public void Init(Transform _target, string beatType, PlayerDirection _direction)
{
beat = BeatFactory.GetBeat(beatType);
currentSection = MapUtil.getCurrentSection();
KeyToPress = BeatUtil.GetKeyCodeFromDirection(_direction);
canBePresssed = false;
target = _target;
direction = _direction;
lifeTime = 0f;
transform.rotation = _target.rotation;
SpriteRenderer spr = GetComponent <SpriteRenderer>();
spr.color = _target.GetComponent <SpriteRenderer>().color;
}
private void InitializeStructures()
{
MapSection section = GetSection("Structures");
if (section != null)
{
structures = new List <Structure>();
foreach (KeyValuePair <string, string> entry in section.Entries)
{
string[] parts = entry.Value.Split(',');
if (parts.Length >= 17)
{
try
{
string owner = parts[0].Trim();
string structureID = parts[1].Trim();
int health = int.Parse(parts[2], NumberStyles.Integer);
int x = int.Parse(parts[3], NumberStyles.Integer);
int y = int.Parse(parts[4], NumberStyles.Integer);
int facing = int.Parse(parts[5], NumberStyles.Integer);
string tag = parts[6].Trim();
int sellable = int.Parse(parts[7], NumberStyles.Integer);
int rebuildable = int.Parse(parts[8], NumberStyles.Integer);
int poweredOn = int.Parse(parts[9], NumberStyles.Integer);
int upgradesCount = int.Parse(parts[10], NumberStyles.Integer);
int spotlight = int.Parse(parts[11], NumberStyles.Integer);
string upgrade1 = parts[12].Trim();
string upgrade2 = parts[13].Trim();
string upgrade3 = parts[14].Trim();
int repairable = int.Parse(parts[15], NumberStyles.Integer);
int nominal = int.Parse(parts[16], NumberStyles.Integer);
structures.Add(new Structure(owner, structureID, health, x, y, facing, tag, sellable, rebuildable, poweredOn,
upgradesCount, spotlight, upgrade1, upgrade2, upgrade3, repairable, nominal));
}
catch (Exception)
{
log.Error("Error reading Structures entry with index: " + entry.Key);
}
}
else
{
log.Error("Error reading Structures entry having less parameters with index: " + entry.Key);
}
}
}
}
private MapSection GetSection(string sectionName)
{
MapSection mapSection = null;
if (MapSections != null && !String.IsNullOrEmpty(sectionName))
{
try
{
mapSection = MapSections.Find(section => section.Name.Equals(sectionName));
}
catch (Exception)
{
log.Info("Section not found: [" + sectionName + "]");
}
}
return(mapSection);
}
private void InitializeUnits()
{
MapSection section = GetSection("Units");
if (section != null)
{
units = new List <Unit>();
foreach (KeyValuePair <string, string> entry in section.Entries)
{
string[] parts = entry.Value.Split(',');
if (parts.Length >= 14)
{
try
{
string index = entry.Key;
string owner = parts[0].Trim();
string unitID = parts[1].Trim();
int health = int.Parse(parts[2], NumberStyles.Integer);
int x = int.Parse(parts[3], NumberStyles.Integer);
int y = int.Parse(parts[4], NumberStyles.Integer);
int facing = int.Parse(parts[5], NumberStyles.Integer);
string mission = parts[6].Trim();
string tag = parts[7].Trim();
int veterancy = int.Parse(parts[8], NumberStyles.Integer);
int group = int.Parse(parts[9], NumberStyles.Integer);
int highOnBridge = int.Parse(parts[10], NumberStyles.Integer);
string followerIndex = parts[11].Trim();
int acNoRecruitable = int.Parse(parts[12], NumberStyles.Integer);
int acYesRecruitable = int.Parse(parts[13], NumberStyles.Integer);
units.Add(new Unit(index, owner, unitID, health, x, y, facing, mission, tag, veterancy, group,
highOnBridge, followerIndex, acNoRecruitable, acYesRecruitable));
}
catch (Exception)
{
log.Error("Error reading Unit entry with index: " + entry.Key);
}
}
else
{
log.Error("Error reading Unit entry having less parameters with index: " + entry.Key);
}
}
}
}
public void TestRequiresQuadPrecision()
{
string connectionId = "dummy";
int maxIterations = 100;
CanvasSize canvasSize = new CanvasSize(1000, 1000);
//DPoint leftBot = new DPoint(-0.7764118407199196, 0.13437492059936854);
//DPoint rightTop = new DPoint(-0.7764117329761986, 0.13437499747905846);
SPoint leftBot = new SPoint("-0.7764118407199196", "0.13437492059936854");
SPoint rightTop = new SPoint("-0.7764118407199300", "0.13437499747905846");
SCoords coords = new SCoords(leftBot, rightTop);
MapSection area = new MapSection(new Point(0, 0), canvasSize.GetWholeUnits(Engine.BLOCK_SIZE));
SMapWorkRequest mapWorkRequest = new SMapWorkRequest("FET2", coords, canvasSize, area, maxIterations, connectionId);
bool requiresQuadPrecision = mapWorkRequest.RequiresQuadPrecision();
}
void PlaceEnemy(MapSection s)
{
if (s.m_room == null)
{
return;
}
if (s.m_room.m_type == RoomType.ENTRANCE)
{
return;
}
float rnd_x = Mathf.Floor(s.GetMidpoint().x + Random.Range(1 - s.m_room.m_size, s.m_room.m_size - 1)) * m_map_square_size;
float rnd_y = Mathf.Floor(s.GetMidpoint().y + Random.Range(1 - s.m_room.m_size, s.m_room.m_size - 1)) * m_map_square_size;
Vector3 pos = new Vector3(rnd_x, 0, rnd_y);
Instantiate(GetRandomSpawn(), pos, Quaternion.identity);
}
private FJobRequest CreateFJobRequest(SCoordsWorkRequest sCoordsWorkRequest, int jobId)
{
SCoords sCoords = sCoordsWorkRequest.SCoords;
MqMessages.Coords coords = new MqMessages.Coords(sCoords.LeftBot.X, sCoords.RightTop.X, sCoords.LeftBot.Y, sCoords.RightTop.Y);
CanvasSize cs = sCoordsWorkRequest.CanvasSize;
SizeInt samplePoints = new SizeInt(cs.Width, cs.Height);
MapSection ms = sCoordsWorkRequest.MapSection;
RectangleInt area = new RectangleInt(new PointInt(ms.SectionAnchor.X, ms.SectionAnchor.Y), new SizeInt(ms.CanvasSize.Width, ms.CanvasSize.Height));
