/// <summary>
/// 增加一条数据
/// </summary>
public bool Add(CarState model)
{
StringBuilder strSql = new StringBuilder();
strSql.Append("insert into CarState(");
strSql.Append("LSH,CASEID,CCCC,CLID,SJ,ZT,TASK_TERMINATION_REASON,ADDTIME)");
strSql.Append(" values (");
strSql.Append(":LSH,:CASEID,:CCCC,:CLID,:SJ,:ZT,:TASK_TERMINATION_REASON,:ADDTIME)");
OracleParameter[] parameters =
{
new OracleParameter(":LSH", DBOpHelper.GetString(model.LSH)),
new OracleParameter(":CASEID", DBOpHelper.GetString(model.CASEID)),
new OracleParameter(":CCCC", DBOpHelper.GetNumber(model.CCCC)),
new OracleParameter(":CLID", DBOpHelper.GetString(model.CLID)),
new OracleParameter(":SJ", DBOpHelper.GetDateTime(model.SJ)),
new OracleParameter(":ZT", DBOpHelper.GetString(model.ZT)),
new OracleParameter(":TASK_TERMINATION_REASON", DBOpHelper.GetString(model.TASK_TERMINATION_REASON)),
new OracleParameter(":ADDTIME", DBOpHelper.GetDateTime(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")))
};
int rows = DbHelperOra.ExecuteSql(SysParameters.DBConnectString, strSql.ToString(), parameters);
if (rows > 0)
{
return(true);
}
else
{
return(false);
}
}
public Hashtable GetCarStepHashtableByModel(CarState cs)
{
/*
* lsh; String 流水号 Varchar2(19) not null 19 必填，主键，120生成
* caseId String CaseID Varchar2(20) 20 由APP提供
* cccc Integer 出车车次 Number(2) 2 必填
* clid String 车俩ID Varchar2(10) not null 10 必填
* sj Date 状态数据时间 Date 必填
* zt String 状态 Varchar2(20) 20 必填,出车默认不需发送，主要有
* 1.到达现场，2.病人上车，3.送达医院，4.任务完成。
* 5.任务中止
* reason String 任务中止异常原因描述 Varchar2(100) 100 1.用户来电取消，2车辆故障，3.病人已康复，4.车道人走，5.拒绝治疗，6.病人已死亡
*/
Hashtable ht = new Hashtable();
ht.Add("messageName", "CarStep");
ht.Add("caseId", cs.CASEID);
ht.Add("cccc", cs.CCCC);
ht.Add("clid", cs.CLID);
ht.Add("lsh", cs.LSH);
ht.Add("sj", string.Format("{0:yyyy-MM-dd HH:mm:ss}", cs.SJ));
ht.Add("zt", cs.ZT);
ht.Add("reason", cs.TASK_TERMINATION_REASON);
return(ht);
}
// Update is called once per frame
void Update()
{
if (State == CarState.Starting)
{
transform.position = Vector3.Lerp(transform.position, StopPoint, Time.deltaTime);
if (Vector3.Distance(transform.position, StopPoint) < 0.01f)
{
transform.position = StopPoint;
State = CarState.Waiting;
}
}
if (State == CarState.Waiting)
{
var cargos = gameObject.GetComponentsInChildren<MoleculeCarCargo>();
if (cargos != null && cargos.Length > 0 && cargos.All(c=>c.IsLoaded))
{
State = CarState.Ending;
}
}
if (State == CarState.Ending)
{
transform.position = Vector3.Lerp(transform.position, EndPoint, Time.deltaTime);
}
}
private CarState GetCarStateModelByHashtable(Hashtable htMessage)
{
CarState sci = new CarState();
if (htMessage["caseId"] != null)
{
sci.CASEID = htMessage["caseId"].ToString();
}
if (htMessage["cccc"] != null && htMessage["cccc"].ToString() != "")
{
sci.CCCC = int.Parse(htMessage["cccc"].ToString());
}
if (htMessage["clid"] != null)
{
sci.CLID = htMessage["clid"].ToString();
}
if (htMessage["lsh"] != null)
{
sci.LSH = htMessage["lsh"].ToString();
}
if (htMessage["sj"] != null && htMessage["sj"].ToString() != "")
{
