void spawnDrones()
{
GameObject redDrone = PhotonNetwork.Instantiate("Drone", redSpawn.transform.position, this.transform.rotation, 0);
redDroneSettings = redDrone.GetComponent<Drone>();
redDroneSettings.team = "Red";
redDroneSettings.lane = "N";
redDroneSettings.enabled = true;
GameObject redDrone2 = PhotonNetwork.Instantiate("Drone", redSpawn.transform.position, this.transform.rotation, 0);
redDroneSettings = redDrone2.GetComponent<Drone>();
redDroneSettings.team = "Red";
redDroneSettings.lane = "C";
redDroneSettings.enabled = true;
GameObject redDrone3 = PhotonNetwork.Instantiate("Drone", redSpawn.transform.position, this.transform.rotation, 0);
redDroneSettings = redDrone3.GetComponent<Drone>();
redDroneSettings.team = "Red";
redDroneSettings.lane = "S";
redDroneSettings.enabled = true;
GameObject blueDrone = PhotonNetwork.Instantiate("Drone", blueSpawn.transform.position, this.transform.rotation, 0);
blueDroneSettings = blueDrone.GetComponent<Drone>();
blueDroneSettings.team = "Blue";
blueDroneSettings.lane = "N";
blueDroneSettings.enabled = true;
GameObject blueDrone2 = PhotonNetwork.Instantiate("Drone", blueSpawn.transform.position, this.transform.rotation, 0);
blueDroneSettings = blueDrone2.GetComponent<Drone>();
blueDroneSettings.team = "Blue";
blueDroneSettings.lane = "C";
blueDroneSettings.enabled = true;
GameObject blueDrone3 = PhotonNetwork.Instantiate("Drone", blueSpawn.transform.position, this.transform.rotation, 0);
blueDroneSettings = blueDrone3.GetComponent<Drone>();
blueDroneSettings.team = "Blue";
blueDroneSettings.lane = "S";
blueDroneSettings.enabled = true;
}
public virtual void Setup()
{
this.arena = new Mock<IArena>();
this.arena.SetupGet(a => a.UpperLatitude).Returns(upperCoordinate);
this.arena.SetupGet(a => a.UpperLongitude).Returns(upperCoordinate);
this.drone = new Drone();
}
private void OnExitPortal(int portalId, Drone d)
{
if (activated) {
Debug.Log ("Exit portal " + portalId);
portals[portalId].cleared = true;
}
}
public override void SetDrone(Drone drone)
{
base.SetDrone(drone);
rb = _drone.GetComponent<Rigidbody>();
//Enable Gravity
rb.useGravity = true;
}
public override void Setup(FlightCourse fc, Drone playerDrone)
{
base.Setup(fc, playerDrone);
_drone = playerDrone;
//transform.SetParent(playerDrone.transform);
// CalculateTarget
SetTarget();
// Snap to target
transform.position = _targetPosition;
transform.rotation = _targetRotation;
}
// Hier wird eine gegebene Drone in die Tabelle DRONEN eingefüllt
public void addDrone(Drone drone)
{
IDbConnection _connection = new SqliteConnection(_strDBName);
IDbCommand _command = _connection .CreateCommand();
string sql;
_connection .Open();
sql = "INSERT INTO DRONEN (DRONENNAME,AKTUELLERKNOTEN,HOMEPUNKTID, STATUS,CARTOSHOW) Values ('"+ drone.getName()+"','2','2','0','ef')";
_command.CommandText = sql;
_command.ExecuteNonQuery();
_command.Dispose();
_command = null;
_connection .Close();
_connection.Dispose ();
_connection = null;
sql = null;
}
private static void gameLoop(Zone[] zones, Drone[] drones, int me)
{
updateZonesFromConsole(zones);
updateDronesFromConsole(drones);
mapDronesToZones(drones, zones, me);
var myDrones = drones.Where(d => d.Team == me).ToArray();
var commands = solve(myDrones, zones);
var solution = flatten(commands).ToDictionary(c => c.Drone.Index, c => c);
for (int i = 0; i < myDrones.Length; i++)
{
var destinationZone = solution.ContainsKey(i) ? solution[i].Zone : null;
log("Moving drone #{0} to zone #{1}", i, destinationZone == null ? "-" : destinationZone.Index.ToString());
var destination = solution.ContainsKey(i) ? solution[i].Destination : new Point { X = 1000, Y = 500 };
Console.WriteLine(destination);
}
}
public async Task <IActionResult> PutDrone([FromRoute] int id, [FromBody] Drone drone)
{
dbContext.Entry(drone).State = EntityState.Modified;
