public void OnSpawn(GameObject go)
{
Sensors component = go.GetComponent <Sensors>();
component.Add(new PathProberSensor(component));
component.Add(new SafeCellSensor(component));
component.Add(new IdleCellSensor(component));
component.Add(new PickupableSensor(component));
component.Add(new ClosestEdibleSensor(component));
component.Add(new BreathableAreaSensor(component));
component.Add(new AssignableReachabilitySensor(component));
component.Add(new ToiletSensor(component));
component.Add(new MingleCellSensor(component));
StateMachineController component2 = go.GetComponent <StateMachineController>();
RationalAi.Instance instance = new RationalAi.Instance(component2);
instance.StartSM();
if (go.GetComponent <OxygenBreather>().GetGasProvider() == null)
{
go.GetComponent <OxygenBreather>().SetGasProvider(new GasBreatherFromWorldProvider());
}
Navigator component3 = go.GetComponent <Navigator>();
component3.transitionDriver.overrideLayers.Add(new BipedTransitionLayer(component3, 3.325f, 2.5f));
component3.transitionDriver.overrideLayers.Add(new DoorTransitionLayer(component3));
component3.transitionDriver.overrideLayers.Add(new TubeTransitionLayer(component3));
component3.transitionDriver.overrideLayers.Add(new LadderDiseaseTransitionLayer(component3));
component3.transitionDriver.overrideLayers.Add(new ReactableTransitionLayer(component3));
component3.transitionDriver.overrideLayers.Add(new SplashTransitionLayer(component3));
ThreatMonitor.Instance sMI = go.GetSMI <ThreatMonitor.Instance>();
if (sMI != null)
{
sMI.def.fleethresholdState = Health.HealthState.Critical;
}
}
private void LoadCollection()
{
try
{
openFileDialog = new OpenFileDialog();
// ------------------------------------
openFileDialog.Filter = "Json file (.json)|*.json|All Files(.*)|*.*";
openFileDialog.FileName = "Путь до файла";
openFileDialog.Title = "Загрузить данные с файла";
openFileDialog.FilterIndex = 0;
openFileDialog.DefaultExt = FileManager.FilePath;
// ------------------------------------
bool?isOk = openFileDialog.ShowDialog() ?? false;
if (isOk.Value)
{
Sensors.Clear();
FileManager.FilePath = Path.GetDirectoryName(openFileDialog.FileName);
LogView = $"Load data from {FileManager.FilePath}";
List <Sensor> collection = FileManager.Read(FileManager.FilePath);
collection.ForEach(sensor => Sensors.Add(new SensorViewModel(sensor)));
UpdateCharts();
}
}
catch (Exception ex)
{
var log = ExceptionHandler.Handler(ex);
Log.WriteLog(log);
MessageBox.Show(log, "Error! ", MessageBoxButton.OK, MessageBoxImage.Error);
LogView = $"Error! {log}";
}
}
protected override void DoStartAsync(object stoppingToken)
{
uart = new UART_Adapter(UARTSettings.COMPort);
uart.Open();
Logger.LogInformation($"UART is now listennig port {UARTSettings.COMPort}");
OneWireSensor sensor = new DS18B20(uart);
List <byte[]> ROMs = sensor.GetConnectedROMs();
Logger.LogInformation($"{ROMs.Count} connected sensor(s)");
foreach (byte[] item in ROMs)
{
OneWireSensor physSensor = Utils.CreateSensor(item[0], uart, item);
using (var scope = ScopeFactory.CreateScope())
{
IUnitOfWork <Sensor> sensorsUnitOfWork = scope.ServiceProvider.GetRequiredService <IUnitOfWork <Sensor> >();
var dbSensor = sensorsUnitOfWork.GetRepository().Query().FirstOrDefault(sn => sn.ROM == physSensor.ROM);