string name = "CoordsRequest";
FJobRequest fJobRequest = new FJobRequest(jobId, name, FJobRequestType.TransformCoords, coords, area, samplePoints, 0, sCoordsWorkRequest.TransformType);
return(fJobRequest);
}
static SMapWorkRequest CreateWorkRequest(int jobId)
{
CanvasSize canvasSize = new CanvasSize(300, 200);
DPoint leftBot = new DPoint(-2, -1);
DPoint rightTop = new DPoint(1, 1);
SCoords coords = new SCoords(new SPoint(leftBot), new SPoint(rightTop));
MapSection area = new MapSection(new Point(0, 0), canvasSize.GetWholeUnits(Engine.BLOCK_SIZE));
int maxIterations = 100;
string connectionId = "dummy";
SMapWorkRequest mapWorkRequest = new SMapWorkRequest("FEngRunner", coords, canvasSize, area, maxIterations, connectionId)
{
JobId = jobId
};
return(mapWorkRequest);
}
public Zombie(MapSection section) : base(EnemyTypes.Zombie, EnemyConstants.GetZombieProperties(), "Entities/Zombie.png", section)
{
_ai = new MeleeAI(this, EnemyConstants.ZombieAggroRange, new Melee(this, EnemyConstants.ZombieMinDamage, EnemyConstants.ZombieMaxDamage), EnemyConstants.ZombieWanderLength);
HitboxSize = 0.8f;
Width = 64;
Height = 64;
AttackRange = EnemyConstants.ZombieAttackRange;
Animations = new AnimationList();
var spawnAnimation = new Animation(AnimationTypes.Spawn);
spawnAnimation.AddFrame(new Rectangle(TextureSize * 13, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.5));
spawnAnimation.AddFrame(new Rectangle(TextureSize * 14, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.5));
spawnAnimation.AddFrame(new Rectangle(TextureSize * 14, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.05), SpawnedFunc);
Animations.Add(spawnAnimation);
var walkAnimation = new Animation(AnimationTypes.Move);
walkAnimation.AddFrame(new Rectangle(TextureSize * 9, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.4));
walkAnimation.AddFrame(new Rectangle(TextureSize * 10, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.4));
walkAnimation.AddFrame(new Rectangle(TextureSize * 11, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.4));
walkAnimation.AddFrame(new Rectangle(TextureSize * 12, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.4));
Animations.Add(walkAnimation);
var attackAnimation = new Animation(AnimationTypes.Attack);
attackAnimation.AddFrame(new Rectangle(TextureSize * 7, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.35));
attackAnimation.AddFrame(new Rectangle(TextureSize * 8, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.4), AttackedFunc);
attackAnimation.AddFrame(new Rectangle(TextureSize * 8, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.1), DoneAttackingFunc);
Animations.Add(attackAnimation);
var dieAnimation = new Animation(AnimationTypes.Death);
dieAnimation.AddFrame(new Rectangle(TextureSize * 0, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.1), OnDeath);
dieAnimation.AddFrame(new Rectangle(TextureSize * 0, 1, TextureSize, TextureSize), TimeSpan.FromSeconds(0.1));
dieAnimation.AddFrame(new Rectangle(TextureSize * 0, 2, TextureSize, TextureSize), TimeSpan.FromSeconds(0.1));
dieAnimation.AddFrame(new Rectangle(TextureSize * 0, 3, TextureSize, TextureSize), TimeSpan.FromSeconds(0.1));
dieAnimation.AddFrame(new Rectangle(TextureSize * 0, 4, TextureSize, TextureSize), TimeSpan.FromSeconds(0.1));
dieAnimation.AddFrame(new Rectangle(TextureSize * 0, 5, TextureSize, TextureSize), TimeSpan.FromSeconds(0.1));
dieAnimation.AddFrame(new Rectangle(TextureSize * 0, 6, TextureSize, TextureSize), TimeSpan.FromSeconds(0.1));
dieAnimation.AddFrame(new Rectangle(TextureSize * 6, 6, TextureSize, TextureSize), TimeSpan.FromSeconds(0.1), OnDeathFinished);
Animations.Add(dieAnimation);
}
void PlaceRandomFeature(MapSection s)
{
if (s.m_room == null)
{
return;
}
if (m_map_features.Length == 0)
{
return;
}
float rnd_x = Mathf.Floor(s.GetMidpoint().x + Random.Range(1 - s.m_room.m_size, s.m_room.m_size - 1)) * m_map_square_size;
float rnd_y = Mathf.Floor(s.GetMidpoint().y + Random.Range(1 - s.m_room.m_size, s.m_room.m_size - 1)) * m_map_square_size;
Vector3 pos = new Vector3(rnd_x, 0, rnd_y);
GameObject rnd_feature = m_map_features[Random.Range(0, m_map_features.Length)];
Instantiate(rnd_feature, pos, Quaternion.identity);
}
private void UpdateOverlaySections()
{
MapSection overlaySection = GetSection("OverlayPack");
MapSection overlayDataSection = GetSection("OverlayDataPack");
if (overlaySection != null && overlayDataSection != null)
{
byte[] overlayPack = new byte[1 << 18];
byte[] overlayDataPack = new byte[1 << 18];
for (int i = 0; i < 262144; i++)
{
overlayPack[i] = 0xFF;
overlayDataPack[i] = 0;
}
if (overlays != null && overlays.Count > 0)
{
foreach (Overlay entry in overlays)
{
int location = (entry.MapY * 512) + entry.MapX;
overlayPack[location] = (byte)entry.OverlayIndex;
overlayDataPack[location] = (byte)entry.OverlayFrame;
}
}
string oPackEncoded = Convert.ToBase64String(Format5.Encode(overlayPack, 80), Base64FormattingOptions.None);
string oDataPackEncoded = Convert.ToBase64String(Format5.Encode(overlayDataPack, 80), Base64FormattingOptions.None);
overlaySection.Entries.Clear();
overlayDataSection.Entries.Clear();
for (int i = 0, j = 1; i < oPackEncoded.Length; i += 70)
{
overlaySection.Entries.Add(j++.ToString(CultureInfo.InvariantCulture), oPackEncoded.Substring(i, Math.Min(70, oPackEncoded.Length - i)));
}
for (int i = 0, j = 1; i < oDataPackEncoded.Length; i += 70)
{