sci.SJ = DateTime.Parse(htMessage["sj"].ToString());
}
if (htMessage["zt"] != null)
{
sci.ZT = htMessage["zt"].ToString();
}
if (htMessage["reason"] != null)
{
sci.TASK_TERMINATION_REASON = htMessage["reason"].ToString();
}
return(sci);
}
public OnePoint(GISVertex _location, CarState _State, string carID, string gpstime)
{
CarLocation = _location;
State = _State;
CarID = carID;
GPSTime = gpstime;
}
/// <summary>
/// 增加一条数据
/// </summary>
public bool Add(CarState model)
{
StringBuilder strSql = new StringBuilder();
strSql.Append("insert into carstate(");
strSql.Append("LSH,CASEID,CCCC,CLID,SJ,ZT,TASK_TERMINATION_REASON,ADDTIME)");
strSql.Append(" values (");
strSql.Append("@LSH,@CASEID,@CCCC,@CLID,@SJ,@ZT,@TASK_TERMINATION_REASON,@ADDTIME)");
MySqlParameter[] parameters =
{
new MySqlParameter("@LSH", DBOpHelper.GetString(model.LSH)),
new MySqlParameter("@CASEID", DBOpHelper.GetString(model.CASEID)),
new MySqlParameter("@CCCC", DBOpHelper.GetNumber(model.CCCC)),
new MySqlParameter("@CLID", DBOpHelper.GetString(model.CLID)),
new MySqlParameter("@SJ", DBOpHelper.GetDateTime(model.SJ)),
new MySqlParameter("@ZT", DBOpHelper.GetString(model.ZT)),
new MySqlParameter("@TASK_TERMINATION_REASON", DBOpHelper.GetString(model.TASK_TERMINATION_REASON)),
new MySqlParameter("@ADDTIME", DBOpHelper.GetDateTime(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")))
};
int rows = DbHelperMySQL.ExecuteSql(strSql.ToString(), parameters);
if (rows > 0)
{
return(true);
}
else
{
return(false);
}
}
protected override void InitializeCustom()
{
base.InitializeCustom();
carState = CarState.Started;
total_dist_goal = this.currentGoalV - this.positionV;
goal_last_frame = 0;
}
void Start()
{
cameraSensor = GetComponentInChildren <CameraSensor>();
carState = GetComponent <CarState>();
carController = GetComponent <CarController>();
IPEndPoint localEndPoint = new IPEndPoint(IPAddress.Any, DeterminePort());
listener = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
checkpoints = new Checkpoints();
reward = new Reward(checkpoints);
// foreach (GameObject gameObject in checkpoints.checkpointsArray) {
// Debug.Log(gameObject.name);
// }
try {
listener.Bind(localEndPoint);
listener.Listen(1);
BeginAccept();
} catch (Exception e) {
Debug.LogException(e);
}
}
private bool IsCarInFront(CarState car, CarState other)
{
return((car.lap > other.lap) ||
(car.lap == other.lap && car.stage > other.stage) ||
(car.lap == other.lap && car.stage == other.stage &&
DistanceToCheckpoint(car) < DistanceToCheckpoint(other)));
}
IEnumerator SetReady(float waitTime)
{
yield return(new WaitForSeconds(waitTime));
carState = CarState.Ready;
UIManager.Instance.SetVisibleStartText(true);
}
private void Update()
{
switch (myState)
{
case CarState.ARRIVING:
transform.position = Vector3.Lerp(startPos, parkPos, (Time.time - startedDrive) * speed / distToPark);
if (transform.position == parkPos)
{
// We've made it!
myState = CarState.PARKED;
wc.enabled = true;
}
break;
case CarState.PARKED:
if (wc.enabled == false)
{
// Our wordComponent has disabled itself, drive off.
