1632 lines
54 KiB
C#
1632 lines
54 KiB
C#
using DG.Tweening;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Linq;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using Unity.VisualScripting;
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using UnityEngine;
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using UnityEngine.SceneManagement;
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/// <summary>
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/// 公共指令
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/// </summary>
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public enum PublicCommond
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{
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/// <summary>
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/// 初始化场景
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/// </summary>
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init_scene,
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/// <summary>
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/// 加载音频
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/// </summary>
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audio_load,
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/// <summary>
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/// 播放音频
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/// </summary>
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audio_play,
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/// <summary>
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/// 暂停音频
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/// </summary>
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audio_pause,
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/// <summary>
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/// 停止音频
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/// </summary>
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audio_stop,
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/// <summary>
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/// 设置音量
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/// </summary>
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audio_set_volume,
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/// <summary>
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/// 截图
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/// </summary>
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screen_shot,
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/// <summary>
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// 获取所有可替换的场景照片
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/// </summary>
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get_control_image,
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/// <summary>
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/// 设置背景照片
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/// </summary>
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set_control_image,
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/// <summary>
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/// 获取所有可创建的场景物体
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/// </summary>
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get_scene_objet,
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/// <summary>
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/// 设置场景元素物体
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/// </summary>
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set_scene_objet,
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/// <summary>
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/// 相机模式
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/// </summary>
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set_camera_mode
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}
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public enum UAVCommand
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{
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/// <summary>
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/// 创建
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/// </summary>
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init_position,
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/// <summary>
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/// 设置名称
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/// </summary>
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set_name,
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/// <summary>
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/// 设置颜色
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/// </summary>
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set_color,
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/// <summary>
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/// 启动
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/// </summary>
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start_engine,
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/// <summary>
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/// 关闭
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/// </summary>
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shut_down_engine,
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/// <summary>
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/// 设置旋翼动力
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/// </summary>
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set_rotor_power,
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/// <summary>
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/// 方向向量控制飞行
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/// </summary>
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fly_by_3d_direction,
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/// <summary>
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/// 时间控制定点飞行
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/// </summary>
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fly_to_point_by_time,
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/// <summary>
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/// 速度控制定点飞行
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/// </summary>
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fly_to_point_by_speed,
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/// <summary>
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/// 悬停
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/// </summary>
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hovering,
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/// <summary>
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/// 启用避障
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/// </summary>
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enable_obstacle_avoidance,
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/// <summary>
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/// 禁用避障
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/// </summary>
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disable_obstacle_avoidance,
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/// <summary>
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/// 编队控制
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/// </summary>
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formation_control,
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/// <summary>
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/// 控制高亮
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/// </summary>
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open_lighter,
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/// <summary>