if (dbSensor == null)
{
Sensors.Add(new UARTSensorDTO(physSensor)
{
SensorID = (Sensors.Count + 1) * -1, Name = "Not in DB", ROM = physSensor.ROM, DeviceName = physSensor.DeviceName(physSensor.FamilyCode)
});
}
else
{
Sensors.Add(new UARTSensorDTO(physSensor)
{
SensorID = dbSensor.snID, Name = dbSensor.Name, ROM = physSensor.ROM, DeviceName = physSensor.DeviceName(physSensor.FamilyCode)
});
}
Logger.LogInformation($"Added to list sensor with ROM: {physSensor.ROM}, Family Code = {physSensor.FamilyCode}");
}
}
}
protected override void DoStartAsync(object stoppingToken)
{
Logger.LogInformation($"{openWeatherMapOptions.Cities.Length} connected sensor(s)");
client.BaseAddress = new Uri("http://api.openweathermap.org/data/2.5/");
for (int i = 0; i < openWeatherMapOptions.Cities.Length; i++)
{
string rom = openWeatherMapOptions.Cities[i].ToString();
using (var scope = ScopeFactory.CreateScope())
{
IUnitOfWork <Sensor> sensorsUnitOfWork = scope.ServiceProvider.GetRequiredService <IUnitOfWork <Sensor> >();
var dbSensor = sensorsUnitOfWork.GetRepository().Query().FirstOrDefault(sn => sn.ROM == rom);
if (dbSensor == null)
{
Sensors.Add(new SensorDTO()
{
SensorID = -i - 1, ROM = rom, DeviceName = $"OpenWeather sensor for city id {rom}"
});
}
else
{
Sensors.Add(new SensorDTO()
{
SensorID = dbSensor.snID, ROM = rom, DeviceName = $"OpenWeather sensor for city id {rom}"
});
}
Logger.LogInformation($"Added to list sensor with ROM (CityID): {rom}");
}
}
}
/// <summary>
/// 处理温湿度数据
/// </summary>
/// <param name="num">在线数</param>
/// <param name="index">索引</param>
/// <param name="data">数据</param>
/// <param name="type">传感器类型</param>
/// <returns></returns>
private int ProcessTemperatureAndHumidity(int num, int index, byte[] data, int type)
{
for (int i = 0; i < num; i++)
{
Digital digitalWd = new Digital();
digitalWd.Id = Convert.ToString(data[index++], 16);
double wd = Convert.ToDouble(data[index++] << 8 | data[index++]) / 10;
digitalWd.Value = wd + "℃";
digitalWd.Name = "温度";
digitalWd.Type = type;
digitalWd.Online = wd == 0 ? StateType.Offline : StateType.Online;
digitalWd.State = wd == 0 ? StateType.StateClose : StateType.StateOpen;
digitalWd.Controllable = false;
Sensors.Add(digitalWd);
Digital digitalSd = new Digital();
digitalSd.Id = digitalWd.Id;
double sd = Convert.ToDouble(data[index++] << 8 | data[index++]) / 10;
digitalSd.Value = sd + "%";
digitalSd.Name = "湿度";
digitalSd.Type = type;
digitalSd.Online = sd == 0 ? StateType.Offline : StateType.Online;
digitalSd.State = sd == 0 ? StateType.StateClose : StateType.StateOpen;
digitalSd.Controllable = false;
Sensors.Add(digitalSd);
}
return(index);
}
private void Sensor_PropertyChanged(object sender, System.ComponentModel.PropertyChangedEventArgs e)
{
try
{
var sensor = sender as SensorModel;
if (sensor != null)
{
var existing = Sensors.FirstOrDefault(s => s.Name == sensor.Name);
if (existing != null)
{
existing = sensor;
}
else
{
Sensors.Add(sensor);
}
}
if (Sensors.Count > 0 && waitIndicator.IsRunning && Sensors[0].LastSummary != null)
{
DisplayBeginSession();
}
}catch (Exception x)
{
Debug.WriteLine(x);
}
}
/// <summary>
/// This method reads as 'move sensor A to the spot occupied by sensor B'. It moves sensor A to the spot where sensor B was, and moves sensor B one spot below it.