try
{
await dbContext.SaveChangesAsync();
}
catch (DbUpdateConcurrencyException)
{
if (!DroneExists(id))
{
return(NotFound());
}
else
{
throw;
}
}
return(NoContent());
}
public void BroadcastCommandTestEventShouldBeRaised()
{
//Arrange
var drone = new Drone(id: 0, x: 1, y: 3, direction: 90);
var command = new Command('*', 0);
command.BroadcastingSignal += drone.OnBroadcastingSignal;
List <Command> receivedEvents = new List <Command>();
command.BroadcastingSignal += delegate(object sender, CommandEventArgs e)
{
receivedEvents.Add(e.Command);
};
//Act
command.BroadcastCommand();
//Assert
Assert.AreEqual(1, receivedEvents.Count);
Assert.AreEqual('*', receivedEvents[0].Code);
}
void InitalizeBridge()
{
droneBridge = DroneBridge.Create();
if (droneBridge == null)
{
Debug.Log("No drone bridge found for " + Application.platform);
IsPlatformSupported = false;
return;
}
IsPlatformSupported = true;
droneBridge.OnRegistered += () => eventQueue.Enqueue(() => OnRegisteredEvent.Invoke());
droneBridge.OnRegisterFailed += (error) => eventQueue.Enqueue(() => OnRegisterFailedEvent.Invoke(error));
droneBridge.OnDroneConnected += (drone) => {
Drone = drone;
eventQueue.Enqueue(() => OnDroneConnectedEvent.Invoke(drone));
};
droneBridge.OnDroneDisconnected += () => {
Drone = null;
eventQueue.Enqueue(() => OnDroneDisconnectedEvent.Invoke());
};
}
public async Task Drone_SolicitarTodosDrones_RetornarListaDeDrones()
{
// Arrange
var query = new DronesQuery();
IEnumerable <Drone> drones = new List <Drone>
{
Drone.Criar(12000, 3, 35, 100, DroneStatus.Livre)
};
_mocker.GetMock <IUnitOfWork>()
.Setup(p => p.Drones.ObterTodosAsync())
.Returns(Task.FromResult(drones));
// Act
var result = await _handler.Handle(query, CancellationToken.None);
// Assert
Assert.False(result.HasFails);
_mocker.GetMock <IUnitOfWork>().Verify(o => o.Drones.ObterTodosAsync(), Times.Once);
}
void OnClickEvent()
{
Drone selectedDrone = WorldProperties.GetSelectedDrone();
ROSDroneConnectionInterface droneROSConnection = selectedDrone.droneProperties.droneROSConnection;
if (startMission)
{
Debug.Log("Start mission button clicked");
droneROSConnection.StartMission();
}
if (pauseMission)
{
droneROSConnection.PauseMission();
}
if (resumeMission)
{
droneROSConnection.ResumeMission();
}
if (clearWaypoints)
{
selectedDrone.DeleteAllWaypoints();
}
if (landDrone)
{
droneROSConnection.LandDrone();
}
if (homeDrone)
{
droneROSConnection.FlyHome();
}
}
public void GetCurrentBranch_ShouldUseDroneBranch_InCaseOfPullRequestAndEmptyDroneSourceBranchAndInvalidFormatOfCiCommitRefSpec()
{
// Arrange
const string droneBranch = "droneBranch";
const string droneSourceBranch = "droneSourceBranch";
const string droneDestinationBranch = "droneDestinationBranch";
string ciCommitRefSpec = $"{droneSourceBranch};{droneDestinationBranch}";
environment.SetEnvironmentVariable("DRONE_PULL_REQUEST", "1");
environment.SetEnvironmentVariable("DRONE_SOURCE_BRANCH", "");
environment.SetEnvironmentVariable("CI_COMMIT_REFSPEC", ciCommitRefSpec);
environment.SetEnvironmentVariable("DRONE_BRANCH", droneBranch);
var buildServer = new Drone(environment);
// Act
var result = buildServer.GetCurrentBranch(false);
// Assert
result.ShouldBe(droneBranch);
}
public void DroneFlyDownCheck()
{
//arrange
Drone drone = new Drone();
//act - takeoff procedure
drone.Engine.Start();
drone.TakeOff();
//act - flyup 150 and down 50
drone.FlyUp(150);
drone.FlyDown(50);
//assert - we should be at 100 alt
Assert.AreEqual(drone.CurrentAltitude, 100);
//act - flydown to 0
drone.FlyDown(100);
//assert - we should be at 0 alt
Assert.AreEqual(drone.CurrentAltitude, 0);
}
public void DoSomething()
{
var drones = new Drone[]
{
new Drone()
{
ID = 0, Position = new Point(1, 2)
},
new Drone()
{
ID = 1, Position = new Point(3, 4)
},
new Drone()
{
ID = 2, Position = new Point(4, 2)