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/// 关闭高亮
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/// </summary>
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close_lighter,
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/// <summary>
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/// 轨迹渲染
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/// </summary>
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open_trail_render,
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/// <summary>
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/// 关闭轨迹渲染
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/// </summary>
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close_trail_render,
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/// <summary>
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/// 获取当前高度
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/// </summary>
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get_current_height,
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/// <summary>
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/// 获取当前距离
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/// </summary>
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get_current_distance,
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/// <summary>
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/// 获取当前姿态
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/// </summary>
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get_current_attitude_angle,
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/// <summary>
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/// 获取当前水平速度
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/// </summary>
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get_current_horizontal_speed,
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/// <summary>
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/// 获取当前垂直速度
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/// </summary>
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get_current_vertical_speed,
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/// <summary>
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/// 打开模拟图传
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/// </summary>
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open_hd,
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/// <summary>
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/// 关闭模拟图传
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/// </summary>
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close_hd,
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/// <summary>
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/// 设置昼夜
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/// </summary>
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time_set,
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/// <summary>
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/// 打开摄像头
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/// </summary>
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open_real_camera,
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/// <summary>
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/// 关闭摄像头
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/// </summary>
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close_real_camera,
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/// <summary>
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/// 获取语音识别结果
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/// </summary>
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get_speech_text,
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/// <summary>
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/// 打开碰撞碰撞
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/// </summary>
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openCollider,
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/// <summary>
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/// 关闭碰撞
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/// </summary>
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close_collider,
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/// <summary>
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/// 单无人机飞立方体
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/// </summary>
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draw_fly_Cube,
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/// <summary>
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/// 单无人机飞球体
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/// </summary>
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draw_fly_Sphere,
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/// <summary>
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/// 单无人机飞圆柱
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/// </summary>
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draw_fly_Cylinder,
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/// <summary>
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/// 单无人机飞圆锥
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/// </summary>
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draw_fly_Cone
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}
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public class UAVManager : MonoBehaviour
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{
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public static UAVManager Instance;
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private GameObject templete;
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/// <summary>
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/// 无人机模板
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/// </summary>
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public GameObject Templete { get { if (templete == null) templete = Resources.Load("Prefabs/UAV") as GameObject; return templete; } }
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/// <summary>
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/// 使用全局坐标
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/// </summary>
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public bool useGlobalPosition;
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[SerializeField]
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private Transform uav_parent;
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/// <summary>
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/// 无人机生成父物体
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/// </summary>
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public Transform UAVParent
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{
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get
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{
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if (uav_parent == null)
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Init();
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return uav_parent;
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}
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}
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/// <summary>
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/// 创建无人机间隔
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/// </summary>
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public float create_distance = 1;
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/// <summary>
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/// 所有创建的无人机对象
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/// </summary>
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public List<GameObject> UAVs = new List<GameObject>();