myState = CarState.LEAVING;
startedDrive = Time.time;
}
break;
case CarState.LEAVING:
transform.position = Vector3.Lerp(parkPos, endPos, (Time.time - startedDrive) * speed / distToEnd);
if (transform.position == endPos)
{
Destroy(this.gameObject);
}
break;
}
}
// Called when the camera finds a goal object
public void FoundGoal(GameObject goalObject)
{
if (currentState != CarState.Goal) //If the car is idling but manages to spot a missed goal object, set it as current goal and move towards it (EDGE CASE)
{
currentGoal = goalObject.transform;
targetPos = currentGoal.position;
currentState = CarState.Goal;
lastTargetSwitch = Time.time;
}
else if (currentState == CarState.Goal) //If we already have a goal but we detect another goal object
{
if (Time.time - lastTargetSwitch > targetSwitchTimer)
{
//If the newfound object is closer than the previously selected obj, set new one as current goal
float newDistance = Vector3.Distance(transform.position, goalObject.transform.position);
if (newDistance < distToGoal)
{
currentGoal = goalObject.transform;
targetPos = currentGoal.position;
currentState = CarState.Goal;
}
lastTargetSwitch = Time.time;
}
}
}
IReadOnlyList <CarState> GetInitialCarStates()
{
var states = new CarState[cars.Length];
// create all
for (int i = 0; i < cars.Length; i++)
{
states[i] = new CarState(cars[i].InitialLane);
}
// make dependencies
for (int i = 0; i < cars.Length; i++)
{
for (int j = i + 1; j < cars.Length; j++)
{
if (AreOverlapping(cars[i].InitialPosition, cars[j].InitialPosition))
{
var ok = TryMakeDependency(states[i], states[j]);
Debug.Assert(ok);
}
}
}
// ignore lane when no dependency
for (int i = 0; i < cars.Length; i++)
{
states[i].CleanUp();
}
return(states);
}
private void Start()
{
InvokeRepeating("UpdateCar", 0f, 1 / Constants.targetHz);
//Get dimensions of car sprite
float length = GetComponentInChildren <Renderer>().bounds.size.x;
float width = GetComponentInChildren <Renderer>().bounds.size.y;
//Initialize the controllers and system
carController = new CarController(length);
steerSys = new FirstOrderSystem(Constants.carSimSteeringK, Constants.carSimSteeringTau, Constants.targetHz, 0f);
throttleSys = new AsymmetricFirstOrderSystem(Constants.carSimVelK, Constants.carSimVelIncreaseTau, Constants.carSimVelDecreaseTau, Constants.targetHz, 0f);
// Set initial car state
carState = new CarState(0, transform.position.z, transform.position.x, 0, length / 2, length / 2);
goalPos = transform.position;
SetTargetPosition(goalPos);
//Draw the lidar visualization
line = gameObject.GetComponent <LineRenderer>();
line.SetVertexCount(numLineSegments + 1);
line.useWorldSpace = false;
DrawLidar();
Debug.Log(string.Format("track width {0}", GetTrackWidth()));
Debug.Log(string.Format("track length {0}", GetTrackLength()));
}
public void setState(RoleInGame player, ref List <string> notifyMsg, CarState s)
{
this._state = s;
if (player.playerType == RoleInGame.PlayerType.player)
{
SendStateAndPurpose((Player)player, this, ref notifyMsg);
}
if (s == CarState.waitOnRoad)
{
if (player.playerType == RoleInGame.PlayerType.NPC)
{
((NPC)player).dealWithWaitedNPC(ref notifyMsg);
}
}
if (this._state != CarState.waitOnRoad)
{
if (string.IsNullOrEmpty(player.getCar().isControllingKey))
{
}
else
{
player.getCar().clearControllingObj();
player.controlPrepareMagicChanged(player, ref notifyMsg);
}
}
}
/// <summary>
/// 发送车辆状态信息给route server
/// </summary>
