//Initalize the control mode to a safe, disabled state
public ControlModeHandler()
{
mode = ControlMode.DISABLED;
isRobotActive = false;
autonState = AutonomousState.STARTUP;
orient = new Orient();
}
public void Reset()
{
_timeSinceLastColourSample = Stopwatch.StartNew();
_timeSinceLastFaceSample = Stopwatch.StartNew();
_timeSinceLastSmoothPursuit = Stopwatch.StartNew();
_internalState = AutonomousState.Waiting;
_random = new Random();
DecideNextSmoothPursuit();
}
private void AttemptToRecognizeStartSituation()
{
SpecialSituationDescription = "";
List <ScreenpartSample> scrSamples = new List <ScreenpartSample>();
lock (bot.Database.DatabaseLock)
{
foreach (var smpl in bot.Database.Database.OfType <ScreenpartSample>())
{
if (!smpl.Scanned)
{
smpl.ColorData = bot.PresageAndRecognize.SimplifyOtherBitmap(smpl.Bitmap, new System.Drawing.Rectangle(0, 0, smpl.Bitmap.Width, smpl.Bitmap.Height));
smpl.Scanned = true;
}
scrSamples.Add(smpl);
}
}
int THRESHOLD = 1000;
var snap = bot.Scan.LastSnapshot;
int closest = Int32.MaxValue;
ScreenpartSample closestS = null;
foreach (var scrSample in scrSamples)
{
var compareData = snap.ColorDataScreenparts[scrSample.Screenpart];
int dist = (bot.PresageAndRecognize.GetDistance(scrSample.ColorData, compareData));
if (dist < closest)
{
closest = dist;
closestS = scrSample;
}
}
SpecialSituationDescription = "Recognized screenpart: " + closestS.Screenpart + " (distance " + closest + ")";
if (closest < THRESHOLD)
{
switch (closestS.Screenpart)
{
case Scan.Screenpart.TREASURE_CHEST_TOP_ROW:
for (char i = 'A'; i <= 'Z'; i++)
{
bot.Injection.PressChar(i);
}
AfterPauseState = AutonomousState.ReadingLetters;
State = AutonomousState.WakingUp;
TimeUntilAction = TimeSpan.FromMilliseconds(DELAY_AFTER_TREASURE_ROW_COMPLETE);
break;
}
}
}
public ProcessingMode AcceptInput(CameraProcessInput input)
{
if (_timeSinceLastFaceSample.Elapsed > _sampleFaceEvery)
{
if (IsFaceFound(input))
{
return(ProcessingMode.FaceDetection);
}
_timeSinceLastFaceSample.Restart();
}
if (_timeSinceLastColourSample.Elapsed > _sampleColourEvery)
{
if (IsColourFullFrame(input))
{
return(ProcessingMode.ColourObjectTrack);
}
_timeSinceLastColourSample.Restart();
}
if (_internalState == AutonomousState.Waiting && _timeSinceLastSmoothPursuit.Elapsed > _nextSmoothPursuit)
{
_timeTarget.Start(_panTiltController.CurrentSetting);
_screen.WriteLine($"Starting smooth pursuit {_timeTarget.Original} to {_timeTarget.Target} over {_timeTarget.TimeSpan.ToHumanReadable()}");
_internalState = AutonomousState.SmoothPursuit;
}
if (_internalState == AutonomousState.SmoothPursuit)
{
var nextPosition = _timeTarget.GetNextPosition();
_panTiltController.MoveAbsolute(nextPosition);
if (_timeTarget.Ticks % 25 == 0)
{
_screen.WriteLine($"{nextPosition}");
}
if (_timeTarget.TimeTargetReached)
{
DecideNextSmoothPursuit();
_screen.WriteLine("Smooth pursuit target reached");
_internalState = AutonomousState.Waiting;
}
}
return(ProcessingMode.Autonomous);
}
public void Tick()
{
TimeSpan elapsedTime = DateTime.Now - LastTick;
LastTick = DateTime.Now;
if (!IsAutonomous)
{
Status = "Turned off";
return;
}
switch (State)
{
case AutonomousState.WakingUp:
TimeUntilAction -= elapsedTime;
Status = "Will: (" + AfterPauseState + ") " + (int)TimeUntilAction.TotalMilliseconds + " milliseconds remaining";
