586 lines
16 KiB
C#
586 lines
16 KiB
C#
using DG.Tweening;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using UnityEngine;
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using Newtonsoft.Json;
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using System.IO;
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using UnityEngine.EventSystems;
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using UnityEngine.UI;
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using static RobotManager;
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using static ResolutionTest;
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using TMPro;
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public enum ColorEnum
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{
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red,
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blue,
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green
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}
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/// <summary>
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/// 机器人电机数据
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/// </summary>
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public class RobotMotorValues
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{
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public int index;
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public int time;
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public int[] values;
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}
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public class Robot : MonoBehaviour
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{
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public Queue<GameObject> gameque = new Queue<GameObject>();
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public Scrollbar myScrollbar;
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public float scrovalue;
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int number = 0;
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Tween tween;
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bool camIsOpen;//相机是否打开
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public bool Isflag;//是否改动滑动条
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public int id;
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/// <summary>
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/// 原始动作消息队列
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/// </summary>
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public Queue<MonsData> actionque;
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public int robot_id;
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public string myname;
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/// <summary>
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/// 伺服电机转动速度
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/// </summary>
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public float HVBUSSERVO_Speed = 0.1f;
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/// <summary>
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/// 当前动作
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/// </summary>
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public List<Motion> _motions = null;
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/// <summary>
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/// 动作队列
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/// </summary>
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public Queue<List<Motion>> motion_queue = new Queue<List<Motion>>();
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/// <summary>
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/// 电机
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/// </summary>
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public List<HVBUSSERVO> HVBUSSERVOs;
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/// <summary>
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/// 刚体组件
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/// </summary>
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public Rigidbody Rigidbody;
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/// <summary>
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/// 测试数据
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/// </summary>
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public string hvbdata;
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/// <summary>
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/// 是否正在播放动作
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/// </summary>
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public bool isPlaying = false;
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/// <summary>
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/// 重心 示意
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/// </summary>
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public Transform CenterOfMass;
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public AudioSource audioSource;
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private TextMeshPro NameText;
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private void Awake()
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{
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animatorfla = true;
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actionque = new Queue<MonsData>();
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HVBUSSERVOs = GetComponentsInChildren<HVBUSSERVO>().ToList();
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audioSource = GetComponent<AudioSource>();
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if (transform.Find("NameText") != null)
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{
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NameText = transform.Find("NameText").GetComponent<TextMeshPro>();
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}
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}
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private void OnEnable()
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{
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Rigidbody = GetComponent<Rigidbody>();
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}
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void Start()
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{
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ReSort();
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_motions = null;
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}
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Queue<string> _colors = new Queue<string>();
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// Update is called once per frame
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void Update()
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{
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if (gameObject.transform.position.y < -0.5f)
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{
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ConsolePanel.ConsoleOutput(number + "号机器人掉下舞台，已销毁", "warning");
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RobotManager.robotgames.Remove(gameObject);
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RobotManager.robots.Remove(this);
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Destroy(gameObject);
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}
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//动作测试
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//if (Input.GetKeyDown(KeyCode.Space))
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//{
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// DoMotions();
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//}
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if (motion_queue.Count > 0 && _motions == null)
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{
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_motions = motion_queue.Dequeue();
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DoMotions();
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}
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if (MotionsQueue.Count > 0 && current_motion == null)
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{
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current_motion = MotionsQueue.Dequeue();
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DoBusServo(current_motion, EnqueArray);
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}
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if (actionque.Count != 0)
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{
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if (animatorfla)
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{
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MonsData mon = actionque.Dequeue();
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PlayMotion(mon, id);
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animatorfla = false;
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}
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}
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}
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/// <summary>
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/// 动作持续时间
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/// </summary>
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float action_duration;