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/// <summary>
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/// 所有无人机模拟控制器对象
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/// </summary>
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public List<UAVSimulator> uav_simulator = new List<UAVSimulator>();
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/// <summary>
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/// 所有无人机控制器对象
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/// </summary>
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public List<UAVController> uav_controller = new List<UAVController>();
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/// <summary>
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/// 碰撞层
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/// </summary>
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public LayerMask ColliderLayer;
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/// <summary>
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/// 场景元素物体
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/// </summary>
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private List<GameObject> sceneObject = new List<GameObject>();
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#region 环境元素
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public Material day_skybox;
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public Material night_skybox;
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public Light direction_light;
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public GameObject night_environment;
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public Material trail_material;
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#endregion
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#region Editor
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public Vector3 pos;//创建单无人机位置
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public Vector2 size;//创建无人机阵列大小
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public Vector4 quat;//四旋翼各速度
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/// <summary>
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/// 各向速度修正
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/// </summary>
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public float rise_modify, descend_modify, move_modify, rotate_modify;
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/// <summary>
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/// 无人机飞至指定位置
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/// </summary>
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public Vector3 tar_pos = new Vector3(5, 5, 5);
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/// <summary>
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/// 是否控制所有无人机
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/// </summary>
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public bool all_uav;
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/// <summary>
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/// 无人机单控编号
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/// </summary>
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public int uav_index = 1;
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/// <summary>
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/// 无人机固定飞行速度
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/// </summary>
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public float fly_speed = 2;
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/// <summary>
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/// 无人机固定飞行时间
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/// </summary>
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public float fly_time = 2;
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public string array_light_json_data;
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public string array_position_json_data;
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public string array_position_json_data2;
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#endregion
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private void Awake()
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{
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Instance = this;
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}
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private void Start()
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{
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Init();
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MyServer.instance.SetHandler_wrj(PythonDataHandler);
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MyServer.instance.SetHandler_other((data) =>
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{
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var command = (PublicCommond)Enum.Parse(typeof(PublicCommond), data["commond"].ToString());
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var eventid = data["event_id"].ToObject<int>();
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//后添加
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// ScoreManager.Instance.UpdateScore(command.ToString());
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switch (command)
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{
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case PublicCommond.init_scene:
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//清理无人机
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ClearAllUavs();
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//关闭摄像头
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MainCanvasManager.webcam_panel.gameObject.SetActive(false);
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//重置分数
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ScoreManager.Instance.ResetScore();
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//关闭媒体音乐
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MediaPlayer.Instance.AudioStop();
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//切回自由模式
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Camera.main.transform.GetComponent<CameraMove>().enabled = true;
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transform.GetComponent<MyCameraRoate>().EndRoate();
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//清理场景元素
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sceneObject.ForEach(a =>
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{
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Destroy(a);
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});
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sceneObject.Clear();
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//隐藏ide面板
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//MainCanvasManager.Instance.transform.Find("ide设置面板").gameObject.SetActive(false);
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MyServer.instance.SendMsgToSDK(eventid, ResultStatus.SUCCESS);
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break;
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case PublicCommond.audio_load:
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var __file_name = data["filepath"].ToObject<string>();
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MediaPlayer.Instance.NewAudioLoad(__file_name, (result, msg) =>
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{
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ConsolePanel.ConsoleOutput("语音加载" + (result == true ? "完成：" : "失败：" + msg), "log");
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DoReturn(result, eventid, msg);
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});
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break;
