/// <summary>
/// makes robot move into specified direction; enter stops process
/// </summary>
/// <param name="walkMode">specifies speed and backwards/forwards</param>
/// <param name="turnMode">specifies intensity of lateral movement</param>
/// <param name="reverseMode">true for driving backwards</param>
/// <returns>returns always true</returns>
public bool MoveByMode(WalkMode walkMode, TurnMode turnMode, bool reverseMode = false)
{
CurrentWalkMode = walkMode;
CurrentTurnMode = turnMode;
//velocity for left wheel
double vel1 = (int)walkMode;
//velocity for right wheel
double vel2 = (int)walkMode;
//if driving backwards
if (reverseMode)
{
//both wheels get same velocity first; if driving to right side, right wheel should turn faster, left one slower
vel1 = vel1 - (((double)turnMode) / 2);
vel2 = vel2 + (((double)turnMode) / 2);
}
//if driving forwards
else
{
//both wheels get same velocity first; if driving to right side, left wheel should turn faster, right one slower
vel1 = vel1 + (((double)turnMode) / 2);
vel2 = vel2 - (((double)turnMode) / 2);
}
//call Move() with calculated values
Move(vel1, vel2);
return(true);
}
Color GetCurrentTurnColor(TurnMode currentMode)
{
MarkerType selectedMarker;
switch (currentMode)
{
case TurnMode.AIMove:
selectedMarker = AIMarker;
break;
case TurnMode.PlayerMove:
selectedMarker = playerMarker;
break;
default:
selectedMarker = MarkerType.NULL;
break;
}
switch (selectedMarker)
{
case MarkerType.O:
//return m_oMarker.GetComponent<Shader>().GetColor("_Color");
return(m_oMarker.GetComponentInChildren <Renderer>().sharedMaterial.color);
case MarkerType.X:
//return m_xMarker.GetComponent<Material>().GetColor("_Color");
return(m_xMarker.GetComponentInChildren <Renderer>().sharedMaterial.color);
default:
return(Color.black);
}
}
// Use this for initialization
void Start()
{
currentWalkMode = WalkMode.STOP;
currentTurnMode = TurnMode.STRAIGHT;
count = 0;
SetCountText();
winText.text = "";
}
public MissionWaypointMsg(double latitude, double longitude, float altitude, float damping_distance, int target_yaw, int target_gimbal_pitch, TurnMode turn_mode, bool has_action, uint action_time_limit, MissionWaypointActionMsg waypoint_action)
{
_latitude = latitude;
_longitude = longitude;
_altitude = altitude;
_damping_distance = damping_distance;
_target_yaw = target_yaw;
_target_gimbal_pitch = target_gimbal_pitch;
_turn_mode = turn_mode;
_has_action = has_action;
_action_time_limit = action_time_limit;
_waypoint_action = waypoint_action;
}
public MissionWaypointMsg(JSONNode msg)
{
_latitude = msg["latitude"].AsDouble;
_longitude = msg["longitude"].AsDouble;
_altitude = msg["altitude"].AsFloat;
_damping_distance = msg["damping_distance"].AsFloat;
_target_yaw = msg["target_yaw"].AsInt;
_target_gimbal_pitch = msg["target_gimbal_pitch"].AsInt;
_turn_mode = (TurnMode)msg["turn_mode"].AsInt;
_has_action = (msg["has_action"].AsInt != 0);
_action_time_limit = (uint)msg["action_time_limit"].AsInt;
_waypoint_action = new MissionWaypointActionMsg(msg["waypoint_action"]);
}
//changed lat and long to double from float, changes has-action from bool to int
public MissionWaypointMsg(double _latitude, double _longitude, float _altitude, float _damping_distance, int _target_yaw, int _target_gimbal_pitch, TurnMode _turn_mode, int _has_action, uint _action_time_limit, MissionWaypointActionMsg _waypoint_action)
{
latitude = _latitude;
longitude = _longitude;
altitude = _altitude;
damping_distance = _damping_distance;
target_yaw = _target_yaw;
target_gimbal_pitch = _target_gimbal_pitch;
turn_mode = _turn_mode;
has_action = _has_action;
action_time_limit = _action_time_limit;
waypoint_action = _waypoint_action;
Debug.Log("constructor accuracy: " + _latitude);