/// <param name="sci"></param>
public void SendCarStep(CarState cs)
{
Hashtable ht = GetCarStepHashtableByModel(cs);
ScsTextMessage message = new ScsTextMessage(JSON.Encode(ht));
SendMessage(message);
}
public float speed;//车速
public Car(Position carPos, EdgeData car_EdgeData, CarState carState, float speed)
{
this.carPos = carPos;
this.car_EdgeData = car_EdgeData;
this.carState = carState;
this.speed = speed;
}
public void HandleCarStep(CarState cs)
{
try
{
//Save Database
IDBCarState db = DataAccess.DataAccess.GetDBCarState();
db.Add(cs);
CarStepManagerDelegateClient client = new CarStepManagerDelegateClient();
client.addCarStepCompleted += new EventHandler <addCarStepCompletedEventArgs>(Service_Completed);
CredentialSoapHeader header = new CredentialSoapHeader();
header.Username = SysParameters.AppAPIUsername;
header.Password = SysParameters.AppAPIPassword;
string strJson = ConvertModelToJson(cs);
WebserviceUserState UserState = new WebserviceUserState();
UserState.TIMES = 1;
UserState.MESSAGE = strJson;
//{"caseId":"a07aa295-e5f0-41bb-858d-277b1e3479ff","lsh":"2016061300000000005","sj":"2016-06-13 17:19:41","zt":"病人上车","reason":"","clid":"101","cccc":2}
client.addCarStepAsync(header, strJson, UserState);
}
catch (Exception ex)
{
LogHelper.WriteLog("", ex);
}
}
public float DetermineFitness(CarState state)
{
//return UnityEngine.Random.value * 1000;
//state.AngleToGoal Drehung 0 0.6 0.1
//state.CurrentVelocity Geschwindiket 0 0.8 0.3
//state.DistanceFromGoal Entfernung 0 0.9 0.2
//state.NumberOfCollisions Unfall 0 9 1
float angle = state.AngleToGoal();
float velocity = state.CurrentVelocity();
float distance = state.DistanceFromGoal();
int collisions = state.NumberOfCollisions();
if (angle < 0.1)
{
fAngle = 0.1F;
}
if (angle >= 0.1)
{
fAngle = 0.9F;
}
if (velocity < 0.1)
{
fVelocity = 0.1F;
}
if (velocity > 0.5)
{
fVelocity = 0.9F;
}
if (distance < 0.5)
{
fDistance = 0.1F;
}
if (distance >= 0.5)
{
fDistance = 0.9F;
}
if (collisions == 0)
{
fCollision = 0.1F;
}
if (collisions > 0 && collisions <= 3)
{
fCollision = 0.5F;
}
if (collisions > 3)
{
fCollision = 0.99F;
}
float fitness = 1 - (fAngle * fVelocity * fDistance * fCollision);
return((distance / 100) - 5);
}
IEnumerator RunToTargetPositon(float targetPosX)
{
arrived = false;
StartCoroutine(OpenTools());
Debug.Log("============start==============");
float curTime = 0;
Vector3 startPos = this.transform.position;
carState = (targetPosX - this.transform.position.x) > 0?CarState.runForward:CarState.runBack;
while (Mathf.Abs(targetPosX - this.transform.position.x) > 0.001f)
{
yield return(null);
curTime += Time.deltaTime;
this.transform.position = new Vector3(Mathf.Lerp(startPos.x, targetPosX, curTime), this.transform.position.y, this.transform.position.z);
}
carState = CarState.stop;
ropeState = RopeState.Elong;
yield return(StartCoroutine(OperateTheRope()));
while (!arrived)
{
yield return(null);
}
}
public void OnPhotonSerializeView(PhotonStream stream, PhotonMessageInfo info)
{
if (stream.IsWriting)
{
if (!photonView.IsMine)
{
return;
}
stream.SendNext(Input.Forward);
stream.SendNext(Input.Steer);
stream.SendNext(State);
stream.SendNext(Rigidbody.position);
stream.SendNext(Rigidbody.rotation);
stream.SendNext(Rigidbody.velocity);
stream.SendNext(Rigidbody.angularVelocity);
}
else
{
Input.Forward = (float)stream.ReceiveNext();
Input.Steer = (float)stream.ReceiveNext();
State = (CarState)stream.ReceiveNext();
