private void UserControl_Loaded(object sender, RoutedEventArgs e)
{
schart.CreateCoordinate(0, 800, 0, 1);
mDataList.CollectionChanged += new System.Collections.Specialized.NotifyCollectionChangedEventHandler(mDataList_CollectionChanged);
dataDia.ItemsSource = mDataList;
mFormatDouble = GlobalProvider.FormatNumber;
mGPIOMove = MoveEnum.Move0_5mm;
}
public void Move(MoveEnum moveDirection)
{
if (!Dead)
{
CheckNeighbour(moveDirection);
}
CheckIfDead();
}
public Move(MoveEnum type, Dictionary <string, object> args)
{
if (args == null)
{
throw new ArgumentException("Arguments cannot be null");
}
this.Type = type;
this.Arguments = args;
}
public static DateTime TestWeekDay(DateTime dato, MoveEnum Move = MoveEnum.Next)
{
DateTime res = dato;
while (Convert.ToInt32(res.DayOfWeek) < Convert.ToInt32(DayOfWeek.Monday) || Convert.ToInt32(res.DayOfWeek) > Convert.ToInt32(DayOfWeek.Friday))
{
res = AddDays(res, Convert.ToInt32(Move));
}
return(res);
}
public static DateTime FindWeekDay(DateTime dato, MoveEnum Move = MoveEnum.Next)
{
DateTime res = dato;
//while (!((int) res.DayOfWeek < System.Convert.ToInt32(DayOfWeek.Monday)| (int) res.DayOfWeek > System.Convert.ToInt32(DayOfWeek.Friday)))
while (!(Convert.ToInt32(res.DayOfWeek) < Convert.ToInt32(DayOfWeek.Monday) || Convert.ToInt32(res.DayOfWeek) > Convert.ToInt32(DayOfWeek.Friday)))
{
res = AddDays(res, Convert.ToInt32(Move));
}
return(res);
}
/// <summary>
/// Send movement command to with connector
/// </summary>
/// <param name="command">Command to send with speed</param>
/// <param name="speed">Speed from <c>MinInputSpeed</c> to <c>MaxInputSpeed</c> interval</param>
/// <returns>true, if all is good, else false</returns>
protected bool SendMovement(MoveEnum command, double speed)
{
if (speed < MinInputSpeed || speed > MaxInputSpeed)
{
return(false);
}
byte[] buff = CalcSpeed(speed).NumToArray().Add((byte)command, 0);
SendCommand(ControllerEnum.MovementController, buff);
return(true);
}
public void Move()
{
MoveEnum movement = CalculateMoveDirection();
if (!Dead)
{
CheckNeighbour(movement);
}
else
{
this.tile.BackgroundImage = Image.FromFile(@"..\..\Images\follower_dead.png");
}
}
private Tile CheckNeighbour(Tile neighbour, MoveEnum moveDirection)
{
KeyValuePair<Tile, MoveEnum> neighbourObject = neighbour.Neighbours.Where(tile => tile.Value == moveDirection).FirstOrDefault(); // Returns first TileNeighbourDto that match condition (or null if condition isn't matched)
if (neighbourObject.Key != null)
{
Tile boxNeighbour = neighbourObject.Key;
if (!(boxNeighbour.GameObject is IUnmoveable || boxNeighbour.GameObject is IArtificial))
{
if (boxNeighbour.GameObject is IMovable)
{
boxNeighbour = CheckNeighbour(boxNeighbour, moveDirection) ?? boxNeighbour; // Overwrites boxNeighbour when CheckNeighbour is not null
}
IObject playerGameObject = neighbour.GameObject;
IObject neighbourGameObject = boxNeighbour.GameObject;
if (!(boxNeighbour.GameObject is IMovable))
{
neighbour.GameObject = neighbourGameObject;
boxNeighbour.GameObject = playerGameObject;
Tile returnTile = neighbour;
neighbour = boxNeighbour;
return returnTile;
}
}
else if (boxNeighbour.GameObject is Portal)
{
Portal neighbourGameObject = boxNeighbour.GameObject as Portal;
