public void TaskRun()
{
Trace.t(cc.Norm, "Vision TaskRun started");
Program.Pilot.Send(new { Cmd = "SRVO", Value = servoPosition });
if (!Program.PilotString.Contains("com"))
{
Mq = new MqttClient(Program.PilotString);
Trace.t(cc.Norm, string.Format("vision connecting to MQTT @ {0}", Program.PilotString));
Mq.Connect("MMPXY");
Trace.t(cc.Norm, "vision connected");
Mq.MqttMsgPublishReceived += PixyMqRecvd;
Mq.Subscribe(new string[] { "robot1/pixyCam" }, new byte[] { MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE });
}
SubState = VisionState.Run;
// if finished, exit task
while (Program.State != RobotState.Shutdown)
{
if (SubState == VisionState.Run)
if (coneFlag != ConeState.Lost && DateTime.Now > lastSeenTime + lostWaitTime)
LostCone();
Program.Delay(100).Wait();
}
Trace.t(cc.Warn, "Vision exiting");
SubState = VisionState.Idle;
if (Mq != null && Mq.IsConnected)
Mq.Disconnect();
}
void FindVisibleTargets()
{
visibleTargets.Clear();
Collider[] targetsInViewRadius = Physics.OverlapSphere(transform.position, viewRadius, targetMask);
for (int i = 0; i < targetsInViewRadius.Length; i++)
{
Transform target = targetsInViewRadius[i].transform;
Vector3 dirToTarget = (target.position - transform.position).normalized;
if (Vector3.Angle(transform.forward, dirToTarget) < viewAngle / 2)
{
float dstToTarget = Vector3.Distance(transform.position, target.position);
if (!Physics.Raycast(transform.position, dirToTarget, dstToTarget, obstacleMask))
{
if ((target.GetComponent <PlayerController>().GetIsHidden() == false || currentState == VisionState.combat) && target.GetComponent <PlayerController>().GetIsPetrified() == false)
{
visibleTargets.Add(target);
if (currentState == VisionState.idle)
{
currentState = VisionState.suspicious;
markRenderer.enabled = true;
}
}
}
}
}
}
private void UpdateVisibility(VisionState nvs)
{
if (VisionState != nvs)
{
VisionState = nvs;
if (VisibleObject)
{
VisibleObject.SetActive(nvs == VisionState.VISIBLE);
}
if (HiddenObject)
{
HiddenObject.SetActive(nvs == VisionState.HIDDEN);
}
if (SeenObject)
{
SeenObject.SetActive(nvs == VisionState.SEEN);
}
UpdateParticleSystems(nvs);
//foreach (var r in GetComponentsInChildren<Renderer>()) r.enabled = (nvs != VisionState.HIDDEN);
foreach (var obj in mapObjects.Values)
{
ApplyVisibilityToObject(obj);
}
}
}
public void UnseeTile ()
{
if (Vision != VisionState.Visible)
return;
else
Vision = VisionState.Seen;
}
IEnumerator FindTargetsWithDelay(float delay)
{
while (true)
{
yield return(new WaitForSeconds(delay));
FindVisibleTargets();
if (visibleTargets.Count > 0)
{
if (currentState == VisionState.suspicious)
{
float distance = Vector3.Distance(transform.position, visibleTargets[0].position);
float partOfRadius = distance / viewRadius;
markRenderer.enabled = true;
DOTween.To(() => markRenderer.color, x => markRenderer.color = x, suspiciousColor, partOfRadius * 2.0f).OnComplete(() => { currentState = VisionState.alerted; patrolScript.isPatroling = false; });
}
if (currentState == VisionState.alerted)
{
transform.LookAt(visibleTargets[0]);
float distance = Vector3.Distance(transform.position, visibleTargets[0].position);
float partOfRadius = distance / viewRadius;
markRenderer.enabled = true;
DOTween.To(() => markRenderer.color, x => markRenderer.color = x, alertedColor, partOfRadius * 5.0f).OnComplete(() => { currentState = VisionState.combat; });
}
if (currentState == VisionState.combat)
{
patrolScript.SetPlayerPosition(visibleTargets[0].position);
if (Vector3.Distance(transform.position, visibleTargets[0].position) < 5.0f)
{
StartCoroutine(PetrifyAnimation());
}
}
}
else
{
if (isCasting == false)
{
patrolScript.isPatroling = true;
if (currentState != VisionState.idle) // if state is switched
{
DOTween.To(() => markRenderer.color, x => markRenderer.color = x, idleColor, 2.0f).OnComplete(() =>
{
if (currentState == VisionState.idle)
{
markRenderer.enabled = false;
patrolScript.BackToWaypoints();
}
});
}
currentState = VisionState.idle;
}
}
}
}
public void UseSpecial1(GameObject user)
{
if (HauntManager.gameState == HauntManager.HauntState.HAUNT)
{
GamePlayer player = user.GetComponent <GamePlayer> ();
if (state == VisionState.READY)
{
Item ring = RingHaunt.theRing.GetComponent <Item>();
if (ring != null)
{
this.user = user;
if (ring.isHeld)
{
if (RingHaunt.traitorHasRing)
{
elapsed = 0;
float dist = Vector3.Distance(user.transform.position, RingHaunt.chosenOne.transform.position);
if (dist <= viewDist)
{
highlightTraitor = true;
RpcHighlightPlayer(RingHaunt.chosenOne.gameObject, user);
player.EndAction(2.0f, "You see the traitor");
player.AddTimedMessage("Vision of traitor active", viewTime);
state = VisionState.VISION;
}
else
{