Network.Position = (Vector3)stream.ReceiveNext();
Network.Rotation = (Quaternion)stream.ReceiveNext();
Rigidbody.velocity = (Vector3)stream.ReceiveNext();
Rigidbody.angularVelocity = (Vector3)stream.ReceiveNext();
float lag = Mathf.Abs((float)(PhotonNetwork.Time - info.timestamp));
Network.Position += Rigidbody.velocity * lag;
}
}
//Should be beteween 0..1
public float DetermineFitness(CarState state)
{
//Debug.Log(state.DistanceFromGoal() + " -- " + state.AngleToGoal());
int maxDistance = 40;
float angle = state.AngleToGoal(); //transform: angle = 1 --> Optimal; angle = 0 --> so bad
float distance = state.DistanceFromGoal();
float weightDistance = 0.50f;
float weightAngle = 0.30f;
float weightCollision = 0.1f;
float weightSpeed = 0.1f;
// 0 ... car ... max --> lerp
Debug.Log("the angle is: " + angle);
float partDistance = weightDistance * (float)Math.Pow((1f - Math.Min(distance, maxDistance) / maxDistance), 2);
float partCollision = weightCollision * (float)Math.Pow((1f - Math.Min(state.NumberOfCollisions(), 4) / 4), 2);
float partSpeed = weightSpeed * (float)Math.Pow((1f - Math.Min(state.CurrentVelocity(), 1)), 2);
float partAngle = weightAngle * (float)Math.Pow((1f - (Math.Abs(angle / 4))), 2); // why
//float partAngle = weightAngle * ((float)Math.Pow(1f - Math.Min(angle, (4 - angle)) / 2f, 2f));
//float partAngle = weightAngle * (float)Math.Pow((1 - (Math.Abs ( 2 - angle) / 2)),1f);
//Debug.Log("Angle: " + angle + " rel: " + relAngle + " with faktor:" + partAngle);
float sum = partDistance + partAngle + partCollision + partSpeed;
return(sum);
//else return sum;
}
// Start is called before the first frame update
void Start()
{
Instance = this;
carState = CarState.Null;
rb = GetComponent <Rigidbody>();
StartCoroutine(SetReady(0.5f));
}
public void SetRanksCar()
{
CarB[] cars = FindObjectsOfType(typeof(CarB)) as CarB[];//for optimize
if(cars.Length > 0)
{
_cars = new CarState[cars.Length];//for optimize
int i = 0;
foreach(CarB car in cars)
{
_cars[i] = new CarState(car);
// _cars[i].carBody = car.GetComponent<DriftCar>();
// _cars[i].carBBody = car;
// _cars[i].property = car.GetComponent<CarProperty>();
// _cars[i].name = ((Definition.eCarID)car[i].property.carID).ToString();
i++;
}
foreach(UISprite sprite in playerRanks)
{
if(sprite)
{
sprite.enabled = true;
}
}
}
}
/// <summary>
///
/// </summary>
/// <param name="s"></param>
/// <returns></returns>
public CarState this[CarState s]
{
get
{
return((CarState)s.accept(this));
}
}
public bool this[CarState s]
{
get
{
return((bool)s.accept(this));
}
}
public override Controller GetOutput(rlbot.flat.GameTickPacket gameTickPacket)
{
gameInfo.Update(gameTickPacket, GetRigidBodyTick());
ballPrediction.Update(GetBallPrediction());
if (timeout > 5)
{
GameState gamestate = new GameState();
gamestate.BallState.PhysicsState.Location = new DesiredVector3(RandomFloat(-3000, 3000), 2000, 100);
gamestate.BallState.PhysicsState.AngularVelocity = new DesiredVector3(0, 0, 0);
gamestate.BallState.PhysicsState.Velocity = new DesiredVector3(RandomFloat(2000, 2000), RandomFloat(1000, 2000), RandomFloat(1500, 1600));
CarState carstate = new CarState();
carstate.PhysicsState.AngularVelocity = new DesiredVector3(0, 0, 0);
carstate.PhysicsState.Velocity = new DesiredVector3(0, 0, 0);
carstate.PhysicsState.Location = new DesiredVector3(0, 0, 17);
carstate.PhysicsState.Rotation = new DesiredRotator(0, (float)(Math.PI / 2), 0);