KeyValuePair<Tile, MoveEnum> targetNeighbour = neighbourGameObject.Target.Neighbours.Where(tile => tile.Value == moveDirection).FirstOrDefault();
if (targetNeighbour.Key != null && !(targetNeighbour.Key.GameObject is IUnmoveable))
{
if (targetNeighbour.Key.GameObject is IMovable box)
{
neighbourGameObject.Target.Neighbours.Remove(targetNeighbour.Key);
neighbourGameObject.Target.Neighbours.Add(box.Move(targetNeighbour.Key, moveDirection) ?? neighbour, moveDirection);
}
IObject boxGameObject = neighbour.GameObject;
if (!(targetNeighbour.Key.GameObject is IMovable))
{
neighbour.GameObject = targetNeighbour.Key.GameObject;
targetNeighbour.Key.GameObject = boxGameObject;
Tile returnTile = neighbour;
return returnTile;
}
}
}
}
return null;
}
private bool CanMoveThisDirection(MoveEnum moveDirection)
{
KeyValuePair <Tile, MoveEnum> neighbourObject = tile.Neighbours.Where(tile => tile.Value == moveDirection).FirstOrDefault();
if (neighbourObject.Key != null)
{
Tile neighbour = neighbourObject.Key;
if (!(neighbour.GameObject is IUnmoveable) && !(neighbour.GameObject is IMovable))
{
return(true);
}
}
return(false);
}
private void CheckNeighbour(MoveEnum moveDirection)
{
KeyValuePair <Tile, MoveEnum> neighbourObject = tile.Neighbours.Where(tile => tile.Value == moveDirection).FirstOrDefault(); // Returns first TileNeighbourDto that match condition (or null if condition isn't matched)
if (neighbourObject.Key != null)
{
Tile neighbour = neighbourObject.Key;
if (!(neighbour.GameObject is IUnmoveable))
{
if (neighbour.GameObject is IMovable box) // Checks if GameObject is of type IMovable. If so, then GameObject is assigned to variable 'box'.
{
neighbour = box.Move(neighbour, moveDirection) ?? neighbour; // Overwrite neighbour if returned Tile from box.Move() is not null
}
IObject playerGameObject = tile.GameObject;
IObject neighbourGameObject = neighbour.GameObject;
if (!(neighbour.GameObject is IMovable))
{
tile.GameObject = neighbourGameObject;
neighbour.GameObject = playerGameObject;
this.tile = neighbour;
}
}
else if (neighbour.GameObject is Portal) //checks if neighbour is a portal
{
Portal neighbourGameObject = neighbour.GameObject as Portal; //makes neighbour.GameObject a portal, which doesn't conflict since it is a portal
KeyValuePair <Tile, MoveEnum> targetNeighbour = neighbourGameObject.Target.Neighbours.Where(tile => tile.Value == moveDirection).FirstOrDefault(); //checks target portal neighbours
if (targetNeighbour.Key != null && !(targetNeighbour.Key.GameObject is IUnmoveable)) //checks to see if the target neighbour isn't null or isn't unmoveable
{
if (targetNeighbour.Key.GameObject is IMovable box)
{
neighbourGameObject.Target.Neighbours.Remove(targetNeighbour.Key); //temporarily deletes the neighbour
neighbourGameObject.Target.Neighbours.Add(box.Move(targetNeighbour.Key, moveDirection) ?? neighbour, moveDirection); // Overwrite neighbour if returned Tile from box.Move() is not null
}
IObject playerGameObject = tile.GameObject;
if (!(targetNeighbour.Key.GameObject is IMovable)) //checks if targetneighbour isn't movable
{
tile.GameObject = targetNeighbour.Key.GameObject;
targetNeighbour.Key.GameObject = playerGameObject;
this.tile = targetNeighbour.Key;
}
}
}
}
}
/// <summary>
/// 电机到指定位置
/// </summary>