if (TimeUntilAction < TimeSpan.Zero)
{
State = AfterPauseState;
}
return;
case AutonomousState.ReadingLetters:
if (bot.Vocabulary.LastScrabbleResult != null)
{
if (bot.Recognizator.LastRecognitionResults.Keyboard.Count(rl => rl.IsRecognized) < 15 - MaximumUnrecognizedLettersToContinuePlaying)
{
Status = "Too few letters recognized.";
if (LastBackspace.AddSeconds(0.5) < DateTime.Now)
{
LastBackspace = DateTime.Now;
bot.Injection.PressButton(ByteKey.VK_BACK);
}
AttemptToRecognizeStartSituation();
return;
}
Word word = bot.Vocabulary.LastScrabbleResult.BestWord;
if (word != null)
{
AfterPauseState = AutonomousState.ConstructingWord;
State = AutonomousState.WakingUp;
TimeUntilAction = TimeSpan.FromMilliseconds(DELAY_BEFORE_SPELLING);
Status = "Constructing " + word.Text + "!";
ConstructingWord = word.Text.ToList();
}
else
{
Status = "No word found.";
}
}
AttemptToRecognizeStartSituation();
return;
case AutonomousState.ConstructingWord:
if (ConstructingWord.Count == 0)
{
TimeUntilAction = TimeSpan.FromMilliseconds(DELAY_BEFORE_ATTACKING);
State = AutonomousState.WakingUp;
AfterPauseState = AutonomousState.FireTheWord;
return;
}
char nowchar = ConstructingWord[0];
ConstructingWord.RemoveAt(0);
Status = "Pressing " + nowchar + "!";
bot.Injection.PressChar(nowchar);
AfterPauseState = AutonomousState.ConstructingWord;
TimeUntilAction = TimeSpan.FromMilliseconds(DELAY_BEFORE_NEXT_LETTER);
State = AutonomousState.WakingUp;
return;
case AutonomousState.FireTheWord:
Status = "Pressing Enter!";
bot.Injection.PressButton(ByteKey.VK_RETURN);
AfterPauseState = AutonomousState.ReadingLetters;
TimeUntilAction = TimeSpan.FromMilliseconds(DELAY_AFTER_ATTACKING);
State = AutonomousState.WakingUp;
return;
}
}
public void WakeUp()
{
TimeUntilAction = TimeSpan.FromMilliseconds(500);
State = AutonomousState.WakingUp;
AfterPauseState = AutonomousState.ReadingLetters;
}
public ProcessingMode AcceptInput(CameraProcessInput input)
{
if (_timeSinceLastFaceSample.Elapsed > _sampleFaceEvery)
{
if (IsFaceFound(input))
{
return ProcessingMode.FaceDetection;
}
_timeSinceLastFaceSample.Restart();
}
if (_timeSinceLastColourSample.Elapsed > _sampleColourEvery)
{
if (IsColourFullFrame(input))
{
return ProcessingMode.ColourObjectTrack;
}
_timeSinceLastColourSample.Restart();
}
if (_internalState == AutonomousState.Waiting && _timeSinceLastSmoothPursuit.Elapsed > _nextSmoothPursuit)
{
_timeTarget.Start(_panTiltController.CurrentSetting);
_screen.WriteLine($"Starting smooth pursuit {_timeTarget.Original} to {_timeTarget.Target} over {_timeTarget.TimeSpan.ToHumanReadable()}");
_internalState = AutonomousState.SmoothPursuit;
}
if (_internalState == AutonomousState.SmoothPursuit)
{
var nextPosition = _timeTarget.GetNextPosition();
_panTiltController.MoveAbsolute(nextPosition);
if (_timeTarget.Ticks % 25 == 0)
{
_screen.WriteLine($"{nextPosition}");
}
if (_timeTarget.TimeTargetReached)
{
DecideNextSmoothPursuit();
_screen.WriteLine("Smooth pursuit target reached");
_internalState = AutonomousState.Waiting;
}
}
return ProcessingMode.Autonomous;
}
public void Reset()
{
_timeSinceLastColourSample = Stopwatch.StartNew();
_timeSinceLastFaceSample = Stopwatch.StartNew();
_timeSinceLastSmoothPursuit = Stopwatch.StartNew();
_internalState = AutonomousState.Waiting;
_random = new Random();
DecideNextSmoothPursuit();
}