},
};
var myDrone = drones[0];
bool result = drones
.Where(d => d.ID != myDrone.ID)
.All(d => d.IsInsideSafearea(myDrone.Position));
}
public void SetUp(Drone _drone)
{
myDrone = _drone;
isInventorySetup = true;
buildingInventoryUpdatedCallback?.Invoke();
myAnim = GetComponent <DroneAnimator>();
transform.position = myDrone.curPosition.Vector3(Position.Type.drone);
if (!myDrone.targetPosition.isValid())
{
myAnim.FlyToLocation(myDrone.targetPosition);
}
else
{
myAnim.FlyToLocation(myDrone.curPosition);
}
myAnim.SetMiningLaser(myDrone.isLaser);
myDrone.dronePositionUpdatedCallback += CurrentPositionChanged;
myDrone.droneLaserStateUpdatedCallback += LaserStateChanged;
myDrone.droneTargetPositionUpdatedCallback += MovementTargetChanged;
}
public async Task <ActionResult <Drone> > PostDrone(Drone drone)
{
drone.Perfomance = (float)(drone.Autonomia / 60.0f) * drone.Velocidade;
drone.PerfomanceRestante = drone.Perfomance;
drone.CapacidadeRestante = drone.Capacidade;
drone.Carga = 1;
if (drone.Capacidade > 12000)
{
drone.Capacidade = 12000;
}
if (drone.Autonomia > 35)
{
drone.Autonomia = 35;
}
_context.Drone.Add(drone);
await _context.SaveChangesAsync();
return(CreatedAtAction("GetDrone", new { id = drone.Id }, drone));
}
public void GetDataForDrone()
{
FirebaseDatabase.DefaultInstance
.GetReference("USERS").Child(LogInAndRegister.Instance.UserName).Child("GAMESPACE").Child("CONTRACT" + DroneID).Child("DRONE" + DroneID)
.GetValueAsync().ContinueWith(task =>
{
if (task.IsFaulted)
{
Debug.Log(task.IsFaulted);
}
else if (task.IsCompleted)
{
DataSnapshot snapshot = task.Result;
Debug.Log("DRONE " + snapshot.GetRawJsonValue());
drone = JsonUtility.FromJson <Drone>(snapshot.GetRawJsonValue());
Debug.Log("");
DroneLevel = drone.DroneLevel;
PlantsForPlanting = drone.Plants;
ContractDroneID = drone.ContactID;
}
});
}
public Program()
{
MyIni config = ParseIni();
List <string> sections = new List <string>();
config.GetSections(sections);
List <Role> roles = new List <Role>();
foreach (string section in sections)
{
Echo($"Adding Role: {section}");
//TODO: I'm so sorry...
if (section.StartsWith("deposit"))
{
continue;
}
roles.Add(RoleFactory.Build(section, config, this));
}
this.drone = new Drone(this, roles);
}
private Drone CreateDrone(string droneInfo)
{
if (string.IsNullOrEmpty(droneInfo))
{
var msg = string.Format("{0}: Input text to create a drone is null or empty, application is not able to create the drone.", this.GetType().Name);
throw new ArgumentNullException(msg);
}
int x;
int y;
int direction;
var info = droneInfo.Split(' ');
DoValidation(info, 3, "drone");
int.TryParse(info[0], out x);
int.TryParse(info[1], out y);
direction = info[2].ToAngle();
var drone = new Drone(incrementalDroneId++, x, y, direction);
return(drone);
}
private object CanPickupEntity(BasePlayer player, Drone drone)
{
if (!IsDroneEligible(drone))
{
return(null);
}
var storage = GetDroneStorage(drone);
if (storage == null)
{
return(null);
}
// Prevent drone pickup while the storage is not empty.
if (!storage.inventory.IsEmpty())
{
return(false);
}
return(null);
}
void Start()
{
if (Static._isStart) //시작해야 하는가?
{
Static._isStart = false;
return; //시작이면 아무것도 안함
}
_drone = GameObject.Find("Drone_red").GetComponent <Transform>(); //드론을 담음
_drone.position = Static._dronePosition; //드론 위치 초기화
_drone.rotation = Static._droneRotation; //드론 회전 초기화
_droneScript = _drone.GetComponent <Drone>(); //드론 스크립트 담음
_droneScript._StartUp = Static._droneStartUp; //드론 시동 켬
if (SceneManager.GetActiveScene().buildIndex == 1) //1인칭 화면인 경우에는
{
Player = GameObject.Find("FirstPerson").GetComponent <Transform>();
Player.position = Static._playerPosition; //플레이어 위치 설정
Player.rotation = Static._playerRotation; //플레이어 회전 설정
}
}
// Pre: drone is landed at controller.
// Returns false if unreachable.
