public MoveStatus Move()
{
MoveStatus flag = MoveStatus.OTHER;
curPos = (status == DroneStatus.PARKED) ? curPos : curPos + direction * SPEED;
// if drone is moving(drone not parked)
// and drone reached the current destination
if (status != DroneStatus.PARKED && Utility.IsLessThan(curPos - dstPos, epsilon))
{
if (Utility.IsLessThan(dstPos - hoverPos, epsilon)) // drone has finished takeoff
{
if (status == DroneStatus.TAKEOFF) // end of takeoff
{
status = DroneStatus.TO_SHELF;
dstPos = eventPos;
}
}
else if (Utility.IsLessThan(dstPos - eventPos, epsilon)) // Drone reached the event
//else
{
status = DroneStatus.PARKED;
curPos = parkingPos;
flag = MoveStatus.END_TO_SHELF;
}
}
gameObjectPointer.transform.position = curPos;
return(flag);
}
void Start()
{
droneCount++;
status = DroneStatus.going;
target = GameObject.FindGameObjectWithTag("Player");
}
public Drone(int droneId, Vector3 initPos)
{
this.droneId = droneId;
this.isPaused = false;
this.safetyStatus = SafetyStatus.NOT_SAFE;
this.parkingPos = this.curPos = initPos;
this.hoverPos = this.parkingPos + hoverShift;
this.status = DroneStatus.PARKED;
this.isWarning = false;
this.isCollided = false;
// create game object
// Debug.Log("Created new drone with id: " + droneId);
GameObject baseObject = TrafficControl.worldobject.GetComponent <TrafficControl>().droneBaseObject;
gameObjectPointer = Object.Instantiate(baseObject, initPos, Quaternion.identity);
gameObjectPointer.GetComponent <DroneProperties>().classPointer = this;
gameObjectPointer.name = string.Concat("Drone", droneId.ToString());
gameObjectPointer.layer = 2;
// gameObjectPointer.gameObject.tag = string.Concat("Drone", droneId.ToString());
gameObjectPointer.transform.parent = TrafficControl.worldobject.transform;
GameObject arrow1 = gameObjectPointer.GetComponent <DroneProperties>().Arrows;
arrows1 = Object.Instantiate(arrow1, initPos, Quaternion.Euler(0f, -90f, 0f));
arrows1.transform.parent = TrafficControl.worldobject.transform;
GameObject arrow2 = gameObjectPointer.GetComponent <DroneProperties>().Arrows;
arrows2 = Object.Instantiate(arrow2, initPos, Quaternion.Euler(0f, -270f, 0f));
arrows2.transform.parent = TrafficControl.worldobject.transform;
arrows1.SetActive(false);
arrows2.SetActive(false);
ring_2 = gameObjectPointer.transform.Find("warningSphere").gameObject;
}
public MainWindow()
{
InitializeComponent();
leftJoystick = new Joystick(img_left_joystick, left_joystick_panel);
rightJoystick = new Joystick(img_right_joystick, right_joystick_panel);
joystickAdjuster = new DispatcherTimer();
joystickAdjuster.Interval = new TimeSpan(15000);
joystickAdjuster.Tick += joystickAdjuster_Tick;
joystickAdjuster.Start();
red = new SolidColorBrush((Color)App.Current.TryFindResource("color_red"));
green = new SolidColorBrush((Color)App.Current.TryFindResource("color_green"));
defaultIps = new List <string>()
{
"127.0.0.1", "192.168.1.166", "192.168.10.1"
};
list_ips.ItemsSource = defaultIps;
txt_drone_ip.Text = defaultIps[0];
status = new DroneStatus();
videoReceiverStarted = false;
joystickDataSender = new DispatcherTimer();
joystickDataSender.Tick += JoystickControl;
joystickDataSender.Interval = new TimeSpan(0, 0, 0, 0, 500);
SetJoystickMode();
}
internal void UpdateFromStatus(DroneStatus droneStatus)
{
X = droneStatus.X;
Y = droneStatus.Y;
Z = droneStatus.Z;