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case PublicCommond.audio_play:
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MediaPlayer.Instance.AudioPlay();
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break;
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case PublicCommond.audio_pause:
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MediaPlayer.Instance.AudioPause();
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break;
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case PublicCommond.audio_stop:
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MediaPlayer.Instance.AudioStop();
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break;
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case PublicCommond.audio_set_volume:
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var __volume = data["volume"].ToObject<float>();
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MediaPlayer.Instance.AudioSetVolume(__volume);
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break;
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case PublicCommond.screen_shot:
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bool isStep = data["isStep"].ToObject<bool>();
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string stepName = data["stepName"].ToObject<string>();
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if (!isStep)
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{
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MainCanvasManager.Instance.ScreemShot(CallForTest.instance.pathTaskFile + "/任务.png");
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}
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else
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{
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MainCanvasManager.Instance.ScreemShot(CallForTest.instance.pathTaskFile + "/步骤_" + stepName + ".png");
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}
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break;
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case PublicCommond.get_control_image:
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List<string> tmpNames = new List<string>();
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List<MyCardItem> list = GameObject.FindObjectsByType<MyCardItem>(FindObjectsInactive.Exclude, FindObjectsSortMode.None).ToList();
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list.ForEach(a =>
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{
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if (!string.IsNullOrEmpty(a.Nameid))
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{
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tmpNames.Add(a.Nameid);
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}
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});
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DoReturn(true, eventid, JsonConvert.SerializeObject(tmpNames));
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break;
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case PublicCommond.set_control_image:
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{
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string name = data["name"].ToString();
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string filePath = data["filePath"].ToString();
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MyCardItem item = GameObject.FindObjectsByType<MyCardItem>(FindObjectsInactive.Exclude, FindObjectsSortMode.None).ToList().Find(a => a.Nameid == name);
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if (item != null)
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{
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item.ChangeTexture(filePath, (isok, str) =>
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{
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DoReturn(isok, eventid, str);
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});
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}
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}
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break;
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case PublicCommond.get_scene_objet:
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{
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List<string> names = new List<string>();
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var tmps = Resources.LoadAll<GameObject>("sceneObject").ToList();
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tmps.ForEach(a =>
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{
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names.Add(a.name);
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});
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DoReturn(true, eventid, JsonConvert.SerializeObject(names));
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}
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break;
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case PublicCommond.set_scene_objet:
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{
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string name = data["name"].ToString();
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float[] point = data["point"].ToObject<float[]>();
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float[] rotate = data["rotate"].ToObject<float[]>();
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GameObject obj = Resources.Load<GameObject>("sceneObject/" + name);
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if (obj != null)
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{
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GameObject sceneObj = GameObject.Instantiate<GameObject>(obj, UAVParent, true);
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sceneObject.Add(sceneObj);
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sceneObj.transform.localPosition = new Vector3(point[0], point[1], point[2]);
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sceneObj.transform.localEulerAngles = new Vector3(rotate[0], rotate[1], rotate[2]);
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DoReturn(true, eventid, "设置成功");
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}
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else
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{
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DoReturn(false, eventid, "不存在此场景元素");
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}
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}
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break;
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//问题待解决
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case PublicCommond.set_camera_mode:
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{
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//设置相机模式
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var mode = data["mode"].ToObject<string>();
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if (mode == "自由模式")
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{
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Camera.main.transform.GetComponent<CameraMove>().enabled = true;
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transform.GetComponent<MyCameraRoate>().EndRoate();
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}
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else if (mode == "环绕模式")
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{
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var center = data["center"].ToObject<float[]>();
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var radius = data["radius"].ToObject<float>();
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var tmpspeed = data["speed"].ToObject<float>();