private bool setFlightPath(Drone drone, Delivery delivery)
{
Vector3 destination = delivery.GetDestination();
float flightAltitude = MinBuildingHeight + HeightVariation + HeightClearance;
List <Vector3> path = delivery.FlightPath.GetPath();
if (path.Count == 1)
{
return(false);
}
List <WaypointInfo> waypointInfos = new List <WaypointInfo>();
waypointInfos.Add(new WaypointInfo(WaypointType.TAKEOFF));
foreach (var loc in path)
{
waypointInfos.Add(new WaypointInfo(loc));
}
waypointInfos.Add(new WaypointInfo(WaypointType.LAND));
waypointInfos.Add(new WaypointInfo(WaypointType.DELIVER));
waypointInfos.Add(new WaypointInfo(WaypointType.TAKEOFF));
path.Reverse();
foreach (var loc in path)
{
waypointInfos.Add(new WaypointInfo(loc));
}
waypointInfos.Add(new WaypointInfo(WaypointType.LAND));
waypointInfos.Add(new WaypointInfo(WaypointType.END));
droneInfoDict.Add(drone, new DroneInfo(waypointInfos));
drone.WaypointInfo = droneInfoDict[drone].getNextWaypointInfo();
return(true);
}
public static DroneDTO createDroneDTO(Drone droneObj)
{
DroneDTO result = new DroneDTO();
result.id = droneObj.id;
result.sysid = droneObj.connection.systemId.ToString();
result.componentid = droneObj.connection.componentId.ToString();
result.name = droneObj.id.ToString();
if (null != droneObj.connection)
{
result.port = droneObj.connection.portName();
if (droneObj.connection.isOpen())
{
result.state = DroneDTO.ConnectionState.CONNECTED;
}
else
{
result.state = DroneDTO.ConnectionState.DISCONNECTED;
}
}
result.heartbeat_data = createHeartbeatDTO(droneObj.getHearbeat());
result.sys_status_data = createSystemStatusDTO(droneObj.getSystemStatus());
result.sys_time_data = createSystemTimeDTO(droneObj.getSystemTime());
result.gps_raw_int = createGpsRawIntDTO(droneObj.getGpsRawInt());
result.raw_imu = createRawImuDTO(droneObj.getRawImu());
result.scaled_pressure = createScaledPressureDTO(droneObj.getScaledPressure());
result.attitude = createAttitudeDTO(droneObj.getAttitude());
result.global_position_int = createGlobalPositionIntDTO(droneObj.getGlobalPositionInt());
result.rc_channels_raw = createRcChannelsRawDTO(droneObj.getRcChannelsRaw());
result.server_output_raw = createServoOutputRawDTO(droneObj.getServerOutputRaw());
result.mission_current = createMissionCurrentDTO(droneObj.getMissionCurrent());
result.nav_controller_output = createNavControllerOutputDTO(droneObj.getNavControllerOutput());
result.vfr_hud = createVfrHudDTO(droneObj.getVfrHud());
result.terrain_report = createTerrainReportDTO(droneObj.getTerrainReport());
result.scaled_imu_2 = createScaledImu2DTO(droneObj.getScaledImu2());
result.power_status = createPowerStatusDTO(droneObj.getPowerStatus());
return(result);
}
public override void CollectObservations()
{
Vector3 pos = Drone.Position;
if (IsNewGridPosition(pos))
{
Data.AddPoint(new Point(PointType.DronePos, pos, Time.time));
}
Data.AddPoint(scanPoint);
// Number of new leaf nodes created by this scan.
int nodeCount = Data.Tree.Intersect(pos, scanPoint.Position);
float scanReward = (nodeCount * 0.1f) / Data.LookRadius;
AddReward(scanReward);
Data.StepUpdate(pos);
float linger = lingerCount / 100f; // 0 - 2
float lingerPenalty = -linger * 0.1f;
AddReward(lingerPenalty);
Vector3 velocity = Drone.VelocityNorm;
Vector4 proximity = Drone.GetForwardProximity();
float proxPenalty = (1f - 1f / Mathf.Max(proximity.w, 0.1f)) * velocity.sqrMagnitude * 0.25f;
AddReward(proxPenalty);
AddVectorObs(linger - 1f); // 1
AddVectorObs(velocity); // 3
AddVectorObs((Vector3)proximity); // 3
AddVectorObs(proximity.w * 2f - 1f); // 1
AddVectorObs(Data.LookRadiusNorm); // 1
AddVectorObs(Data.NodeDensities); // 8
AddVectorObs(Data.IntersectRatios); // 8
AddVectorObs(Drone.ScanBuffer.ToArray()); // 30
}
public async Task <bool> Handle(AdicionarDroneCommand request, CancellationToken cancellationToken)
{
if (!request.EhValido())
{
return(false);
}
var drone = new Drone();
drone.Capacidade = request.Capacidade;
drone.Velocidade = request.Velocidade;
drone.Autonomia = request.Autonomia;
drone.Carga = request.Carga;
drone.AutonomiaRestante = request.AutonomiaRestante;
await _droneRepository.Adicionar(drone);
var resultDrone = await _droneRepository.UnitOfWork.Commit();
if (resultDrone)
{
var droneItinerario = new DroneItinerario
{
DataHora = request.DataHora,
Drone = drone,
DroneId = drone.Id,
StatusDrone = request.StatusDrone
};
await _droneItinerarioRepository.Adicionar(droneItinerario);
return(await _droneItinerarioRepository.UnitOfWork.Commit());
}
else
{
return(false);
}
}
// Update is called once per frame
void Update()
{
//Reposition the screen in front our the Camera when its ready
if (ZEDManager.Instance.IsZEDReady && !_warning)
{
StartCoroutine(WarningDisplay());
_warning = true;
}
if (!_canSpawn)
{
return;
}
//Tick down the respawn timer if applicable
if (_respawnCountdown > 0)
{
_respawnCountdown -= Time.deltaTime;
}
if (_readyToSpawn) //We've got no drone and the respawn timer has elapsed
{
//Try to spawn a drone in a random place in front of the player. We'll do once per frame for now.
if (CheckRandomSpawnLocation(out _randomPosition))
{
_currentDrone = SpawnDrone(_randomPosition);
}
}
//Debug Solution to spawn drone multiple times for testing.
//On Input Down, destroy current drone.
if (Input.GetKeyDown(KeyCode.Mouse1))
{
//Destroys the current Drone.
