetContainer:
drive.AlignGetContainer = true;
drive.DriveSpeeds = temp_HasContainer ? new point(0.5, 0) : new point(-0.5, 0);
driveWait = temp_HasContainer ? --driveWait : ++driveWait;
stacker.claw = temp_HasContainer;
if (temp_HasContainer) stacker.grabbingCan.ForceTrue(); else stacker.grabbingCan.ForceFalse();
if (temp_HasContainer && driveWait == 0)
{
//Clean up side effects
drive.AlignGetContainer = false;
drive.DriveSpeeds = new point(0, 0);
state = RobotStates.Stack;
}
break;
case RobotStates.Stack:
stacker.state = StackerState.AlignTote;
drive.AlignLoad = true;
break;
}
}
private void SetRobotState(RobotStates newRobotState)
{
if (newRobotState == currentRobotState)
{
return;
}
switch (currentRobotState)
{
case RobotStates.Idle:
idlePauseTimer = 0f;
break;
case RobotStates.Patrol:
reachedPatrolPoint = false;
break;
}
Debug.Log($"Changing Robot State from <color={GetStateColor(currentRobotState)}>{currentRobotState.ToString()}</color> to <color={GetStateColor(newRobotState)}>{newRobotState.ToString()}</color>");
currentRobotState = newRobotState;
OnStateChange?.Invoke();
}
private bool temp_HasContainer; //Replace with the limit switch output
#endregion Fields
#region Constructors
public AutomatedRobot()
{
stacker = new Stacker();
drive = new SmartDrive();
driveWait = 0;
state = RobotStates.Stack; //Assuming we start with can by our corner.
}
public void SetRobotState(RobotStates newState)
{
if (currentRobotState != newState)
{
currentRobotState = newState;
OnStateChange?.Invoke();
}
}
private void PickRandomCrazyEmotion()
{
StartCoroutine(Freakout());
float flipACoin = Random.Range(0, 2);
currentState = flipACoin == 0 ? RobotStates.STATE_HOMICIDAL : RobotStates.STATE_SUICIDAL;
PlaySingleSoundFx(breakdownZapSound);
displayEmotionTime = Time.time + displayEmotionDelay;
SetTarget(null);
}
private void SetRobotState(RobotStates newRobotState)
{
if (newRobotState == currentRobotState)
{
return;
}
switch (currentRobotState)
{
case RobotStates.Idle:
idlePauseTimer = 0f;
break;
case RobotStates.Patrol:
reachedPatrolPoint = false;
break;
}
switch (newRobotState)
{
case RobotStates.Idle:
SetGroupRobotState(RobotGroupStates.Relaxed, false);
break;
case RobotStates.Patrol:
SetGroupRobotState(RobotGroupStates.Relaxed, false);
break;
case RobotStates.Chase:
SetGroupRobotState(RobotGroupStates.Agressive, false);
break;
case RobotStates.Attack:
SetGroupRobotState(RobotGroupStates.Agressive, false);
break;
}
Debug.Log($"Changing Robot State from <color={GetStateColor(currentRobotState)}>{currentRobotState.ToString()}</color> to <color={GetStateColor(newRobotState)}>{newRobotState.ToString()}</color>");
currentRobotState = newRobotState;
}
private string GetStateColor(RobotStates state)
{
switch (state)
{
case RobotStates.Idle:
return("green");
case RobotStates.Patrol:
return("yellow");
case RobotStates.Chase:
return("orange");
case RobotStates.Attack:
return("red");
}
return("white");
}
// do not have more than one of this coroutine running on a robot at a time
public IEnumerator Freakout()
{
if (freakoutCoroutine == null)
{
freakoutCoroutine = Freakout();
}
else
{
yield break;
}
RobotStates oldState = currentState;
float oldStability = emotionalStability;
var main = shockParticles.main;
ParticleSystemRenderer shockPSR = shockParticles.GetComponent <ParticleSystemRenderer> ();
do
{
UIManager.instance.ShakeObject(this.gameObject, true, freakoutShakeDuration);
shockPSR.sortingLayerID = spriteRenderer.sortingLayerID;
if (!shockParticles.isPlaying)
{
main.loop = true;
shockParticles.Play();
}
if (!efxSource.isPlaying)
{
PlayRandomSoundFx(breakdownShakeSounds);
}
yield return(new WaitForSeconds(freakoutShakeDuration));
} while (currentState == oldState && emotionalStability > oldStability);
