void Awake()
{
if (instance != null && instance != this) {
Destroy (gameObject);
}
instance = this;
DontDestroyOnLoad (gameObject);
}
private void Go_Click(object sender, System.EventArgs e)
{
// + GrablinkSnapshotTrigger Sample Program
// Start an acquisition sequence by activating the channel
String channelState;
MC.GetParam(channel, "ChannelState", out channelState);
if (channelState != "ACTIVE")
{
MC.SetParam(channel, "ChannelState", "ACTIVE");
}
// Generate a soft trigger event
MC.SetParam(channel, "ForceTrig", "TRIG");
Refresh();
// - GrablinkSnapshotTrigger Sample Program
}
public void onCreate(string regNum, DateTime parkedDateTime, string type = "", int size = 0)
{
Singelton singleton = Singelton.Instance;
if (type.ToLower().Equals("car"))
{
Vehicle car = new Car(regNum, type, size, parkedDateTime);
singleton.Return_Vehicle = car;
}
else if (type.ToLower().Equals("mc"))
{
Vehicle mc = new MC(regNum, type, size, parkedDateTime);
singleton.Return_Vehicle = mc;
}
else if (!type.ToLower().Equals("mc") && !type.ToLower().Equals("car"))
{
Vehicle custom = new CustomVehicle(regNum, type, size, parkedDateTime);
singleton.Return_Vehicle = custom;
}
}
public static void Main()
{
vector a = new vector(0.0, 0.0, 0.0);
vector b = new vector(2.0, 2.0, 2.0);
int exact = 16;
WriteLine("N error Abs(estim-exact) 1/sqrt(N)");
Func <vector, double> g = (x) => { return(x[0] * x[0] * x[0] * x[1] * x[2]); };
int N1 = 5000;
vector resg1 = MC.plainmc(g, a, b, N1);
double scale = resg1[1] * Sqrt(N1);
for (int N = 10000; N < 1000000; N = N + 5000)
{
vector resg = MC.plainmc(g, a, b, N);
WriteLine($"{N} {resg[1]} {Abs(resg[0]-exact)} {scale/Sqrt(N)}");
}
//WriteLine($"Lower bound (0,0,0), upper bound (3.14, 3.14, 3.14)");
}
private void multiCamProcessingCallback(ref MC.SIGNALINFO signalInfo)
{
if (signalInfo.Signal == MC.SIG_SURFACE_PROCESSING)
{
int width;
int height;
IntPtr bufferAddress;
uint currentChannel = signalInfo.Instance;
uint currentSurface = signalInfo.SignalInfo;
IplImage output;
unsafe
{
MC.GetParam(currentChannel, "ImageSizeX", out width);
MC.GetParam(currentChannel, "ImageSizeY", out height);
MC.GetParam(currentSurface, "SurfaceAddr:0", out bufferAddress);
output = new IplImage(new Size(width, height), IplDepth.U8, 1, bufferAddress).Clone();
}
global_observer.OnNext(output);
}
}
public static void Main()
{
vector a = new vector(0.0, 0.0, 0.0);
vector b = new vector(PI, PI, PI);
int N = 50000;//evaluations
Func <vector, double> g = (x) => { return(x[0] * x[0] * x[1] * x[2]); };
Func <vector, double> f = (x) => { return(1 / (1 - Cos(x[0]) * Cos(x[1]) * Cos(x[2])) / PI / PI / PI); };
vector resf = MC.plainmc(f, a, b, N);
vector resg = MC.plainmc(g, a, b, N);
WriteLine("Two integrals calculated via Monte Carlo Integration");
WriteLine($"Lower bound (0,0,0), upper bound (3.14, 3.14, 3.14)");
WriteLine($"Evaluations: {N}");
Write("\n");
WriteLine("x^2*y*z");
WriteLine($"Results: integral estimate {resg[0]}, error {resg[1]}");
Write("\n");
WriteLine("1/(1-Cos(x)*Cos(y)*Cos(z))*1/(PI^3)");
WriteLine($"Results: integral estimate {resf[0]}, error {resf[1]}");
}
public void getCost(DateTime parkedDateTime, string type)
{
if (type.ToLower().Equals("car"))
{
Singelton singleton = Singelton.Instance;
iPriceCalculator iCar = new Car(parkedDateTime);
singleton.Return_Cost = iCar;
}
else if (type.ToLower().Equals("mc"))
{
Singelton singleton = Singelton.Instance;
iPriceCalculator iMC = new MC(parkedDateTime);
singleton.Return_Cost = iMC;
}
else
{
Singelton singleton = Singelton.Instance;
iPriceCalculator iCustom = new CustomVehicle(parkedDateTime);
singleton.Return_Cost = iCustom;
}
}
public string LoadMCData()
{
string message = string.Empty;
try
{
string masterMCpath = ConfigurationManager.AppSettings["MasterMCpath"];
MC objData = new MC();
OBJtoXML xmltoObj = new OBJtoXML();
List <MCData> data = objData.LoadData();
xmltoObj.CreateXML(data, masterMCpath, "MCData", false);
message = "Loaded MC Data";
}
catch (Exception ex)
{
message = ex.Message;
}
return(message);
}
public void LoginIn()
{
//Click over the initial setup of MC for communication configs
MC.SetCommunicationConfig();
MC.Login();
Activity.Misc.Sleep(3000);
//Activity.CheckBox.ClickByDevice();
MC.SelectPlatform("check1", Share.Platform.Android);
Activity.Misc.PressKeyCode(Share.KeyCode.Back);
Activity.Misc.Sleep(6000);
Activity.Click.ByClassName("widget.Button", "APPLY");
Activity.Misc.Sleep(500);
//LaunchApp
MC.SearchApp("Field Inventory - Cycle Count");
Activity.Misc.Sleep(1000);
Activity.Verify.Message("message", "No open cycle counts available");
Activity.Click.ByClassName("widget.Button");
//Verifies app titles
Activity.Verify.Title("widget.TextView", "CYCLE COUNT");