BatteryPercentage = droneStatus.BatteryPercentage;
}
private void UpdateDroneAppearance(EntityUid uid, DroneStatus status)
{
if (TryComp <AppearanceComponent>(uid, out var appearance))
{
appearance.SetData(DroneVisuals.Status, status);
}
}
public void AddEvent(Event e)
{
status = DroneStatus.TAKEOFF;
dstPos = hoverPos;
eventPos = e.pos;
direction = Vector3.Normalize(dstPos - parkingPos);
eventId = e.shelfId;
}
private Drone(double capacidade, double velocidade, double autonomia, double carga, DroneStatus status)
{
Capacidade = capacidade;
Velocidade = velocidade;
Autonomia = autonomia;
Carga = carga;
Status = status;
}
public void SetStatus(DroneStatus _status)
{
if (status == DroneStatus.Landing || status == DroneStatus.Rest)
{
return;
}
status = _status;
}
public override void Awake()
{
base.Awake(); //I would suggest you to put code below this line or in a Start() method
Debug.Assert(DFC != null);
Debug.Assert(DP != null);
status = DroneStatus.Trouble;
}
public void AddEvent(Event e)
{
//Debug.Log("Drone " + droneId + " Event " + e.shelfId + " at " + e.pos);
status = DroneStatus.TAKEOFF;
dstPos = hoverPos;
eventPos = e.pos;
direction = Vector3.Normalize(dstPos - parkingPos);
eventId = e.shelfId;
}
bool CheckForTarget()
{
if (Vector3.Distance(this.transform.position, target.transform.position) <= alertDistance)
{
status = DroneStatus.hunting;
return(true);
}
return(false);
}
public Drone(Guid id, double capacidade, double velocidade, double autonomia, double carga, DroneStatus status)
{
Id = id;
Capacidade = capacidade;
Velocidade = velocidade;
Autonomia = autonomia;
Carga = carga;
Status = status;
}
public Poll(int id, int batteryBalance, string failureCode, string location, DateTime pollTime, DroneStatus status, int drone_Id)
{
Id = id;
BatteryBalance = batteryBalance;
FailureCode = failureCode;
Location = location;
PollTime = pollTime;
Status = status;
Drone_Id = drone_Id;
}
public async Task <List <DroneEntity> > GetByStatus(DroneStatus status)
{
using var conn = await DbFactory.OpenAsync();
await conn.CheckBase();
var list = await conn.SelectAsync <Drone>(d => d.Status == status);
return(list.ConvertTo <List <DroneEntity> >());
}
public async Task <IActionResult> Post(CreateDroneRequest request)
{
if (OrganisationId == Guid.Empty)
{
return(Forbid());
}
var droneDto = _mapper.Map <DroneDto>(request);
droneDto.Status = DroneStatus.GetDefaultStatus();
droneDto.OrganisationId = OrganisationId;
await _droneService.CreateAsync(droneDto);
return(Ok());
}
private DroneStatus RetornaStatus(string descricaoStatus)
{
DroneStatus status = DroneStatus.Carregando;
if (descricaoStatus == DroneStatus.Carregando.ToString())
{
status = DroneStatus.Carregando;
}
if (descricaoStatus == DroneStatus.EmTransito.ToString())
{
status = DroneStatus.EmTransito;
}
if (descricaoStatus == DroneStatus.Pronto.ToString())
{
status = DroneStatus.Pronto;
}
return(status);
}
public Drone(int droneId, Vector3 initPos)
{
this.droneId = droneId;
this.parkingPos = this.curPos = initPos;
this.hoverPos = this.parkingPos + hoverShift;
this.status = DroneStatus.PARKED;
this.isCollided = false;
// create game object
GameObject baseObject = TrafficControl.worldobject.GetComponent <TrafficControl>().droneBaseObject;
gameObjectPointer = Object.Instantiate(baseObject, initPos, Quaternion.identity);