gamestate.SetCarState(index, carstate);
SetGameState(gamestate);
timeout = 0;
aerial = null;
}
timeout += gameInfo.DeltaTime;
Controller controller = new Controller();
Car car = gameInfo.Cars[index];
Ball ball = gameInfo.Ball;
Slice[] slices = ballPrediction.ToArray();
if (timeout > 0.3)
{
if (aerial == null)
{
aerial = Aerial.FindAerialOpportunity(car, slices, gameInfo.Time, settings);
}
else
{
controller = aerial.Step(ball, 0.016667f, gameInfo.Time);
Renderer.DrawLine3D(Colors.Red, car.Position, aerial.Target);
if (aerial.Finished)
{
aerial = null;
}
else
{
aerial.UpdateAerialTarget(slices, gameInfo.Time);
}
}
}
return(controller);
}
protected override void Seed(CarRentalSystemContext context)
{
List <CarState> carStates = context.States.ToList();
if (carStates.Count == 0)
{
string[] states = new string[] { "free", "rented" };
foreach (string state in states)
{
CarState carState = new CarState()
{
Value = state
};
context.States.Add(carState);
}
context.SaveChanges();
}
CarState carFreeState = context.States.FirstOrDefault(cs => cs.Value == "free");
List <Store> stores = context.Stores.ToList();
if (stores.Count == 0)
{
string[] storeNames = new string[] { "Store1", "Store2", "Store3" };
foreach (string storeName in storeNames)
{
Store store = new Store()
{
Name = storeName,
Latitude = 23.333m,
Longitude = 41.111m
};
context.Stores.Add(store);
for (int i = 0; i < 5; i++)
{
Car car = new Car()
{
Make = "CarMake" + i,
Model = "Model" + i,
Year = 1982 + i,
Power = 74 + i * 10,
Engine = 2000 + i * 100,
Store = store,
State = carFreeState
};
context.Cars.Add(car);
}
}
}
context.SaveChanges();
}
private void Stop()
{
motorA.StopBack();
motorA.StopForward();
motorB.StopForward();
motorB.StopBack();
this.CurrentState = CarState.Stopped;
}
private void StopDrift()
{
state = CarState.DRIVE;
_dampDriftOffsetTarget = 0;
_dampDriftStrengthTarget = 1;
_dampVisualHorizontalMultiplerTarget = 0;
input.SetChangeRate(limitedHorizontalChangeRate);
}
public void setState(RoleInGame player, ref List <string> notifyMsg, CarState s)
{
this._state = s;
if (player.playerType == RoleInGame.PlayerType.player)
{
SendStateAndPurpose((Player)player, this, ref notifyMsg);
}
}
/// <summary>
/// Disable the car
/// </summary>
protected virtual void DisableCar()
{
//Set state
currentState = CarState.Disabled;
//Activate the particle system
smokeParticleSystem.gameObject.SetActive(true);
}
private void Initialize()
{
//initialize the motors.
motorA = new GpioMotorController(motorAForwardPin, motorABackPin);
motorB = new GpioMotorController(motorBForwardPin, motorBBackPin);
//initialize our senses.
distanceSensor = new HCSR04(triggerPin, echoPin);
this.Stop();
this.CurrentState = CarState.Stopped;
}
// Use this for initialization
void Start()
{
if (this.isTop)
{
m_carstate = Main.S.carTop.GetComponent<CarState>();
}
else
{
m_carstate = Main.S.carBottom.GetComponent<CarState>();
}
m_text = gameObject.GetComponent<Text>();
}
public void resetCar()
{
toNode = 0;
fromSegment = 0;
toSegment = 0;
toLaneID = 0;
fromLaneID = 0;
fromLaneFlags = 0;
stopped = false;
waitTime = 0;
carState = CarState.None;
}
/// <summary>
/// Initializes the Car Brain
/// This code runs when a new brain is created.
/// </summary>
public CarBrain()
{
//sets the first state of the car to unknown.
CurrentState = CarState.Unknown;
//initialize our motors.
this.Initialize();
while(true) //do stuff forever.