/// <param name="order"></param>
public static void MotorMove(MoveEnum move)
{
switch (move)
{
case MoveEnum.Move0_5mm:
SendCommand("AB");
break;
case MoveEnum.Move0_2mm:
SendCommand("AC");
break;
case MoveEnum.Move0_05mm:
SendCommand("AD");
break;
}
}
private MoveEnum CalculateMoveDirection()
{
Array values = Enum.GetValues(typeof(MoveEnum));
MoveEnum randomMoveDirection = (MoveEnum)values.GetValue(RandomEnum.Next(values.Length));
while (!CanMoveThisDirection(randomMoveDirection)) // If randomMoveDirection is false loop till plausible
{
randomMoveDirection = (MoveEnum)values.GetValue(RandomEnum.Next(values.Length));
if (tile.Neighbours.All(neighbour => CanMoveThisDirection(neighbour.Value) == false)) // Checks if all neighbours are inmovable
{
Dead = true;
break;
}
}
return(randomMoveDirection);
}
IEnumerator MoveCamera_StopWhenRectCashPlayerOrCollider_IEnumerator(MoveEnum moveEnum, float speed, StoryHander OnMoveFished = null)
{
yield return(new WaitForSeconds(0.01f));
if (moveEnum == MoveEnum.right)
{
transform.Translate(1 * Time.deltaTime * speed, 0, 0);
if (RectLeft.Contains(Camera.main.WorldToScreenPoint(Player.transform.position)))
{
isUseCamera = false;
if (OnMoveFished != null)
{
OnMoveFished();
}
yield break;
}
else if (RectRight.Contains(Camera.main.WorldToScreenPoint(Player.transform.position)))
{
isUseCamera = false;
if (OnMoveFished != null)
{
OnMoveFished();
}
yield break;
}
}
else if (moveEnum == MoveEnum.left)
{
transform.Translate(-1 * Time.deltaTime * speed, 0, 0);
if (RectLeft.Contains(Camera.main.WorldToScreenPoint(Player.transform.position)))
{
isUseCamera = false;
yield break;
}
else if (RectRight.Contains(Camera.main.WorldToScreenPoint(Player.transform.position)))
{
isUseCamera = false;
yield break;
}
}
StartCoroutine(MoveCamera_StopWhenRectCashPlayerOrCollider_IEnumerator(moveEnum, speed, OnMoveFished));
}
private void CheckNeighbour(MoveEnum moveDirection)
{
KeyValuePair <Tile, MoveEnum> neighbourObject = tile.Neighbours.Where(tile => tile.Value == moveDirection).FirstOrDefault(); // Returns first TileNeighbourDto that match condition (or null if condition isn't matched)
if (neighbourObject.Key != null)
{
Tile neighbour = neighbourObject.Key;
if (!(neighbour.GameObject is IUnmoveable) || !(neighbour.GameObject is IMovable))
{
IObject playerGameObject = tile.GameObject;
IObject neighbourGameObject = neighbour.GameObject;
tile.GameObject = neighbourGameObject;
neighbour.GameObject = playerGameObject;
this.tile = neighbour;
}
}
}
/// <summary>
/// 计算Y轴
/// </summary>
/// <returns></returns>
public static double[] CalcY(MoveEnum markOrder)
{
double[] blankList = null;
double[] measureList = null;
switch (markOrder)
{
case MoveEnum.Move0_5mm:
blankList = mBlankList_1;
measureList = mMeasureList_1;
break;
case MoveEnum.Move0_2mm:
blankList = mBlankList_2;
measureList = mMeasureList_2;
break;
case MoveEnum.Move0_05mm:
blankList = mBlankList_2;
measureList = mMeasureList_2;
break;
}
return(CalcY(blankList, measureList));
}
/// <summary>
/// 获取并保存测量数据到实例
/// </summary>
///<param name="markOrder">0.5mm,0.2mm,0.05mm</param>
/// <returns></returns>
public static double[] GetMeasureList(MoveEnum markOrder)
{
if (!isSimulate)
{
MotorMove(markOrder);
}