/// </summary>
/// <param name="a">The sensor to be moved.</param>
/// <param name="b">The sensor whose spot will become sensor A's new location.</param>
public void MoveSensorTo(Sensor a, Sensor b)
{
if (a.Equals(b))
{
return;
}
var newIndex = 0;
var goingDown = Sensors.IndexOf(a) < Sensors.IndexOf(b);
if (goingDown)
{
newIndex = Sensors.IndexOf(b); // Going down - use current index in the list
}
Sensors.Remove(a);
if (!goingDown)
{
newIndex = Sensors.IndexOf(b);
}
if (newIndex < Sensors.Count)
{
Sensors.Insert(newIndex, a);
}
else
{
Sensors.Add(a);
}
}
public MadBot()
{
FleetTargeting = new FleetTargeting(this);
AbandonedTargeting = new AbandonedTargeting(this);
FishTargeting = new FishTargeting(this);
ContextBehaviors.Add(Navigation = new NavigateToPoint(this)
{
BehaviorWeight = 1.0f
});
// Behaviors.Add(Efficiency = new Efficiency(this) { BehaviorWeight = 0.0f });
// Behaviors.Add(Dodge0 = new Dodge(this) { LookAheadMS = 100, BehaviorWeight = 2 });
// Behaviors.Add(Dodge1 = new Dodge(this) { LookAheadMS = 200, BehaviorWeight = 2 });
// Behaviors.Add(Dodge2 = new Dodge(this) { LookAheadMS = 300, BehaviorWeight = 2 });
for (int m = 000; m < 2000; m += 50)
{
ContextBehaviors.Add(new DogeWow(this)
{
LookAheadMS = m + 50, BehaviorWeight = 1
});
}
ContextBehaviors.Add(Separation = new Separation(this)
{
LookAheadMS = 500, BehaviorWeight = 2.0f
});
ContextBehaviors.Add(StayInBounds = new StayInBounds(this)
{
LookAheadMS = 1000, BehaviorWeight = 10f
});
Sensors.Add(SensorCTF = new SensorCTF(this));
Navigation.TargetPoint = new Vector2(0, 0);
Steps = 16;
}
protected override void DoStartAsync(object stoppingToken)
{
Logger.LogInformation($"{sensorsCount} connected sensor(s)");
for (int i = 0; i < sensorsCount; i++)
{
int rndROM = 111111111 + i;
using (var scope = ScopeFactory.CreateScope())
{
IUnitOfWork <Sensor> sensorsUnitOfWork = scope.ServiceProvider.GetRequiredService <IUnitOfWork <Sensor> >();
var dbSensor = sensorsUnitOfWork.GetRepository().Query().FirstOrDefault(sn => sn.ROM == rndROM.ToString());
if (dbSensor == null)
{
Sensors.Add(new SensorDTO()
{
SensorID = rndROM, Name = $"Dummy sensor {i}", ROM = rndROM.ToString(), DeviceName = $"Sensor {rndROM}"
});
}
else
{
Sensors.Add(new SensorDTO()
{
SensorID = dbSensor.snID, Name = dbSensor.Name, ROM = dbSensor.ROM, DeviceName = $"Sensor {rndROM}"
});
}
Logger.LogInformation($"Added to list sensor with ROM: {rndROM}");
}
}
}
/// <summary>
/// 数字量数据处理
/// </summary>
/// <param name="num">在线数</param>
/// <param name="index">下标</param>
/// <param name="data">数据</param>
/// <param name="type">类型编码</param>
private void ProcessActuatorData(int num, ref int index, byte[] data, int type)
{
string name = Digital[type];
type += 1;
if (name == "照明灯")
{
for (int i = 0; i < num; i++)
{
index = ProcessLamp(index, data, type, name);
}
}
else //其他数字量传感器逻辑
{
for (int i = 0; i < num; i++)
{
Actuator actuator = new Actuator();
actuator.Id = Convert.ToString(data[index++], 16);
actuator.Name = name;
actuator.Type = type;
int state = data[index++];
actuator.State = GetState(state);
actuator.IsOpen = state == 1 ? false : true;
actuator.Online = state == 0 ? StateType.Offline : StateType.Online;
actuator.Controllable = name != "人体" && name != "气体";
Sensors.Add(actuator);
}
}
}
public Task AddSensor(ISensor sensor)
{
_logger.LogInformation("Adding new sensor to parking location");
Sensors.Add(sensor);
return(Task.CompletedTask);
}
public BoontonPiStatusViewModel(IBackgroundHandler backgroundHandler, IBoontonPi device) : base(backgroundHandler, device)