{
//drive, this is where main logic happens.
this.Drive();
}
}
void OnEnable()
{
if (isBottom)
{
m_carstate = Main.S.carBottom.GetComponent<CarState>();
}
else
{
m_carstate = Main.S.carTop.GetComponent<CarState>();
}
setSummary();
setHighscoreList();
}
public void ResetCar()
{
ToNode = 0;
FromSegment = 0;
ToSegment = 0;
ToLaneId = 0;
FromLaneId = 0;
FromLaneFlags = 0;
Stopped = false;
WaitTime = 0;
CarState = CarState.None;
}
private void DriveForward()
{
motorA.DriveForwardFull();
motorB.DriveForwardFull();
this.CurrentState = CarState.DrivingForward;
}
public void NowOnRoad()
{
carState = CarState.onRoad;
}
private void TurnLeft()
{
motorA.StopForward();
motorB.StopForward();
motorB.DriveForwardFull();
this.CurrentState = CarState.TurningLeft;
System.Threading.SpinWait.SpinUntil(() => { return false; }, 100);
motorB.StopForward();
this.CurrentState = CarState.Stopped;
}
private void Stop()
{
motorA.StopBack();
motorA.StopForward();
motorB.StopForward();
motorB.StopBack();
this.CurrentState = CarState.Stopped;
}
private bool CalculateRank(CarState car1, CarState car2)
{
if(car1.round > car2.round || (car1.round == car2.round && (car1.nowNode > car2.nowNode || (car1.nowNode == car2.nowNode && CalculateDistance(car1, car2, car1.nowNode)))))
{
return true;
}
else
{
return false;
}
}
private void Swap(CarState[] cars, int i, int j)
{
CarState car = cars[i];
cars[i] = cars[j];
cars[j] = car;
}
public void Sort(CarState[] cars)
{
Sort(cars, 0, cars.Length - 1);
}
bool CalculateDistance(CarState car1, CarState car2, int node)
{
float distance1;
Vector3 nodePosition = PathNodeManager.SP.getNode(node).position;
// if(car1.carBody)
// distance1 = Vector3.Distance(car1.carBody.transform.position, nodePosition);
// else
distance1 = Vector3.Distance(car1.carBBody.transform.position, nodePosition);
float distance2;
// if(car2.carBody)
// distance2 = Vector3.Distance(car2.carBody.transform.position, nodePosition);
// else
distance2 = Vector3.Distance(car2.carBBody.transform.position, nodePosition);
car1.distance = distance1;
car2.distance = distance2;
if(distance1 < distance2)
return true;
else
return false;
}
// Use this for initialization
void Start()
{
m_arcadeVehicle = gameObject.GetComponentInParent<ArcadeVehicle>();
m_carstate = gameObject.GetComponentInParent<CarState>();
m_transform = gameObject.GetComponentInParent<Transform>();
m_topInCollisionZone = false;
m_bottomInCollisionZone = false;
}
void Awake()
{
m_arcadeVehicle = gameObject.GetComponentInParent<ArcadeVehicle>();
m_carstate = gameObject.GetComponentInParent<CarState>();
m_transform = gameObject.GetComponentInParent<Transform>();
}
public void NowOnPavement()
{
carState = CarState.onPavement;
}
public void setCurrentState(CarState state)
{
CurrentState = state;
Debug.WriteLine("state = " + state);
}
private void Sort(CarState[] cars, int left, int right)
{
if (left < right)
{
try
{
CarState middleCar = cars[(left + right) / 2];
int i = left - 1;
int j = right + 1;
while (true)
{
while (CalculateRank(cars[++i], middleCar)) ;
while (CalculateRank(middleCar, cars[--j])) ;
if (i >= j)
break;
Swap(cars, i, j);
}
Sort(cars, left, i - 1);
Sort(cars, j + 1, right);
}
catch
{
SetRanksCar();
}
}
}
public void Initialize()
{
CurrentState = CarState.NotInWorld;
PreviousState = CarState.NotInWorld;
CurrentJackState = JackState.NotJacking;
PreviousJackState = JackState.NotJacking;
InTransition = false;
BetweenCones = false;
PreviousBetweenCones = false;
Fueling = false;
Repairing = false;
FuelLevel = 0;
PreviousFuelLevel = 0;
LiftTimer = DateTime.Now;
DropTimer = DateTime.Now;
DropTime = DateTime.Now;
FuelTimer = DateTime.Now;
LiftCounter = 0;
}
// this method will compare the previous and current states and figure out what's going on in transition
public CarState updateState(TrackSurfaces ts_state, bool between_cones)
{
// kick the states along a tick