overlayDataSection.Entries.Add(j++.ToString(CultureInfo.InvariantCulture), oDataPackEncoded.Substring(i, Math.Min(70, oDataPackEncoded.Length - i)));
}
}
}
public Archer(MapSection section) : base(EnemyTypes.Archer, EnemyConstants.GetArcherProperties(), "Entities/Archer.png", section)
{
_ai = new RangeAI(this, EnemyConstants.ArcherAggroRange, EnemyConstants.ArcherWanderLength, new RangeAttack(this, 12, 18, MissileTypes.Arrow, EnemyConstants.ArcherArrowCooldown));
HitboxSize = 0.93f;
Width = 64;
Height = 64;
AttackRange = 625;
Animations = new AnimationList();
var spawnAnimation = new Animation(AnimationTypes.Spawn);
spawnAnimation.AddFrame(new Rectangle(0, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.05), SpawnedFunc);
Animations.Add(spawnAnimation);
var walkAnimation = new Animation(AnimationTypes.Move);
walkAnimation.AddFrame(new Rectangle(TextureSize * 0, TextureSize * 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.25));
walkAnimation.AddFrame(new Rectangle(TextureSize * 1, TextureSize * 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.25));
walkAnimation.AddFrame(new Rectangle(TextureSize * 2, TextureSize * 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.25));
walkAnimation.AddFrame(new Rectangle(TextureSize * 3, TextureSize * 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.25));
Animations.Add(walkAnimation);
var attackAnimation = new Animation(AnimationTypes.Attack);
attackAnimation.AddFrame(new Rectangle(TextureSize * 0, TextureSize * 1, TextureSize, TextureSize), TimeSpan.FromSeconds(0.25));
attackAnimation.AddFrame(new Rectangle(TextureSize * 1, TextureSize * 1, TextureSize, TextureSize), TimeSpan.FromSeconds(0.25));
attackAnimation.AddFrame(new Rectangle(TextureSize * 2, TextureSize * 1, TextureSize, TextureSize), TimeSpan.FromSeconds(0.25), AttackedFunc);
attackAnimation.AddFrame(new Rectangle(TextureSize * 2, TextureSize * 1, TextureSize, TextureSize), TimeSpan.FromSeconds(0.05), DoneAttackingFunc);
Animations.Add(attackAnimation);
var hitAnimation = new Animation(AnimationTypes.Damaged);
hitAnimation.AddFrame(new Rectangle(TextureSize * 3, TextureSize * 1, TextureSize, TextureSize), TimeSpan.FromSeconds(0.25));
Animations.Add(hitAnimation);
var dieAnimation = new Animation(AnimationTypes.Death);
dieAnimation.AddFrame(new Rectangle(TextureSize * 3, TextureSize * 1, TextureSize, TextureSize), TimeSpan.FromSeconds(0.35), OnDeath);
dieAnimation.AddFrame(new Rectangle(TextureSize * 3, TextureSize * 1, TextureSize, TextureSize), TimeSpan.FromSeconds(0.25), OnDeathFinished);
Animations.Add(dieAnimation);
}
private void InitializeAircrafts()
{
MapSection section = GetSection("Aircraft");
if (section != null)
{
aircrafts = new List <Aircraft>();
foreach (KeyValuePair <string, string> entry in section.Entries)
{
string[] parts = entry.Value.Split(',');
if (parts.Length >= 12)
{
try
{
string owner = parts[0].Trim();
string aircraftID = parts[1].Trim();
int health = int.Parse(parts[2], NumberStyles.Integer);
int x = int.Parse(parts[3], NumberStyles.Integer);
int y = int.Parse(parts[4], NumberStyles.Integer);
int facing = int.Parse(parts[5], NumberStyles.Integer);
string mission = parts[6].Trim();
string tag = parts[7].Trim();
int veterancy = int.Parse(parts[8], NumberStyles.Integer);
int group = int.Parse(parts[9], NumberStyles.Integer);
int acNoRecruitable = int.Parse(parts[10], NumberStyles.Integer);
int acYesRecruitable = int.Parse(parts[11], NumberStyles.Integer);
aircrafts.Add(new Aircraft(owner, aircraftID, health, x, y, facing, mission, tag, veterancy,
group, acNoRecruitable, acYesRecruitable));
}
catch (Exception)
{
log.Error("Error reading Aircraft entry with index: " + entry.Key);
}
}
else
{
log.Error("Error reading Aircraft entry having less parameters with index: " + entry.Key);
}
}
}
}
public void LoadRoadMap()
{
for (int i = 0; i < sizeMap.x; i++)
{
for (int j = 0; j < sizeMap.y; j++)
{
currentLocation = new Vector2(i, j);
idLocation = (int)(currentLocation.x * sizeMap.x + currentLocation.y);
MapSection mapSection = Instantiate(MapSection, new Vector3(i * 25, 0, j * 25), Quaternion.Euler(0, road.road[idLocation].rotation, 0), MapContainer.transform);
map.Add(mapSection);
idSection = road.road[idLocation].id;
CreateSectionMap(i, j);
//RoadSection section = Road.road[(int)(i * sizeMap.x + j)];
//MapSection section = Instantiate(MapSection, new Vector3(i * 25, 0, j * 25), Quaternion.identity, MapContainer.transform);
//Road.road.Add(new RoadSection());
}
}
}
public Vector3 GetAdjacentRoomPosition(Vector3 position)
{
//Vector2 pos = new Vector2(Mathf.FloorToInt(position.x/m_map_square_size),Mathf.FloorToInt(position.z/m_map_square_size));
//MapSection current_section = GetSectionAtCoords(pos);
MapSection current_section = GetSectionAtPosition(position);
List <MapSection> rnd_sections = new List <MapSection>();
Vector3 section_pos;
if (current_section.m_corridors.east)
{
section_pos = new Vector3(current_section.GetMidpoint().x + m_section_size.x, current_section.GetMidpoint().y);
rnd_sections.Add(GetSectionAtCoords(section_pos));
}
if (current_section.m_corridors.west)
{
section_pos = new Vector3(current_section.GetMidpoint().x - m_section_size.x, current_section.GetMidpoint().y);
rnd_sections.Add(GetSectionAtCoords(section_pos));
}
if (current_section.m_corridors.north)
{
section_pos = new Vector3(current_section.GetMidpoint().x, current_section.GetMidpoint().y + m_section_size.y);
rnd_sections.Add(GetSectionAtCoords(section_pos));
}
if (current_section.m_corridors.south)
{