{
foreach (var sensor in Device.Sensors)
{
Sensors.Add(new SensorInfoViewModel(sensor));
}
}
public void Init()
{
Sensors.Add(CreateSensorItem("Accelerometer", sensorManager.Accelerometer));
Sensors.Add(CreateSensorItem("Contact", sensorManager.Contact));
Sensors.Add(CreateSensorItem("Distance", sensorManager.Distance));
Sensors.Add(CreateSensorItem("Gyroscope", sensorManager.Gyroscope));
Sensors.Add(CreateSensorItem("Heart Rate", sensorManager.HeartRate));
Sensors.Add(CreateSensorItem("Pedometer", sensorManager.Pedometer));
Sensors.Add(CreateSensorItem("Skin Temperature", sensorManager.SkinTemperature));
Sensors.Add(CreateSensorItem("Ultraviolet Light", sensorManager.UltravioletLight));
}
private void FillListOfSensors(IList <IMovement> movements)
{
int count = movements[0].Sensors.Count;
for (int i = 0; i < count; i++)
{
var allSensorsOfCertainIndex = GetAllSensors(movements, indexOfSensors: i);
Sensors.Add(new MeanSensor(allSensorsOfCertainIndex));
}
}
/// <summary>
/// 处理空调数据
/// </summary>
/// <param name="num">在线数</param>
/// <param name="index">索引</param>
/// <param name="data">数据</param>
/// <param name="type">传感器类型</param>
/// <returns></returns>
private int ProcessAir(int num, int index, byte[] data, int type)
{
for (int i = 0; i < num; i++)
{
AirConditioning airConditioning = new AirConditioning();
airConditioning.Id = Convert.ToString(data[index++], 16);
byte height = data[index++];
airConditioning.State = ((height >> 7) & 0x01) == 1 ? StateType.StateOpen : StateType.StateClose;
airConditioning.IsOpen = airConditioning.State == StateType.StateOpen;
byte low = data[index++];
if (height == 0 && low == 0)
{
airConditioning.Online = StateType.Offline;
}
else
{
airConditioning.Online = StateType.Online;
}
airConditioning.IsOpen = height >> 7 == 1;
int model = height >> 4;
switch (model)
{
case 0:
airConditioning.Model = "自动";
break;
case 1:
airConditioning.Model = "制冷";
break;
case 2:
airConditioning.Model = "除湿";
break;
case 3:
airConditioning.Model = "送风";
break;
case 4:
airConditioning.Model = "制热";
break;
}
airConditioning.Speed = (height >> 2) & 3;
airConditioning.SweepWind = height >> 1 == 1 ? "扫风" : "不扫风";
float val = (0x0f & low);
airConditioning.Value = val + 16 + "℃";
airConditioning.Name = "空调";
airConditioning.Controllable = true;
airConditioning.Type = type;
Sensors.Add(airConditioning);
}
return(index);
}
public BiUniversalMovement(IMovement primary, IMovement secondary, GraphProviderDelegate graphProvider)
{
if (primary.Sensors.Count != secondary.Sensors.Count)
{
throw new DifferentCountOfSensorsException();
}
for (int i = 0; i < primary.Sensors.Count; i++)
{
Sensors.Add(new BiUniversalSensor(primary.Sensors[i], secondary.Sensors[i], graphProvider));
}
}
private void setupFakeData()
{
Random r = new Random();
foreach (string s in sensorNameLocations.Keys)
{
var temp = Math.Round(r.Next(30, 104) + r.NextDouble(), 2);
Sensors.Add(new Sensor()
{
Sensor_ID = 0, Name = s + " Sensor", Temperature = temp, AvgTemperature = temp + r.Next(-5, 5), imageSrc = sensorNameLocations[s]
});
}
}
public bool AddSensor(Sensor sensor)
{
if (_sensorDictionary.TryGetValue(sensor.Name, out int i))
{
return(false);
}
else
{
Sensors.Add(sensor);
_sensorDictionary.Add(sensor.Name, Sensors.Count - 1);
return(true);
}
}
public BoontonPiControlViewModel(IBackgroundHandler backgroundHandler, IBoontonPi device, IPiControlPublisher commandPublisher) : base(backgroundHandler, device)
{
