static void GenFs()
{
for (int l = 0; l < 4; l++)
{
for (int r = 0; r < 4; r++)
{
for (int lm = 0; lm < 3; lm++)
{
for (int rm = 0; rm < 3; rm++)
{
for (int f = 0; f < 2; f++)
{
for (int w = 0; w < 2; w++)
{
var fs = new FootState
{
Facing = f,
L = l,
R = r,
LMode = lm,
RMode = rm,
Weight = w
};
Code[fs] = FootStates.Count;
FootStates.Add(fs);
}
}
}
}
}
}
}
void Start()
{
#region MYO_INIT
myoState = MyoState.NONE;
myoController = GetComponent <MyoWebClient>();
myoBaseObject = GameObject.Find("BaseData");
#endregion
#region WALKING_INIT
walkingController = GetComponent <SensorWebClient>();
leftFootState = FootState.UNKNOWN;
rightFootState = FootState.UNKNOWN;
targetPosFlag = false;
#endregion
keyFlag = false;
}
private void ReceiveCallback(IAsyncResult AR)
{
//Check how much bytes are recieved and call EndRecieve to finalize handshake
int recieved = _clientSocket.EndReceive(AR);
if (recieved <= 0)
{
return;
}
//Copy the recieved data into new buffer , to avoid null bytes
byte[] recData = new byte[recieved];
Buffer.BlockCopy(_recieveBuffer, 0, recData, 0, recieved);
var rawReceiveData = System.Text.Encoding.Default.GetString(recData);
if (rawReceiveData.Contains("\r\n"))
{
recString = rawReceiveData.Substring(0, rawReceiveData.IndexOf("\r\n"));
}
try
{
string[] foot_reading = recString.Split(',');
if (foot_reading.Length == 2)
{
tempLeftFoot = (foot_reading[0] == FOOT_LOW) ? FootState.LAND : FootState.WALK;
tempRightFoot = (foot_reading[1] == FOOT_LOW) ? FootState.LAND : FootState.WALK;
}
}
catch (Exception ex)
{
Debug.Log(ex.Message);
}
//Start receiving again
_clientSocket.BeginReceive(_recieveBuffer, 0, _recieveBuffer.Length, SocketFlags.None, new AsyncCallback(ReceiveCallback), null);
}
private void Start()
{
footState = FootState.onStart;
}
void WalkingControl()
{
if (leftFootPrevious != walkingController.tempLeftFoot && leftFootPrevious != FootState.UNKNOWN)
{
if (walkingController.tempLeftFoot == FootState.LAND)
{
leftFootWalkCnt = 0;
}
else if (walkingController.tempLeftFoot == FootState.WALK)
{
leftFootLandCnt = 0;
}
targetPosFlag = false;
}
else if (leftFootPrevious == walkingController.tempLeftFoot && leftFootPrevious != FootState.UNKNOWN)
{
if (walkingController.tempLeftFoot == FootState.LAND)
{
leftFootLandCnt++;
}
else if (walkingController.tempLeftFoot == FootState.WALK)
{
leftFootWalkCnt++;
}
}
if (rightFootprevious != walkingController.tempRightFoot && rightFootprevious != FootState.UNKNOWN)
{
if (walkingController.tempRightFoot == FootState.LAND)
{
rightFootWalkCnt = 0;
}
else if (walkingController.tempRightFoot == FootState.WALK)
{
rightFootLandCnt = 0;
}
targetPosFlag = false;
}
else if (rightFootprevious == walkingController.tempRightFoot && rightFootprevious != FootState.UNKNOWN)
{
if (walkingController.tempRightFoot == FootState.LAND)
{
rightFootLandCnt++;
}
else if (walkingController.tempRightFoot == FootState.WALK)
{
rightFootWalkCnt++;
}
}
if (leftFootWalkCnt > THRESHOLD_CNT)
{
leftFootState = FootState.WALK;
}
if (leftFootLandCnt > THRESHOLD_CNT)
{
leftFootState = FootState.LAND;
}
if (rightFootWalkCnt > THRESHOLD_CNT)
{
rightFootState = FootState.WALK;
}
if (rightFootLandCnt > THRESHOLD_CNT)
{
rightFootState = FootState.LAND;
}
//leftFootState = (leftFootWalkCnt > THRESHOLD_CNT) ? FootState.WALK : FootState.LAND;
//rightFootState = (rightFootWalkCnt > THRESHOLD_CNT) ? FootState.WALK : FootState.LAND;
//leftFootState = (leftFootLandCnt > THRESHOLD_CNT) ? FootState.LAND : FootState.WALK;
//rightFootState = (rightFootLandCnt > THRESHOLD_CNT) ? FootState.LAND : FootState.WALK;
if (!targetPosFlag)
{
Vector3 directionVector = Camera.main.transform.forward.normalized;
if (directionVector.y > cardboardController.transform.position.y)
{
directionVector.y = 0;
}
targetPos = cardboardController.transform.position + (Camera.main.transform.forward.normalized);
}
leftFootPrevious = walkingController.tempLeftFoot;
rightFootprevious = walkingController.tempRightFoot;
}