section_pos = new Vector3(current_section.GetMidpoint().x, current_section.GetMidpoint().y - m_section_size.y);
rnd_sections.Add(GetSectionAtCoords(section_pos));
}
//rnd_sections.Shuffle();
MapSection rnd_sec = rnd_sections[Random.Range(0, rnd_sections.Count - 1)];
if (rnd_sections.Count == 0)
{
return(Vector3.zero);
}
return(new Vector3(rnd_sec.GetMidpoint().x *m_map_square_size, 0, rnd_sec.GetMidpoint().y *m_map_square_size));
}
public Dog(MapSection section) : base(EnemyTypes.Dog, EnemyConstants.GetDogProperties(), "Entities/Dog.png", section)
{
_ai = new MeleeAI(this, EnemyConstants.DogAggroRange, new Melee(this, 6, 8), EnemyConstants.DogWanderLength);
HitboxSize = 0.8f;
Width = 64;
Height = 64;
AttackRange = 48;
Animations = new AnimationList();
var spawnAnimation = new Animation(AnimationTypes.Spawn);
spawnAnimation.AddFrame(new Rectangle(TextureSize * 6, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.5));
spawnAnimation.AddFrame(new Rectangle(TextureSize * 7, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.5));
spawnAnimation.AddFrame(new Rectangle(TextureSize * 7, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.05), SpawnedFunc);
Animations.Add(spawnAnimation);
var walkAnimation = new Animation(AnimationTypes.Move);
walkAnimation.AddFrame(new Rectangle(TextureSize * 2, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.4));
walkAnimation.AddFrame(new Rectangle(TextureSize * 3, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.4));
walkAnimation.AddFrame(new Rectangle(TextureSize * 4, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.4));
walkAnimation.AddFrame(new Rectangle(TextureSize * 5, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.4));
Animations.Add(walkAnimation);
var attackAnimation = new Animation(AnimationTypes.Attack);
attackAnimation.AddFrame(new Rectangle(TextureSize * 0, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.35));
attackAnimation.AddFrame(new Rectangle(TextureSize * 1, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.4), AttackedFunc);
attackAnimation.AddFrame(new Rectangle(TextureSize * 1, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.1), DoneAttackingFunc);
Animations.Add(attackAnimation);
var dieAnimation = new Animation(AnimationTypes.Death);
dieAnimation.AddFrame(new Rectangle(TextureSize * 7, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.5), OnDeath);
dieAnimation.AddFrame(new Rectangle(TextureSize * 6, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.5));
dieAnimation.AddFrame(new Rectangle(TextureSize * 6, 0, TextureSize, TextureSize), TimeSpan.FromSeconds(0.1), OnDeathFinished);
Animations.Add(dieAnimation);
}
private void InitializeOverlays()
{
MapSection overlaySection = GetSection("OverlayPack");
MapSection overlayDataSection = GetSection("OverlayDataPack");
if (overlaySection != null && overlayDataSection != null)
{
overlays = new List <Overlay>();
StringBuilder sb = new StringBuilder();
foreach (KeyValuePair <string, string> entry in overlaySection.Entries)
{
sb.Append(entry.Value);
}
byte[] format80Data = Convert.FromBase64String(sb.ToString());
byte[] overlayPack = new byte[1 << 18];
Format5.DecodeInto(format80Data, overlayPack, 80);
sb.Clear();
foreach (KeyValuePair <string, string> entry in overlayDataSection.Entries)
{
sb.Append(entry.Value);
}
format80Data = Convert.FromBase64String(sb.ToString());
byte[] overlayDataPack = new byte[1 << 18];
Format5.DecodeInto(format80Data, overlayDataPack, 80);
foreach (Tuple <int, int> cellCoordinate in coordList)
{
int location = cellCoordinate.Item1 + 512 * cellCoordinate.Item2;
byte overlayIndex = overlayPack[location];
if (overlayIndex != 0xFF)
{
overlays.Add(new Overlay(overlayIndex, (int)overlayDataPack[location], cellCoordinate.Item1, cellCoordinate.Item2));
}
}
}
}
private void AddMapSectionBeamDisableIntoList(MapSectionBeamDisable oneRow)
{
try
{
if (!Vehicle.MapInfo.sectionMap.ContainsKey(oneRow.SectionId))
{
mirleLogger.Log(new LogFormat("Error", "5", GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, "Device", "CarrierID"
, $"Section[{oneRow.SectionId}]加入Beam Sensor Disable清單失敗, 圖資不包含Section[{oneRow.SectionId}]"));
return;
}
MapSection mapSection = Vehicle.MapInfo.sectionMap[oneRow.SectionId];
if (oneRow.Min < -30)
{
mirleLogger.Log(new LogFormat("Error", "5", GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, "Device", "CarrierID"
, $"Min < 0. [SectionId={oneRow.SectionId}][Min={oneRow.Min}]"));
return;
}
if (oneRow.Max > mapSection.HeadToTailDistance + 31)
{
mirleLogger.Log(new LogFormat("Error", "5", GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, "Device", "CarrierID"
, $"Max > Distance. [SectionId={oneRow.SectionId}][Max={oneRow.Max}][Distance={mapSection.HeadToTailDistance}]"));
return;
}
if (oneRow.Min == 0 && oneRow.Max == 0)
{
oneRow.Min = -30;
oneRow.Max = mapSection.HeadToTailDistance + 30;
}
mapSection.BeamSensorDisables.Add(oneRow);
}
catch (Exception ex)
{
LogException(GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, ex.Message);
}
}
void AIWander()
{
//Clear target if it has been reached.
if (m_has_wander_target)
{
if (Vector3.Distance(transform.position, m_wander_target) < 1)
{
m_has_wander_target = false;
return;
}
}
//Move towards target.
if (m_has_wander_target)
{
Vector3 dir = m_wander_target - transform.position;
Vector2 dir2d = new Vector3(dir.x, dir.z);
m_entity.m_mobile.Move(m_entity.m_move_speed * m_wander_speed_mod, dir2d);
return;
}
//Get a new target.
