// Use this for initialization
void Start()
{
tabCol = table.GetComponent <Collider>();
rb = GetComponent <Rigidbody>();
ab = GetComponent <ArduinoBridge>();
points = 0;
ballNbr = 1;
SwapBall();
sceneChange = false;
holding = false;
}
// Use this for initialization
void Start () {
arduino = (ArduinoBridge)this.GetComponent(typeof(ArduinoBridge));
baseRotation = new Vector3 (0, 0, 0);
lastRotation = new Vector3 (90, 180, 180);
}
public static void Main(string[] args)
{
//Helpers.MotorTest();
Console.CancelKeyPress += Console_CancelKeyPress;
socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
socket.Bind(new IPEndPoint(0, BattleBotServerPort));
logWriter = LogWriter.Instance;
CheckConnectionToClientObject = new CheckConnectionToClient();
ArduinoBridge = new ArduinoBridge();
// var arduinoBridgeThread = new Thread(ArduinoBridge.PrintAnalog);
var checkConnectionThread = new Thread(CheckConnectionToClientObject.CountTimeSinceLastCommand);
//arduinoBridgeThread.Start();
if (args.Length != 0)
{
if (args[0] == "TestMotors")
{
Helpers.TestMotors();
}
}
Console.WriteLine("Awaiting Data");
while (true)
{
socket.Listen(100);
accepted = socket.Accept();
if (clientIP == null)
{
var clientIPEndPoint = accepted.RemoteEndPoint as IPEndPoint;
clientIP = clientIPEndPoint.Address;
//socketHelper = new SocketHelper(clientIPEndPoint);
checkConnectionThread.Start();
}
Buffer = new byte[accepted.SendBufferSize];
var bytesRead = accepted.Receive(Buffer);
var formatted = new byte[bytesRead];
for (var i = 0; i < bytesRead; i++)
{
formatted[i] = Buffer[i];
}
var strData = Encoding.ASCII.GetString(formatted);
Console.WriteLine(strData);
var typcom = strData.Split(':');
if (typcom.Length == 2 || typcom.Length == 3)
{
Console.WriteLine("Normal command recieved");
Console.WriteLine($"Command: {strData}");
var commandtype = typcom[0];
var command = typcom[1].ToLower();
string parameters = null;
if (typcom.Length == 3)
{
parameters = typcom[2];
}
if (commandtype == "CLIENT")
{
if (command == "disconnected")
{
CheckConnectionToClientObject.RequestStop();
}
if (command == "connected")
{
CheckConnectionToClientObject.RequestStart();
}
}
if (commandtype == "DC") // We are dealing with drive commands.
{
if (typcom.Length == 3)
{
var motorpart = command.Split(',');
var servopart = parameters.Split(',');
if (motorpart.Length == 3)
{
speed = int.Parse(motorpart[0]);
wheelPos1 = int.Parse(motorpart[1]);
wheelPos2 = int.Parse(motorpart[2]);
}
else
{
Console.WriteLine("Error, can't parse motor command \"" + command + "\"");
}
if (servopart.Length == 2)
{
servoX = int.Parse(servopart[0]);
servoY = int.Parse(servopart[1]);
}
else
{
Console.WriteLine("Error, can't parse servo command \"" + parameters + "\"");
}
Helpers.motorCalcsTank(speed, wheelPos1, wheelPos2, servoX, servoY);
}
else
{
Console.WriteLine("Error, can't parse drive command \"" + strData + "\"");
}
}
if (commandtype == "L") // We are dealing with something we need to log server sided.
{
Console.WriteLine("LOG: " + command);
if (parameters != null)
{
logWriter.WriteToLog(parameters, command);
}
else
{
logWriter.WriteToLog(command);
}
}
if (commandtype == "C")
// We are dealing with a system command. The array can be more than 2 if parameters are added
{
if (command == "shutdown")
{
Console.WriteLine("Ima shutting down");
}
if (command == "reboot")
{
Console.WriteLine("REEEEEEEEEEBOOT");
}
if (command == "resetmh")
{
Helpers.ResetMotorHat();
}
if (command == "exit")
{
break;
}
}
}
else
{
Console.WriteLine("Can't parse \"" + strData + "\" as a command.");
}
// Ok we processed all our data, so lets manipulate that data to simulate damage.
if (Damage.ControllUnit >= 25) // Control unit damage, Changes the sleeptime of the loop
{
var temp = random.Next(50, Damage.ControllUnit + 50) * 1.20;
sleepTime = (int)Math.Floor(temp);
}
if (DoDamageSimulation)
{
if (Damage.Motor >= 25 && MotorConfig == "Normal")
{
if (speed > 0)
{
speed -= random.Next(0, Damage.Motor);
if (speed < 0)
{
speed = 0;
}
}
if (speed < 0)
{
speed += random.Next(0, Damage.Motor);
if (speed > 0)
{
speed = 0;
}
}
}
if (Damage.LeftMotor >= 25 && MotorConfig == "Tank")
{
if (wheelPos1 > 0)
{
wheelPos1 -= random.Next(0, Damage.LeftMotor);
if (wheelPos1 < 0)
{
wheelPos1 = 0;
}
}
if (wheelPos1 < 0)
{
wheelPos1 += random.Next(0, Damage.LeftMotor);
if (wheelPos1 > 0)
{
wheelPos1 = 0;
}
}
}
if (Damage.RightMotor >= 25 && MotorConfig == "Tank")
{
if (wheelPos2 > 0)
{
wheelPos2 -= random.Next(0, Damage.RightMotor);
if (wheelPos2 < 0)
{
wheelPos2 = 0;
}
}
if (wheelPos2 < 0)
{
wheelPos2 += random.Next(0, Damage.RightMotor);
if (wheelPos2 > 0)
{
wheelPos2 = 0;
}
}
}
DoDamageSimulation = false;
}
else
{
if (DamageTimer == 10)
{
DoDamageSimulation = true;
}
DamageTimer++;
}
int[] motorSpeeds = { 0, 0, 0 };
CheckConnectionToClientObject.timeSinceLastCommand = 0;
// LeftMotorSpeed = motorSpeeds[1];
// RightMotorSpeed = motorSpeeds[2];
// var temperature = Helpers.GetPiTemp();
// var load = Helpers.GetPiLoad();
// socketHelper.SendToServer($"SYS:{temperature}|37%|{load}|{LeftMotorSpeed}|{RightMotorSpeed}");
}
socket.Close();
accepted.Close();
}
// Use this for initialization
void Start()
{
bts = ball.GetComponent <BallTriggeringScript>();
rb = ball.GetComponent <Rigidbody>();
ab = ball.GetComponent <ArduinoBridge>();
}