Activity.Verify.Title("widget.TextView", "Add and Execute");
Activity.Verify.Title("widget.TextView", "Review and Approve", false);
//Verifies position of delete and add images
Activity.Verify.Images();
//Press Review and Aprrove tab to Verify position of delete and edit images
Activity.Click.ByClassName("widget.TextView", "Review and Approve");
Activity.Verify.Message("message", "No counts available to review and approve.");
Activity.Click.ByClassName("widget.Button");
Activity.Verify.Images();
//Press Add and Execute to process the count
Activity.Click.ByClassName("widget.TextView", "Add and Execute");
Activity.Verify.Message("message", "No open cycle counts available");
Activity.Click.ByClassName("widget.Button");
Activity.Click.ByClassName("widget.Button", "Execute Count");
Activity.Misc.Sleep(500);
Activity.Verify.Message("message", "No row selected");
Activity.Click.ById("button2", "android");
GlobalVar.AndroidDriver.CloseApp();
}
internal void StopFile(bool ClearImage)
{
Dialogs.LogWindow.Append("Stop");
MC.MediaStateButton.MediaState = MVPUC.Buttons.MediaStateButton.State.Play;
DisposeRenderer();
if (ClearImage)
{
Utils.Animation.SwitchVisibility sv = new Utils.Animation.SwitchVisibility();
if (MediaInformationRoot.Visibility == Visibility.Visible)
{
sv.Animate(Config.Current.Animation[Enums.Animation.Default], LibraryRoot, MediaInformationRoot);
}
if (bgImage.Image != null)
{
Utils.Animation.Visible va = new Utils.Animation.Visible();
EventHandler handler = null;
handler = (sender, e) =>
{
bgImage.Image = null;
Dialogs.LogWindow.Append("Image Removed");
va.AnimationCompleted -= handler;
};
va.AnimationCompleted += handler;
va.Animate(Config.Current.Animation[Enums.Animation.Default], bgImage, Visibility.Hidden);
}
MC.HideStatus();
SetPlaybackState(NAudio.Wave.PlaybackState.Stopped);
}
SeekBar.Value = SeekBar.Minimum;
if (TaskbarManager != null)
{
TaskbarManager.HideButtons();
}
}
public void LiveThreadProc()
{
MC.SIGNALINFO sigInfo = new MC.SIGNALINFO();
while (m_RunLoop)
{
//Get Signal Information
try
{
MC.WaitSignal(channel, MC.SIG_ANY, 10000, out sigInfo);
HandleSignal(ref sigInfo);
}
catch (Euresys.MultiCamException exc)
{
// An exception has occurred in the try {...} block.
// Retrieve its description and display it in a message box.
MessageBox.Show(exc.Message, "MultiCam Exception");
Close();
}
}
Console.WriteLine("worker thread: terminating gracefully.");
}
/// <summary>
/// 获取当前点的坐标系坐标 0 - NO COMPENSATION;1 - AFFINITY COMPENSATION;
/// </summary>
/// <param name="type"></param>
/// 0 - NO COMPENSATION
/// 1 - AFFINITY COMPENSATION
/// 2 - LINE COMPENSATION
/// <returns></returns>
public Vector Get_Coordinate(int type)
{
Vector Result = new Vector(0, 0);
Vector Tem_Pos = new Vector(0, 0);
/***********人为单轴拆分***************/
double Current_Pos_X, Current_Pos_Y;
MC.GT_GetPrfPos(1, out Current_Pos_X, 1, out uint pXClock); //读取X轴当前位置
MC.GT_GetPrfPos(2, out Current_Pos_Y, 1, out uint pYClock); //读取Y轴当前位置
Tem_Pos = new Vector(Program.SystemContainer.SysPara.Work.X - (decimal)Current_Pos_X / Program.SystemContainer.SysPara.Gts_Pos_reference, Program.SystemContainer.SysPara.Work.Y - (decimal)Current_Pos_Y / Program.SystemContainer.SysPara.Gts_Pos_reference);
/***********输出结果***************/
if (type == 0)
{
Result = new Vector(Tem_Pos);
}
else
{
Result = new Vector(Gts_Cal_Data_Resolve.Get_Affinity_Point(1, Tem_Pos.X, Tem_Pos.Y));
}
return(Result);
}
public void TestLicenseplatelenght()
{
//Arrange
string licenseplate = "1234567";
DateTime datetime = new DateTime(2014, 12, 7);
bool brobizz = true;
int discount = 5;
bool Oresundbron = false;
//var MC = new MC(licenseplate, datetime);
//Act
//string result = MC.VehicleType();
//Assert
try
{
var MC = new MC(licenseplate, datetime, brobizz, discount, Oresundbron);
}
catch (ArgumentException)
{
Assert.Fail();
}
}
/// <summary>
/// Gts控制卡初始化
/// </summary>
public void Reset()
{
//复位运动控制器
Gts_Return = MC.GT_Reset();
LogErr?.Invoke("Gts_Initial---GT_Reset", Gts_Return);
//延时
Thread.Sleep(200);
//配置运动控制器
Gts_Return = MC.GT_LoadConfig("Axis.cfg");
LogErr?.Invoke("Gts_Initial--GT_LoadConfig", Gts_Return);
//清除各轴的报警和限位
Gts_Return = MC.GT_ClrSts(1, 4);
LogErr?.Invoke("Gts_Initial--清除各轴的报警和限位", Gts_Return);
//轴使能
Gts_Return = MC.GT_AxisOn(1);
Gts_Return = MC.GT_AxisOn(2);
//延时
Thread.Sleep(200);
//设置X轴误差带
Gts_Return = MC.GT_SetAxisBand(1, Program.SystemContainer.SysPara.Axis_X_Band, 4 * Program.SystemContainer.SysPara.Axis_X_Time);//20-0.1um,4*2-250us
LogErr?.Invoke("X轴到位误差带", Gts_Return);
//设置Y轴误差带
Gts_Return = MC.GT_SetAxisBand(2, Program.SystemContainer.SysPara.Axis_Y_Band, 4 * Program.SystemContainer.SysPara.Axis_Y_Time);//20-0.1um,4*2-250us