MapSection current_section = Game.map.GetSectionAtPosition(transform.position);
if (current_section.m_room == null)
{
return;
}
Vector2 rnd_tile = new Vector2(
current_section.GetMidpoint().x + Random.Range(-current_section.m_room.m_size + 1, current_section.m_room.m_size),
current_section.GetMidpoint().y + Random.Range(-current_section.m_room.m_size + 1, current_section.m_room.m_size)
);
Vector3 rnd_position = new Vector3(rnd_tile.x * Game.map.GetMapSquareSize(), 0, rnd_tile.y * Game.map.GetMapSquareSize());
m_wander_target = rnd_position;
m_has_wander_target = true;
}
private void InitializeTunnelLines()
{
MapSection section = GetSection("Tubes");
if (section != null)
{
tunnelLines = new List <TunnelLine>();
foreach (KeyValuePair <string, string> entry in section.Entries)
{
string[] parts = entry.Value.Split(',');
if (parts.Length > 5)
{
try
{
int sx = int.Parse(parts[0], NumberStyles.Integer);
int sy = int.Parse(parts[1], NumberStyles.Integer);
int facing = int.Parse(parts[2], NumberStyles.Integer);
int ex = int.Parse(parts[3], NumberStyles.Integer);
int ey = int.Parse(parts[4], NumberStyles.Integer);
List <int> ds = new List <int>();
for (int i = 5; i < parts.Length; i++)
{
ds.Add(int.Parse(parts[i], NumberStyles.Integer));
}
tunnelLines.Add(new TunnelLine(sx, sy, facing, ex, ey, ds));
}
catch (Exception)
{
log.Error("Error reading Tubes (Tunnel) entry with index: " + entry.Key);
}
}
}
}
}
private void InitializeTerrains()
{
MapSection section = GetSection("Terrain");
if (section != null)
{
terrains = new List <Terrain>();
foreach (KeyValuePair <string, string> entry in section.Entries)
{
try
{
int coord = int.Parse(entry.Key, NumberStyles.Integer);
int x = coord % 1000;
int y = coord / 1000;
terrains.Add(new Terrain(entry.Value, x, y));
}
catch (Exception)
{
log.Error("Error reading Terrain entry with index: " + entry.Key);
}
}
}
}
private void InitializeCellTags()
{
MapSection section = GetSection("CellTags");
if (section != null)
{
cellTags = new List <CellTag>();
foreach (KeyValuePair <string, string> entry in section.Entries)
{
try
{
int coord = int.Parse(entry.Key, NumberStyles.Integer);
int x = coord % 1000;
int y = coord / 1000;
cellTags.Add(new CellTag(entry.Value, x, y));
}
catch (Exception)
{
log.Error("Error reading CellTags entry with index: " + entry.Key);
}
}
}
}
public void Update(GameTime gameTime)
{
Cursor.Type = CursorType.Crosshair;
#region Moving Camera
if (Keyboard.GetState().IsKeyDown(Keys.Left))
{
camera.MoveLeft(CAMERA_SPEED);
}
if (Keyboard.GetState().IsKeyDown(Keys.Right))
{
camera.MoveRight(CAMERA_SPEED);
}
if (Keyboard.GetState().IsKeyDown(Keys.Up))
{
camera.MoveUp(CAMERA_SPEED);
}
if (Keyboard.GetState().IsKeyDown(Keys.Down))
{
camera.MoveDown(CAMERA_SPEED);
}
#endregion
#region Add section
if (!isKeyAddPressed && Keyboard.GetState().IsKeyDown(Keys.Add))
{
isKeyAddPressed = true;
var bounds = new Rectangle(
(int)(Cursor.InGamePosition.X * SCALE),
(int)(Cursor.InGamePosition.Y * SCALE),
(int)Map.Game.InternalSize.Width,
(int)Map.Game.InternalSize.Height
);
int nextSectionIndex = Map.Sections.Count;
MapSectionContainers.Add(nextSectionIndex, new MapSectionContainer(Map, this, nextSectionIndex, bounds));
var defaultSpawnPoint = new SpawnPoint(Map, "spawn01");
var mapSection = new MapSection(Map, bounds, defaultSpawnPoint.Name);
mapSection.Entities.Add(defaultSpawnPoint.Name, defaultSpawnPoint);
Map.Sections.Add(nextSectionIndex, mapSection);
}
if (Keyboard.GetState().IsKeyUp(Keys.Add))
{
isKeyAddPressed = false;
}
#endregion
foreach (var section in MapSectionContainers)
{
section.Value.Update(new Vector2(
Cursor.InGamePosition.X * SCALE,
Cursor.InGamePosition.Y * SCALE
));
}
cursorPosition.Text = (int)Cursor.InGamePosition.X * SCALE + ";" + (int)Cursor.InGamePosition.Y * SCALE;
camera.Update(gameTime);
frame.Update();
Cursor.Update();
}
public void UpdateMapSections()
{
int index = 0;
MapSection section = GetSection("Aircraft");
if (section != null)
{
section.Entries.Clear();
if (aircrafts != null && aircrafts.Count > 0)
{
foreach (Aircraft entry in aircrafts)
{
section.Entries.Add(Convert.ToString(index++), entry.ToString());
}
}
}
index = 0;
section = GetSection("Infantry");
if (section != null)
{
section.Entries.Clear();
if (infantries != null && infantries.Count > 0)
{
foreach (Infantry entry in infantries)
{
section.Entries.Add(Convert.ToString(index++), entry.ToString());
}
}
}
section = GetSection("Units");
if (section != null)
{
section.Entries.Clear();
if (units != null && units.Count > 0)
{
foreach (Unit entry in units)
{
section.Entries.Add(entry.Index, entry.ToString());
}
}
}
index = 0;
section = GetSection("Structures");
if (section != null)
{
section.Entries.Clear();
if (structures != null && structures.Count > 0)
{
foreach (Structure entry in structures)
{
section.Entries.Add(Convert.ToString(index++), entry.ToString());
}
}
}
section = GetSection("CellTags");
if (section != null)
{
section.Entries.Clear();
if (cellTags != null && cellTags.Count > 0)
{
foreach (CellTag entry in cellTags)
{
section.Entries.Add(Convert.ToString(entry.MapY * 1000 + entry.MapX), entry.ToString());
}
}
}
index = 0;
section = GetSection("Smudge");
if (section != null)
{
section.Entries.Clear();
if (smudges != null && smudges.Count > 0)
{
foreach (Smudge entry in smudges)
{
section.Entries.Add(Convert.ToString(index++), entry.ToString());
}
}
}
section = GetSection("Terrain");
if (section != null)
{
section.Entries.Clear();
if (terrains != null && terrains.Count > 0)
{
foreach (Terrain entry in terrains)
{
section.Entries.Add(Convert.ToString(entry.MapY * 1000 + entry.MapX), entry.ToString());
}
}
}
index = 0;
section = GetSection("Tubes");
if (section != null)
{
section.Entries.Clear();
if (tunnelLines != null && tunnelLines.Count > 0)
{
foreach (TunnelLine entry in tunnelLines)
{
section.Entries.Add(Convert.ToString(index++), entry.ToString());
}
}
}
section = GetSection("Waypoints");