Destroy(_currentDrone.gameObject);
ClearDrone();
}
}
public void handleDataNearby(List <CommunicationDataStructureValue> responseData)
{
int id, entityType;
long entityId, lastSeen;
Vector3D position;
string entityName;
Drone myDrone = Communication.currentNode;
DetectedEntity nearbyEntity;
foreach (CommunicationDataStructureValue data in responseData)
{
if (data.getName() == "id")
{
id = int.Parse(data.getValue());
}
else if (data.getName() == "Entity")
{
entityName = data.getValue();
entityType = int.Parse(data.getAdditional(0).getValue());
entityId = long.Parse(data.getAdditional(1).getValue());
position = new Vector3D(
double.Parse(data.getAdditional(2).getValue()),
double.Parse(data.getAdditional(3).getValue()),
double.Parse(data.getAdditional(4).getValue())
);
lastSeen = long.Parse(data.getAdditional(5).getValue());
nearbyEntity = new DetectedEntity();
nearbyEntity.id = entityId;
nearbyEntity.name = entityName;
nearbyEntity.distance = myDrone.navHandle.getDistanceFrom(myDrone.navHandle.getShipPosition(), position);
nearbyEntity.type = DetectedEntity.getEntityType(entityType);
nearbyEntity.position = position;
nearbyEntity.lastSeen = lastSeen;
Communication.currentNode.navHandle.addNearbyEntity(nearbyEntity);
}
}
}
public IHttpActionResult setMode(string id, [FromBody] SetModeAction parameters)
{
String action = "setMode";
logger.Debug("running command {1} on /drones/{0}", id, action);
if (null == parameters)
{
return(BadRequest("Missing Required Parameters"));
}
Drone target = droneMgr.getById(new Guid(id));
if (null != target)
{
if (!target.isConnected())
{
return(BadRequest("Target system is not connected, refusing request"));
}
MAVLink.MAV_MODE mode = 0;
try
{
mode = (MAVLink.MAV_MODE)Enum.Parse(typeof(MAVLink.MAV_MODE), parameters.mode);
}
catch (Exception e)
{
return(BadRequest(e.Message));
}
CommandAck result = target.Command.setMode(mode);
if (null == result)
{
return(new CustomResponse("Null command result.", HttpStatusCode.RequestTimeout));
}
return(Ok(DTOFactory.DTOFactory.createCommandAckDTO(result)));
}
else
{
return(NotFound());
}
}
/// <summary>
/// Initilize the drone sim with the required references.
/// </summary>
/// <param name="droneInit"></param>
public void InitDroneSim()
{
// Load the drone simulated by this script.
drone = GetComponent <DroneProperties>().droneClassPointer;
// Compute the total mass of the quadrotor.
totalMass = bodyMass + 4 * rotorMass;
// Model the quadrotor's body and its rotors as spheres, and compute its moments of inertia.
float bodyInertia = 2.0f * bodyMass * bodyRadius * bodyRadius / 5.0f;
float rotorInertia = rodLength * rodLength * rotorMass;
inertia.x = bodyInertia + 2.0f * rotorInertia;
inertia.y = bodyInertia + 4.0f * rotorInertia;
inertia.z = bodyInertia + 2.0f * rotorInertia;
// Store the quadrotor's staring position.
homeLocation = drone.gameObjectPointer.transform.localPosition;
// Initialize the flight status.
droneStatus = FlightStatus.ON_GROUND_STANDBY;
droneStatusPrev = FlightStatus.NULL;
}
public void DroneMinAltCheck()
{
//arrange
Drone drone = new Drone();
//act - takeoff procedure
drone.Engine.Start();
drone.TakeOff();
//act - flyup 500, down 1000
drone.FlyUp(500);
drone.FlyDown(1000);
//assert - we are still at 500
Assert.AreEqual(drone.CurrentAltitude, 500);
//act - fly to 0 then down 5k, going past 0
drone.FlyDown(500);
drone.FlyDown(5000);
//assert - we are at 0 right?