gameObjectPointer.GetComponent <DroneProperties>().classPointer = this;
gameObjectPointer.name = string.Concat("Drone", droneId.ToString());
gameObjectPointer.layer = 2;
gameObjectPointer.transform.parent = TrafficControl.worldobject.transform;
}
// Update is called once per frame
void FixedUpdate()
{
if (status == DroneStatus.going)
{
if (!CheckForTarget())
{
MoveTwd(point1, patrolSpeed);
if (CheckDistance(point1, closeEnough))
{
status = DroneStatus.returning;
}
}
}
else if (status == DroneStatus.returning)
{
if (!CheckForTarget())
{
MoveTwd(point2, patrolSpeed);
if (CheckDistance(point2, closeEnough))
{
status = DroneStatus.going;
}
}
}
//separate if in case player is picked up this frame
if (status == DroneStatus.hunting)
{
if (!CheckDistance(target, minDistance))
{
MoveTwd(target, huntSpeed);
}
else
{
this.transform.LookAt(target.transform);
if (transform.position.y > target.transform.position.y)
{
transform.position += new Vector3(0, -1 * Time.deltaTime, 0);
}
}
}
}
public static Drone Criar(double capacidade, double velocidade, double autonomia, double carga, DroneStatus status)
{
return(new Drone(capacidade, velocidade, autonomia, carga, status));
}
public void AtualizarStatus(DroneStatus status)
{
Status = status;
}
void FixedUpdate()
{
GetVelocity();
ClampingSpeedValues();
SettingControllerToInputSettings(); //sensitivity settings for joystick,keyboard,mobile (depending on which is turned on)
if (FlightRecorderOverride == false)
{
// 메뉴 UI 작동중에는 조작 불가능
if (IngameCanvasManager.instance.isCanvasOn)
{
BasicDroneHoverAndRotation();
return;
}
// '컨트롤' 상태일 때에만 조작.
// 아닐 경우에는 호버링
switch (status)
{
case DroneStatus.Control:
#region tutorial movement
if (PlayerPrefsData.instance.isTutorialFinish == 0)
{
int tutorialProcess = QuestManager.instance.GetCurTutorialProcess();
// 조작 제한 튜토리얼
if (tutorialProcess == 0)
{
}
else if (tutorialProcess <= 2)
{
MovementForward();
}
else if (tutorialProcess <= 4)
{
MovementForward(true);
MovementLeftRight();
}
else if (tutorialProcess <= 7)
{
MovementUpDown();
}
else if (tutorialProcess <= 9)
{
MovementUpDown(true);
Rotation();
}
// 자유 이동 튜토리얼
else
{
MovementUpDown();
MovementLeftRight();
Rotation();
MovementForward();
}
}
#endregion
else
{
MovementUpDown();
MovementLeftRight();
Rotation();
MovementForward();
}
// 바람 영향.
// 조종 중에만 영향을 받음.
AddWindyForce();
if (LandingCheck())
{
BeginLanding();
status = DroneStatus.Landing;
}
break;
case DroneStatus.Recall:
ResetDroneVelocity();
break;
case DroneStatus.Talk:
MovementUpDown(true);
ResetDroneVelocity();
break;
case DroneStatus.Trouble:
MovementUpDown(true);
DirectDroneRecoverMoment(transform.eulerAngles.y);
if (PlayerPrefsData.instance.isTutorialFinish == 1)
{
RecoverTrouble();
}
break;
case DroneStatus.Landing:
if (PlayerController.instance.GetStatus() != PlayerStatus.Stay)
{
return;
}
MovementLeftRight(true);
MovementForward(true);
MovementUpDown();
if (TurnOffCheck())
{
DP.TurnOffTrigger();
ourDrone.velocity = Vector3.zero;
ourDrone.angularVelocity = Vector3.zero;
status = DroneStatus.Rest;
}
else if (DepartureCheck())
{
EndLanding();
status = DroneStatus.Control;
}
break;
case DroneStatus.Rest:
if (PlayerController.instance.GetStatus() != PlayerStatus.Stay)
{
return;
}
if (TurnOnCheck())
{
DP.TurnOnTrigger();
}
break;
}
// Hovering
BasicDroneHoverAndRotation(); //this method applies all the forces and rotations to the drone.