if (section != null)
{
section.Entries.Clear();
if (waypoints != null && waypoints.Count > 0)
{
foreach (Waypoint entry in waypoints)
{
section.Entries.Add(entry.ToString(), Convert.ToString(entry.MapY * 1000 + entry.MapX));
}
}
}
UpdateOverlaySections();
UpdateTileSection();
if (sectionsWithNodes != null && sectionsWithNodes.Count > 0)
{
foreach (string sectionName in sectionsWithNodes)
{
section = GetSection(sectionName);
if (section != null)
{
string nodeCount;
if (section.Entries.TryGetValue("NodeCount", out nodeCount))
{
int count = 0;
int.TryParse(nodeCount, out count);
if (count > 0)
{
for (int i = 0; i < count; i++)
{
string countStr = i.ToString("000");
if (section.Entries.ContainsKey(countStr))
{
section.Entries.Remove(countStr);
}
}
}
List <BaseNode> baseNodesInSection = baseNodes.FindAll(bn => bn.SectionName.Equals(sectionName));
Dictionary <string, string> sectionEntries = new Dictionary <string, string>();
foreach (KeyValuePair <string, string> entry in section.Entries)
{
sectionEntries.Add(entry.Key, entry.Value);
}
nodeCount = "0";
if (baseNodesInSection != null && baseNodesInSection.Count > 0)
{
for (int bnCount = 0; bnCount < baseNodesInSection.Count; bnCount++)
{
sectionEntries.Add(bnCount.ToString("000"), baseNodesInSection[bnCount].ToString());
}
nodeCount = baseNodesInSection.Count.ToString();
}
if (sectionEntries.ContainsKey("NodeCount"))
{
sectionEntries["NodeCount"] = nodeCount;
}
else
{
sectionEntries.Add("NodeCount", nodeCount);
}
section.Entries = sectionEntries;
}
}
}
}
Dictionary <string, string> sizeEntries = new Dictionary <string, string>();
section = GetSection("Map");
if (section != null)
{
int localX = localSize[0];
int localY = localSize[1];
int localWidth = newMapWidth - localSize[4];
int localHeight = newMapHeight - localSize[5];
sizeEntries.Add("Size", "0,0," + newMapWidth + "," + newMapHeight);
if (left >= 0 && top >= 0 && right >= 0 && bottom >= 0 && options.MaintainLocalSize)
{
localX = localSize[0] + left;
localY = localSize[1] + top;
localWidth = newMapWidth - localSize[4] - right - left;
localHeight = newMapHeight - localSize[5] - bottom - top;
}
if (localX < 1)
{
localX = 1;
}
if (localY < 2)
{
localY = 2;
}
if (localWidth < 1)
{
localWidth = 1;
}
if (localHeight < 2)
{
localHeight = 2;
}
string mapLocalSize = Convert.ToString(localX) + "," + Convert.ToString(localY) + "," +
Convert.ToString(localWidth) + "," + Convert.ToString(localHeight);
sizeEntries.Add("LocalSize", mapLocalSize);
section.Merge(sizeEntries);
}
if (!String.IsNullOrEmpty(options.MapName))
{
section = GetSection("Basic");
if (section != null)
{
Dictionary <string, string> basicEntries = new Dictionary <string, string>();
basicEntries.Add("Name", options.MapName);
section.Merge(basicEntries);
}
}
}
private void InitializeTiles()
{
MapSection section = GetSection("IsoMapPack5");
if (section != null)
{
tiles = new List <Tile>();
StringBuilder sb = new StringBuilder();
foreach (KeyValuePair <string, string> entry in section.Entries)
{
sb.Append(entry.Value);
}
byte[] lzoData = Convert.FromBase64String(sb.ToString());
int cells = (MapWidth * 2 - 1) * MapHeight;
int lzoPackSize = cells * 11 + 4; // last 4 bytes used for termination
byte[] isoMapPack = new byte[lzoPackSize];
int j = 0;
for (int i = 0; i < cells; i++)
{
isoMapPack[j] = 0x88;
isoMapPack[j + 1] = 0x40;
isoMapPack[j + 2] = 0x88;
isoMapPack[j + 3] = 0x40;
j += 11;
}
Format5.DecodeInto(lzoData, isoMapPack);
foreach (Tuple <int, int> cellCoordinate in coordList)
{
tiles.Add(new Tile(0, 0, 0, 0, cellCoordinate.Item1, cellCoordinate.Item2));
}
MemoryFile mf = new MemoryFile(isoMapPack);
for (int i = 0; i < cells; i++)
{
int rx = (int)mf.ReadUInt16();
int ry = (int)mf.ReadUInt16();
int tileIndex = mf.ReadInt32();
byte subIndex = mf.ReadByte();
byte heightLevel = mf.ReadByte();
byte iceGrowth = mf.ReadByte();
if (tileIndex >= 65535)
{
tileIndex = 0; // Tile 0xFFFF used as empty/clear
}
if (rx < 512 && ry < 512)
{
int index = tiles.FindIndex(tile => tile.MapX == rx && tile.MapY == ry);
if (index >= 0)
{
tiles[index].TileIndex = tileIndex;
tiles[index].SubIndex = subIndex;
tiles[index].Level = heightLevel;
tiles[index].IceGrowth = iceGrowth;
}
}
}
}
}
private void UpdateTileSection()
{
MapSection tileSection = GetSection("IsoMapPack5");
if (tileSection != null)
{
byte[] encoded;
List <Tile> tileSetStage = new List <Tile>();
List <byte[]> sortedTiles = new List <byte[]>();
if (!options.KeepL0ClearTiles)
{
foreach (Tile t in tiles)
{
if (t.TileIndex > 0 || t.SubIndex > 0 || t.Level > 0 || t.IceGrowth > 0)
{
tileSetStage.Add(t);
}
}
}
else
{
tileSetStage.AddRange(tiles);
}
if (tileSetStage.Count == 0)
{
tileSetStage.Add(tiles.First());
encoded = GetEncoded(tileSetStage);
}
else
{
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.MapX).ThenBy(x => x.TileIndex).ThenBy(x => x.SubIndex).ThenBy(x => x.Level).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.TileIndex).ThenBy(x => x.MapX).ThenBy(x => x.SubIndex).ThenBy(x => x.Level).ToList()));
if (options.BetterTilesPackCompression)
{