player.EndAction(2.0f, "The traitor is too far away to see");
user.GetComponent <GamePlayer> ().AddTimedMessage("Vision on Cooldown", cooldownTime);
state = VisionState.COOLDOWN;
}
}
else
{
player.EndAction(2.0f, "An ally has the ring");
user.GetComponent <GamePlayer> ().AddTimedMessage("Vision on Cooldown", cooldownTime);
state = VisionState.COOLDOWN;
}
}
else
{
highlightTraitor = false;
RpcHighlightRing(RingHaunt.theRing, user);
player.EndAction(2.0f, "You see the ring");
player.AddTimedMessage("Vision of ring active", viewTime);
state = VisionState.VISION;
}
}
}
else if (state == VisionState.COOLDOWN)
{
player.EndAction(0.5f, "Vision on cooldown");
}
}
}
public void UnseeTile()
{
if (Vision != VisionState.Visible)
{
return;
}
else
{
Vision = VisionState.Seen;
}
}
public void SetVisionState(VisionState visionState)
{
switch (visionState)
{
case VisionState.Full:
light.pointLightOuterRadius = fullVisionRadius;
break;
case VisionState.InDoor:
light.pointLightOuterRadius = 3f;
break;
case VisionState.Disabled:
light.pointLightOuterRadius = 0f;
break;
}
}
// Update is called once per frame
void Update()
{
if (isServer)
{
if (state == VisionState.COOLDOWN)
{
elapsed += Time.deltaTime;
if (elapsed >= cooldownTime)
{
elapsed = 0;
state = VisionState.READY;
}
}
else if (state == VisionState.VISION)
{
elapsed += Time.deltaTime;
if (highlightTraitor)
{
RpcHighlightPlayer(RingHaunt.chosenOne.gameObject, user);
}
else
{
RpcHighlightRing(RingHaunt.theRing, user);
}
if (elapsed >= viewTime)
{
elapsed = 0;
state = VisionState.COOLDOWN;
user.GetComponent <GamePlayer> ().AddTimedMessage("Vision on Cooldown", cooldownTime);
if (highlightTraitor)
{
RpcDeHighlightPlayer(RingHaunt.chosenOne.gameObject, user);
}
else
{
RpcDeHighlightRing(RingHaunt.theRing, user);
}
}
}
}
}
// Update is called once per frame
void Update()
{
// Get awareness value for currently active state
AwarenessState currentState = trollState.GetStateComponent();
//if(currentState.atMax())
//{
//
//}
// Update awareness
distToPlayer = Vector3.Distance(transform.position, player.position);
angleToPlayer = Quaternion.FromToRotation(head.forward, player.position - transform.position).eulerAngles.y;
angleToPlayer = angleToPlayer > 180 ? angleToPlayer = angleToPlayer - 360 : angleToPlayer;
bool awarenessUpdated = UpdateVisionAwareness() ||
UpdateHearingAwareness() ||
UpdateSmellAwareness();
if (!awarenessUpdated)
{
awareness = awareness - currentState.awarenessDecrease;
}
visionState = VisionState.UNSEEN;
if (currentState.checkMin(awareness))
{
awareness = currentState.min;
}
if (currentState.checkMax(awareness))
{
awareness = currentState.max;
visionState = VisionState.SEEN;
}
}
private void UpdateParticleSystems(VisionState nvs)
{
switch (nvs)
{
case VisionState.HIDDEN:
if (HiddenParticleSystem && !HiddenParticleSystem.isPlaying)
{
HiddenParticleSystem.Play();
}
if (SeenParticleSystem && SeenParticleSystem.isPlaying)
{
SeenParticleSystem.Stop();
}
break;
case VisionState.SEEN:
if (HiddenParticleSystem && HiddenParticleSystem.isPlaying)
{
HiddenParticleSystem.Stop();
}
if (SeenParticleSystem && !SeenParticleSystem.isPlaying)
{
SeenParticleSystem.Play();
}
break;
case VisionState.VISIBLE:
if (HiddenParticleSystem && HiddenParticleSystem.isPlaying)
{
HiddenParticleSystem.Stop();
}
if (SeenParticleSystem && SeenParticleSystem.isPlaying)
{
SeenParticleSystem.Stop();
}
break;
}
}
public void SetRenderer(VisionState state)
{
curState = state;
switch (state)
{
// In Vision
case VisionState.Vision:
for (int x = 0; x < renderers.Length; x++)
{
if (x == 0 && renderers[x].material.color == defaultMat[x] && renderers[x].enabled)
{
break;
}
renderers[x].material.color = defaultMat[x];
renderers[x].enabled = true;
if (hideCursorIcon && cursorObj != null)
{
cursorObj.enabled = true;
}
}
break;
// Discovered
case VisionState.Discovered:
for (int x = 0; x < renderers.Length; x++)
{
if (x == 0 && renderers[x].material.color == pastVisibleMat[x] && renderers[x].enabled)
{
break;
}
if (pastVisibleMat.Length > x)
{
renderers[x].material.color = pastVisibleMat[x];
}
renderers[x].enabled = !hideObjectWhenNotSeen;
if (hideCursorIcon && cursorObj != null)
{
cursorObj.enabled = true;
}
}
break;
// Undiscovered
case VisionState.Undiscovered:
for (int x = 0; x < renderers.Length; x++)
{
if (x == 0 && !renderers[x].enabled)
{
break;
}
if (hideObject)
{
renderers[x].enabled = false;
}
if (hideCursorIcon && cursorObj != null)
{
cursorObj.enabled = false;
}
}
break;
}
}
public void SeeTile()
{
Vision = VisionState.Visible;
}
public Cell()
{
Vision = VisionState.Hidden;
}
public void SeeTile ()
{
Vision = VisionState.Visible;
}
public Cell ()
{
Vision = VisionState.Hidden;
}
