private void Send_New_Message_To_Event(Robot_State RobotState)
{
if (New_Receive_Message_Event != null)
{
New_Receive_Message_Event(RobotState);
}
}
private void Clear_Receive_Data_Cache_Value()
{
rdState = 0;
rdTag = null;
rdCache.Clear();
getRobotState = new Robot_State();
}
public Action_Dialogue(string tag, float w)
{
weight = w;
data = GameObject.FindGameObjectWithTag("Robot_Head").GetComponent <Dialogue>();
audiosource = GameObject.FindGameObjectWithTag("Robot_Head").GetComponent <AudioSource>();
utility = GameObject.FindGameObjectWithTag("Robot_Head").GetComponent <Utility>();
rs = GameObject.FindGameObjectWithTag("Robot_Head").GetComponent <Robot_State>();
for (int i = 0; i < data.database.Count; ++i)
{
if (data.database[i].Action_tag == tag)
{
dialogue[data.database[i].FOF].Add(new Tuple(data.database[i].Sources, 0));
}
}
}
//感情を示すGameObjectを描画する
private GameObject generate_gameobject(string state_key, GameObject state_object)
{
string path = "";
if (state_key == "11" || state_key == "20" || state_key == "22" || state_key == "28" || state_key == "29")
{
path = Robot_State.get_state_gameobject(state_key);
state_object = (GameObject)Resources.Load(path);
state_object = Instantiate(state_object);
state_object.transform.parent = Root.transform;
return(state_object);
}
else
{
return(null);
}
}
private void Receive_Data(List <byte> rawData, out bool StateValid, out Robot_State newState)
{
Robot_State _r = new Robot_State();
StateValid = false;
int _i = 0;
float?_value = null;
int? _errState = null;
int _totalLength = 10;
while (_i < rawData.Count)
{
switch (rdState)
{
case -50: // value not match error
Debug.Log("Receive data error state: " + _errState + ", content value format not match!!");
rdState = -10;
break;
case -40: // cache leaking error
Debug.Log("Receive data error state: " + _errState + ", cache leaked!!");
rdState = -10;
break;
case -30: // tag error
Debug.Log("Receive data error state: " + _errState + ", tag format not match!!");
rdState = -10;
break;
case -20: // format not match error
Debug.Log("Receive data error state: " + _errState + ", format error!!");
rdState = -10;
break;
case -10: // data error
_i = rawData.Count + 1;
_r = new Robot_State();
Clear_Receive_Data_Cache_Value(); // clear all cache and go back state 0
break;
case 0:
_errState = rdState; // incase if error occur
if (rawData[_i] == 40) // if read (
{
_i++;
rdTag = null; // clear tag to provent pollution for second cycle comparison
_value = null; // clear to provent pollution
rdCache.Clear(); // clear cache for very next using
rdState = 10;
}
else if (rawData[_i] == 91) // if read [
{
_i++;
rdState = 100;
}
else
{
rdState = -20;
}
break;
case 10:
_errState = rdState; // incase if error occur
// if not read ) and value not too long and no error
while (rawData[_i] != 41 && rdCache.Count < _totalLength && rdState == 10)
{
// if data is a english letter, capital and lower case
if ((rawData[_i] >= 65 && rawData[_i] <= 90) || (rawData[_i] >= 97 && rawData[_i] <= 122))
{
rdCache.Add(rawData[_i]);
_i++;
if (_i >= rawData.Count)
{
break; // only do next loop if not finish reading the data
}
}
else
{
rdState = -30;
}
}
if (rdCache.Count >= _totalLength)
{
rdState = -30; // if cache value too long
break;
}
if (_i >= rawData.Count)
{
break; // protect next line
}
if (rawData[_i] == 41) // if read )
{
_i++;
rdTag = Encoding.ASCII.GetString(rdCache.ToArray());
rdCache.Clear(); // clear cache for very next using
rdState = 20;
}
break;
case 20: // taking content data
_errState = rdState; // incase if error occur
// if not read ; and value not too long and no error
while (rawData[_i] != 59 && rdCache.Count < _totalLength && rdState == 20)
{
// if is reading number and . and -
if ((rawData[_i] >= 45 && rawData[_i] <= 46) || (rawData[_i] >= 48 && rawData[_i] <= 57))
{
rdCache.Add(rawData[_i]);
_i++;
if (_i >= rawData.Count)
{
break; // only do next loop if not finish reading the data
}
}
else
{
rdState = -50;
}
}
if (rdCache.Count >= _totalLength)
{
rdState = -50; // if cache value too long
break;
}
if (_i >= rawData.Count)
{
break; // protect next line
}
if (rawData[_i] == 59) // if read ;
{
try
{
_value = float.Parse(Encoding.ASCII.GetString(rdCache.ToArray()));
}
catch (FormatException _e)
{
Debug.Log("Receive Data value converting error: " + _e);
rdState = -40;
}
if (rdState == 20)
{
rdState = 30; // if no err go next
}
}
break;
case 30:
_errState = rdState; // incase if error occur
if (rdTag == "Gest") // gesture type
{
_r.Gesture_State = (int)_value;
if (_r.Gesture_State < 0 || 1000 < _r.Gesture_State)
{
rdState = -50;
}
}
else if (rdTag == "HEnb") // hand enable
{
if (_value == 1)
{
_r.Hand_Enabled = true;
}
else if (_value == 0)
{
_r.Hand_Enabled = false;
}
else
{
rdState = -50;
}
}
else if (rdTag == "HEnbErr") // hand enable error
{
if (_value == 1)
{
_r.Hand_Enb_Err = true;
}
else if (_value == 0)
{
_r.Hand_Enb_Err = false;
}
else
{
rdState = -50;
}
}
else if (rdTag == "Grab") // hand grab state
{
if (_value == 1)
{
_r.Grab_State = true;
}
else if (_value == 0)
{
_r.Grab_State = false;
}
else
{
rdState = -50;
}
}
else if (rdTag == "HMovErr") // hand move error
{
if (_value == 1)
{
_r.Hand_Mov_Err = true;
}
else if (_value == 0)
{
_r.Hand_Mov_Err = false;
}
else
{
rdState = -50;
}
}
else if (rdTag == "RMovErr") // robot move error
{
if (_value == 1)
{
_r.Robot_Mov_Err = true;
}
else if (_value == 0)
{
_r.Robot_Mov_Err = false;
}
else
{
rdState = -50;
}
}
if (rdState == 30)
{
_i++;
rdState = 0; // if evey thing fine then turn to start
}
break;
case 100:
_errState = rdState; // incase if error occur
if (rawData[_i] == 13)
{ // if read CR
_i++;
rdState = 110;
}
else if (rawData[_i] == 10)
{ // if read LF
_i++;
rdState = 120;
}
else
{
rdState = -20;
}
break;
case 110:
_errState = rdState; // incase if error occur
if (rawData[_i] == 93)
{ // if read ]
_i++;
rdState = 0;
}
else
{
rdState = -20;
}
break;
case 120:
_errState = rdState; // incase if error occur
if (rawData[_i] == 93)
{ // if read ]
StateValid = true;
_i++;
rdState = 0;
}
else
{
rdState = -20;
}
break;
}
}
newState = _r;
}