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var high = data["high"].ToObject<float>();
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Camera.main.transform.GetComponent<CameraMove>().enabled = false;
|
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Vector3 tmpc=new Vector3(center[0], center[1], center[2]);
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transform.GetComponent<MyCameraRoate>().StartRoate(Camera.main, UAVParent.position + tmpc, radius, tmpspeed, high);
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}
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}
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break;
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default:
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break;
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}
|
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});
|
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ClearAllUavs();
|
||
|
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MainCanvasManager.on_reset_scene += ResetScene;
|
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}
|
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|
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private void OnDestroy()
|
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{
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MainCanvasManager.on_reset_scene -= ResetScene;
|
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}
|
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|
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public void Init()
|
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{
|
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if (GameObject.Find("GameCenter") != null)
|
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uav_parent = GameObject.Find("GameCenter").transform;
|
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else
|
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{
|
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Debug.Log("未找到GameCenter！");
|
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if (ConsolePanel.Instance != null)
|
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ConsolePanel.ConsoleOutput("未找到GameCenter！", "warning");
|
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}
|
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}
|
||
|
||
/// <summary>
|
||
/// 重置场景
|
||
/// </summary>
|
||
public void ResetScene()
|
||
{
|
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ClearAllUavs();
|
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UIScene.Instance.Reset();
|
||
UIScene.Instance.ResetCameraTransform();
|
||
}
|
||
|
||
#region 功能实现
|
||
|
||
/// <summary>
|
||
/// 从位置创建新无人机
|
||
/// </summary>
|
||
/// <param name="_pos"></param>
|
||
public bool CreateNewUAV(Vector3 _pos, bool _isarray = false, int _uav_number = 0)
|
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{
|
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//检测范围内是否有无人机
|
||
if (Physics.CheckSphere(_pos, 0.5f, 1 << 6) && !_isarray)
|
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return false;
|
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|
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var newt = Instantiate(Templete, UAVParent);
|
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UAVs.Add(newt);
|
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if (useGlobalPosition)
|
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newt.transform.position = _pos;
|
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else
|
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newt.transform.localPosition = _pos;
|
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newt.transform.SetAsLastSibling();
|
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newt.SetActive(true);
|
||
var uav = newt.GetComponentInChildren<UAVController>();
|
||
var moni2 = newt.GetComponentInChildren<UAVSimulator>();
|
||
moni2.Init();
|
||
uav_simulator.Add(moni2);
|
||
moni2.uav_id = _uav_number == 0 ? uav_simulator.Count : _uav_number;
|
||
uav_controller.Add(uav);
|
||
|
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return true;
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 更新无人机名称
|
||
/// </summary>
|
||
/// <param name="_uav_number"></param>
|
||
/// <param name="_name"></param>
|
||
/// <returns></returns>
|
||
public bool UpdateUavName(int _uav_number, string _name)
|
||
{
|
||
var uav = uav_simulator.Find(x => x.uav_id == _uav_number);
|
||
if (uav == null)
|
||
return false;
|
||
uav.name = _name;
|
||
return true;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 更新无人机颜色
|
||
/// </summary>
|
||
/// <param name="_uav_number"></param>
|
||
/// <param name="_color_1"></param>
|
||
/// <param name="_color_2"></param>
|
||
/// <returns></returns>
|
||
public bool UpdateUavColor(int _uav_number, Color _color_1, Color _color_2)
|
||
{
|
||
var uav = uav_simulator.Find(x => x.uav_id == _uav_number);
|
||
if (uav == null)
|
||
return false;
|
||
uav.UpdateModelColor(_color_1, _color_2);
|
||
//UnityEngine.ColorUtility.TryParseHtmlString(_color, out Color __color);
|
||
Debug.Log(_color_1);
|
||
//todo
|
||
return true;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 根据id启动无人机
|
||
/// </summary>
|
||
/// <param name="number"></param>
|
||
public bool StartUav(int id)
|
||
{
|
||
var uav = uav_simulator.Find(x => x.uav_id == id);
|
||
if (uav == null)
|
||
{
|
||
Debug.Log("id 未找到");
|
||
return false;
|
||
}
|
||
else
|
||
{
|
||
uav.StartUav();
|
||
return true;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 根据id关闭无人机
|
||
/// </summary>
|
||
/// <param name="id"></param>
|
||
public bool ShutdownUav(int id)
|
||
{
|
||
var uav = uav_simulator.Find(x => x.uav_id == id);
|
||
if (uav == null)
|
||
{
|
||
Debug.Log("id 未找到");
|
||
return false;
|
||
}
|
||
else
|
||
{
|
||
uav.ShutDownUAV();
|
||
return true;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 设置旋翼速度
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
/// <param name="_power"></param>
|
||
public void SetRotorPower(int _number, float[] _power)
|
||
{
|
||
var _uav = uav_simulator.Find(x => x.uav_id == _number);
|
||
if (_uav != null)
|
||
{
|
||
_uav.ManualSpeed();
|
||
_uav.f1 = _power[0]; _uav.f2 = _power[1];
|
||
_uav.f3 = _power[2]; _uav.f4 = _power[3];
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 给定速度朝方向飞行
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
/// <param name="_direction"></param>
|
||
/// <param name="_speed"></param>
|
||
/// <param name="_time"></param>
|
||
public void Fly_By_Direction(int _number, Vector3 _direction, float _speed, float _time)
|
||
{
|
||
var _uav = uav_simulator.Find(x => x.uav_id == _number);
|
||
if (_uav != null)
|
||
{
|
||
//_uav.uav_id
|
||
_uav.FlyByDirection(_direction, _speed, _time);
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 以固定时间飞至指定地点
|
||
/// 最终使用方法
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
/// <param name="_target"></param>
|
||
/// <param name="_time"></param>
|
||
public void Fly_To_Target_By_Time(int _number, Vector3 _target, float _time, int _event_id)
|
||
{
|
||
uav_simulator.Find(x => x.uav_id.Equals(_number))?.ToTargetByTime(_target, _time, (_success) =>
|
||
{
|
||
if (_success)
|
||
{
|
||
MyServer.instance.SendMsgToSDK(_event_id, ResultStatus.SUCCESS, "");
|
||
}
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// 以固定速度飞至指定地点
|
||
/// 最终使用方法
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
/// <param name="_target"></param>
|
||
/// <param name="_fly_speed"></param>
|
||
public void Fly_To_Target_By_Speed(int _number, Vector3 _target, float _fly_speed, int _event_id)
|
||
{
|
||
uav_simulator.Find(x => x.uav_id.Equals(_number))?.ToTargetBySpeed(_target, _fly_speed, (_success) =>
|