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/// <summary>
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/// 更新动作
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/// </summary>
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/// <param name="_motions"></param>
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/// <param name="_duration">动作结束后的持续时间</param>
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/// <param name="_callback"></param>
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public MonsData _currmon = null;
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/// <summary>
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/// 更新动作
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/// </summary>
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/// <param name="_motions"></param>
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/// <param name="_mon"></param>
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/// <param name="_callback"></param>
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public void UpdateMotions(List<Motion> _motions, MonsData _mon = null, Action _callback = null)
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{
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isPlaying = true;
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if (_mon != null)
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{
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for (int i = 0; i < _mon.loop_times; i++)
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{
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motion_queue.Enqueue(_motions);
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}
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}
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else
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{
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motion_queue.Enqueue(_motions);
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}
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_callback?.Invoke();
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}
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public void ClearQueue()
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{
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_motions = null;
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gameque.Clear();
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// motion_queue.Clear();
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tween.Kill();
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}
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MonsData mon;
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/// <summary>
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/// 解析原始数据
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/// </summary>
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/// <param name="monsData"></param>
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/// <param name="number"></param>
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private void PlayMotion(MonsData monsData, int number)
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{
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action_duration = monsData.duration;
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mon = monsData;
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var group=RobotManager.instance.all_motions.Find(a => a.motionName == mon.action);
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if(group!=null)
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{
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UpdateMotions(group.motionList, mon);
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}
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}
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/// <summary>
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/// 拍照
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/// </summary>
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public bool OpenCamera()
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{
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RobotUIManager.instance.AssignmentCam();
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return camIsOpen;
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}
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/// <summary>
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/// 执行第一条动作元
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/// </summary>
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private void DoMotions()
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{
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i = 1;
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current_motion = null;
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MotionsQueue.Enqueue(_motions[0]);
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}
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int i = 1;//动作序号
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/// <summary>
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/// 动作元
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/// </summary>
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Queue<Motion> MotionsQueue = new Queue<Motion>();
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/// <summary>
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/// 当前动作元
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/// </summary>
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public Motion current_motion = null;
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int num = 0;
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private void EnqueArray()
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{
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Debug.Log("取出新动作:" + i);
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if (i < _motions.Count)
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{
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MotionsQueue.Enqueue(_motions[i]);
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current_motion = null;
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i += 1;
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}
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else //此处表示当前动作结束
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{
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if (motion_queue.Count == 0)
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{
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Invoke("OnActionEnd", action_duration);
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}
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else
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// UpdateMotions(RobotManager.standMon[0].motionList, null);
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_motions = null;
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//RobotManager.time = 0;
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}
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}
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public bool animatorfla = true;
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/// <summary>
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/// 动作结束执行
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/// </summary>
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private void OnActionEnd()
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{
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isPlaying = false;
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animatorfla = true;
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_motions = null;
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if (Isflag)
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{
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for (int i = 0; i < CustomPanel.instance.items.Count; i++)
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{
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CustomPanel.instance.items[i].IsActivation(true);
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}
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}
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}
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/// <summary>
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/// 电机执行
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/// </summary>
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/// <param name="motion"></param>
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/// <param name="callback"></param>
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public void DoBusServo(Motion motion, Action callback)
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{
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Debug.Log("执行动作");
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float t = 0;
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tween = DOTween.To(() => t, (x) => t = x, motion.duration_time, motion.duration_time).OnComplete(() => { callback?.Invoke(); });
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HVBUSSERVOs[0].UpdateValue(motion.id_1, motion.duration_time, Isflag);
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HVBUSSERVOs[1].UpdateValue(motion.id_2, motion.duration_time, Isflag);
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HVBUSSERVOs[2].UpdateValue(motion.id_3, motion.duration_time, Isflag);
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HVBUSSERVOs[3].UpdateValue(motion.id_4, motion.duration_time, Isflag);