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.MapX).ThenBy(x => x.SubIndex).ThenBy(x => x.TileIndex).ThenBy(x => x.Level).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.SubIndex).ThenBy(x => x.TileIndex).ThenBy(x => x.MapX).ThenBy(x => x.Level).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.SubIndex).ThenBy(x => x.TileIndex).ThenBy(x => x.Level).ThenBy(x => x.MapX).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.SubIndex).ThenBy(x => x.TileIndex).ThenBy(x => x.Level).ThenBy(x => x.MapY).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.SubIndex).ThenBy(x => x.Level).ThenBy(x => x.TileIndex).ThenBy(x => x.MapX).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.SubIndex).ThenBy(x => x.Level).ThenBy(x => x.TileIndex).ThenBy(x => x.MapY).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.TileIndex).ThenBy(x => x.SubIndex).ThenBy(x => x.MapY).ThenBy(x => x.Level).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.TileIndex).ThenBy(x => x.SubIndex).ThenBy(x => x.Level).ThenBy(x => x.MapX).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.TileIndex).ThenBy(x => x.SubIndex).ThenBy(x => x.Level).ThenBy(x => x.MapY).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.TileIndex).ThenBy(x => x.Level).ThenBy(x => x.SubIndex).ThenBy(x => x.MapX).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.TileIndex).ThenBy(x => x.Level).ThenBy(x => x.SubIndex).ThenBy(x => x.MapY).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.Level).ThenBy(x => x.SubIndex).ThenBy(x => x.TileIndex).ThenBy(x => x.MapX).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.Level).ThenBy(x => x.SubIndex).ThenBy(x => x.TileIndex).ThenBy(x => x.MapY).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.Level).ThenBy(x => x.TileIndex).ThenBy(x => x.MapX).ThenBy(x => x.SubIndex).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.Level).ThenBy(x => x.TileIndex).ThenBy(x => x.MapY).ThenBy(x => x.SubIndex).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.Level).ThenBy(x => x.TileIndex).ThenBy(x => x.SubIndex).ThenBy(x => x.MapX).ToList()));
sortedTiles.Add(GetEncoded(tileSetStage.OrderBy(x => x.Level).ThenBy(x => x.TileIndex).ThenBy(x => x.SubIndex).ThenBy(x => x.MapY).ToList()));
}
int smallest = sortedTiles[0].Length;
int smallestIndex = 0;
for (int index = 0; index < sortedTiles.Count; index++)
{
if (sortedTiles[index].Length < smallest)
{
smallest = sortedTiles[index].Length;
smallestIndex = index;
}
}
encoded = sortedTiles[smallestIndex];
}
string compressed64 = Convert.ToBase64String(encoded, Base64FormattingOptions.None);
tileSection.Entries.Clear();
for (int i = 0, j = 1; i < compressed64.Length; i += 74)
{
tileSection.Entries.Add(j++.ToString(CultureInfo.InvariantCulture), compressed64.Substring(i, Math.Min(74, compressed64.Length - i)));
}
}
}
private void FindSectionThread()
{
VehicleLocation newVehicleLocation = new VehicleLocation();
string sectionID = localData.Location.NowSection;
string addressID = localData.Location.LastAddress;
MapAGVPosition now = localData.Real;
MapPosition temp;
MapSection section;
double distanceToHead;
double distanceToTail;
if (now == null)
{
return;
}
if (localData.TheMapInfo.AllSection.ContainsKey(sectionID))
{
#region 是否還在目前Section內 (判斷條件 : 頭尾不能超出,寬度為MoveControlConfig.SectionRange 預設是50mm, 非RTurn且 角度誤差在MoveControlConfig.SectionAllowDeltaTheta 預設是5度).
section = localData.TheMapInfo.AllSection[sectionID];
temp = computeFunction.GetTransferPosition(section, now.Position);
if (0 <= temp.X && temp.X <= section.Distance && Math.Abs(temp.Y) <= localData.MoveControlData.MoveControlConfig.SectionRange &&
Math.Abs(computeFunction.GetCurrectAngle(section.FromVehicleAngle - now.Angle)) <= localData.MoveControlData.MoveControlConfig.SectionAllowDeltaTheta)
{
if (section.FromVehicleAngle == section.ToVehicleAngle)
{
if (Math.Abs(computeFunction.GetCurrectAngle(section.FromVehicleAngle - now.Angle)) <= localData.MoveControlData.MoveControlConfig.SectionAllowDeltaTheta)
{
localData.Location.DistanceFormSectionHead = temp.X;
distanceToHead = temp.X;
distanceToTail = section.Distance - temp.X;
if (distanceToHead <= localData.MoveControlData.MoveControlConfig.InPositionRange && distanceToHead <= distanceToTail)
{
localData.Location.InAddress = true;
localData.Location.LastAddress = section.FromAddress.Id;
}
else if (distanceToTail <= localData.MoveControlData.MoveControlConfig.InPositionRange && distanceToTail <= distanceToHead)
{
localData.Location.InAddress = true;
localData.Location.LastAddress = section.ToAddress.Id;
}
else
{
localData.Location.InAddress = false;
}
WriteLog(7, "", String.Concat("Section不變更 : ", sectionID));
localData.LastAGVPosition = now;
return;
}
}
}
#endregion
#region 搜尋是否在相鄰Section內 (判斷條件 : 頭尾不能超出,寬度為MoveControlConfig.SectionRange 預設是50mm, 非RTurn且 角度誤差在MoveControlConfig.SectionAllowDeltaTheta 預設是5度).
for (int i = 0; i < localData.TheMapInfo.AllSection[sectionID].NearbySection.Count; i++)
{
section = localData.TheMapInfo.AllSection[sectionID].NearbySection[i];
if (section.FromVehicleAngle == section.ToVehicleAngle)
{
temp = computeFunction.GetTransferPosition(section, now.Position);
if (0 <= temp.X && temp.X <= section.Distance && Math.Abs(temp.Y) <= localData.MoveControlData.MoveControlConfig.SectionRange &&
Math.Abs(computeFunction.GetCurrectAngle(section.FromVehicleAngle - now.Angle)) <= localData.MoveControlData.MoveControlConfig.SectionAllowDeltaTheta)
{
if (Math.Abs(computeFunction.GetCurrectAngle(section.FromVehicleAngle - now.Angle)) <= localData.MoveControlData.MoveControlConfig.SectionAllowDeltaTheta)
{
newVehicleLocation.DistanceFormSectionHead = temp.X;
newVehicleLocation.NowSection = section.Id;
distanceToHead = temp.X;
distanceToTail = section.Distance - temp.X;
if (distanceToHead <= localData.MoveControlData.MoveControlConfig.InPositionRange && distanceToHead <= distanceToTail)
{
newVehicleLocation.InAddress = true;
newVehicleLocation.LastAddress = section.FromAddress.Id;
}
else if (distanceToTail <= localData.MoveControlData.MoveControlConfig.InPositionRange && distanceToTail <= distanceToHead)
{
newVehicleLocation.InAddress = true;
newVehicleLocation.LastAddress = section.ToAddress.Id;
}
else
{
newVehicleLocation.InAddress = false;
if (section.FromAddress == localData.TheMapInfo.AllSection[sectionID].FromAddress ||
section.FromAddress == localData.TheMapInfo.AllSection[sectionID].ToAddress)
{
newVehicleLocation.LastAddress = section.FromAddress.Id;
}
else
{
newVehicleLocation.LastAddress = section.ToAddress.Id;
}
}
localData.Location = newVehicleLocation;
WriteLog(7, "", String.Concat("切換Section(相鄰) : ", newVehicleLocation.NowSection));
localData.LastAGVPosition = now;
return;
}
}
}
}
#endregion
}
#region Find All (條件 : 頭尾可超出 MoveControlConfig.SectionRange 預設是50mm, 寬度在MoveControlConfig.SectionWidthRange 預設是500mm, 非RTurn且 角度誤差在MoveControlConfig.SectionAllowDeltaTheta 預設是5度 中 找尋數值最接近的)