||
{
|
||
if (_success)
|
||
{
|
||
MyServer.instance.SendMsgToSDK(_event_id, ResultStatus.SUCCESS, "");
|
||
}
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// 保持悬停
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
public void Hovering(int _number)
|
||
{
|
||
uav_simulator.Find(x => x.uav_id.Equals(_number))?.HoveringController();
|
||
}
|
||
|
||
/// <summary>
|
||
/// 启用自动避障
|
||
/// </summary>
|
||
public void EnableObstacleAvoidance(int _number)
|
||
{
|
||
var _u = uav_simulator.Find(x => x.uav_id.Equals(_number));
|
||
if (_u != null)
|
||
{
|
||
_u.controller.autoStopBeforeCollision = true;
|
||
_u.controller.on_collision_warning += OnUavCollisionWarning;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 关闭自动避障
|
||
/// </summary>
|
||
public void DisableObstacleAvoidance(int _number)
|
||
{
|
||
var _u = uav_simulator.Find(x => x.uav_id.Equals(_number));
|
||
if (_u != null)
|
||
{
|
||
_u.controller.autoStopBeforeCollision = false;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 编队控制
|
||
/// </summary>
|
||
/// <param name="_json_data"></param>
|
||
/// <returns></returns>
|
||
public float Formation_Control(string _json_data)
|
||
{
|
||
var jds = JsonConvert.DeserializeObject<UavIndexData[]>(_json_data);
|
||
var __max_time = 0f;
|
||
var __current_time = 0f;
|
||
for (int i = 0; i < jds.Length; i++)
|
||
{
|
||
__current_time = uav_simulator[jds[i].uav_index - 1].HandleUavTimeData(jds[i]);
|
||
if (__current_time > __max_time)
|
||
__max_time = __current_time;
|
||
}
|
||
return __max_time;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 打开灯光
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
/// <param name="_parameters"></param>
|
||
public void Open_Lighter(int _number, JObject _parameters)
|
||
{
|
||
string _color = _parameters["color"].ToObject<string>();
|
||
//float _intensity = _parameters["intensity"].ToObject<float>();
|
||
|
||
var _u = uav_simulator.Find(x => x.uav_id.Equals(_number));
|
||
if (_u != null)
|
||
{
|
||
_u.OpenLighter(_color);
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 关闭灯光
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
public void Close_Lighter(int _number)
|
||
{
|
||
var _u = uav_simulator.Find(x => x.uav_id.Equals(_number));
|
||
if (_u != null)
|
||
{
|
||
_u.CloseLighter();
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 打开轨迹渲染
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
/// <param name="_jobject"></param>
|
||
public void Open_Trail_Render(int _number, JObject _jobject)
|
||
{
|
||
var _u = uav_simulator.Find(x => x.uav_id.Equals(_number));
|
||
if (_u != null)
|
||
{
|
||
var trail_color_str = _jobject["parameters"]["color"].ToObject<string>();
|
||
UnityEngine.ColorUtility.TryParseHtmlString(trail_color_str, out Color _color);
|
||
var trail_thickness = _jobject["parameters"]["thickness"].ToObject<float>();
|
||
_u.uav_trail_render.Open(_color, trail_thickness,false);
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 关闭轨迹渲染
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
public void Close_Trail_Render(int _number)
|
||
{
|
||
var _u = uav_simulator.Find(x => x.uav_id.Equals(_number));
|
||
if (_u != null)
|
||
{
|
||
_u.uav_trail_render.Close();
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取当前高度
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
/// <returns></returns>
|
||
public float Get_Current_Height(int _number)
|
||
{
|
||
var _height = -1f;
|
||
var _u = uav_simulator.Find(x => x.uav_id.Equals(_number));
|
||
if (_u != null)
|
||
{
|
||
_height = _u.controller.transform.localPosition.y;
|
||
}
|
||
return (float)System.Math.Round(_height, 1);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取当前水平距离
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
/// <returns></returns>
|
||
public float Get_Current_Distance(int _number)
|
||
{
|
||
var _distance = -1f;
|
||
var _u = uav_simulator.Find(x => x.uav_id.Equals(_number));
|
||
if (_u != null)
|
||
{
|
||
_distance = Mathf.Sqrt(_u.controller.transform.localPosition.x * _u.controller.transform.localPosition.x + _u.controller.transform.localPosition.z * _u.controller.transform.localPosition.z);
|
||
}
|
||
return (float)System.Math.Round(_distance, 1);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取当前姿态角
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
/// <returns></returns>
|
||
public Vector3 Get_Current_Attitude_Angle(int _number)
|
||
{
|
||
var _attitude_angle = Vector3.zero;
|
||
var _u = uav_simulator.Find(x => x.uav_id.Equals(_number));
|
||
if (_u != null)
|
||
{
|
||
_attitude_angle = _u.controller.transform.localEulerAngles;
|
||
}
|
||
return _attitude_angle;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取当前水平速度
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
/// <returns></returns>
|
||
public float Get_Current_Horizontal_Speed(int _number)
|
||
{
|
||
var _horizontal_speed = 0f;
|
||
var _u = uav_simulator.Find(x => x.uav_id.Equals(_number));
|
||
if (_u != null)
|
||
{
|
||
_horizontal_speed = Mathf.Sqrt(_u.controller.rigidBody.velocity.x * _u.controller.rigidBody.velocity.x + _u.controller.rigidBody.velocity.z * _u.controller.rigidBody.velocity.z);
|
||
//_horizontal_speed = _u.controller.horizontal_speed;
|
||
Debug.Log(_horizontal_speed);
|
||
}
|
||
return _horizontal_speed;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取当前垂直速度
|
||
/// </summary>
|
||
/// <param name="_number"></param>
|
||
/// <returns></returns>
|
||
public float Get_Current_Vertical_Speed(int _number)
|
||
{
|
||
var _vertical_speed = 0f;
|
||
var _u = uav_simulator.Find(x => x.uav_id.Equals(_number));
|
||
if (_u != null)
|
||
{
|
||
_vertical_speed = _u.controller.rigidBody.velocity.y;
|
||
//_vertical_speed = _u.controller.vertical_speed;
|
||
Debug.Log(_vertical_speed);
|
||
}
|
||
return _vertical_speed;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 打开模拟高清图传
|
||
/// </summary>
|
||
public void Open_Hd(int _number)
|
||
{
|
||
var _u = uav_simulator.Find(x => x.uav_id.Equals(_number));
|
||
if (_u != null)
|
||
{
|
||
UavFpsCamera.Instance.UpdateTarget(_u.uav_fps_camera_transform);
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 关闭模拟高清图传
|
||
/// </summary>
|
||
public void Close_Hd(int _number)
|
||
{
|
||
UavFpsCamera.Instance.UpdateTarget(null);
|
||
}
|
||
|
||
#endregion
|
||
|
||
/// <summary>
|
||
/// 无人机碰撞预警输出
|
||
/// </summary>
|
||
/// <param name="_msg"></param>
|
||
void OnUavCollisionWarning(string _msg)
|
||
{
|
||
Console(_msg, "warning");
|
||
}
|
||
|
||
/// <summary>
|
||
/// 更新所有速度
|
||
/// </summary>
|
||
/// <param name="fs"></param>
|
||
public void UpdateAllSpeed(Vector4 fs)
|
||
{
|
||
uav_simulator.ForEach(v =>
|
||
{
|
||
v.ManualSpeed();
|
||
v.f1 = fs.x; v.f2 = fs.y;
|
||
v.f3 = fs.z; v.f4 = fs.w;
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// 启动所有无人机
|
||
/// </summary>
|
||
public void StartAll()
|
||
{
|
||
uav_simulator.ForEach(v => v.StartUav());
|
||
}
|
||
|
||
/// <summary>
|
||
/// 关闭所有无人机
|
||
/// </summary>
|
||
public void ShutdownAll()
|
||
{
|
||
uav_simulator.ForEach(v => v.ShutDownUAV());
|
||
}
|
||
|
||
/// <summary>
|
||
/// 重置所有无人机位置、状态
|
||
/// </summary>
|
||
public void ResetAll()
|
||
{
|
||
uav_simulator.ForEach(v => v.ResetUAV());
|
||
}
|
||
|
||
/// <summary>
|
||
/// 设置所有无人机上升速度矫正
|
||
/// </summary>
|
||
/// <param name="modify"></param>
|
||
public void SetAllRiseModify(float modify)
|
||
{
|
||
if (modify > 0)
|
||
uav_simulator.ForEach(v => v.rise_speed_modify = modify);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 设置所有无人机下降速度矫正
|
||
/// </summary>
|
||
/// <param name="modify"></param>
|
||
public void SetAllDescendModify(float modify)
|
||
{
|
||
if (modify > 0)
|
||
uav_simulator.ForEach(v => v.descend_speed_modify = modify);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 设置所有无人机移动速度矫正
|
||
/// </summary>
|
||
/// <param name="modify"></param>
