public async static void CheckHeartbeat(INode myNode)
{
Node.NodeState previousState = myNode.State;
myNode.State = Node.NodeState.HEARTBEAT;
List <uint?> Neighbours = myNode.Router.NetworkMap.GetEntryByID(myNode.Id).Neighbours.ToList();
//Loop through all immidate neightbours
foreach (uint?node in Neighbours)
{
Request request = new Request()
{
SourceID = myNode.Id,
DestinationID = node,
Command = Request.Commands.HEARTBEAT,
AckExpected = false,
ResponseExpected = true
};
Response response = await myNode.CommsModule.SendAsync(node, request, Constants.COMMS_TIMEOUT, 3);
if (response.ResponseCode == Response.ResponseCodes.TIMEOUT)
{
break;
}
}
myNode.State = previousState;
}
void CreateGrid()
{
grid = new Node[gridSizeX, gridSizeY];
worldBottomLeft = transform.position - Vector3.right * gridWorldSize.x / 2 - Vector3.up * gridWorldSize.y / 2;
var nodeStates = new Node.NodeState[] { Node.NodeState.Border, Node.NodeState.Obstacle, Node.NodeState.BlueIntrudedLeft, Node.NodeState.BlueIntrudedRight, Node.NodeState.RedIntrudedLeft, Node.NodeState.RedIntrudedRight, Node.NodeState.BlueBattlefield, Node.NodeState.RedBattlefield, Node.NodeState.Battlefield };
var layers = new int[] { 30, 29, 23, 22, 21, 20, 19, 18, 15 };
for (int x = 0; x < gridSizeX; x++)
{
for (int y = 0; y < gridSizeY; y++)
{
Vector3 worldPoint = worldBottomLeft + Vector3.right * (x * nodeLengthX + nodeLengthX / 2) + Vector3.up * (y * nodeLengthY + nodeLengthY / 2);
var nodeState = Node.NodeState.NoState;
Collider2D[] colliders = Physics2D.OverlapBoxAll(worldPoint, new Vector3(nodeLengthX, nodeLengthY), 0);
if (colliders.Length != 0)
{
int layerMax = colliders.Max(c => c.gameObject.layer); // 8 is "Battlefield 9 is "Obstacle" 10 is "Border", finds the maximum value among these
int i = Array.IndexOf(layers, layerMax);
nodeState = (Node.NodeState)nodeStates.GetValue(i);
}
grid[x, y] = new Node(nodeState, worldPoint);
}
}
}
private IEnumerator RunBehavior(Repeator repeat)
{
Node.NodeState result = repeat.Evaluate();
while (result == Node.NodeState.RUNNING)
{
Debug.Log(repeat.ToString() + " result: " + result);
yield return(new WaitForSeconds(5f));
result = repeat.Evaluate();
}
}
// Update is called once per frame
void Update()
{
state = comms.Node.State;
SatManager.MessageProps[] messageSnapshot = SatManager._instance.SentMessages.ToArray();
if (messageSnapshot.Length > 0)
{
foreach (SatManager.MessageProps props in messageSnapshot)
{
StartCoroutine(DisplayMessageSent(props.StartVect + Vector3.up, props.EndVect + Vector3.up, props.Duration, 0f, props.Color));
}
}
SatManager._instance.SentMessages.Clear();
reachableSats.Clear();
KnownNeighbours = comms.Node.Router.NetworkMap.GetEntryByID(comms.Node.Id)?.Neighbours;
reachableSats.Clear();
foreach (SatelliteComms node in reachableSats.Where(sat => KnownNeighbours.Contains(sat.Node.Id) == false))
{
reachableSats.Remove(node);
}
uint?toRemove = null;
foreach (uint?node in KnownNeighbours)
{
if (reachableSats.Select(sat => sat.Node.Id).Contains(node) == false)
{
if (SatManager._instance.satellites.Any(sat => sat.Node.Id == node) == false)
{
toRemove = node;
}
else
{
Transform nodeTransform = SatManager._instance.satellites.Find(sat => sat.Node.Id == node).transform;
reachableSats.Add(nodeTransform.GetComponent <SatelliteComms>());
}
}
}
if (toRemove != null)
{
KnownNeighbours.Remove(toRemove);
}
List <uint?> reachableSatsID = new List <uint?>();
for (int i = 0; i < reachableSats?.Count; i++)
{
uint?id = reachableSats[i].Node.Id;
reachableSatsID.Add(id);
if (commLineRenderes.ContainsKey(id) == false)
{
GameObject commlineGO = new GameObject();