Assert.AreEqual(drone.CurrentAltitude, 0);
}
private Queue <Drone> InitDronesWithCommands(Dictionary <OrderDto, Point> productQueue, int dronesNumber, int droneMaxWeight, List <Warehouse> warehouses, List <Order> orders)
{
var dronesQueue = new Queue <Drone>();
for (var i = 0; i < dronesNumber; i++)
{
var drone = new Drone()
{
Id = i,
R = warehouses[0].R,
C = warehouses[0].C,
MaxWeight = droneMaxWeight,
Turns = 0,
Commands = new Queue <Command>()
};
var product = productQueue.First();
productQueue.Remove(product.Key);
SetDroneCommands(drone, warehouses, product, orders);
dronesQueue.Enqueue(drone);
}
return(dronesQueue);
}
IHttpActionResult commandNoParams(string id, string action)
{
logger.Debug("running command {1} on /drones/{0}", id, action);
Drone target = droneMgr.getById(new Guid(id));
if (null != target)
{
if (!target.isConnected())
{
return(BadRequest("Target system is not connected, refusing request"));
}
CommandAck result = runCommand(target, action);
if (null == result)
{
return(NotFound());
}
return(Ok(DTOFactory.DTOFactory.createCommandAckDTO(result)));
}
else
{
return(NotFound());
}
}
public void Robots_OperatorPlus_DuplicateRobots_ShouldNotAddDuplicate()
{
Robots robots1 = new Robots();
Robots robots2 = new Robots();
Drone dron = new Drone("Drone", 10.5, 100.5);
Mower mower = new Mower("Mower", 6.3, 1.2, 250);
DrivingRobot funCar = new DrivingRobot("FunCar", 33.5, 55.5);
Mower mower2 = new Mower("Mower2", 8.3, 1.2, 250);
Drone dron2 = new Drone("Drone", 10.5, 100.5);
bool ok = robots1.AddRobot(mower);
ok = robots1.AddRobot(dron);
ok = robots1.AddRobot(funCar);
ok = robots2.AddRobot(mower2);
ok = robots2.AddRobot(dron2);
Robots union = robots1 + robots2;
Assert.AreEqual(4, union.Count, "Dron2 ist doppelt und wurde nicht übernommen");
Assert.AreEqual("FunCar", union.GetAt(0).Name, "Roboter an Position 0 wurde falsch zurückgegeben");
Assert.AreEqual("Drone", union.GetAt(1).Name, "Roboter an Position 1 wurde falsch zurückgegeben");
Assert.AreEqual("Mower2", union.GetAt(2).Name, "Roboter an Position 2 wurde falsch zurückgegeben");
Assert.AreEqual("Mower", union.GetAt(3).Name, "Roboter an Position 3 wurde falsch zurückgegeben");
}
private static bool CanPickupInternal(BasePlayer player, Drone drone)
{
if (!IsDroneEligible(drone))
{
return(true);
}
var turret = GetDroneTurret(drone);
if (turret == null)
{
return(true);
}
// Prevent drone pickup while it has a turret (the turret must be removed first).
// Ignores NPC turrets since they can't be picked up.
if (turret != null && !(turret is NPCAutoTurret))
{
return(false);
}
return(true);
}
private void ProcessUnicast()
{
MyIGCMessage message = Drone.NetworkService.GetUnicastListener().AcceptMessage();
if (message.Data == null)
{
Drone.LogToLcd($"\nNo Message");
}
// TODO: This could be a switch
if (message.Tag == DockingRequestChannel && DockingAttempt != null)
{
DockingAttempt.ProcessClearance(message);
}
else if (message.Tag == "recall")
{
this.State = 4;
}
else
{
Drone.LogToLcd($"{message.Tag} is not a recognized message format.");
}
}
void setDroneText(Drone drone, GameObject prefab)
{
prefab.transform.Find("hp").GetComponent <Text>().text = "hp :" + drone.hp.ToString();
prefab.transform.Find("Name").GetComponent <Text>().text = drone.name;
prefab.transform.Find("kineticDmgResonnance").GetComponent <Text>().text = "kinetic: " + drone.kineticDamageResonance.ToString();
prefab.transform.Find("thermalDmgResonnance").GetComponent <Text>().text = "thermal: " + drone.thermalDamageResonance.ToString();
prefab.transform.Find("explosiveDmgResonnance").GetComponent <Text>().text = "explo: " + drone.explosiveDamageResonance.ToString();
prefab.transform.Find("emDmgResonnance").GetComponent <Text>().text = "em: " + drone.emDamageResonance.ToString();
prefab.transform.Find("Shield").GetComponent <Text>().text = "shield: " + drone.shieldCapacity.ToString();
prefab.transform.Find("emShield").GetComponent <Text>().text = "em: " + drone.shieldEmDamageResonance.ToString();
prefab.transform.Find("explosiveShield").GetComponent <Text>().text = "explo: " + drone.shieldExplosiveDamageResonance.ToString();
prefab.transform.Find("kineticShield").GetComponent <Text>().text = "kinetic: " + drone.shieldKineticDamageResonance.ToString();
prefab.transform.Find("thermalShield").GetComponent <Text>().text = "thermal: " + drone.shieldThermalDamageResonance.ToString();
prefab.transform.Find("Armor").GetComponent <Text>().text = "armor: " + drone.armorHp.ToString();
prefab.transform.Find("emArmor").GetComponent <Text>().text = "em: " + drone.armorEmDamageResonance.ToString();
prefab.transform.Find("explosiveArmor").GetComponent <Text>().text = "explo: " + drone.armorExplosiveDamageResonance.ToString();