|
||
public void SetAllMoveModify(float modify)
|
||
{
|
||
if (modify > 0)
|
||
uav_simulator.ForEach(v => v.move_speed_modify = modify);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 设置所有无人机旋转速度矫正
|
||
/// </summary>
|
||
/// <param name="modify"></param>
|
||
public void SetAllRotateModify(float modify)
|
||
{
|
||
if (modify > 0)
|
||
uav_simulator.ForEach(v => v.rotate_speed_modify = modify);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 创建无人机阵列
|
||
/// </summary>
|
||
/// <param name="size"></param>
|
||
public void CreateUavArray(Vector2 size)
|
||
{
|
||
ClearAllUavs();
|
||
for (int i = 0; i < size.x; i++)
|
||
{
|
||
for (int j = 0; j < size.y; j++)
|
||
{
|
||
CreateNewUAV(new Vector3(i, 0, j) * create_distance, true);//无人机阵列创建调用
|
||
}
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 清除所有无人机
|
||
/// </summary>
|
||
public void ClearAllUavs()
|
||
{
|
||
for (int i = 0; i < UAVs.Count; i++)
|
||
{
|
||
Destroy(UAVs[i].gameObject);
|
||
}
|
||
|
||
UAVs.Clear();
|
||
uav_simulator.Clear();
|
||
uav_controller.Clear();
|
||
}
|
||
|
||
/// <summary>
|
||
/// 固定速度飞至指定坐标
|
||
/// </summary>
|
||
/// <param name="tar_pos"></param>
|
||
/// <param name="index"></param>
|
||
/// <param name="fly_speed"></param>
|
||
public void Fly2TargetBySpeed(Vector3 tar_pos, int index, float fly_speed)
|
||
{
|
||
if (tar_pos.y > 0 && Mathf.Abs(tar_pos.x) < 100 && Mathf.Abs(tar_pos.z) < 100)
|
||
{
|
||
var moni = uav_simulator[index - 1];
|
||
|
||
moni.ToTargetBySpeed(tar_pos, fly_speed);
|
||
}
|
||
else
|
||
{
|
||
Debug.Log("超出范围![100,100]");
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 固定时间飞至指定坐标
|
||
/// </summary>
|
||
/// <param name="tar_pos"></param>
|
||
/// <param name="index"></param>
|
||
/// <param name="fly_time"></param>
|
||
public void Fly2TargetByTime(Vector3 tar_pos, int index, float fly_time)
|
||
{
|
||
if (tar_pos.y > 0 && Mathf.Abs(tar_pos.x) < 100 && Mathf.Abs(tar_pos.z) < 100)
|
||
{
|
||
var moni = uav_simulator[index - 1];
|
||
|
||
moni.ToTargetByTime(tar_pos, fly_time);
|
||
}
|
||
else
|
||
{
|
||
Debug.Log("超出范围![100,100]");
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 设置当前时间
|
||
/// </summary>
|
||
/// <param name="_event_id"></param>
|
||
/// <param name="_time"></param>
|
||
public void Time_Set(int _event_id, string _time)
|
||
{
|
||
if (_time == "昼" || _time == "夜")
|
||
{
|
||
if (GameManager.current_scene_time != _time)
|
||
{
|
||
var _scene = GameManager.current_scene + "_" + _time;
|
||
if (SceneManager.GetSceneByName(_scene) != null)
|
||
{
|
||
GameManager.current_scene_time = _time;
|
||
SceneOverlayManager.Instance.LoadSceneAsync(_scene, true, ((_async) =>
|
||
{
|
||
MyServer.instance.SendMsgToSDK(_event_id, ResultStatus.SUCCESS);
|
||
Console("切换场景[" + _scene + "]成功！");
|
||
}));
|
||
}
|
||
else
|
||
{
|
||
MyServer.instance.SendMsgToSDK(_event_id, ResultStatus.FAILED_WARNING);
|
||
Console("切换场景[" + _scene + "]失败！", "warning");
|
||
}
|
||
}
|
||
else
|
||
{
|
||
MyServer.instance.SendMsgToSDK(_event_id, ResultStatus.SUCCESS);
|
||
Console("当前场景时间为[" + _time + "]！");
|
||
}
|
||
}
|
||
else
|
||
{
|
||
MyServer.instance.SendMsgToSDK(_event_id, ResultStatus.FAILED_WARNING, "切换场景失败！请输入“昼”或“夜”来切换场景时间！");
|
||
Console("切换场景失败！请输入“昼”或“夜”来切换场景时间！", "warning");
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 打开摄像头
|
||
/// </summary>
|
||
public void Open_Real_Camera()
|
||
{
|
||
MainCanvasManager.webcam_panel.OnActive(true);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 关闭摄像头
|
||
/// </summary>
|
||
public void Close_Real_Camera()
|
||
{
|
||
MainCanvasManager.webcam_panel.OnNagetive(false);
|
||
}
|
||
|
||
#region 弃用
|
||
|
||
#if UNITY_EDITOR
|
||
public string color_value;
|
||
public float color_intensity;
|
||
private void Update()
|
||
{
|
||
if (Input.GetKeyDown(KeyCode.L))
|
||
{
|
||
uav_simulator[0].OpenLighter(color_value, color_intensity);
|
||
}
|
||
|
||
if (Input.GetKeyDown(KeyCode.R))
|
||
{
|
||
uav_simulator[0].CloseLighter();
|
||
}
|
||
}
|
||
#endif
|
||
|
||
#endregion
|
||
|
||
/// <summary>
|
||
/// 第三数据类型，无人机编组数据
|
||
/// </summary>
|
||
public string uav_index_json_data;
|
||
|
||
|
||
/// <summary>
|
||
/// 无人机矩阵飞行数据
|
||
/// 分发至每个无人机各自执行
|
||
/// </summary>
|
||
public void UavTimeDataHandle()
|
||
{
|
||
var jds = JsonConvert.DeserializeObject<UavIndexData[]>(uav_index_json_data);
|
||
|
||
for (int i = 0; i < jds.Length; i++)
|
||
{
|
||
uav_simulator[jds[i].uav_index - 1].HandleUavTimeData(jds[i]);
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 选择环境时间
|
||
/// </summary>
|
||
public void SwitchEnvironmentTime(bool use_night)
|
||
{
|
||
if (use_night)
|
||
{
|
||
//day_skybox.SetFloat("_Exposure", 0);
|
||
RenderSettings.skybox = night_skybox;
|
||
direction_light.intensity = 0.01f;
|
||
night_environment.SetActive(true);
|
||
}
|
||
else
|
||
{
|
||
//day_skybox.SetFloat("_Exposure", 1);
|
||
RenderSettings.skybox = day_skybox;
|
||
direction_light.intensity = 0.45f;
|
||
night_environment.SetActive(false);
|
||
}
|
||
}
|
||
/// <summary>
|
||
/// 打开录音面板,并开始语音识别
|
||
/// </summary>
|
||
/// <param name="v"></param>
|
||
/// <param name="number"></param>
|
||
/// <returns></returns>
|
||
private void Openmicrophone(int number,Action<bool,string> callback)
|
||
{
|
||
RobotUI.Instance.OpenPanel(RobotePanelEnum.RecordPanel.ToString()).GetComponent<RecordPanel>().Init(number, callback);
|
||
|
||
//if (MicrophoneInput.instance.CheckMicrophone())
|
||
//{
|
||
// RobotUI.Instance.OpenPanel(RobotePanelEnum.RecordPanel.ToString()).GetComponent<RecordPanel>().Init(number,callback);
|
||
//}
|
||
//else
|
||
//{
|
||
// callback(false,"错误：无麦克风");
|
||
//}
|
||
|
||
}
|
||
|
||
public void PythonDataHandler(JObject _jobject)
|
||
{
|
||
//数据格式{"type": "wrj", "commond": "create", "pos": [0, 0], "number": 1, "eventid": 1}
|
||
var _command = (UAVCommand)Enum.Parse(typeof(UAVCommand), _jobject["commond"].ToString());
|
||
var _event_id = _jobject["event_id"].ToObject<int>();
|
||
|
||
int _number = -1;
|
||
if (_jobject["number"] != null)
|
||
_number = _jobject["number"].ToObject<int>();
|
||
|
||
JObject _parameters = null;
|
||
if (_jobject["parameters"] != null)
|
||
_parameters = _jobject["parameters"].ToObject<JObject>();
|
||
|
||
ScoreManager.Instance.UpdateScore(_command.ToString());
|
||
|
||
switch (_command)
|
||
{
|
||
case UAVCommand.init_position:
|
||
var pos = _jobject["pos"].ToObject<float[]>();
|
||
Console(string.Format("设置[{0}]号无人机初始化：[{1},{2}]", _number, pos[0], pos[1]));
|
||
bool isCreate = CreateNewUAV(new Vector3(pos[0], 0, pos[1]), false, _number);
|
||
DoReturn(isCreate, _event_id, isCreate==true? "创建无人机成功！": "创建无人机失败! ");
|
||
break;
|
||
|
||
case UAVCommand.set_name:
|
||
var name = _jobject["name"].ToObject<string>();
|
||
Console(string.Format("设置[{0}]号无人机名称：{1}", _number, name));
|
||
DoReturn(UpdateUavName(_number, name), _event_id, "更新名称成功！");
|
||
break;
|
||
|
||
case UAVCommand.set_color:
|
||
//var uav_color_1 = _jobject["color_1"].ToObject<Color>();
|
||
//var uav_color_2 = _jobject["color_2"].ToObject<Color>();
|
||
|
||
if (UnityEngine.ColorUtility.TryParseHtmlString(_jobject["color_1"].ToObject<string>(), out var uav_color_1)
|
||
&& UnityEngine.ColorUtility.TryParseHtmlString(_jobject["color_2"].ToObject<string>(), out var uav_color_2))
|
||
{
|
||
Console(string.Format("设置[{0}]号无人机颜色，区域1：{1}，区域2：{2}", _number, uav_color_1, uav_color_2));
|
||
DoReturn(UpdateUavColor(_number, uav_color_1, uav_color_2), _event_id, "");
|
||
}
|
||
else
|
||
{
|
||
DoReturn(false, _event_id, "颜色代码错误！");
|
||
}
|
||
break;
|
||
|
||
case UAVCommand.start_engine:
|
||
Console(string.Format("启动[{0}]号无人机引擎", _number));
|
||
DoReturn(StartUav(_number), _event_id, "启动引擎成功！");
|
||
break;
|
||
|
||
case UAVCommand.shut_down_engine:
|
||
Console(string.Format("关闭[{0}]号无人机引擎", _number));
|