MapSection minSection = null;
MapPosition minPosition = null;
double min = -1;
double tempMin;
double deltaAngle;
foreach (MapSection tempSection in localData.TheMapInfo.AllSection.Values)
{
if (tempSection.FromVehicleAngle == tempSection.ToVehicleAngle)
{
temp = computeFunction.GetTransferPosition(tempSection, now.Position);
if (-localData.MoveControlData.MoveControlConfig.SectionRange <= temp.X && temp.X <= (tempSection.Distance + localData.MoveControlData.MoveControlConfig.SectionRange) &&
Math.Abs(temp.Y) <= localData.MoveControlData.MoveControlConfig.SectionWidthRange)
{
deltaAngle = Math.Abs(computeFunction.GetCurrectAngle(tempSection.FromVehicleAngle - now.Angle));
tempMin = Math.Abs(temp.Y) + deltaAngle * 50;
if (temp.X < 0)
{
tempMin = tempMin - temp.X;
}
else if (temp.X > tempSection.Distance)
{
tempMin = tempMin + temp.X - tempSection.Distance;
}
if (min == -1 || tempMin < min)
{
min = tempMin;
minSection = tempSection;
minPosition = temp;
}
}
}
}
if (min == -1)
{
if (localData.MoveControlData.MoveControlConfig.LosePositionSetNullAddressSection)
{
newVehicleLocation.DistanceFormSectionHead = 0;
newVehicleLocation.LastAddress = "";
newVehicleLocation.NowSection = "";
newVehicleLocation.InAddress = false;
localData.Location = newVehicleLocation;
}
WriteLog(3, "", String.Concat("目前位置 : ", computeFunction.GetMapAGVPositionStringWithAngle(now), " 搜尋不到所在Section"));
localData.LastAGVPosition = now;
}
else
{
newVehicleLocation.NowSection = minSection.Id;
if (minPosition.X < 0)
{
newVehicleLocation.DistanceFormSectionHead = 0;
}
else if (minPosition.X > minSection.Distance)
{
newVehicleLocation.DistanceFormSectionHead = minSection.Distance;
}
else
{
newVehicleLocation.DistanceFormSectionHead = minPosition.X;
}
distanceToHead = Math.Abs(minPosition.X);
distanceToTail = Math.Abs(minSection.Distance - minPosition.X);
if (distanceToHead <= localData.MoveControlData.MoveControlConfig.InPositionRange && distanceToHead <= distanceToTail)
{
newVehicleLocation.LastAddress = minSection.FromAddress.Id;
newVehicleLocation.InAddress = true;
}
else if (distanceToTail < localData.MoveControlData.MoveControlConfig.InPositionRange && distanceToTail < distanceToHead)
{
newVehicleLocation.LastAddress = minSection.ToAddress.Id;
newVehicleLocation.InAddress = true;
}
else
{
if (distanceToHead <= distanceToTail)
{
newVehicleLocation.LastAddress = minSection.FromAddress.Id;
}
else
{
newVehicleLocation.LastAddress = minSection.ToAddress.Id;
}
newVehicleLocation.InAddress = false;
}
localData.Location = newVehicleLocation;
WriteLog(7, "", String.Concat("切換Section(All) : ", newVehicleLocation.NowSection));
localData.LastAGVPosition = now;
}
#endregion
}
public void ReleaseMapSection(MapSection sect)
{
sectionCache.Release(sect);
}
public MapSection(int apiVersion, EventHandler handler, MapSection basis)
: base(apiVersion, handler, basis)
{
}
public void ReadSectionCsv()
{
try
{
if (string.IsNullOrWhiteSpace(SectionPath))
{
LogException(GetType().Name + ":" + MethodBase.GetCurrentMethod().Name,
$"IsSectionPathNull={string.IsNullOrWhiteSpace(SectionPath)}");
return;
}
Vehicle.MapInfo.sectionMap.Clear();
string[] allRows = File.ReadAllLines(SectionPath);
if (allRows == null || allRows.Length < 2)
{
LogException(GetType().Name + ":" + MethodBase.GetCurrentMethod().Name,
$"There are no section in file");
return;
}
string[] titleRow = allRows[0].Split(',');
allRows = allRows.Skip(1).ToArray();
int nRows = allRows.Length;
int nColumns = titleRow.Length;
Dictionary <string, int> dicHeaderIndexes = new Dictionary <string, int>();
//Id, FromAddress, ToAddress, Speed, Type, PermitDirection
for (int i = 0; i < nColumns; i++)
{
var keyword = titleRow[i].Trim();
if (!string.IsNullOrWhiteSpace(keyword))
{
dicHeaderIndexes.Add(keyword, i);
}
}
for (int i = 0; i < nRows; i++)
{
string[] getThisRow = allRows[i].Split(',');
MapSection oneRow = new MapSection();
try
{
oneRow.Id = getThisRow[dicHeaderIndexes["Id"]];
if (!Vehicle.MapInfo.addressMap.ContainsKey(getThisRow[dicHeaderIndexes["FromAddress"]]))
{
LogException(GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, $"LoadSectionCsv read oneRow fail, headAddress is not in the map : [secId={oneRow.Id}][headAddress={getThisRow[dicHeaderIndexes["FromAddress"]]}]");
}
oneRow.HeadAddress = Vehicle.MapInfo.addressMap[getThisRow[dicHeaderIndexes["FromAddress"]]];
oneRow.InsideAddresses.Add(oneRow.HeadAddress);
if (!Vehicle.MapInfo.addressMap.ContainsKey(getThisRow[dicHeaderIndexes["ToAddress"]]))
{
LogException(GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, $"LoadSectionCsv read oneRow fail, tailAddress is not in the map : [secId={oneRow.Id}][tailAddress={getThisRow[dicHeaderIndexes["ToAddress"]]}]");
}
oneRow.TailAddress = Vehicle.MapInfo.addressMap[getThisRow[dicHeaderIndexes["ToAddress"]]];
oneRow.InsideAddresses.Add(oneRow.TailAddress);
oneRow.HeadToTailDistance = GetDistance(oneRow.HeadAddress.Position, oneRow.TailAddress.Position);
oneRow.Speed = double.Parse(getThisRow[dicHeaderIndexes["Speed"]]);
oneRow.Type = oneRow.SectionTypeParse(getThisRow[dicHeaderIndexes["Type"]]);
}
catch (Exception ex)
{
LogException(GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, $"LoadSectionCsv read oneRow fail : [lastReadSecId={lastReadSecId}]");
LogException(GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, ex.Message);
}
lastReadSecId = oneRow.Id;
Vehicle.MapInfo.sectionMap.Add(oneRow.Id, oneRow);
}
//LoadBeamSensorDisable();
AddInsideAddresses();
LogDebug(GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, $"Load Section File Ok. [lastReadSecId={lastReadSecId}]");
}
catch (Exception ex)
{
LogException(GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, $"LoadSectionCsv : [lastReadSecId={lastReadSecId}]");
LogException(GetType().Name + ":" + MethodBase.GetCurrentMethod().Name, ex.Message);
}
}