prefab.transform.Find("kineticArmor").GetComponent <Text>().text = "kinetic: " + drone.armorKineticDamageResonance.ToString();
prefab.transform.Find("thermalArmor").GetComponent <Text>().text = "thermal: " + drone.armorThermalDamageResonance.ToString();
prefab.transform.Find("emDmg").GetComponent <Text>().text = "em: " + drone.emDamage.ToString();
prefab.transform.Find("explosiveDmg").GetComponent <Text>().text = "explo: " + drone.explosiveDamage.ToString();
prefab.transform.Find("kineticDmg").GetComponent <Text>().text = "kinetic: " + drone.kineticDamage.ToString();
prefab.transform.Find("thermalDmg").GetComponent <Text>().text = "thermal: " + drone.thermalDamage.ToString();
}
protected override void Start()
{
base.Start ();
//db = transform.Find("dickBat");
eDamageT = transform.Find("eDamageGO");
eDamage = transform.Find("eDamageGO").GetComponent<Enemy_Damage>();
eDamage.enemyCS = this;
eDamage.AwakeAfter(transform.Find ("damage"));
dickT = transform.Find("dWeapon");
dickA = dickT.GetComponent<Animator>();
droneCS = GetComponent<Drone> ();
//if (transform.Find ("sniperHand")) {
//transform.Find ("sniperHand").GetComponent<SniperSight>().StartSniping();
//}
}
void LoadItem(Drone drone, Warehouse warehouse, int productType, int quantity)
{
drone.Commands.Add(new LoadCommand(warehouse.Index, productType, quantity));
drone.WillBeFreeAtStep += GetStepsToGo(drone.FreeLocation, warehouse.Location) + 1;
drone.FreeLocation = warehouse.Location;
drone.LoadedProducts.Add(new Product { ProductType = productType, Quantity = quantity });
warehouse.Products[productType].Quantity -= quantity;
}
void SendDrone(Drone drone, Warehouse warehouse, Order order, Product product, int amount)
{
drone.Commands.Add(new LoadCommand(warehouse.Index, product.ProductType, amount));
drone.Commands.Add(new DeliverCommand(order.Index, product.ProductType, amount));
drone.WillBeFreeAtStep += GetStepsToDoneOrder(drone, warehouse, order);
drone.FreeLocation = order.Location;
}
public virtual void Setup(FlightCourse fc, Drone playerDrone)
{
}
// Set the drone that this flight controller controls
public virtual void SetDrone(Drone drone)
{
_drone = drone;
}
private static void mapDronesToZones(Drone[] drones, Zone[] zones, int me)
{
foreach (var d in drones)
d.Zone = null;
foreach (var zone in zones)
{
zone.Drones = drones.Where(d => d.SquareDistanceTo(zone) < 10000).ToArray();
foreach (var d in zone.Drones)
d.Zone = zone;
zone.RequiredDrones = (zone.Team == me ? 0 : 1)
+ zone.Drones
.Where(d => d.Team != me)
.GroupBy(d => d.Team)
.Select(grp => grp.Count())
.DefaultIfEmpty(0)
.Max();
//log("Zone {0} has {1} drones, is controlled by {2} and requires {3} drones", zone.Index, (zone.Drones==null?0:zone.Drones.Count()), zone.Team, zone.RequiredDrones);
}
}
public override void SetDrone(Drone drone)
{
base.SetDrone(drone);
_forward = _drone.transform.forward;
}
public List<Drone> SpawnDrones()
{
List<Drone> drones = new List<Drone>();
int totalDrones = 5;
for (var i = 0; i < totalDrones; i++)
{
var position = new Vector3(
Random.Range(-2000f, 2000f),
Random.Range(0f, 200f),
Random.Range(-2000f, 2000f)
);
var drone = new Drone(position, this);
drones.Add(drone);
}
Debug.Log("Total drones: " + drones.Count);
return drones;
}
// Update is called once per frame
void Update()
{
var ray = Camera.main.ScreenPointToRay(Input.mousePosition);
if(container == null)
{
RaycastHit info;
if (Physics.Raycast (ray, out info, 12.0f))
{
var cM = info.collider.gameObject.GetComponent<Drone>();
if(cM != null)
{
mouseOverLabel.gameObject.SetActive(true);
mouseOverLabel.rectTransform.anchoredPosition = (Vector2)Input.mousePosition-30.0f*Vector2.up;
mouseOverLabel.text = info.collider.gameObject.name;
if(Input.GetMouseButtonDown(0))
{
container = cM;
container.Activate();
character.enabled = false;
character.gameObject.GetComponent<Rigidbody>().isKinematic = true;
character.gameObject.GetComponent<Collider>().enabled = false;
character.transform.parent = container.transform;
character.transform.localPosition = Vector3.zero;
cF.target = container.gameObject;
mouseOverLabel.gameObject.SetActive(false);
}
} else mouseOverLabel.gameObject.SetActive(false);
} else mouseOverLabel.gameObject.SetActive(false);
}
else
{
RaycastHit info;
if (Physics.Raycast (ray, out info, 12.0f))
{
var cN = info.collider.gameObject.GetComponent<ComponentBase>();
if(cN != null)
{
if(cN.transform.parent == null)
{
if(container.CurrentIndex() != -1)
{
connectionSelector.SetActive(true);
connectionSelector.transform.position = container.connections[container.CurrentIndex()].pointPos;
}