}
public MissionWaypointMsg(JSONNode msg)
{
//changes "asDouble" to AsFloat
latitude = msg["latitude"].AsDouble;
longitude = msg["longitude"].AsDouble;
altitude = msg["altitude"].AsFloat;
damping_distance = msg["damping_distance"].AsFloat;
target_yaw = msg["target_yaw"].AsInt;
target_gimbal_pitch = msg["target_gimbal_pitch"].AsInt;
turn_mode = (TurnMode)msg["turn_mode"].AsInt;
//_has_action = (msg["has_action"].AsInt != 0);
has_action = (msg["has_action"].AsInt);
action_time_limit = (uint)msg["action_time_limit"].AsInt;
waypoint_action = new MissionWaypointActionMsg(msg["waypoint_action"]);
}
private async Task Receive()
{
while (webSocket.State == WebSocketState.Open)
{
var buffer = new byte[receiveChunkSize];
var response = await webSocket.ReceiveAsync(new ArraySegment <byte>(buffer), CancellationToken.None);
if (response.MessageType == WebSocketMessageType.Close)
{
await
webSocket.CloseAsync(WebSocketCloseStatus.NormalClosure, "Close response received",
CancellationToken.None);
}
else
{
var result = Encoding.UTF8.GetString(buffer).TrimEnd((char)0).Split('/');
var key = result[0];
var action = result[1];
if (key.Equals(Key))
{
if (action.Equals("forward") && currentWalkMode < WalkMode.FORWARDS_FAST)
{
currentWalkMode++;
}
if (action.Equals("backward") && currentWalkMode > WalkMode.BACKWARDS)
{
currentWalkMode--;
}
if (action.Equals("left") && currentTurnMode > TurnMode.LEFT_HARD)
{
currentTurnMode--;
}
if (action.Equals("right") && currentTurnMode < TurnMode.RIGHT_HARD)
{
currentTurnMode++;
}
if (action.Equals("toggle"))
{
sensor.ToggleSensorRays();
}
if (action.Equals("walk"))
{
var walk = int.Parse(result[2]);
if (walk >= -1 && walk <= 3)
{
currentWalkMode = (WalkMode)walk;
}
}
if (action.Equals("turn"))
{
var turn = int.Parse(result[2]);
if (turn >= -2 && turn <= 2)
{
currentTurnMode = (TurnMode)turn;
}
}
}
Debug.Log("\"" + action + "\"");
}
}
}
IEnumerator GameLoop()
{
Debug.Log(playerPuttCount());
while (playerPuttCount() > 1)
{
switch (turn)
{
case TurnMode.Placement:
canvasController.TogglePowerBar(false);
//for each player
List <PlayerStats> players = sortedPlayers();
foreach (PlayerStats player in players)
{
//wait for controller confirmation
if (player.PowerUp != null)
{
while (true)
{
if (Input.anyKey)
{
break;
}
yield return(null);
}
//start timer
float startTime = Time.time;
//if player canputt is false give a random power up for placement
cameraMover.GetComponent <camera>().activePlayer = player;
canvasController.ChangePlayerText(player.name, turn);
//allow placement
//REPLACE WITH TIME DURATION VARIABLE
//while timer
while ((Time.time - startTime < waitTime))
{
canvasController.ShowTime(waitTime - (Time.time - startTime));
//display timer ui
// Debug.Log("Turn timer: " + (Time.time - startTime));
//invoke function on character for power placement. pass in player
if (Input.GetKeyDown("space"))
{
trap.Play();
startTime -= 20;
}
yield return(null);
}
canvasController.HideTime();
//end placement
cameraMover.GetComponent <camera>().PlacePowerUp();
//end turn UI
//Debug.Log("Player turn is finished");
}
}
//change turnmode to putting
turn = TurnMode.Putting;
break;
case TurnMode.Putting:
canvasController.RemovePowerUpText();
List <PlayerStats> players2 = sortedPlayers();
ballcontrol bc = Ball.GetComponent <ballcontrol>();
foreach (PlayerStats player in players2)
{
if (player.canPutt)
{
canvasController.PuttMessage("Press any key to start putting!");
canvasController.TogglePowerBar(true);
//prompt for controller confirmation
//Debug.Log("Press a key to start your turn : " + player.name);
canvasController.ChangePlayerText(player.name, turn);
while (true)
{
if (Input.anyKey)
{
break;
}
yield return(null);
}
//////!!!!!!!!!!!!!!!!!!!!!!!!!
