public void AskForInstructions()
{
// Ask for instructions
String data = "";
foreach (String direction in directions)
{
if (direction.Equals("left_front"))
{
data += "left,";
}
else if (direction.Equals("right_front"))
{
data += "right,";
}
else if (direction.Equals("front_tip"))
{
data += "front,";
}
else if (direction.Equals("back"))
{
data += "back,";
}
}
if (data.Length > 0)
{
data = data.Remove(data.Length - 1);
}
writeSocket(data);
Debug.Log("Sent data to app js: " + data);
AdvanceSM = AdvanceSMStates.WAITFORINSTRUCTIONS;
}
public void UpdateMasterInstruction(string received_instruction)
{
/*if (received_instruction == ("up"))
* {
* behaviourManager.v = behaviourManager.GetV + 90f;
* MovementManagement(behaviourManager.h, behaviourManager.v);
* }
* if (received_instruction == ("down"))
* {
* behaviourManager.v = behaviourManager.v - 0.90f;
* MovementManagement(behaviourManager.h, behaviourManager.v);
* writeSocket("Hey from Unity!!!");
* }
* if (received_instruction == ("left"))
* {
* behaviourManager.h = behaviourManager.h - 0.90f;
* MovementManagement(behaviourManager.h, behaviourManager.v);
* }
* if (received_instruction == ("right"))
* {
* behaviourManager.h = behaviourManager.h + 0.90f;
* MovementManagement(behaviourManager.h, behaviourManager.v);
*
* }*/
if (received_instruction == ("up"))
{
// Continue straight ahead
// No changes needed in direction
}
if (received_instruction == ("back"))
{
behaviourManager.v = behaviourManager.GetV - .3f;
MovementManagement(behaviourManager.h, behaviourManager.v);
}
if (received_instruction == ("left"))
{
behaviourManager.h = behaviourManager.h - 0.50f;
MovementManagement(behaviourManager.h, behaviourManager.v);
}
if (received_instruction == ("right"))
{
behaviourManager.h = behaviourManager.h + 0.50f;
MovementManagement(behaviourManager.h, behaviourManager.v);
}
Debug.Log("Instruction received: " + received_instruction.ToString());
AdvanceSM = AdvanceSMStates.PROCESSINSTRUCTION;
}
public void AdvanceStep()
{
//Debug.Log(AdvanceSM.ToString());
switch (AdvanceSM)
{
case AdvanceSMStates.IDLE:
break;
case AdvanceSMStates.ASKFORINSTRUCTIONS:
AskForInstructions();
break;
case AdvanceSMStates.WAITFORINSTRUCTIONS:
break;
case AdvanceSMStates.PROCESSINSTRUCTION:
processinstruction_ctr++;
if (processinstruction_ctr >= 100)
{
processinstruction_ctr = 0;
AdvanceSM = AdvanceSMStates.GETOUTOFCROSSROADS;
}
break;
case AdvanceSMStates.GETOUTOFCROSSROADS:
// We just received the instructions, get into move out of the asked crossroad
if (directions.Contains("right") && directions.Contains("left"))
{
AdvanceSM = AdvanceSMStates.MOVEUNTILNEWSCENARIO;
}
else
{
// Move until pass the current crossroad
// Main movement logic
if (directions.Contains("front_left"))
{
behaviourManager.h = behaviourManager.h + 0.010f;
MovementManagement(behaviourManager.h, behaviourManager.v);
}
else if (directions.Contains("front_right"))
{
behaviourManager.h = behaviourManager.h - 0.010f;
MovementManagement(behaviourManager.h, behaviourManager.v);
}
//else
{
// Move to front
behaviourManager.v = behaviourManager.GetV + .3f;
MovementManagement(behaviourManager.h, behaviourManager.v);
}
}
break;
case AdvanceSMStates.MOVEUNTILNEWSCENARIO:
if (directions.Contains("front") || !directions.Contains("left") || !directions.Contains("right"))
{
AdvanceSM = AdvanceSMStates.ASKFORINSTRUCTIONS;
}
else
{
// Main movement logic
if (directions.Contains("front_left"))
{
behaviourManager.h = behaviourManager.h + 0.010f;
MovementManagement(behaviourManager.h, behaviourManager.v);
}
else if (directions.Contains("front_right"))
{
behaviourManager.h = behaviourManager.h - 0.010f;
MovementManagement(behaviourManager.h, behaviourManager.v);
}
//else
{
// Move to front
behaviourManager.v = behaviourManager.GetV + .3f;
MovementManagement(behaviourManager.h, behaviourManager.v);
}
}
break;
default:
break;
}
}