LogErr?.Invoke("Y轴到位误差带", Gts_Return);
//设置X轴软件限位
Gts_Return = MC.GT_SetSoftLimit(1, Program.SystemContainer.SysPara.AxisXSoftLimitPositive * (int)Program.SystemContainer.SysPara.Gts_Pos_reference, Program.SystemContainer.SysPara.AxisXSoftLimitNegative * (int)Program.SystemContainer.SysPara.Gts_Pos_reference);
LogErr?.Invoke("设置X轴软件限位", Gts_Return);
//设置Y轴软件限位
Gts_Return = MC.GT_SetSoftLimit(2, Program.SystemContainer.SysPara.AxisYSoftLimitPositive * (int)Program.SystemContainer.SysPara.Gts_Pos_reference, Program.SystemContainer.SysPara.AxisYSoftLimitNegative * (int)Program.SystemContainer.SysPara.Gts_Pos_reference);
LogErr?.Invoke("设置Y轴软件限位", Gts_Return);
//轴回零完成信号
Axis01_Homed = false;
Axis02_Homed = false;
}
private void MoveObjectsOnMap <UC, MC>()
where UC : UserControl, ICellItem
where MC : ICellModel
{
var list = new List <UC>(MAP.Children.Cast <UIElement>()
.Where(l => l is UC)
.Cast <UC>());
if (list.Count > 0)
{
foreach (var v in list)
{
MC mc = (MC)v.DataContext;
if (mc != null)
{
Canvas.SetLeft(v, mc.Location.X * CellSize);
Canvas.SetTop(v, mc.Location.Y * CellSize);
}
v.CellSizeChanged(CellSize);
}
}
}
public void CheckInterestOnePersonTwoWallets(double balance)
{
// 1 person has 2 wallets Wallet 1 has a Visa and Discover , wallet 2 a MC -each card has $100 balance -
// calculate the total interest(simple interest) for this person and interest per wallet
var InterestCalcService = CreateDefaultInterestCalcService();
Visa cardVisa = new Visa(balance);
MC cardMC = new MC(balance);
Discover cardDiscover = new Discover(balance);
List <CreditCard> Cards1 = new List <CreditCard>
{
cardVisa,
cardDiscover
};
List <CreditCard> Cards2 = new List <CreditCard>
{
cardMC
};
Wallet wallet1 = new Wallet(Cards1);
Wallet wallet2 = new Wallet(Cards2);
List <Wallet> Wallets = new List <Wallet>
{
wallet1,
wallet2
};
Person person = new Person(Wallets);
double totalInterestPerson = InterestCalcService.CalcInterestByPerson(person);
double totalInterestWallet1 = InterestCalcService.CalcInterestByWallet(wallet1);
double totalInterestWallet2 = InterestCalcService.CalcInterestByWallet(wallet2);
Assert.True(totalInterestPerson == 16, $"{totalInterestPerson} should be 16");
Assert.True(totalInterestWallet1 == 11, $"{totalInterestWallet1} should be 11");
Assert.True(totalInterestWallet2 == 5, $"{totalInterestWallet2} should be 5");
}
public static void CreateVehicleObject()
{
switch (SelectedTicketType)
{
case Constants.TicketType.GENERIC_TICKET:
if (SelectedVehicleType == Constants.VehicleType.CAR)
{
VehicleObject = new Car();
}
else if (SelectedVehicleType == Constants.VehicleType.MOTORCYCLE)
{
VehicleObject = new MC();
}
break;
case Constants.TicketType.STOREBAELT_TICKET:
if (SelectedVehicleType == Constants.VehicleType.CAR)
{
VehicleObject = new Car();
}
if (SelectedVehicleType == Constants.VehicleType.MOTORCYCLE)
{
VehicleObject = new MC();
}
break;
case Constants.TicketType.ORESUND_TICKET:
if (SelectedVehicleType == Constants.VehicleType.CAR)
{
VehicleObject = new OresundCar();
}
else if (SelectedVehicleType == Constants.VehicleType.MOTORCYCLE)
{
VehicleObject = new OresundMC();
}
break;
}
}
private void MainForm_Closing(object sender, System.ComponentModel.CancelEventArgs e)
{
try
{
Stop_Click(sender, e);
// Whait that the channel has finished the last acquisition
while (channelactive == true)
{
Thread.Sleep(10);
}
// Delete the channel
if (channel != 0)
{
MC.Delete(channel);
channel = 0;
}
}
catch (Euresys.MultiCamException exc)
{
MessageBox.Show(exc.Message, "MultiCam Exception");
}
}
/// <summary>
/// 设置轴运行参数
/// </summary>
/// <param name="Axis"></param>
/// <param name="acc"></param>
/// <param name="dcc"></param>
/// <param name="smoothTime"></param>
/// <param name="pos"></param>
/// <param name="vel"></param>
public void SetAxisPara(short Axis, decimal acc, decimal dcc, short smoothTime, decimal pos, decimal vel)
{
//定义点位运动参数变量
MC.TTrapPrm trapPrm = new MC.TTrapPrm();
//定义当前位置变量
double prfpos;
//定义时钟
uint pclock;
//定义轴状态
int sts;
//将轴设置为点位运动模式
Gts_Return = MC.GT_PrfTrap(Axis);
LogErr?.Invoke("Motion--将轴设置为点位运动模式", Gts_Return);
//读取点位运动运动参数
Gts_Return = MC.GT_GetTrapPrm(Axis, out trapPrm);
LogErr?.Invoke("Motion--读取轴点位运动运动参数", Gts_Return);
//设置要修改的参数
trapPrm.acc = Convert.ToDouble(acc / Program.SystemContainer.SysPara.Gts_Acc_reference);
trapPrm.dec = Convert.ToDouble(dcc / Program.SystemContainer.SysPara.Gts_Acc_reference);
trapPrm.smoothTime = smoothTime;
//设置点位运动参数
Gts_Return = MC.GT_SetTrapPrm(Axis, ref trapPrm);
LogErr?.Invoke("Motion--读取轴设置点位运动参数", Gts_Return);
//读取当前规划位置
Gts_Return = MC.GT_GetPrfPos(Axis, out prfpos, 1, out pclock);
LogErr?.Invoke("Motion--读取轴当前规划位置", Gts_Return);
//设置目标位置
Gts_Return = MC.GT_SetPos(Axis, Convert.ToInt32(pos));
