public void OnMessage(IProtocol protocol)
{
if (RobotManager.Get())
{
RobotManager.Get().PushMessage(protocol);
}
}
private void StartDemo0()
{
StopDemo();
// 挂钩子
RobotManager.Get().protocolHook = this;
simulator.StartCoroutine(Demo0Loop());
}
public void StopDebug()
{
StopAllCoroutines();
if (RobotManager.GetOrAlloc())
{
RobotManager.GetOrAlloc().RewindRobots();
}
}
private void StopDemo()
{
if (RobotManager.Get().protocolHook == this)
{
RobotManager.Get().protocolHook = null;
}
simulator.StopAllCoroutines();
simulator.StopDebug();
}
private void CheckWall()
{
// 方案1. 如果墙距离传感器发射点超过5cm，角模式旋转1度, 否则等待100ms;一直做这个步骤
// 方案2. 如果墙距离传感器发射点不超过5cm，停止轮模式，否则，设置成轮模式;一直做这个步骤
// 挂钩子
RobotManager.Get().protocolHook = this;
simulator.StopDebug();
mToCheckDistance = true;
mCurrent = null;
simulator.StartCoroutine(CheckWallE());
}
private void Update()
{
if (!RobotManager.Get())
{
return;
}
var firstRobot = RobotManager.GetOrAlloc().firstRobot;
if (activeRobot != firstRobot)
{
activeRobot = firstRobot;
RefreshUI();
}
}
public void StopTest()
{
RobotManager.GetOrAlloc().Test(false);
}
public void StartTest()
{
RobotManager.GetOrAlloc().Test(true);
}
public void LoadRobot(LitJson.JsonData jsonData, Action <IRobot> onCompleted)
{
if (jsonData == null)
{
Misc.SafeInvoke(onCompleted, null);
return;
}
IRobot robot = null;
bool hideLines = Application.isPlaying;
try
{
ProfilingUtility.BeginSample("RobotFactory.LoadRobot");
DefaultRobotSerializer defaultRobotSerializer = new DefaultRobotSerializer();
var dataModel = defaultRobotSerializer.FromJson(jsonData);
if (dataModel != null)
{
ProfilingUtility.BeginSample("RobotFactory.LoadRobot.PrepareParts");
var parts = new Dictionary <string, Queue <GameObject> >(dataModel.assetDatas.Count);
foreach (var item in dataModel.assetDatas)
{
string resID = item.Key;
// 去掉线
if (hideLines && resID.StartsWith("W") && resID.IndexOf('_') > 0)
{
continue;
}
var count = item.Value;
while (count > 0)
{
var part = UbtrobotSettings.GetOrLoad().partsLibrary.Instantiate(resID);
if (part == null)
{
DebugUtility.LogError(LoggerTags.Project, "Missing part : {0}", resID);
break;
}
if (hideLines && resID == "Battery")
{
part.transform.SetActive("Battery_02", false);
}
if (!parts.TryGetValue(resID, out var list))
{
list = new Queue <GameObject>();
parts[resID] = list;
}
count--;
list.Enqueue(part.gameObject);
}
}
ProfilingUtility.EndSample();
ProfilingUtility.BeginSample("RobotFactory.LoadRobot.Rebuild");
var robotTransform = dataModel.Rebuild(null, parts);
ProfilingUtility.EndSample();
robot = robotTransform != null?robotTransform.GetComponent <IRobot>() : null;
if (robot != null)
{
if (Application.isPlaying)
{
RobotManager.GetOrAlloc().AddRobot(robot);
}
else
{
robot.AutoInitialize();
}
}
}
ProfilingUtility.EndSample();
}
catch (Exception ex)
{
DebugUtility.LogException(ex);
}
Misc.SafeInvoke(onCompleted, robot);
}