main.loop = false;
foreach (AudioClip clip in breakdownShakeSounds)
{
if (efxSource.clip == clip)
{
efxSource.Stop();
break;
}
}
freakoutCoroutine = null;
}
public void ToggleCrazyEmotion()
{
StartCoroutine(Freakout());
switch (currentState)
{
case RobotStates.STATE_FINDBOX:
currentState = RobotStates.STATE_SUICIDAL;
emotionalStability = 1.0f;
break;
case RobotStates.STATE_SUICIDAL:
currentState = RobotStates.STATE_HOMICIDAL;
emotionalStability = 1.0f;
break;
case RobotStates.STATE_HOMICIDAL:
currentState = RobotStates.STATE_FINDBOX;
emotionalStability = 0.0f;
break;
}
PlaySingleSoundFx(breakdownZapSound);
displayEmotionTime = Time.time + displayEmotionDelay;
SetTarget(null);
}
public void UpdateEmotionalState()
{
if (emotionalStability < 1.0f)
{
currentState = RobotStates.STATE_FINDBOX;
if (!haltAndCommand)
{
float stabilityMod = (emotionalStability > freakoutThreshold ? 1.0f : (float)Random.Range(0, 2));
emotionalStability += emotionalDistressRate * Time.deltaTime * stabilityMod;
}
if (emotionalStability > freakoutThreshold)
{
StartCoroutine(Freakout());
}
}
if (emotionalStability >= 1.0f && currentState == RobotStates.STATE_FINDBOX)
{
emotionalStability = 1.0f;
PickRandomCrazyEmotion();
}
}
public void Step()
{
if (this.game.HasWon())
{
return;
}
switch (this.state)
{
case RobotStates.Ready:
if (!this.game.MoveAnyPlaySet())
{
state = RobotStates.PlaySetsChecked;
}
else
{
this.moveMade = true;
this.TotalMoves++;
}
break;
case RobotStates.PlaySetsChecked:
if (this.game.MoveCurentDeckCard())
{
state = RobotStates.Ready;
this.moveMade = true;
this.TotalMoves++;
}
else
{
state = RobotStates.DeckChecked;
}
break;
case RobotStates.DeckChecked:
if (game.HaveGoneThroughEntireDeck() && !this.moveMade)
{
if (this.game.PileAnyPlaySetCards())
{
state = RobotStates.Ready;
this.moveMade = true;
this.TotalMoves++;
}
else if (this.game.PileAnyDeckCard())
{
state = RobotStates.Ready;
this.moveMade = true;
this.TotalMoves++;
}
else
{
state = RobotStates.PilesChecked;
}
}
else if (game.HaveGoneThroughEntireDeck() && this.moveMade)
{
this.moveMade = false;
game.CycleDeck();
state = RobotStates.Ready;
this.TotalMoves++;
}
else
{
game.CycleDeck();
state = RobotStates.Ready;
this.TotalMoves++;
}
break;
case RobotStates.PilesChecked:
if (!this.game.HasWon())
{
this.game.NoSolution();
}
break;
}
}
public SolitaireBot(SolitaireGame g)
{
this.state = RobotStates.Ready;
this.game = g;
this.TotalMoves = 0;
}
public void Step()
{
if (this.game.HasWon())
{
return;
}
switch(this.state)
{
case RobotStates.Ready:
if (!this.game.MoveAnyPlaySet())
{
state = RobotStates.PlaySetsChecked;
}
else
{
this.moveMade = true;
this.TotalMoves++;
}
break;
case RobotStates.PlaySetsChecked:
if (this.game.MoveCurentDeckCard())
{
state = RobotStates.Ready;
this.moveMade = true;
this.TotalMoves++;
}
else
{
state = RobotStates.DeckChecked;
}
break;
case RobotStates.DeckChecked:
if (game.HaveGoneThroughEntireDeck() && !this.moveMade)
{
if(this.game.PileAnyPlaySetCards())
{
state = RobotStates.Ready;
this.moveMade = true;
this.TotalMoves++;
}
else if (this.game.PileAnyDeckCard())
{
state = RobotStates.Ready;
this.moveMade = true;
this.TotalMoves++;
}
else
{
state = RobotStates.PilesChecked;
}
}
else if (game.HaveGoneThroughEntireDeck() && this.moveMade)
{
this.moveMade = false;
game.CycleDeck();
state = RobotStates.Ready;
this.TotalMoves++;
}
else
{
game.CycleDeck();
state = RobotStates.Ready;
this.TotalMoves++;
}
break;
case RobotStates.PilesChecked:
if (!this.game.HasWon())
{
this.game.NoSolution();
}
break;
}
}
public SolitaireBot(SolitaireGame g)
{
this.state = RobotStates.Ready;
this.game = g;
this.TotalMoves = 0;
}
internal void changeState(RobotStates targetState)
{
this._RobotState = targetState;
}