LogErr?.Invoke("Motion--设置目标位置", Gts_Return);
//设置目标速度
Gts_Return = MC.GT_SetVel(Axis, Convert.ToDouble(vel / Program.SystemContainer.SysPara.Gts_Vel_reference));
LogErr?.Invoke("Motion--设置目标速度", Gts_Return);
}
/// <summary>
/// 建立直角坐标系
/// </summary>
/// <param name="X_original"></param>
/// <param name="Y_original"></param>
public static void Coordination(decimal X_original, decimal Y_original)
{
//结构体变量，用于定义坐标系
//初始化结构体变量
MC.TCrdPrm crdPrm = new MC.TCrdPrm
{
dimension = 2, // 建立三维的坐标系
synVelMax = Convert.ToDouble(Para_List.Parameter.Syn_MaxVel / Para_List.Parameter.Gts_Vel_reference), // 坐标系的最大合成速度是: 500 pulse/ms （0-32767）/ms
synAccMax = Convert.ToDouble(Para_List.Parameter.Syn_MaxAcc / Para_List.Parameter.Gts_Acc_reference), // 坐标系的最大合成加速度是: 2 pulse/ms^2 （0-32767）/ms
evenTime = Convert.ToInt16(Para_List.Parameter.Syn_EvenTime), // 坐标系的最小匀速时间为0
profile1 = 1, // 规划器1对应到X轴
profile2 = 2, // 规划器2对应到Y轴
profile3 = 0,
profile4 = 0,
profile5 = 0,
profile6 = 0,
profile7 = 0,
profile8 = 0,
setOriginFlag = 1, // 需要设置加工坐标系原点位置
originPos1 = Convert.ToInt32(X_original * Para_List.Parameter.Gts_Pos_reference), // 加工坐标系原点位置在(0,0)，即与机床坐标系原点重合
originPos2 = Convert.ToInt32(Y_original * Para_List.Parameter.Gts_Pos_reference),
originPos3 = 0,
originPos4 = 0,
originPos5 = 0,
originPos6 = 0,
originPos7 = 0,
originPos8 = 0
};
//停止轴规划运动，停止坐标系运动
Gts_Return = MC.GT_Stop(783, 0);//783--1-4轴全停止，坐标系1、2均停止；0-平滑停止运动，783-急停运动
Log.Commandhandler("Establish_Coordinationg--GT_Stop", Gts_Return);
//建立坐标系
Gts_Return = MC.GT_SetCrdPrm(1, ref crdPrm);
Log.Commandhandler("Establish_Coordinationg--GT_SetCrdPrm", Gts_Return);
}
/// <summary>
/// XY平台运动到配合振镜切割准备点 坐标矫正4
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
public static void Gts_Ready_Correct(decimal x, decimal y)
{
//数据矫正
Vector Tmp_Point = new Vector();
//定义处理的变量
decimal Tmp_X = 0.0m;
decimal Tmp_Y = 0.0m;
if (Para_List.Parameter.Gts_Affinity_Type == 2)
{
Tmp_Point = new Vector(Gts_Cal_Data_Resolve.Get_Line_Fit_Coordinate_AM(x, y, Fit_Matrices_AM));
Tmp_X = Tmp_Point.X;
Tmp_Y = Tmp_Point.Y;
}
else
{
//数据矫正
Tmp_Point = new Vector(Gts_Cal_Data_Resolve.Get_Affinity_Point(0, x, y, affinity_Matrices));
Tmp_X = Tmp_Point.X;
Tmp_Y = Tmp_Point.Y;
}
#if !DEBUG
//清除FIFO 0
Clear_FIFO();
//初始化FIFO 0前瞻模块
Gts_Return = MC.GT_InitLookAhead(1, 0, Convert.ToDouble(Para_List.Parameter.LookAhead_EvenTime), Convert.ToDouble(Para_List.Parameter.LookAhead_MaxAcc), 4096, ref crdData[0]);
Log.Commandhandler("Line_Interpolation--初始化FIFO 0前瞻模块", Gts_Return);
//直线插补定位
Line_FIFO(Tmp_X, Tmp_Y);//将直线插补数据写入
//将前瞻数据压入控制器
Gts_Return = MC.GT_CrdData(1, Crd_IntPtr, 0);
Log.Commandhandler("Line_Interpolation--将前瞻数据压入控制器", Gts_Return);
#endif
//启动定位
Interpolation_Start();
}
public MC Talk(MC mc)
{
if (this.name.Equals("Bart"))
{
if (mc.encounteredBart == 0)
{
System.Console.WriteLine("\nBart:\n"
+ "You must be new around here, certainly don't look \nfamiliar... \n\n"
+ "Well, if you didn't know already, you can always type \n"
+ "\"help\" to be given a list of commands.\n"
+ "*Press Enter to continue*");
mc.encounteredBart++;
}
else
{
System.Console.WriteLine("\nBart:\n"
+ "Hey! You should come check out my other shop on the other \n"
+ "side of town! That is, when the path is finally clear... \n"
+ "*Press Enter to continue*");
}
}
return(mc);
}
private void Go_Click(object sender, System.EventArgs e)
{
// + MulticamAdvancedWaitSignal Sample Program
// Start an acquisition sequence by activating the channel
String channelState;
MC.GetParam(channel, "ChannelState", out channelState);
m_RunLoop = true;
Thread workerThread = new Thread(LiveThreadProc);
workerThread.Start();
if (channelState != "ACTIVE")
{
MC.SetParam(channel, "ChannelState", "ACTIVE");
}
Refresh();
// - MulticamAdvancedWaitSignal Sample Program
}
public void SetActive(bool LiveFlag)
{
String channelState;
MC.SetParam(channel, MC.SignalEnable + MC.SIG_SURFACE_PROCESSING, "OFF");
MC.SetParam(channel, "ChannelState", "IDLE");
if (LiveFlag)
{
//MC.SetParam(channel, "ChannelState", "IDLE");
MC.SetParam(channel, "TrigMode", "IMMEDIATE");
//MC.SetParam(channel, "NextTrigMode", "REPEAT");
MC.SetParam(channel, "NextTrigMode", "SAME");
MC.GetParam(channel, "ChannelState", out channelState);
if (channelState != "ACTIVE")
{
MC.SetParam(channel, "ChannelState", "ACTIVE");
}
}
else
{
if (channel != 0)
{
MC.SetParam(channel, "TrigMode", "HARD");
//MC.SetParam(channel, "NextTrigMode", "COMBINED");
MC.SetParam(channel, "NextTrigMode", "SAME");
//MC.SetParam(channel, "ForceTrig", "TRIG");
MC.SetParam(channel, "ChannelState", "IDLE");
MC.SetParam(channel, "ChannelState", "ACTIVE");
}
}
MC.SetParam(channel, MC.SignalEnable + MC.SIG_SURFACE_PROCESSING, "ON");