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HVBUSSERVOs[4].UpdateValue(motion.id_5, motion.duration_time, Isflag);
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HVBUSSERVOs[5].UpdateValue(motion.id_6, motion.duration_time, Isflag);
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HVBUSSERVOs[6].UpdateValue(motion.id_7, motion.duration_time, Isflag);
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HVBUSSERVOs[7].UpdateValue(motion.id_8, motion.duration_time, Isflag);
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HVBUSSERVOs[8].UpdateValue(motion.id_9, motion.duration_time, Isflag);
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HVBUSSERVOs[9].UpdateValue(motion.id_10, motion.duration_time, Isflag);
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HVBUSSERVOs[10].UpdateValue(motion.id_11, motion.duration_time, Isflag);
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HVBUSSERVOs[11].UpdateValue(motion.id_12, motion.duration_time, Isflag);
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HVBUSSERVOs[12].UpdateValue(motion.id_13, motion.duration_time, Isflag);
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HVBUSSERVOs[13].UpdateValue(motion.id_14, motion.duration_time, Isflag);
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HVBUSSERVOs[14].UpdateValue(motion.id_15, motion.duration_time, Isflag);
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HVBUSSERVOs[15].UpdateValue(motion.id_16, motion.duration_time, Isflag);
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// HVBUSSERVOs[16].UpdateValue(motion.id_17, motion.duration_time, Isflag);
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// HVBUSSERVOs[17].UpdateValue(motion.id_18, motion.duration_time, Isflag);
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HVBUSSERVOs[16].UpdateValue(500, motion.duration_time, Isflag);
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HVBUSSERVOs[17].UpdateValue(500, motion.duration_time, Isflag);
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if (gameque.Count > 0)
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{
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CustomPanel.FreshCurrItem(gameque.Dequeue());
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number++;
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myScrollbar.value = 1 - number * scrovalue;
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}
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}
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/// <summary>
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/// 根据颜色播放对应的动作
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/// </summary>
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public void PlayColorAction(string color)
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{
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if (!isPlaying)
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{
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if (!_colors.Contains(color))
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{
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_colors.Enqueue(color);
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}
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//匹配对应动作
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string actionName = "";
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if (color == "red")
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{
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actionName = "back";
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}
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else if (color == "blue")
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{
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actionName = "wave";
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}
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else if (color == "green")
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{
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actionName = "put_down";
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}
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else
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{
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Debug.Log("无此颜色");
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return;
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}
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MotionGroup group = RobotManager.instance.all_motions.Find(a => a.motionName == actionName);
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if (group != null)
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{
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UpdateMotions(group.motionList);
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}
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else
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{
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Debug.Log("无此动作文件：" + actionName);
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}
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}
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}
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/// <summary>
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/// 对电机按编号重新排序
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/// </summary>
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private void ReSort()
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{
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HVBUSSERVOs = GetComponentsInChildren<HVBUSSERVO>().ToList();
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HVBUSSERVO temp;
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bool swapped;
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for (int i = 0; i < HVBUSSERVOs.Count; i++)
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{
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swapped = false;
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for (int j = 0; j < HVBUSSERVOs.Count - 1 - i; j++)
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{
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if (HVBUSSERVOs[j].indexNo > HVBUSSERVOs[j + 1].indexNo)
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{
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temp = HVBUSSERVOs[j];
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HVBUSSERVOs[j] = HVBUSSERVOs[j + 1];
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HVBUSSERVOs[j + 1] = temp;
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if (!swapped)
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swapped = true;
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}
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if (!swapped)
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continue;
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}
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}
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}
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/// <summary>
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/// 设置颜色
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/// </summary>
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/// <param name="color"></param>
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public void SetColor(Color color)
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{
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List<Material> materials = new List<Material>();
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List<Transform> gamelist = GetComponentsInChildren<Transform>().ToList();
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for (int i = 1; i < gamelist.Count; i++)
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{
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List<Material> list = gamelist[i].transform.GetComponent<Renderer>().materials.ToList();
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materials.AddRange(list);
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}
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for (int i = 0; i < materials.Count; i++)
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{
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materials[i].color = color;
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}
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ConsolePanel.ConsoleOutput("机器人颜色设置成功！", "log");
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}
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internal void RefreshCur(List<GameObject> items, Scrollbar _scrollbar)
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{
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myScrollbar = _scrollbar;
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myScrollbar.value = 1;
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scrovalue = 1f / items.Count;
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number = 0;
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gameque.Clear();
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for (int i = 0; i < items.Count; i++)
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{
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gameque.Enqueue(items[i].gameObject);
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}
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}
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/// <summary>
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/// 开始录音