commlineGO.transform.parent = this.transform;
LineRenderer lineRenderer = commlineGO.AddComponent <LineRenderer>();
lineRenderer.material = CommLineMat;
lineRenderer.material.SetColor("_BaseColor", CommsMat);
lineRenderer.startWidth = 0.025f;
lineRenderer.endWidth = 0.025f;
lineRenderer.positionCount = 2;
lineRenderer.SetPosition(0, this.transform.position);
lineRenderer.SetPosition(1, reachableSats[i].transform.position);
commLineRenderes.Add(id, lineRenderer);
}
else
{
Transform _transform = reachableSats[i].transform;
Vector3 commLineDir = new Vector3
{
x = _transform.position.x - comms.Node.Position.X,
y = _transform.position.y - comms.Node.Position.Y,
z = _transform.position.z - comms.Node.Position.Z,
};
LineRenderer lineRenderer = commLineRenderes[id];
lineRenderer.SetPosition(1, _transform.position);
lineRenderer.startWidth = 0.025f;
lineRenderer.endWidth = 0.025f;
}
}
for (int i = commLineRenderes.Count - 1; i >= 0; i--)
{
if (comms.Node.Active == false)
{
Destroy(commLineRenderes.ElementAt(i).Value);
commLineRenderes.Remove(commLineRenderes.ElementAt(i).Key);
continue;
}
uint?key = commLineRenderes.ElementAt(i).Key;
if (reachableSatsID.Contains(key) == false)
{
Destroy(commLineRenderes[key]);
commLineRenderes.Remove(key);
}
else
{
commLineRenderes[key].SetPosition(0, this.transform.position);
}
}
uint?nextSeq = comms.Node.Router.NextSequential(comms.Node, Router.CommDir.CW);
if (nextSeq != null && commLineRenderes.ContainsKey(nextSeq))
{
LineRenderer nextSeqCommLine = commLineRenderes[nextSeq];
nextSeqCommLine.startWidth = 0.1f;
nextSeqCommLine.endWidth = 0.1f;
}
switch (comms.Node.State)
{
case Node.NodeState.PASSIVE:
meshRenderer.material.SetColor("_BaseColor", PassiveMat);
//targetPositionLineRenderer.material.SetColor("_BaseColor", PassiveMat);
break;
case Node.NodeState.PLANNING:
//meshRenderer.material.SetColor("_BaseColor", LeaderMat);
//targetPositionLineRenderer.material.SetColor("_BaseColor", LeaderMat);
break;
case Node.NodeState.EXECUTING:
meshRenderer.material.SetColor("_BaseColor", ExecuteMat);
//targetPositionLineRenderer.material.SetColor("_BaseColor", ExecuteMat);
break;
case Node.NodeState.OVERRIDE:
meshRenderer.material.SetColor("_BaseColor", OverrideMat);
//targetPositionLineRenderer.material.SetColor("_BaseColor", OverrideMat);
break;
case Node.NodeState.DEAD:
meshRenderer.material.SetColor("_BaseColor", DeadMat);
break;
case Node.NodeState.HEARTBEAT:
meshRenderer.material.SetColor("_BaseColor", HeartbeatMat);
break;
}
lastState = comms.Node.State;
// Turn active communication link on and off
if (commsSim.ActiveCommSat != null && commLineRenderes.ContainsKey(commsSim.ActiveCommSat.Node.Id))
{
uint?id = commsSim.ActiveCommSat.Node.Id;
commLineRenderes[id].material.SetColor("_BaseColor", CommsActiveMat);
lastActiveComm = id;
}
else if (lastActiveComm != null && commLineRenderes.ContainsKey(lastActiveComm))
{
commLineRenderes[lastActiveComm].material.SetColor("_BaseColor", CommsMat);
}
// Remove all non-reachable links, then update position
if (comms.Node.GeneratingPlan != null)
{
Vector3 plannedposition = transform.position;
foreach (ConstellationPlanEntry e in comms.Node.GeneratingPlan.Entries)
{
if (e.NodeID != null && e.NodeID == comms.Node.Id)
{
plannedposition = BackendHelpers.UnityVectorFromNumerics(e.Position);
}
}
targetPositionLineRenderer.positionCount = 2;
targetPositionLineRenderer.SetPositions(new Vector3[] { transform.position, plannedposition });
}
}
private void Awake()
{
_spriteRenderer = GetComponent <SpriteRenderer>();
_nodeState = GetComponent <NodeState>();
_nodeFence = GetComponent <NodeFence>();
}