PreviousState = CurrentState;
PreviousBetweenCones = BetweenCones;
BetweenCones = between_cones;
InTransition = false;
switch (ts_state)
{
case TrackSurfaces.NotInWorld:
{
// the state we care about is if previous was not, NotInWorld that means we just got kicked out of the world
if (PreviousState == CarState.NotInWorld)
{
// already out, yawn
}
else if (PreviousState == CarState.ExitingWorld)
{
// just left the world, now flip to out
setCurrentState(CarState.NotInWorld);
}
else
{
// in transition, leaving the world
InTransition = true;
setCurrentState(CarState.ExitingWorld);
}
}
break;
case TrackSurfaces.OffTrack:
{
if ((PreviousState != CarState.OnTrack)&&(PreviousState != CarState.NotInWorld))
setCurrentState(CarState.OnTrack);
}
break;
case TrackSurfaces.InPitStall:
{
BetweenCones = true;
// transitions are dropping in the world and coming into the pits after approaching
if (PreviousState == CarState.NotInWorld)
{
// just dropped in
setCurrentState(CarState.EnteringWorld);
InTransition = true;
}
else if (PreviousState == CarState.EnteringWorld)
{
// just dropped in and now sitting in pits
setCurrentState(CarState.InStall);
}
else if (PreviousState == CarState.EnteringStall)
{
// now stopping in pit stall
setCurrentState(CarState.InStall);
InTransition = true;
}
else if (PreviousState == CarState.EnteringPits)
{
// driving up to the stall
setCurrentState(CarState.EnteringStall);
InTransition = true;
}
else
{
// best guess default
if (PreviousState != CarState.InStall)
setCurrentState(CarState.InStall);
}
// drop through to special handling for changing tires
}
break;
// complication here is we need to watch out for crossing the cone boundaries and capture that
case TrackSurfaces.AproachingPits:
{
// this state is both entering and exiting the pit lane
if (PreviousState == CarState.InStall)
{
// just exited the stall
setCurrentState(CarState.ExitingStall);
InTransition = true;
}
else if (PreviousState == CarState.ExitingStall)
{
// driving out the stall
setCurrentState(CarState.ExitingPits);
InTransition = true;
}
else if (PreviousState == CarState.OnTrack)
{
// entering the pits
setCurrentState(CarState.EnteringPits);
InTransition = true;
}
else if (PreviousState == CarState.EnteringPits)
{
}
else if (PreviousState == CarState.ExitingPits)
{
}
else if (PreviousState == CarState.PassingEntryCones)
{
}
else if (PreviousState == CarState.PassingExitCones)
{
}
else if (PreviousState == CarState.NotInWorld)
{
// entering the pits
setCurrentState(CarState.EnteringWorld);
InTransition = true;
}
else
{
// best guess default
if (PreviousState != CarState.ExitingPits)
setCurrentState(CarState.ExitingPits);
}
// the cones override the standard states this is a bit ugly but meh
// hitting the cones on entry
if ((PreviousBetweenCones == false) && (between_cones == true) && (PreviousState != CarState.NotInWorld)) // might be qualy dropping right in
{
setCurrentState(CarState.PassingEntryCones);
InTransition = true;
BetweenCones = true;
}
// passing the cones on exit
else if ((PreviousBetweenCones == true) && (between_cones == false))
{
setCurrentState(CarState.PassingExitCones);
InTransition = true;
BetweenCones = false;
}
}
break;
case TrackSurfaces.OnTrack:
{
if (PreviousState == CarState.ExitingPits)
{
// just exited the pits
setCurrentState(CarState.EnteringTrack);
InTransition = true;
}
else if (PreviousState == CarState.EnteringTrack)
{
// just exited the pits
setCurrentState(CarState.OnTrack);
InTransition = true;
}
else if (PreviousState == CarState.PassingExitCones)
{
// just exited the pits
setCurrentState(CarState.OnTrack);
InTransition = true;
}
else if (PreviousState == CarState.NotInWorld)
{
// entering the pits
setCurrentState(CarState.EnteringWorld);
InTransition = true;
}
else
{
// best guess default
if (PreviousState != CarState.OnTrack)
setCurrentState(CarState.OnTrack);
}
}
break;
}
return CurrentState;
}