}
public void GrabImage(bool isLeft)
{
lock (lockerStart)
{
// + GrablinkSnapshotTrigger Sample Program
// Start an acquisition sequence by activating the channel
String channelState = null;
if (isLeft)
{
MC.GetParam(channel, "ChannelState", out channelState);
}
else
{
MC.GetParam(channelR, "ChannelState", out channelState);
}
if (channelState != "ACTIVE")
{
if (isLeft)
{
MC.SetParam(channel, "ChannelState", "ACTIVE");
// Generate a soft trigger event
MC.SetParam(channel, "ForceTrig", "TRIG");
FrmMain.T.queueIn(DateTime.Now.ToString("yy-MM-dd HH:mm:ss fff-") + "左相机启动成功");
}
else
{
MC.SetParam(channelR, "ChannelState", "ACTIVE");
// Generate a soft trigger event
MC.SetParam(channelR, "ForceTrig", "TRIG");
FrmMain.T.queueIn(DateTime.Now.ToString("yy-MM-dd HH:mm:ss fff-") + "右相机启动成功");
}
}
// Refresh();
// - GrablinkSnapshotTrigger Sample Program
}
}
public void AsyncLoadingScript(GameObject myReturnValue)
{
#region 读取模型
transform.position += StartPointOffSet;
InstanceMesh = Instantiate(myReturnValue) as GameObject;
InstanceMesh.transform.SetParent(this.transform);
InstanceMesh.transform.localPosition = Vector3.zero;
InstanceMesh.transform.localEulerAngles = Vector3.zero;
#endregion
#if UNITY_EDITOR && UNITY_ANDROID
foreach (MeshRenderer meshRenderer in InstanceMesh.GetComponentsInChildren <MeshRenderer>())
{
meshRenderer.sharedMaterial.shader = Shader.Find("Standard");
}
#endif
#region 设置网络状态
if (_InstanceNetType != InstanceNetType.GarageTank && !isBot(_InstanceNetType) && _InstanceNetType != InstanceNetType.GameNetWorkOffline)
{
}
#endregion
//模块加载
dontDestroyManager = new VehicleDontDestroyManagerModule();
referenceManager = InstanceMesh.GetComponent <VehicleComponentsReferenceManager>();
#region 加载完毕游戏资源加载脚本
TankPrefabs = gameObject;
TurretTransform = InstanceMesh.transform.Find("TurretTransform").gameObject;
MainHitBox = InstanceMesh.transform.Find("MainHitBox").gameObject;
TankTransform = InstanceMesh.transform.Find("TankTransform").gameObject;
GunTransform = TurretTransform.transform.Find("GunTransform").gameObject;
FFPoint = GunTransform.transform.Find("FFPoint").gameObject;
EffectStart = GunTransform.transform.Find("EffectStart").gameObject;
TurretHitBox = TurretTransform.transform.Find("TurretHitBox").gameObject;
GameObject TankScript = null, TankCrossHair = null, MainCamera = null;
Rigidbody TankPhysic = null;
TurretController mt = null;
// SyncGroundVehicle _syncGroundVehicle = null;
PlayerTracksController PTC = null;
PlayerState PS = null;
PTC = InstanceMesh.AddComponent <PlayerTracksController> ();
#region 物理效果
TankPhysic = GetComponentInChildren <Rigidbody> ();
TankPhysic.mass = PTCParameter.Mass;
TankPhysic.drag = 0.1f; //PTCParameter.Drag;
TankPhysic.angularDrag = 2.5f; //PTCParameter.AirDrag;
TankPhysic.useGravity = false;
BoxCollider[] collisions = PTC.GetComponentsInChildren <BoxCollider> ();
foreach (Collider collision in collisions)
{
if (collision.isTrigger != true)
{
collision.material = StaticResourcesReferences.Instance.VehiclePhysicMaterial;
}
}
#endregion
if (_InstanceNetType != InstanceNetType.GarageTank)
{
if (isLocalPlayer(_InstanceNetType))
{
TankCrossHair = Instantiate((GameObject)Resources.Load("TankCrossHair"), Vector3.zero, Quaternion.identity) as GameObject;
MainCamera = Instantiate((GameObject)Resources.Load("MainCamera"), Vector3.zero, Quaternion.identity) as GameObject;
TankCrossHair.transform.parent = TankPrefabs.transform;
MainCamera.transform.parent = InstanceMesh.transform;
MainCamera.transform.name = "MainCamera";
}
TankScript = Instantiate((GameObject)Resources.Load("TankScript"), Vector3.zero, Quaternion.identity) as GameObject;
TankScript.transform.name = "TankScript";
TankScript.transform.parent = TankPrefabs.transform;
TankPhysic.useGravity = true;
#region PlayerState 脚本设置
if (!isBot(_InstanceNetType))
{
PS = InstanceMesh.AddComponent <PlayerState>();
PS.tankInitSystem = this;
foreach (HitBox HB in GetComponentsInChildren <HitBox>())
{
HB.SetTarget(PS);
}
PS.playerStateParameter = PSParameter;
PS.netType = _InstanceNetType;
PS.Turret = TurretTransform;
PS.TankScript = TankScript;
PS.DiedDestoryObjects = new Object[] { MainHitBox, TurretHitBox };
PS.TankName = VehicleName;
PS.Health = PSParameter.Health;
PS.engineType = PSParameter.engineType;
PS.IsMobile = isMobile;
}
#endregion
if (isBot(_InstanceNetType))
{
EnemyAiState enemyState = InstanceMesh.AddComponent <EnemyAiState>();
foreach (HitBox HB in GetComponentsInChildren <HitBox>())
{
HB.SetTarget(enemyState);
}
enemyState.TankScript = TankScript;
enemyState.Health = PSParameter.Health;
enemyState.TankName = VehicleName;
enemyState.MyTeam = ownerTeam;
}
#region TankScript 脚本设置
mt = TankScript.GetComponent <TurretController>();
