private void speedCorrection(POIData poiDate, Point obj)
{
if (obj.X < 10 || obj.X > viewPort.Width - 10 ||
obj.Y < 10 || obj.Y > viewPort.Height - 10 ||
poiDate.dist >= 90)
{
poiDate.speed = 100;
lowSpeedCor = 0;
if (currentSpeed != 100)
{
simpleKeyPress((byte)Keys.D0);
}
}
else if (poiDate.dist >= 70 && poiDate.dist < 80)
{
poiDate.speed = 70;
lowSpeedCor = 1;
if (currentSpeed != 70)
{
simpleKeyPress((byte)Keys.D7);
}
}
else if (poiDate.dist >= 50 && poiDate.dist < 60)
{
poiDate.speed = 50;
lowSpeedCor = 4;
if (currentSpeed != 50)
{
simpleKeyPress((byte)Keys.D5);
}
}
else if (poiDate.dist >= 10 && poiDate.dist < 40)
{
poiDate.speed = 30;
lowSpeedCor = 6;
if (currentSpeed != 30)
{
simpleKeyPress((byte)Keys.D3);
}
}
currentSpeed = poiDate.speed;
//if (currentSpeed > 30)
// flapsToPos(1);
//else flapsToPos(4);
}
/// <summary>
/// Робота бота в Mode.Default
/// </summary>
/// <param name="token">Источник признака отмены</param>
private bool botWork(CancellationToken token)
{
if (bc == null)
{
bc = new KeyboardTimerBotControl(cv.ViewPort);
}
Task.Run(() =>
{
POIData defPOI = new POIData(new Point(-1, -1), -1);
while (true)
{
sw.Restart();
if (token.IsCancellationRequested)
{
if (bc != null)
{
bc.release();
}
break;
}
var obj = cv.detectObj();
var com = bc.moveTo(obj);
if (obj == null)
{
obj = defPOI;
}
else
{
obj.command = com;
}
sw.Stop();
obj.fps = 1000 / sw.ElapsedMilliseconds;
if (onDataReport != null)
{
onDataReport(obj);
}
}
}, token);
return(true);
}
/// <summary>
/// Перемещается к точке
/// </summary>
/// <param name="obj">Данные приследуемого объекта</param>
/// <returns>Возвращает выполняемые команды. Если их нет, то 'not found'</returns>
public string moveTo(POIData poiDate)
{
if (poiDate == null)
{
return("not found");
}
if (!timer.Enabled)
{
timer.Enabled = true;
}
var obj = poiDate.pt;
var command = string.Empty;
//yawMoves(obj, ref command);
rollMoves(obj, ref command);
pitchMoves(obj, ref command);
if (botSpeedChange)
{
speedCorrection(poiDate, obj);
}
if (botKill)
{
fire(obj, ref command);
}
if (command == string.Empty)
{
command = "streight";
}
return(command);
}
/// <summary>
/// Находит объект
/// </summary>
/// <returns>Возвращает координаты объекта. Если оюъект не найден возвращает null.</returns>
public POIData detectObj()
{
var frame = sc.PrintWindow(winDiscript);
var processedFrameSt = ProcessImage(frame);
var processedFrame = processedFrameSt.Canny(180, 120);
List <PointF> pList = new List <PointF>();
using (VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint())
{
CvInvoke.FindContours(processedFrame, contours, null, RetrType.External, ChainApproxMethod.ChainApproxSimple);
int count = contours.Size;
for (int i = 0; i < count; i++)
{
using (VectorOfPoint contour = contours[i])
using (VectorOfPoint approxContour = new VectorOfPoint())
{
CvInvoke.ApproxPolyDP(contour, approxContour, CvInvoke.ArcLength(contour, true) * 0.05, true);
double area = CvInvoke.ContourArea(approxContour, false);
for (int k = 0; k < approxContour.Size; k++)
{
pList.Add(approxContour[k]);
}
}
}
}
var rec = PointCollection.BoundingRectangle(pList.ToArray());
if (recWhenBigDist.IsEmpty)
{
recWhenBigDist = rec;
}
if (recWhenBigDist.Width - rec.Width > 3)
{
distLess100 = true;
}
else
{
distLess100 = false;
}
if (rec.Width > 0)
{
if (++distReqest > 20)
{
filtDist = recognizeSpeed(rec, processedFrameSt);
if (filtDist > 1)
{
distReqest = 0;
if (prevDist - filtDist >= 15)
{
situation = 1;
}
if (Math.Abs(prevDist - filtDist) > 1 && Math.Abs(prevDist - filtDist) < 15)
{
situation = 2;
}
prevDist = filtDist;
}
else
{
if (distLess40)
{
situation = 3;
}
}
}
var pd = new POIData(rec.Location, filtDist);
distLess40 = filtDist < 40;
pd.noFiltDist = noFiltDist;
pd.situation = situation;
return(pd);
}
return(null);
}
/// <summary>
/// Перемещается к точке
/// </summary>
/// <param name="obj">poi</param>
/// <returns></returns>
public string moveTo(POIData poiDate)
{
keybd_event(currentKey, 0, KEYEVENTF_KEYUP, 0);
if (poiDate == null)
{
return("not found");
}
var obj = poiDate.pt;
var command = "";
if (uRec.Contains(obj))
{
currentKey = com_down;
flyUp = true;
sw.Restart();
command = "up";
}
else if (dRec.Contains(obj))
{
currentKey = com_up;
command = "down";
}
else if (lRec.Contains(obj) || dlRec.Contains(obj))
{
currentKey = com_left;
command = "left";
}
else if (esLRec.Contains(obj))
{
currentKey = com_esLeft;
command = "easy-left";
}
else if (rRec.Contains(obj) || drRec.Contains(obj))
{
currentKey = com_right;
command = "right";
}
else if (esRRec.Contains(obj))
{
currentKey = com_esRight;
command = "easy-right";
}
else if (cRec.Contains(obj))
{
command = "straight";
return(command);
}
keybd_event(currentKey, 0, 0, 0);
if (currentKey != com_down)
{
if (flyUp && sw.ElapsedMilliseconds < 300)
{
keybd_event(com_down, 0, 0, 0);
}
else
{
flyUp = false;
keybd_event(com_down, 0, KEYEVENTF_KEYUP, 0);
}
}
//if (poiDate.dist.Length > 1)
//{
// int dist = 0;
// dist = Convert.ToInt32(poiDate.dist);
// if (dist > 10)
// {
// midDist += dist;
// if (++dcount > 60)
// {
// dcount = 0;
// midDistMemor = midDist / 60;
// }
// }
//}
//poiDate.midDist = midDistMemor;
return(command);
}