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/// </summary>
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public void StartRedord()
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{
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GetComponent<MicroPhoneManager>().StartRecordAudio();
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}
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/// <summary>
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/// 停止录音
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/// </summary>
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public bool StopRecord()
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{
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bool flag = GetComponent<MicroPhoneManager>().StopRecordAudio();
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return flag;
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}
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/// <summary>
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/// 试听
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/// </summary>
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public void Audition()
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{
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GetComponent<MicroPhoneManager>().PlayRecordAudio();
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}
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public void ENDAudition()
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{
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GetComponent<MicroPhoneManager>().StopRecordAudio();
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}
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/// <summary>
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/// 开始识别录音
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/// </summary>
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public void Recognition()
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{
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byte[] audiodata = MicroPhoneManager.instance.GetClipData();
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IFlytekManager.instance.AudioToText(audiodata, DebugAudioText);
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}
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//识别成功，显示识别文字
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public void DebugAudioText(string audio_text)
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{
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RecordDebugPanel.instance.Init(audio_text);
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for (int i = 0; i < RobotManager.instance.all_motions.Count; i++)
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{
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if (audio_text == RobotManager.instance.all_motions[i].motionName)
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{
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motion_queue.Clear();
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_motions = null;
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UpdateMotions(RobotManager.instance.all_motions[i].motionList);
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}
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}
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}
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/// <summary>
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/// 重新录音
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/// </summary>
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public void Anew()
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{
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RobotUI.Instance.ClosePanel(RobotePanelEnum.RecordEndPanel.ToString());
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GetComponent<MicroPhoneManager>().StartRecordAudio();
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RobotUI.Instance.OpenPanel(RobotePanelEnum.RecordKingPanel.ToString());
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}
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/// <summary>
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/// 关闭麦克风
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/// </summary>
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public void EndRecord()
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{
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GetComponent<MicroPhoneManager>().StopRecordAudio();
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}
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/// <summary>
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/// 设置机器人名字
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/// </summary>
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/// <param name="name"></param>
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public void SetName(string name)
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{
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myname = name;
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if (name.Length>10)
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NameText.text = name.Substring(0, 10);
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else NameText.text = name;
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string Log = "名称：" + name + "设置成功！";
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ConsolePanel.ConsoleOutput(Log, "log");
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}
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/// <summary>
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/// 点头
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/// </summary>
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[ContextMenu("点头")]
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public void NodHead(int time)
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{
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if (time > 0)
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{
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if (!isPlaying)
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{
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isPlaying = true;
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HVBUSSERVOs[16].UpdateValue(500, 0.5f, false);
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DoNod(time);
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}
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}
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}
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private void DoNod(int time)
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{
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HVBUSSERVOs[17].UpdateValue(1000, 1, false, () =>
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{
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HVBUSSERVOs[17].UpdateValue(0, 1, false, () =>
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{
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time--;
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if(time<=0)
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{
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//结束动作
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HVBUSSERVOs[17].UpdateValue(500, 0.5f, false, () =>
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{
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isPlaying = false;
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});
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}
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else
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{
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DoNod(time);
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}
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});
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});
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}
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/// <summary>
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/// 摇头
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/// </summary>
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[ContextMenu("摇头")]
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public void ShakeHead(int time)
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{
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if(time > 0)
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{
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if (!isPlaying)
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{
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isPlaying = true;
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HVBUSSERVOs[17].UpdateValue(500, 0.5f, false);
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DoShake(time);
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}
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}
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}
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private void DoShake(int time)
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{
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HVBUSSERVOs[16].UpdateValue(1000, 1, false, () =>
|
|
{
|
|
HVBUSSERVOs[16].UpdateValue(0, 1, false, () =>
|
|
{
|
|
time --;
|
|
if(time <=0)
|
|
{
|
|
HVBUSSERVOs[16].UpdateValue(500, 0.5f, false, () =>
|
|
{
|
|
isPlaying = false;
|
|
});
|
|
}
|
|
else
|
|
{
|
|
DoShake(time);
|
|
}
|
|
});
|
|
});
|
|
}
|
|
} |