if (isLocalPlayer(_InstanceNetType))
{
mt.target = MainCamera.transform.Find("CameraTarget");
}
mt.gun = GunTransform.transform;
mt.Turret = TurretTransform.transform;
mt.DownMaxDegree = MTParameter.DownMaxDegree;
mt.UpMaxDegree = MTParameter.UpMaxDegree;
mt.maxTurretAngle = MTParameter.maxTurretAngle;
mt.gunDegreesPerSecond = MTParameter.gunDegreesPerSecond;
mt.turretDegreesPerSecond = MTParameter.turretDegreesPerSecond;
mt.isMobile = isMobile;
#endregion
#region 主摄像机设置
if (isLocalPlayer(_InstanceNetType))
{
MainCamera.GetComponent <VehicleCamera>().target = referenceManager.MainCameraFollowTarget.transform;
MainCamera.GetComponent <VehicleCamera>().mainCameraFollowTarget = referenceManager.MainCameraFollowTarget.transform;
MainCamera.GetComponent <VehicleCamera>().mainCameraGunner = referenceManager.MachineGunFFPoint.transform;
referenceManager.MachineGunFFPoint.transform.position = referenceManager.FFPoint.transform.position;
MainCamera.GetComponent <VehicleCamera>().IsMobile = isMobile;
if (PSParameter.vehicleType == VehicleType.SPG)
{
MainCamera.GetComponent <VehicleCamera>().isVehicleSPG = true;
}
}
#endregion
#region 瞄准射线
if (isLocalPlayer(_InstanceNetType))
{
RayManager rayManager = TankScript.AddComponent <RayManager>();
rayManager.Init(FFPoint.transform);
}
#endregion
#region 瞄准镜设置
if (isLocalPlayer(_InstanceNetType))
{
TankCrossHair.GetComponent <CrossHair>().MainCamera = MainCamera.GetComponent <Camera>();
TankCrossHair.GetComponent <CrossHair>().tankCamera = MainCamera.GetComponent <VehicleCamera>();
TankCrossHair.GetComponent <CrossHair>().FFPoint = EffectStart.transform;
}
#endregion
#region 坦克发射器脚本设置
TankFire tf = TankScript.GetComponent <TankFire>();
tf.tankFireParameter = TFParameter;
tf.tankInitSystem = this;
tf.MachineGunFFPoint = referenceManager.MachineGunFFPoint.transform;
tf.FFPoint = referenceManager.FFPoint.transform;
tf.FireRecoilPoint = referenceManager.FireForceFeedbackPoint.transform;
tf.FireEffectPoint = referenceManager.EffectStart.transform;
tf.BulletCountList = BulletCountList;
tf.GunDym = GunTransform.transform.Find("GunDym").GetComponent <Animator>();
tf.MainBody = InstanceMesh.transform;
tf.netType = _InstanceNetType;
if (PSParameter.vehicleType == VehicleType.SPG)
{
tf.isAutoCaclulateGravity = true;
}
#endregion
#region 引擎音效控制
EngineSoundModule engineSoundModule = InstanceMesh.AddComponent <EngineSoundModule>();
engineSoundModule.tankInitSystem = this;
engineSoundModule.engineData = PTCParameter.vehicleEngineSoundData;
engineSoundModule.Init(referenceManager.EngineSound.transform);
#endregion
GameObject EngineSmoke = Instantiate <GameObject>(Resources.Load <GameObject>("EngineSmoke"));
EngineSmoke.transform.SetParent(referenceManager.EngineSmoke.transform);
EngineSmoke.transform.localPosition = Vector3.zero;
EngineSmoke.transform.localEulerAngles = Vector3.zero;
//GameObject grounddust = Instantiate(Resources.Load<GameObject>("TrackEffect"));
//grounddust.transform.SetParent(InstanceMesh..transform);
//grounddust.transform.localPosition = Vector3.zero;
//grounddust.transform.localEulerAngles = Vector3.zero;
VehicleState vehicleState = InstanceMesh.AddComponent <VehicleState>();
vehicleState.engineSoundModule = engineSoundModule;
vehicleState.tankTracksController = PTC;
}
#region 坦克控制器设置
PTC.tankInitSystem = this;
PTC.rightTrackUpperWheels = GetAllChilds(TankTransform.transform.Find("RightUpperWheel"));
PTC.leftTrackUpperWheels = GetAllChilds(TankTransform.transform.Find("LeftUpperWheel"));
PTC.rightTrackWheels = GetAllChilds(TankTransform.transform.Find("RightWheel"));
PTC.leftTrackWheels = GetAllChilds(TankTransform.transform.Find("LeftWheel"));
PTC.leftTrack = referenceManager.LeftTrack;
PTC.rightTrack = referenceManager.RightTrack;
//PTC.leftTrackBones = CreateTrack (true, TankTransform.transform, ref PTC);
//PTC.rightTrackBones = CreateTrack (false, TankTransform.transform, ref PTC);
PTC.tankTransform = TankTransform.transform;
PTC.maxAngularVelocity = PTCParameter.MaxAngularVelocity;
PTC.MaxSpeed = PTCParameter.MaxSpeed;
PTC.MinSpeed = PTCParameter.MinSpeed;
PTC.COM = PTCParameter.CenterOfGravity;
PTC.PushSpeed = PTCParameter.PushSpeed;
PTC.BackSpeed = PTCParameter.BackSpeed;
PTC.sidewaysFrictionAsymptoteFactor = PTCParameter.SideWaysFrictionAsymptoteFactor;
PTC.sidewaysFrictionExtremumFactor = PTCParameter.SideWaysFrictionExtremumFactor;
PTC.wheelCollider = PTCParameter.TankWheelCollider;
PTC.wheelsAndBonesAxisSettings = new PlayerTracksController.WheelsAxisSettings();
PTC.wheelsAndBonesAxisSettings.bonesPositionAxis = TankTracksController.Axis.Z;
PTC.wheelsAndBonesAxisSettings.wheelsPositionAxis = TankTracksController.Axis.Z;