double[] list = GetSpectrum();
switch (markOrder)
{
case MoveEnum.Move0_5mm:
mMeasureList_1 = list;
break;
case MoveEnum.Move0_2mm:
mMeasureList_2 = list;
break;
case MoveEnum.Move0_05mm:
mMeasureList_3 = list;
break;
}
return(list);
}
/// <summary>
/// 获得指定波长的吸光值
/// </summary>
/// <param name="blank"></param>
/// <param name="measure"></param>
/// <param name="bestWave"></param>
/// <returns></returns>
public static double GetAbs(double wave, MoveEnum markOrder)
{
double[] blankList = null;
double[] measureList = null;
switch (markOrder)
{
case MoveEnum.Move0_5mm:
blankList = mBlankList_1;
measureList = mMeasureList_1;
break;
case MoveEnum.Move0_2mm:
blankList = mBlankList_2;
measureList = mMeasureList_2;
break;
case MoveEnum.Move0_05mm:
blankList = mBlankList_2;
measureList = mMeasureList_2;
break;
}
return(GetAbs(wave, blankList, measureList));
}
public MoveCommand(CharacterController characterController, MoveEnum direction, float moveSpeed)
{
_characterController = characterController;
_direction = direction;
_moveSpeed = moveSpeed;
}
public Point Move(MoveEnum move)
{
switch (Direction)
{
case DirectionEnum.Right:
switch (move)
{
case MoveEnum.Left:
Direction = DirectionEnum.Up;
break;
case MoveEnum.Right:
Direction = DirectionEnum.Down;
break;
default:
this.Position.Y++;
return(Position);
}
break;
case DirectionEnum.Left:
switch (move)
{
case MoveEnum.Left:
Direction = DirectionEnum.Down;
break;
case MoveEnum.Right:
Direction = DirectionEnum.Up;
break;
default:
this.Position.Y--;
return(Position);
}
break;
case DirectionEnum.Up:
switch (move)
{
case MoveEnum.Left:
Direction = DirectionEnum.Left;
break;
case MoveEnum.Right:
Direction = DirectionEnum.Right;
break;
default:
this.Position.X--;
return(Position);
}
break;
case DirectionEnum.Down:
switch (move)
{
case MoveEnum.Left:
Direction = DirectionEnum.Right;
break;
case MoveEnum.Right:
Direction = DirectionEnum.Left;
break;
default:
this.Position.X++;
return(Position);
}
break;
default:
break;
}
return(Position);
}
public AIStep()
{
nextStep = StepEnum.STAY;
nextMove = MoveEnum.RIGHT;
}
/// <summary>
/// Turtle Challenge
/// 1. Read from the file game-settings the settings necessairy for the game
/// 2. Read from the file moves the moves tha the turtle has to make
/// 3. Write in the file moves the what happens after every move of the turtle
/// </summary>
/// <param name="settingsFilePath"> The file path for the game settings</param>
/// <param name="movesFilePath"> The file path for the moves</param>
public static void RunTurtleChallenge(string settingsFilePath, string movesFilePath)
{
List <MoveEnum> moves = new List <MoveEnum>();
Settings gameSettings = new Settings();
//Read and map settings
using (StreamReader sr = new StreamReader(settingsFilePath))
{
// Read the stream to a string, and write the string to the console.
String line = sr.ReadToEnd();
Console.WriteLine(line);
DataContractJsonSerializer serializer = new DataContractJsonSerializer(typeof(Settings));
MemoryStream ms = new MemoryStream(Encoding.Unicode.GetBytes(line));
gameSettings = (Settings)serializer.ReadObject(ms);
}
//Read and map Moves
using (StreamReader sr = new StreamReader(movesFilePath))
{
// Read the stream to a string, and write the string to the console.