_commandPublisher = commandPublisher;
foreach (var sensor in Device.Sensors)
{
Sensors.Add(new SensorControlViewModel(sensor, _commandPublisher));
}
StartPollingCommand = new MvxAsyncCommand(OnStartPi);
StopPollingCommand = new MvxAsyncCommand(OnStopPi);
BoontonStartupCommand = new MvxAsyncCommand(OnBoontonStartup);
BoontonCloseSensorsCommand = new MvxAsyncCommand(OnBoontonCloseSensors);
BoontonResetSensorsCommand = new MvxAsyncCommand(OnBoontonResetSensors);
}
// Todo add error handling
public async Task <bool> AddSensorAsync(Sensor sensor)
{
try
{
Sensors.Add(sensor);
await SaveChangesAsync().ConfigureAwait(false);
return(true);
}
catch (Exception e)
{
Console.WriteLine("Add Sensor error: " + e);
return(false);
}
}
private void SetupSimulator()
{
Simulator simulator = new Simulator(itemsList);
simulator.Items.ForEach(item => {
if (item.ItemType.Equals(typeof(ISensor)))
{
Sensors.Add(item);
}
else if (item.ItemType.Equals(typeof(IActuator)))
{
Actuators.Add(item);
}
});
}
private void DrawData(SensorData data)
{
var existingData = Sensors.FirstOrDefault(s => s.SensorName == data.SensorName);
App.Current.Dispatcher.Invoke((Action) delegate
{
if (existingData != null)
{
existingData.SoundLevel = data.SoundLevel;
}
else
{
Sensors.Add(data);
}
});
}
private void Port_SensorIDRecivedEventHandler(object sender, SerialDataIDEventArgs e)
{
bool flag = true;
foreach (TemperatureSensor sens in Sensors)
{
if (sens.SensorID == e.message)
{
flag = false;
}
}
if (flag)
{
Sensors.Add(new TemperatureSensor(e.message));
}
}
protected override void ReconcileSensors()
{
var deviceSerialNumbers = from sensor in Device.Sensors select sensor.SerialNumber;
var ocSerialNumbers = from sensor in Sensors select sensor.SerialNumber;
var deviceMissing = ocSerialNumbers.Where(x => !deviceSerialNumbers.Any(x.Contains));
var ocMissing = deviceSerialNumbers.Where(x => !ocSerialNumbers.Any(x.Contains));
try
{
//Add new viewmodels previously not found in device info
foreach (var serialNumber in ocMissing)
{
var newSensor = Device.Sensors.Where(x => string.Equals(x.SerialNumber, serialNumber, StringComparison.OrdinalIgnoreCase)).Single();
Sensors.Add(new SensorControlViewModel(newSensor, _commandPublisher));
}
}
catch (Exception ex)
{
Debug.WriteLine($"Boonton Pi Status Add New Sensors Error {ex.Message}");
}
//Remove old viewmodels no longer found in device manager
var tmp = new List <ISensorInfoViewModel>();
foreach (var vm in Sensors)
{
if (!deviceSerialNumbers.Contains(vm.SerialNumber))
{
tmp.Add(vm);
}
}
try
{
foreach (var item in tmp)
{
var index = Sensors.IndexOf(item);
var vm = Sensors[index];
Sensors.RemoveAt(index);
vm = null;
}
}
catch (Exception ex)
{
Debug.WriteLine($"Boonton Pi Status Remove Old Sensors Error {ex.Message}");
}
}
public void Init()
{
Sensors.Add(CreateSensorItem("Accelerometer", sensorManager.Accelerometer, 3));
Sensors.Add(CreateSensorItem("Altimeter", sensorManager.Altimeter, 9));
Sensors.Add(CreateSensorItem("Ambient Light", sensorManager.AmbientLight, 1));
Sensors.Add(CreateSensorItem("Barometer", sensorManager.Barometer, 2));
Sensors.Add(CreateSensorItem("Calories", sensorManager.Calories, 1));
Sensors.Add(CreateSensorItem("Contact", sensorManager.Contact, 1));
Sensors.Add(CreateSensorItem("Distance", sensorManager.Distance, 4));
Sensors.Add(CreateSensorItem("Gyroscope", sensorManager.Gyroscope, 3));
Sensors.Add(CreateSensorItem("Gsr", sensorManager.Gsr, 1));
Sensors.Add(CreateSensorItem("Heart Rate", sensorManager.HeartRate, 2));