PTC.wheelsAndBonesAxisSettings.wheelsRotationAxis = TankTracksController.Axis.X;
PTC.accelerationConfiguration = PTCParameter.VAconfigSetting;
PTC.rotationOnAccelerationConfiguration = PTCParameter.HAconfigSetting;
PTC.rotationOnStayConfiguration = PTCParameter.HAconfigSetting;
#endregion
#region 车库状态
if (_InstanceNetType == InstanceNetType.GarageTank)
{
PTC.enabled = false;
TankPhysic.isKinematic = true;
if (ShowHitBoxInspecter)
{
foreach (HitBox HB in GetComponentsInChildren <HitBox>())
{
HB.StartCoroutine(HB.ShowArmorInfo());
}
}
foreach (MeshCollider MC in transform.root.GetComponentsInChildren <MeshCollider>())
{
if (MC.GetComponent <HitBox> () == null)
{
MC.enabled = false;
}
}
//EventManager.StartListening ("TankInitSystem.InitTankShader", GarageInitTankShaderPreView);
return;
}
#endregion
if (ExtraTF && !isBot(_InstanceNetType))
{
for (int i = 0; i < multiTurrets.Length; i++)
{
GameObject TankScriptExtra = Instantiate((GameObject)Resources.Load("TankScript"), Vector3.zero, Quaternion.identity) as GameObject;
TankScriptExtra.transform.name = "TankScriptExtra";
TankScriptExtra.transform.parent = TankPrefabs.transform;
TurretController mouseTurretExtra = TankScriptExtra.GetComponent <TurretController> ();
if (isLocalPlayer(_InstanceNetType))
{
mouseTurretExtra.target = MainCamera.transform.Find("CameraTarget");
}
Transform ExtraTurret = InstanceMesh.transform.Find(multiTurrets [i].ObjectPath);
Transform ExtraGun = ExtraTurret.transform.Find("GunTransform");
mouseTurretExtra.gun = ExtraGun;
mouseTurretExtra.Turret = ExtraTurret;
mouseTurretExtra.DownMaxDegree = multiTurrets [i].MTParameter.DownMaxDegree;
mouseTurretExtra.UpMaxDegree = multiTurrets [i].MTParameter.UpMaxDegree;
mouseTurretExtra.maxTurretAngle = multiTurrets [i].MTParameter.maxTurretAngle;
mouseTurretExtra.gunDegreesPerSecond = multiTurrets [i].MTParameter.gunDegreesPerSecond;
mouseTurretExtra.turretDegreesPerSecond = multiTurrets [i].MTParameter.turretDegreesPerSecond;
mouseTurretExtra.isMobile = isMobile;
TankFire tfExtra = TankScriptExtra.GetComponent <TankFire> ();
Transform ExtraFFPoint = ExtraGun.Find("FFPoint");
Transform ExtraFireEffect = ExtraGun.Find("FireEffect");
tfExtra.FFPoint = ExtraFFPoint;
tfExtra.FireRecoilPoint = FFPoint.transform;
tfExtra.FireEffectPoint = ExtraFireEffect;
tfExtra.MainBody = InstanceMesh.transform;
//tfExtra.FireRecoil = multiTurrets [i].tankFireParameter.FireRecoil;
//tfExtra.ReloadTime = multiTurrets [i].tankFireParameter.ReloadTime;
//tfExtra.AmmoCount = multiTurrets [i].tankFireParameter.AmmoCount;
//tfExtra.HasMahineGun = multiTurrets [i].tankFireParameter.HasMachineGun;
//tfExtra.muzzleFire = multiTurrets [i].tankFireParameter.MuzzleFire;
//tfExtra.advanceFireClass = multiTurrets [i].tankFireParameter.advanceFireClass;
//tfExtra.fireState = multiTurrets [i].tankFireParameter.FireState;
//tfExtra.netType = InstanceNetType;
}
}
#endregion
InstanceMesh.AddComponent <Identity> ();
if (isLocalPlayer(_InstanceNetType))
{
GameEvent.InitPlayer(InstanceMesh.GetComponent <Identity>());
}
#region 初始化玩家网络
if (!GameDataManager.OfflineMode)
{
if (_InstanceNetType == InstanceNetType.GameNetworkOthers)
{
PTC.enableUserInput = false;
//PTC.AdvanceTrackSystem = false;
PTC.OnlyReceiveControlActions = true;
}
if (_InstanceNetType == InstanceNetType.GameNetworkMaster)
{
PTC.enableUserInput = false;
}
if (_InstanceNetType == InstanceNetType.GameNetworkClient)
{
PTC.enableUserInput = true;
PTC.OnlyReceiveControlActions = true;
}
if (isBot(_InstanceNetType))
{
PTC.enableUserInput = false;
if (_InstanceNetType == InstanceNetType.GameNetWorkBotClient)
{
PTC.OnlyReceiveControlActions = true;
}
else
{
PTC.OnlyReceiveControlActions = false;
}
}
//_syncGroundVehicle = InstanceMesh.AddComponent<SyncGroundVehicle> ();
//_syncGroundVehicle.tankInitSystem = this;
//_syncGroundVehicle.Init (PTC, mt, _InstanceNetType);
}
#region 设置离线标识
if (GameDataManager.OfflineMode)
{
if (_InstanceNetType == InstanceNetType.GameNetWorkOffline)
{
Identity MyIdentity = InstanceMesh.GetComponent <Identity> ();
MyIdentity.Init(ownerTeam, InstanceNetType.GameNetWorkOffline);
MyIdentity.SetOwnerInfo("LocalPlayer", VehicleName, 0);
}
}
#endregion
#endregion
if (!isBot(_InstanceNetType))
{
StartCoroutine(PS.Init());
}
if (GameEventManager.onNewVehicleSpawned != null)
{
GameEventManager.onNewVehicleSpawned(this);
}
if (onVehicleLoaded != null)
{
onVehicleLoaded();
}
}
public int MCPris()
{
var mc = new MC();
return(mc.Pris());
}
private void Start()
{
main = c.GetComponent <MC>();
}
public CEuresysManager(string _CamInfo = "VCC-G20S20_P15RA", int _CamExposure = 1000)
{
try
{
// Open MultiCam driver
MC.OpenDriver();
// Enable error logging
MC.SetParam(MC.CONFIGURATION, "ErrorLog", "error.log");