if( Input.GetAxis("Mouse ScrollWheel") != 0 && connectionSelector.activeSelf)
{
if(Input.GetAxis("Mouse ScrollWheel") > 0) container.NextIndex();
else container.PreviousIndex();
if(container.CurrentIndex() != -1) connectionSelector.transform.position = container.connections[container.CurrentIndex()].pointPos;
}
}
mouseOverLabel.gameObject.SetActive(true);
mouseOverLabel.rectTransform.anchoredPosition = (Vector2)Input.mousePosition-30.0f*Vector2.up;
mouseOverLabel.text = info.collider.gameObject.name;
if(Input.GetMouseButtonDown(0))
{
if(cN.transform.parent == null)
{
container.Connect(cN);
}
else
{
container.Disconnect (cN);
}
}
}
else
{
mouseOverLabel.gameObject.SetActive(false);
connectionSelector.SetActive(false);
}
}
else if(mouseOverLabel.gameObject.activeSelf)
{
mouseOverLabel.gameObject.SetActive(false);
connectionSelector.SetActive(false);
}
if(Input.GetKeyDown(KeyCode.X))
{
container.Deactivate ();
character.enabled = true;
character.transform.parent = null;
character.transform.position = container.transform.position - container.transform.forward * 2.25f;
character.transform.rotation = container.transform.rotation;
character.gameObject.GetComponent<Rigidbody>().isKinematic = false;
character.gameObject.GetComponent<Collider>().enabled = true;
cF.target = character.gameObject;
container = null;
connectionSelector.SetActive(false);
}
}
}
void SetupDrones()
{
if (StartingPoints.Length <= 0)
throw new System.Exception("No starting points");
// Spawn the player drone
GameObject playerDrone = (GameObject)GameObject.Instantiate(Globals.Drones[0].Prefab, StartingPoints[0].transform.position, StartingPoints[0].transform.rotation);
_playerDrone = playerDrone.GetComponent<Drone>();
// Spawn AI Drones
// Spawn Cameras
_cameras = new GameCamera[Globals.Cameras.Length];
for (int i = 0; i < _cameras.Length; i++)
{
GameObject cam = (GameObject)Instantiate(Globals.Cameras[i].Prefab);
GameCamera gc = cam.GetComponent<GameCamera>();
gc.Setup(this, _playerDrone);
cam.SetActive(false);
_cameras[i] = gc;
}
_cameras[0].gameObject.SetActive(true); // Activate the main camera
// Assign flight controller
Globals.FlightController.Reset();
Globals.FlightController.SetDrone(_playerDrone);
}
// Use this for initialization
void Start()
{
droneScr = GetComponent<Drone>();
SetBounds();
}
private void Awake()
{
npc = GetComponentInParent<Drone>();
detectedColliders = new List<Collider>();
}
private void OnEnterPortal(int portalId, Drone d)
{
if (activated) {
Debug.Log ("Enter portal " + portalId);
}
}
int GetStepsToDoneOrder(Drone drone, Warehouse warehouse, Order order)
{
return GetStepsToGo(drone.FreeLocation, warehouse.Location) + drone.LoadedProducts.Count() + 1 +
GetStepsToGo(warehouse.Location, order.Location) + 1;
}
private Task FillDrone(Drone drone, ProductStock request)
{
Task task = default(Task);
task.ProductType = request.ProductType;
int avaibleCapicaity = drone.Capiciaty;
int itemWeight = request.ProductType.Weight;
while(avaibleCapicaity >= itemWeight)
{
avaibleCapicaity -= request.ProductType.Weight;
task.Quanity += 1;
}
return task;
}
public Moves GenerateMove(Drone drone, Point startPosition, List<Target> pathes, List<Point> avoidTargets)
{
var moves = new List<Moves>();
avoidTargets = avoidTargets
.Where(at => !pathes.Select(x => x.Position).Contains(at))
.ToList();
if (!pathes.Any())
{
return Moves.Stand;
}
var path = pathes.First();
var shortestPath = AStar.FindPath(
startPosition,
n => PathFinder.GetNeightboors(Map, n, avoidTargets),
(src, dst) => 0,
h => DistanceHelper.GetDistance(Map, h, path.Position).Distance,
end => end == path.Position)
.ToList();
if (shortestPath.Any())
{
shortestPath.Reverse();
drone.Position = shortestPath
.Skip(1)
.First();
return MoveHelper.GetMovesFromPath(Map, shortestPath)
.First();
}
return Moves.Stand;
}
void UnoadItem(Drone drone, Order order, int productType, int quantity)
{
drone.Commands.Add(new DeliverCommand(order.Index, productType, quantity));
drone.WillBeFreeAtStep += GetStepsToGo(drone.FreeLocation, order.Location) + 1;
drone.FreeLocation = order.Location;
}
// Hier wird die Tabelle Drone gefüllt
// Zurzeit ist es nur eine Drone
public void fillTableDronen()
{
Debug.Log ("Dronen");
IDbConnection _connection = new SqliteConnection(_strDBName);
IDbCommand _command = _connection .CreateCommand();
string sql;
_connection.Open();
sql = " Delete From DRONEN";
_command.CommandText = sql;
_command.ExecuteNonQuery ();
_connection.Close ();
_connection.Dispose ();
_connection = null;
_command.Dispose ();
_command = null;
Drone drone = new Drone ();
drone.setName ("QuadCopter");drone.setStatus ("0");this.addDrone (drone);
drone = null;
}
public DroneAI(Drone d)
: base(d)
{
drone = d;
}