String line = sr.ReadToEnd();
string[] stringMoves = line.Split(',');
foreach (string m in stringMoves)
{
MoveEnum mov = (MoveEnum)Enum.Parse(typeof(MoveEnum), m);
moves.Add(mov);
}
}
// Append in the file moves all the results from the turtle movement
using (StreamWriter file = new StreamWriter(movesFilePath, append: true))
{
// First append a line with the Board dimensions and Mine positions for guidance
StringBuilder set = new StringBuilder();
set.Append("Board" + ": " + "(" + gameSettings.Board.MaxX + "," + gameSettings.Board.MaxY + ")/ ");
foreach (var min in gameSettings.MinePositions)
{
set.Append("Mine" + ": " + "(" + min.X + "," + min.Y + ") ");
}
file.WriteLine(Environment.NewLine);
file.WriteLine(set.ToString(), Environment.NewLine);
Tile currentPosition = gameSettings.StartingPosition;
DirectionEnum direction = gameSettings.Direction;
foreach (MoveEnum m in moves)
{
Tile newPosition = new Tile();
StringBuilder str = new StringBuilder();
str.Append(m.ToString() + ": ");
switch (m)
{
case MoveEnum.MOVE:
newPosition = GetPositionFromMove(currentPosition, direction, gameSettings.Board);
break;
case MoveEnum.ROTATE:
direction = (int)direction != 4 ? direction + 1 : DirectionEnum.NORTH;
newPosition = currentPosition;
break;
}
// Evaluate case and get log message (among with a WIN flag)
EvaluationAndLog eval = GetLogMessage(gameSettings, newPosition, currentPosition, m, direction);
currentPosition = newPosition; // Now we can set as the current position the new position
// Write the line in the file
file.WriteLine(m.ToString() + ": " + eval.Message + " CurrentPosition: (" + currentPosition.X + "," + currentPosition.Y + ")", Environment.NewLine);
// If the evaluation has given the flag WIN true then the game is over.
if (eval.Win)
{
break;
}
}
}
}
/// <summary>
/// Evaluate the move and return the appropriate message
/// </summary>
/// <param name="settings">The game settings</param>
/// <param name="newPosition">The new positions after the move</param>
/// <param name="currentPosition">The current position before the move</param>
/// <param name="move">The type of move</param>
/// <param name="direction">The direction of the turtle (if the move if type of ROTATE then we are talking about the new direction)</param>
/// <returns></returns>
public static EvaluationAndLog GetLogMessage(Settings settings, Tile newPosition, Tile currentPosition, MoveEnum move, DirectionEnum direction)
{
EvaluationAndLog model = new EvaluationAndLog();
string result = string.Empty;
if (newPosition.X == settings.ExitPosition.X && newPosition.Y == settings.ExitPosition.Y)
{
model.Win = true;
model.Message = "You found the exit point! YOU WIN!";
return(model);
}
else if (settings.MinePositions.Any(t => t.X == newPosition.X && t.Y == newPosition.Y))
{
model.Message = "You have hit a mine"; // According to the example we don't finish the game when a mine is stepped.
return(model);
}
else if (move == MoveEnum.ROTATE)
{
if (GetDangerFromRotation(settings.MinePositions, direction, currentPosition))
{
model.Message = "Still in danger";
return(model);
}
}
model.Message = "Success!";
return(model);
}
public Tile Move(Tile neighbour, MoveEnum moveDirection)
{
Tile returnTile = CheckNeighbour(neighbour, moveDirection);
this.tile = returnTile;
return returnTile;
}
/// <summary>
/// 移动相机，当相机触碰到Rect触碰到玩家或者特殊Collider的时候停止移动
/// </summary>
public void MoveCamera_StopWhenRectCashPlayerOrCollider(MoveEnum moveEnum, float speed, StoryHander OnMoveFished = null)
{
isUseCamera = true;
StartCoroutine(MoveCamera_StopWhenRectCashPlayerOrCollider_IEnumerator(moveEnum, speed, OnMoveFished));
}