//bc.enabled = true;
//wait for putt input
canvasController.PuttMessage("Press left mouse button to putt!");
//Debug.Log("waiting for putt input");
bc.ActiveGolfer = player;
while (!bc.inPlay)
{
//Debug.Log("Checking if ball was hit");
if (bc.inPlay)
{
break;
}
yield return(new WaitForSeconds(1));
}
canvasController.PuttMessage("Ball was hit!");
canvasController.TogglePowerBar(false);
//Debug.Log("waiting for ball to finish moving");
//wait for ball movement to finish
//while (Ball.GetComponent<Rigidbody>().velocity.magnitude == 0) {
// yield return null;
//}
//double check
float timer = 0;
while (timer < 2)
{
timer += Time.deltaTime;
if (Ball.GetComponent <Rigidbody>().velocity.magnitude > 0)
{
timer = 0;
}
yield return(null);
}
//Debug.Log("Ball is now stopped we think");
//set the ball to not in play
bc.inPlay = false;
bc.ActiveGolfer = null;
if (bc.inHole)
{
//set player can putt bool to false
player.canPutt = false;
//show ui for player eliminated
//Debug.Log("Show ui that this player is eliminated");
canvasController.PuttMessage(player.name + " is eliminated");
canvasController.ShowDead(player.name);
canvasController.StartCoroutine("DunkedSon");
yield return(new WaitForSeconds(messageTime));
//if more than one player can putt
if (playerPuttCount() > 1)
{
//Debug.Log("Reset scene for remaining players");
canvasController.PuttMessage("Setting up next round!");
yield return(new WaitForSeconds(messageTime));
//delete all power ups in game world
GameObject[] powerups = GameObject.FindGameObjectsWithTag("PowerUp");
for (var i = 0; i < powerups.Length; i++)
{
Destroy(powerups[i]);
}
//reset ball position
bc.NextLevel();
break;
}
else
{
canvasController.PuttMessage(player.name + ", you lose!");
}
}
////////!!!!!!!!!!!!!!!!!!!!!!
//bc.enabled = false;
}
}
//get all powerups in the scene - send message to increase integer for turn count
if (playerPuttCount() > 1)
{
turn = TurnMode.Placement;
}
else
{
turn = TurnMode.GameOver;
}
break;
default:
callWinner();
break;
}
}
//else remaining player wins
callWinner();
}
// Update is called once per frame
void Update()
{
transform.Translate((int)currentWalkMode * Vector3.forward * Speed * Time.deltaTime);
transform.Rotate(Vector3.up, (int)currentTurnMode * Time.deltaTime * 25);
//pressing up key switches from BACKWARDS to STOP to FORWARDS_SLOW to FORWARDS_MEDIUM to FORWARDS_FAST
//once reached FORWARDS_FAST, pressing up key again will not have any effect
if (Input.GetKeyDown(KeyCode.W))
{
switch (currentWalkMode)
{
case WalkMode.BACKWARDS:
currentWalkMode = WalkMode.STOP;
break;
case WalkMode.STOP:
currentWalkMode = WalkMode.FORWARDS_SLOW;
break;
case WalkMode.FORWARDS_SLOW:
currentWalkMode = WalkMode.FORWARDS_MEDIUM;
break;
case WalkMode.FORWARDS_MEDIUM:
currentWalkMode = WalkMode.FORWARDS_FAST;
break;
}
}
//pressing down key switches from FORWARDS_FAST to FORWARDS_MEDIUM to FORWARDS_SLOW to STOP to BACKWARDS
//once reached BACKWARDS, pressing down key again will not have any effect
if (Input.GetKeyDown(KeyCode.S))
{
switch (currentWalkMode)
{
case WalkMode.FORWARDS_FAST:
currentWalkMode = WalkMode.FORWARDS_MEDIUM;
break;
case WalkMode.FORWARDS_MEDIUM:
currentWalkMode = WalkMode.FORWARDS_SLOW;
break;
case WalkMode.FORWARDS_SLOW:
currentWalkMode = WalkMode.STOP;
break;
case WalkMode.STOP:
currentWalkMode = WalkMode.BACKWARDS;
break;
}
}
//pressing left key switches from RIGHT_HARD to RIGHT_SMOOTH to STRAIGHT to LEFT_SMOOTH to LEFT_HARD
//once reached LEFT_HARD, pressing left key again will not have any effect
if (Input.GetKeyDown(KeyCode.A))
{
switch (currentTurnMode)
{
case TurnMode.RIGHT_HARD:
currentTurnMode = TurnMode.RIGHT_SMOOTH;
break;
case TurnMode.RIGHT_SMOOTH:
currentTurnMode = TurnMode.STRAIGHT;
break;
case TurnMode.STRAIGHT:
currentTurnMode = TurnMode.LEFT_SMOOTH;
break;
case TurnMode.LEFT_SMOOTH:
currentTurnMode = TurnMode.LEFT_HARD;
break;
}
}
//pressing right key switches from LEFT_HARD to LEFT_SMOOTH to STRAIGHT to RIGHT_SMOOTH to RIGHT_HARD
//once reached RIGHT_HARD, pressing right key again will not have any effect
if (Input.GetKeyDown(KeyCode.D))
{
switch (currentTurnMode)
{
case TurnMode.LEFT_HARD:
currentTurnMode = TurnMode.LEFT_SMOOTH;
break;
case TurnMode.LEFT_SMOOTH:
currentTurnMode = TurnMode.STRAIGHT;
break;
case TurnMode.STRAIGHT:
currentTurnMode = TurnMode.RIGHT_SMOOTH;
break;
case TurnMode.RIGHT_SMOOTH:
currentTurnMode = TurnMode.RIGHT_HARD;
break;
}
}
}
public void ChangePlayerText(string playername, TurnMode mode)
{
playerText.text = playername + "\n" + mode.ToString() + " MODE";
switch (playername.ToLower())
{
case "player1":
p1Text.fontStyle = FontStyles.Bold;
p2Text.fontStyle = FontStyles.Normal;
p3Text.fontStyle = FontStyles.Normal;
p4Text.fontStyle = FontStyles.Normal;
p1Text.color = Color.black;
p2Text.color = Color.white;
p3Text.color = Color.white;
p4Text.color = Color.white;
break;
case "player2":
p1Text.fontStyle = FontStyles.Normal;
p2Text.fontStyle = FontStyles.Bold;
p3Text.fontStyle = FontStyles.Normal;
p4Text.fontStyle = FontStyles.Normal;
p1Text.color = Color.white;
p2Text.color = Color.black;
p3Text.color = Color.white;
p4Text.color = Color.white;
break;
case "player3":
p1Text.fontStyle = FontStyles.Normal;
p2Text.fontStyle = FontStyles.Normal;
p3Text.fontStyle = FontStyles.Bold;
p4Text.fontStyle = FontStyles.Normal;
p1Text.color = Color.white;
p2Text.color = Color.white;
p3Text.color = Color.black;
p4Text.color = Color.white;
break;
case "player4":
p1Text.fontStyle = FontStyles.Normal;
p2Text.fontStyle = FontStyles.Normal;
p3Text.fontStyle = FontStyles.Normal;
p4Text.fontStyle = FontStyles.Bold;
p1Text.color = Color.white;
p2Text.color = Color.white;
p3Text.color = Color.white;
p4Text.color = Color.black;
break;
default:
p1Text.fontStyle = FontStyles.Normal;
p2Text.fontStyle = FontStyles.Normal;
p3Text.fontStyle = FontStyles.Normal;
p4Text.fontStyle = FontStyles.Normal;
p1Text.color = Color.white;
p2Text.color = Color.white;
p3Text.color = Color.white;
p4Text.color = Color.white;
break;
}
}
/// <summary>
/// Game loop
/// </summary>
/// <returns></returns>
IEnumerator GameLoop()
{
// Delay start for wipe animation
yield return(new WaitForSeconds(0.5f));
int player = GI.GetPlayerFirst() ? 1 : 2;
for (m_turns = 0; m_turns < 9 && Win(m_board) == 0; ++m_turns)
{
m_TurnText.text = "Turns: " + m_turns.ToString();
if ((m_turns + player) % 2 == 0)
{
Debug.Log("Computer's turn!");
currentTurnMove = TurnMode.AIMove;
UpdateTurnVisual();