}
}
public ARDrone(string IP)
{
status = DroneStatus.Invalid;
if (System.Net.IPAddress.TryParse(IP, out ip))
{
ping = new Pinger(this);
this.Status = DroneStatus.NotConnected;
navData = new NavData(this);
configurator = new Configurator(this);
commander = new Commander(this);
positioner = new Positioner(this);
targeter = new Target(this);
flyCommand = new FlyCommand(this);
}
}
public DroneStatusChangedEventArgs(DroneStatus CurrentStatus, DroneStatus FormerStatus)
{
this.Status = CurrentStatus;
this.FormerStatus = FormerStatus;
}
public void UpdateStatus(DroneStatus status)
{
Status = status;
}
/// <summary>
/// Update the status of drone and Move
/// </summary>
/// <returns>
/// drone paused: 0;
/// end of to_shelf trip: 1;
/// end of whole trip: 2;
/// otherwise: -1
/// </returns>
public MoveStatus Move()
{
MoveStatus flag = MoveStatus.OTHER;
if (isPaused)
{
// if (pauseCounter-- == 0)
// {
// isPaused = false;
// }
return(flag);
}
// curPos = status == 0 ? gameObjectPointer.transform.position : gameObjectPointer.transform.position + direction * SPEED;
// direction = Utility.shelves[eventId] - curPos;
// direction = GameObject.Find("Event" + eventId.ToString()).transform.position - curPos;
curPos = status == DroneStatus.PARKED ? curPos : curPos + direction * SPEED;
// Debug.Log("Move drone " + droneId + " with dir: " + direction + " to pos: " + curPos);
// New Code
if (safetyStatus == SafetyStatus.TO_SAFE_ZONE)
{
if (curPos.y >= 30.0f)
{
safetyStatus = SafetyStatus.SAFE;
safetyFlightStartTime = Time.time;
}
else
{
//Directionally Upward:
curPos = curPos + new Vector3(0, SPEED * safetySpeedMultiplier, 0);
// Straight Upward:
//Vector3 orgPos = curPos - direction * SPEED;
//curPos = orgPos + new Vector3(0, SPEED*safetySpeedMultiplier, 0);
}
}
else if (safetyStatus == SafetyStatus.SAFE)
{
//Debug.Log("Safe zone");
if (Time.time - safetyFlightStartTime > safetyTime)
{
safetyStatus = SafetyStatus.TO_NONSAFE_ZONE;
safetyFlightStartTime = 0;
}
else
{
Vector3 orgPos = curPos - direction * SPEED;
curPos = orgPos + new Vector3(direction.x * SPEED, 0, direction.z * SPEED);
}
}
else if (safetyStatus == SafetyStatus.TO_NONSAFE_ZONE)
{
//Debug.Log("Non-safe zone");
if (curPos.y < 30.0f)
{
safetyStatus = SafetyStatus.NOT_SAFE;
}
}
// End of New code
flag = MoveStatus.OTHER;
if (status != DroneStatus.PARKED && Utility.IsLessThan(curPos - dstPos, epsilon))
{
// Debug.Log(status + " " + curPos + " " + dstPos + " " + hoverPos + " " + parkingPos + " " + eventPos);
if (Utility.IsLessThan(dstPos - hoverPos, epsilon))
{
if (status == DroneStatus.TAKEOFF) // end of takeoff
{
Utility.DeleteChild(this.gameObjectPointer, "Line");
status = DroneStatus.TO_SHELF;
dstPos = eventPos;
// Debug.Log(droneId + "end of takeoff, now to event: " + eventPos + "cur: " + curPos);
}
}
else if (Utility.IsLessThan(dstPos - eventPos, epsilon)) // Drone Reached the event
{
// cur_s = 2 --> 3
// end of to_shelf trip
status = DroneStatus.PARKED;
curPos = parkingPos;
flag = MoveStatus.END_TO_SHELF;
}
}
gameObjectPointer.transform.position = curPos;
// gameObjectPointer.transform.rotation = Quaternion.identity;
// gameObjectPointer.transform.rotation = TrafficControl.worldobject.transform.rotation;
if (EnableArrows)
{
DisplayArrow();
}
return(flag);
}