// Create a channel and associate it with the first connector on the first board
MC.Create("CHANNEL", out channel);
MC.SetParam(channel, "DriverIndex", 0);
// For all Domino boards except Domino Symphony
MC.SetParam(channel, "Connector", "X");
// For Domino Symphony
//MC.SetParam(channel, "Connector", "A");
// Choose the CAM file
//MC.SetParam(channel, "CamFile", "XC-HR50_P60RA");
//MC.SetParam(channel, "CamFile", "VCC-G20S20_P15RA");
//MC.SetParam(channel, "CamFile", "CV-A1_P16RA");
if (_CamInfo == "")
{
_CamInfo = "VCC-G20S20_P15RA";
}
MC.SetParam(channel, "CamFile", _CamInfo);
// Choose the camera expose duration
MC.SetParam(channel, "Expose_us", _CamExposure);
// Choose the pixel color format
MC.SetParam(channel, "ColorFormat", "Y8");
// Choose the way the first acquisition is triggered
//MC.SetParam(channel, "TrigMode", "IMMEDIATE");
MC.SetParam(channel, "TrigMode", "HARD");
// Choose the triggering mode for subsequent acquisitions
//MC.SetParam(channel, "NextTrigMode", "REPEAT");
MC.SetParam(channel, "NextTrigMode", "SAME");
// Choose the number of images to acquire
//MC.SetParam(channel, "TrigLine", "NOM");
//MC.SetParam(channel, "TrigEdge", "GOHIGH");
//MC.SetParam(channel, "TrigFilter", "ON");
//MC.SetParam(channel, "TrigCtl", "LVDS");
MC.SetParam(channel, "TrigCtl", "TTL");
MC.SetParam(channel, "TrigLine", "NOM");
MC.SetParam(channel, "TrigEdge", "GOLOW");
MC.SetParam(channel, "TrigFilter", "ON");
MC.SetParam(channel, "StrobeCtl", "OPTO");
//MC.SetParam(channel, "StrobeCtl", "TTL");
MC.SetParam(channel, "StrobeMode", "AUTO");
MC.SetParam(channel, "StrobeLevel", "PLSLOW");
//MC.SetParam(channel, "SeqLength_Fr", MC.INDETERMINATE);
MC.SetParam(channel, "SeqLength_Fr", -1);
// Register the callback function
multiCamCallback = new MC.CALLBACK(MultiCamCallback);
MC.RegisterCallback(channel, multiCamCallback, channel);
// Enable the signals corresponding to the callback functions
MC.SetParam(channel, MC.SignalEnable + MC.SIG_SURFACE_PROCESSING, "ON");
MC.SetParam(channel, MC.SignalEnable + MC.SIG_ACQUISITION_FAILURE, "ON");
// Prepare the channel in order to minimize the acquisition sequence startup latency
MC.SetParam(channel, "ChannelState", "READY");
MC.SetParam(channel, "ChannelState", "ACTIVE");
}
catch (Euresys.MultiCamException ex)
{
CLogManager.AddInspectionLog(CLogManager.LOG_TYPE.ERR, "cEuresysManager() Exception!!", CLogManager.LOG_LEVEL.LOW);
}
}
public Bitmap Capture()
{
try
{
image = null;
// Enable error logging
MC.SetParam(MC.CONFIGURATION, "ErrorLog", "error.log");
// In order to support a 10-tap camera on Grablink Full
// BoardTopology must be set to MONO_DECA
// In all other cases the default value will work properly
// and the parameter doesn't need to be set
// Set the board topology to support 10 taps mode (only with a Grablink Full)
// MC.SetParam(MC.BOARD + 0, "BoardTopology", "MONO_DECA");
// In order to use single camera on connector A
// MC_Connector must be set to A for Grablink DualBase
// For all other Grablink boards the parameter has to be set to M
// For all GrabLink boards except Grablink DualBase
MC.SetParam(channel, "Connector", "M");
// For Grablink DualBase
//MC.SetParam(channel, "Connector", "A");
// Choose the CAM file
MC.SetParam(channel, "CamFile", "../../UserData/STC-CL25M_8T freerun");
// Choose the camera expose duration
MC.SetParam(channel, "Expose_us", 20000);
// Choose the pixel color format
MC.SetParam(channel, "ColorFormat", "Y8");
//Set the acquisition mode to Snapshot
MC.SetParam(channel, "AcquisitionMode", "SNAPSHOT");
// Choose the way the first acquisition is triggered
MC.SetParam(channel, "TrigMode", "IMMEDIATE");
// Choose the triggering mode for subsequent acquisitions
MC.SetParam(channel, "NextTrigMode", "REPEAT");
// Choose the number of images to acquire
MC.SetParam(channel, "SeqLength_Fr", MC.INDETERMINATE);
// Register the callback function
multiCamCallback = new MC.CALLBACK(MultiCamCallback);
MC.RegisterCallback(channel, multiCamCallback, channel);
// Enable the signals corresponding to the callback functions
MC.SetParam(channel, MC.SignalEnable + MC.SIG_SURFACE_PROCESSING, "ON");
MC.SetParam(channel, MC.SignalEnable + MC.SIG_ACQUISITION_FAILURE, "ON");
// Prepare the channel in order to minimize the acquisition sequence startup latency
MC.SetParam(channel, "ChannelState", "READY");
string channelState;
MC.GetParam(channel, "ChannelState", out channelState);
if (channelState != "ACTIVE")
{
MC.SetParam(channel, "ChannelState", "ACTIVE");
}
}
catch (Euresys.MultiCamException exc)
{
throw exc;
}
SpinWait.SpinUntil(() => image != null);
MC.SetParam(channel, "ChannelState", "IDLE");
return(image);
}
public void Close()
{
MC.CloseDriver();
}