Sensors.Add(CreateSensorItem("Pedometer", sensorManager.Pedometer, 1));
Sensors.Add(CreateSensorItem("RR Interval", sensorManager.RRInterval, 1));
Sensors.Add(CreateSensorItem("Skin Temperature", sensorManager.SkinTemperature, 1));
Sensors.Add(CreateSensorItem("Ultraviolet Light", sensorManager.UltravioletLight, 1));
}
private void GenerateCollection()
{
try
{
LogView = $"Generate new Charts";
Sensors.Clear();
Generator.GetSensors().ForEach(item => Sensors.Add(new SensorViewModel(item)));
UpdateCharts(); //Строим графики
}
catch (Exception ex)
{
var log = ExceptionHandler.Handler(ex);
Log.WriteLog(log);
MessageBox.Show(log, "Error! ", MessageBoxButton.OK, MessageBoxImage.Error);
LogView = $"Error! {log}";
}
}
/// <summary>
/// 处理光照传感器数据
/// </summary>
/// <param name="num">在线数</param>
/// <param name="index">索引</param>
/// <param name="data">数据</param>
/// <param name="type">传感器类型</param>
/// <returns></returns>
private int ProcessIllumination(int num, int index, byte[] data, int type)
{
for (int i = 0; i < num; i++)
{
Digital digital = new Digital();
digital.Id = Convert.ToString(data[index++], 16);
double value = data[index++] << 8 | data[index++];
digital.Value = value + " lx";
digital.Name = "光照";
digital.Type = type;
digital.Online = value == 0 ? StateType.Offline : StateType.Online;
digital.State = value != 0 ? StateType.StateOpen : StateType.StateClose;
digital.Controllable = false;
Sensors.Add(digital);
}
return(index);
}
/// <summary>
/// 处理照明灯的逻辑
/// </summary>
/// <param name="index">模块数量</param>
/// <param name="data">数据</param>
/// <param name="type">类型编码</param>
/// <param name="name">模块名称</param>
/// <returns></returns>
private int ProcessLamp(int index, byte[] data, int type, string name)
{
Actuator Lamp1 = new Actuator();
string moduleId = Convert.ToString(data[index++], 16);
Lamp1.Name = name;
Lamp1.Type = type;
int state = data[index++];
int moduleNum = state >> 7;
if (moduleNum == 1) //一个节点控制两盏灯
{
//将单个节点控制多个灯的状态值保存起来
Cache.AddCache(classRoomId, state);
int moduleState = state & 0x1;
Lamp1.Id = moduleId + "_0";
Lamp1.State = moduleState != 0 ? StateType.StateOpen : StateType.StateClose;
Lamp1.IsOpen = moduleState == 1;
//数据位第4位表示在线状态
Lamp1.Online = OnLineState(state);
Lamp1.Controllable = true;
Sensors.Add(Lamp1);
Actuator Lamp2 = new Actuator();
Lamp2.Name = name;
Lamp2.Type = type;
Lamp2.Id = moduleId + "_1";
int module1State = (state >> 1) & 0x1;
Lamp2.State = module1State != 0 ? StateType.StateOpen : StateType.StateClose;
Lamp2.IsOpen = module1State == 1;
Lamp2.Online = OnLineState(state);
Lamp2.Controllable = true;
Sensors.Add(Lamp2);
}
else
{
Lamp1.Id = moduleId;
Lamp1.State = (state & 1) != 0 ? StateType.StateOpen : StateType.StateClose;
Lamp1.IsOpen = (state & 1) == 1;
Lamp1.Online = OnLineState(state);
Lamp1.Controllable = true;
Sensors.Add(Lamp1);
}
return(index);
}
private void HandleSensorMessage(Sensor sensor)
{
if (sensor != null)
{
Sensor lastSensor = service.All().LastOrDefault();
Sensor lastSensorFromList = Sensors.LastOrDefault();
if (lastSensorFromList != null)
{
if (lastSensorFromList.Sensor_id != lastSensor.Sensor_id)
{
Sensors.Add(lastSensor);
}
}
else
{
Sensors.Add(lastSensor);
}
}
}
private void AddSensors()
{
irSensor = new PassiveInfraRedSensor()
{
Name = "Motion Sensor", Port = "D2"
};
Sensors.Add(irSensor);
blinky = new Led()
{
Name = "Blinky", Port = "D5"
};
Sensors.Add(blinky);
buzzer = new VibrationMotor()
{
Name = "Vibration Motor", Port = "D6"
};
Sensors.Add(buzzer);
}