m_BackgroundColorGoTo = GetMarkerColor(AIMarker);
yield return(new WaitForSeconds(m_AITurnDuration));
ComputerMove(m_board);
Debug.Log("Computer has made their turn!");
UpdateBoardVisuals();
}
else
{
Debug.Log("Player's turn!");
currentTurnMove = TurnMode.PlayerMove;
UpdateTurnVisual();
m_BackgroundColorGoTo = GetMarkerColor(playerMarker);
yield return(new WaitUntil(() => m_turnOver));
Debug.Log("Player has made their turn!");
UpdateBoardVisuals();
}
m_turnOver = false;
}
currentTurnMove = TurnMode.GameOver;
yield return(new WaitForSeconds(1));
switch (Win(m_board).ToInt())
{
case 0:
Debug.Log("A draw. How droll.\n");
m_BackgroundColorGoTo = Color.black;
UpdateText("Tie game!",
new Color(
ExtendedFunctions.Convert8ToFloat(50.0f),
ExtendedFunctions.Convert8ToFloat(50.0f),
ExtendedFunctions.Convert8ToFloat(50.0f)
)
);
GI.SetLatestWinner(GameOutcome.Tie);
break;
case 1:
Debug.Log("You lose.\n");
WinVisual(m_WinPositions);
UpdateText("AI won!", GetMarkerColor(AIMarker));
LoseState();
break;
case -1:
Debug.Log("You win.\n");
WinVisual(m_WinPositions);
UpdateText("You win!", GetMarkerColor(playerMarker));
WinState();
break;
}
yield return(new WaitForSeconds(1.0f));
m_WhiteWipe.SetTrigger("WipeIn");
}
/// <summary>
/// Allows us to control the robot with the direction keys on the keybord. Also gives visual feedback in which direction the robot currently turns
/// and at which velocity.
/// </summary>
private void CurrentMode(WalkMode walkMode, TurnMode turnMode)
{
switch (walkMode)
{
case WalkMode.FORWARDS_FAST:
Console.WriteLine(" ^ ");
Console.WriteLine(" | ");
Console.WriteLine(" | ");
Console.WriteLine(" | ");
Console.WriteLine(" | ");
Console.WriteLine(" | ");
Console.WriteLine(" | ");
break;
case WalkMode.FORWARDS_MEDIUM:
Console.WriteLine(" ");
Console.WriteLine(" ");
Console.WriteLine(" ^ ");
Console.WriteLine(" | ");
Console.WriteLine(" | ");
Console.WriteLine(" | ");
Console.WriteLine(" | ");
break;
case WalkMode.FORWARDS_SLOW:
Console.WriteLine(" ");
Console.WriteLine(" ");
Console.WriteLine(" ");
Console.WriteLine(" ");
Console.WriteLine(" ^ ");
Console.WriteLine(" | ");
Console.WriteLine(" | ");
break;
case WalkMode.BACKWARDS:
break;
case WalkMode.STOP:
break;
default:
Console.WriteLine(" ");
Console.WriteLine(" ");
Console.WriteLine(" ");
Console.WriteLine(" ");
Console.WriteLine(" ");
Console.WriteLine(" ");
Console.WriteLine(" ");
break;
}
Console.WriteLine(" ███ ");
switch (turnMode)
{
case TurnMode.LEFT_HARD:
Console.WriteLine(" <----███ ");
break;
case TurnMode.LEFT_SMOOTH:
Console.WriteLine(" <--███ ");
break;
case TurnMode.STRAIGHT:
Console.WriteLine(" ███ ");
break;
case TurnMode.RIGHT_SMOOTH:
Console.WriteLine(" ███--> ");
break;
case TurnMode.RIGHT_HARD:
Console.WriteLine(" ███----> ");
break;
default:
throw new ArgumentOutOfRangeException(nameof(turnMode), turnMode, null);
}
Console.WriteLine(" ███ ");
switch (walkMode)
{
case WalkMode.BACKWARDS:
Console.WriteLine(" | ");
Console.WriteLine(" | ");
Console.WriteLine(" V ");
break;
case WalkMode.STOP:
break;
case WalkMode.FORWARDS_SLOW:
break;
case WalkMode.FORWARDS_MEDIUM:
break;
case WalkMode.FORWARDS_FAST:
break;
default:
Console.WriteLine(" ");
Console.WriteLine(" ");
Console.WriteLine(" ");
break;
}
}