||
DoReturn(ShutdownUav(_number), _event_id, "关闭引擎成功！");
|
||
break;
|
||
|
||
case UAVCommand.set_rotor_power:
|
||
var _power = _jobject["parameters"]["power"].ToObject<float[]>();
|
||
SetRotorPower(_number, _power);
|
||
Console(string.Format("设置[{0}]号无人机旋翼速度", _number));
|
||
break;
|
||
|
||
case UAVCommand.fly_by_3d_direction://不会下降
|
||
var direction = _jobject["direction"].ToObject<float[]>();
|
||
var speed = _jobject["speed"].ToObject<float>();
|
||
var time = _jobject["time"].ToObject<float>();
|
||
Fly_By_Direction(_number, new Vector3(direction[0], direction[1], direction[2]), speed, time);
|
||
Console(string.Format("[{0}]号无人机以速度：{1}米每秒，方向[{2},{3},{4}]，飞行{5}秒", _number, speed, direction[0], direction[1], direction[2], time));
|
||
break;
|
||
|
||
case UAVCommand.fly_to_point_by_time:
|
||
var _fly_by_time_target = _jobject["direction"].ToObject<float[]>();
|
||
var _fly_time = _jobject["duration"].ToObject<float>();
|
||
Fly_To_Target_By_Time(_number, new Vector3(_fly_by_time_target[0], _fly_by_time_target[1], _fly_by_time_target[2]), _fly_time, _event_id);
|
||
Console(string.Format("[{0}]号无人机在：{1}秒内，飞行至[{2},{3},{4}]", _number, _fly_time, _fly_by_time_target[0], _fly_by_time_target[1], _fly_by_time_target[2]));
|
||
break;
|
||
|
||
case UAVCommand.fly_to_point_by_speed://会下降
|
||
var _fly_by_speed_target = _jobject["direction"].ToObject<float[]>();
|
||
var _fly_speed = _jobject["duration"].ToObject<float>();
|
||
Fly_To_Target_By_Speed(_number, new Vector3(_fly_by_speed_target[0], _fly_by_speed_target[1], _fly_by_speed_target[2]), _fly_speed, _event_id);
|
||
Console(string.Format("[{0}]号无人机在：{1}秒内，飞行至[{2},{3},{4}]", _number, _fly_speed, _fly_by_speed_target[0], _fly_by_speed_target[1], _fly_by_speed_target[2]));
|
||
break;
|
||
|
||
case UAVCommand.hovering:
|
||
Hovering(_number);
|
||
Console(string.Format("[{0}]号无人机悬停", _number));
|
||
break;
|
||
|
||
case UAVCommand.enable_obstacle_avoidance:
|
||
EnableObstacleAvoidance(_number);
|
||
Console(string.Format("打开[{0}]号无人机自动避障", _number));
|
||
break;
|
||
|
||
case UAVCommand.disable_obstacle_avoidance:
|
||
DisableObstacleAvoidance(_number);
|
||
Console(string.Format("关闭[{0}]号无人机自动避障", _number));
|
||
break;
|
||
//问题待解决
|
||
case UAVCommand.formation_control:
|
||
var __formation_data = _jobject["formation_data"].ToObject<string>();
|
||
var __wait_for_return = _jobject["wait_for_return"].ToObject<bool>();
|
||
var __max_time = Formation_Control(__formation_data);
|
||
if (__wait_for_return)
|
||
{
|
||
//在最大时间后返回结果
|
||
var __t = 0f;
|
||
DOTween.To(() => __t, (t) => __t = t, __max_time, __max_time).OnComplete(() =>
|
||
{
|
||
MyServer.instance.SendMsgToSDK(_event_id, ResultStatus.SUCCESS);
|
||
});
|
||
}
|
||
Console(string.Format("编队控制"));
|
||
break;
|
||
case UAVCommand.open_lighter:
|
||
Open_Lighter(_number, _parameters);
|
||
Console(string.Format("打开[{0}]号无人机灯光", _number));
|
||
break;
|
||
|
||
case UAVCommand.close_lighter:
|
||
Close_Lighter(_number);
|
||
Console(string.Format("关闭[{0}]号无人机灯光", _number));
|
||
break;
|
||
|
||
case UAVCommand.open_trail_render:
|
||
Open_Trail_Render(_number, _jobject);
|
||
Console(string.Format("[{0}]号无人机启动轨迹渲染", _number));
|
||
break;
|
||
|
||
case UAVCommand.close_trail_render:
|
||
Close_Trail_Render(_number);
|
||
Console(string.Format("[{0}]号无人机关闭轨迹渲染", _number));
|
||
break;
|
||
|
||
case UAVCommand.get_current_height:
|
||
var _current_height = Get_Current_Height(_number);
|
||
Console(string.Format("[{0}]号无人机当前高度为：{1:F1}", _number, _current_height));
|
||
DoReturn(true, _event_id, _current_height);
|
||
break;
|
||
|
||
case UAVCommand.get_current_distance:
|
||
var _current_distance = Get_Current_Distance(_number);
|
||
Console(string.Format("[{0}]号无人机当前距离为：{1}", _number, _current_distance));
|
||
DoReturn(true, _event_id, _current_distance);
|
||
break;
|
||
|
||
case UAVCommand.get_current_attitude_angle:
|
||
var _current_attitude_angle = Get_Current_Attitude_Angle(_number);
|
||
Console(string.Format("[{0}]号无人机当前旋转角为：{1}", _number, _current_attitude_angle.ToString(":F2")));
|
||
DoReturn(true, _event_id, _current_attitude_angle);
|
||
break;
|
||
|
||
case UAVCommand.get_current_horizontal_speed:
|
||
var _current_horizontal_speed = Get_Current_Horizontal_Speed(_number);
|
||
//Console(string.Format("[{0}]号无人机当前水平速度为：{1}", _number, _current_horizontal_speed));
|
||
//DoReturn(true, _event_id, _current_horizontal_speed);
|
||
DoReturn(true, _event_id, "此方法暂时不可使用");
|
||
break;
|
||
|
||
case UAVCommand.get_current_vertical_speed:
|
||
var _current_vertical_speed = Get_Current_Vertical_Speed(_number);
|
||
//Console(string.Format("[{0}]号无人机当前垂直速度为：{1}", _number, _current_vertical_speed));
|
||
//DoReturn(true, _event_id, _current_vertical_speed);
|
||
DoReturn(true, _event_id, "此方法暂时不可使用");
|
||
break;
|
||
|
||
case UAVCommand.open_hd:
|
||
Open_Hd(_number);
|
||
Console(string.Format("[{0}]号无人机高清图传功能", _number));
|
||
break;
|
||
|
||
case UAVCommand.close_hd:
|
||
Close_Hd(_number);
|
||
Console(string.Format("[{0}]号无人机高清图传功能", _number));
|
||
break;
|
||
|
||
case UAVCommand.time_set:
|
||
var t_time = _jobject["t_time"].ToObject<string>();
|
||
Time_Set(_event_id, t_time);
|
||
break;
|
||
|
||
case UAVCommand.open_real_camera:
|
||
Open_Real_Camera();
|
||
ConsolePanel.ConsoleOutput("执行动作：" + "打开摄像头", "log");
|
||
break;
|
||
|
||
case UAVCommand.close_real_camera:
|
||
Close_Real_Camera();
|
||
ConsolePanel.ConsoleOutput("执行动作：" + "关闭摄像头", "log");
|
||
break;
|
||
case UAVCommand.get_speech_text:
|
||
RobotUI.Instance.Init();
|
||
Openmicrophone(_number, (isok, result) =>
|
||
{
|
||
DoReturn(isok, _event_id, result);
|
||
});
|
||
break;
|
||
//问题待解决
|
||
case UAVCommand.openCollider:
|
||
{
|
||
//打开碰撞
|
||
UAVSimulator uavs = uav_simulator.Find(a => a.uav_id == _number);
|
||
uavs.transform.parent.Find("_Drone [Quad]").GetComponents<Collider>().ToList().ForEach(a =>
|
||
{
|
||
a.enabled = true;
|
||
});
|
||
//设置无人机不掉下去
|
||
uavs.StartUav();
|
||
uavs.AutoSpeed();
|
||
uavs.f1 = uavs.f2 = uavs.f3 = uavs.f4 = 5;
|
||
}
|
||
break;
|
||
case UAVCommand.close_collider:
|
||
{
|
||
//关闭碰撞
|
||
UAVSimulator uavs = uav_simulator.Find(a => a.uav_id == _number);
|
||
uavs.transform.parent.Find("_Drone [Quad]").GetComponents<Collider>().ToList().ForEach(a =>
|
||
{
|
||
a.enabled = false;
|
||
});
|
||
}
|
||
break;
|
||
case UAVCommand.draw_fly_Cube:
|
||
{
|
||
//飞立方体
|
||
List<float[]> firstPoint = _jobject["points"].ToObject<List<float[]>>();
|
||
List<Vector3> p = new List<Vector3>();
|
||
firstPoint.ForEach(a =>
|
||
{
|
||
p.Add(new Vector3(a[0], a[1], a[2]));
|
||
});
|
||
|
||
float length = _jobject["length"].ToObject<float>();
|
||
float wighth = _jobject["wighth"].ToObject<float>();
|
||
float high = _jobject["high"].ToObject<float>();
|
||
string color = _jobject["color"].ToString();
|
||
float alpha = _jobject["alpha"].ToObject<float>();
|
||
float thick = _jobject["thickness"].ToObject<float>();
|
||
float tmptime = _jobject["time"].ToObject<float>();
|
||
float[] center = _jobject["center"].ToObject<float[]>();
|
||
|
||
UnityEngine.ColorUtility.TryParseHtmlString(color, out Color _color);
|
||
uav_simulator.Find(x => x.uav_id.Equals(_number))?.ToPathByTime(p, tmptime, _color, thick, (_success) =>
|
||
{
|
||
if (_success)
|
||
{
|
||
//透明度
|
||
_color.a = alpha;
|
||
//生成cube
|
||
GameObject obj = Resources.Load<GameObject>("sceneObject/Cube");
|
||
if (obj != null)
|
||
{
|
||
GameObject sceneObj = GameObject.Instantiate<GameObject>(obj, UAVParent, true);
|
||
sceneObject.Add(sceneObj);
|
||
sceneObj.transform.localPosition = new Vector3(center[0], center[1], center[2]);
|
||
sceneObj.transform.localScale = new Vector3(length, high, wighth);
|
||
sceneObj.GetComponent<Renderer>().material.color= _color;
|
||
MyServer.instance.SendMsgToSDK(_event_id, ResultStatus.SUCCESS, "");
|
||
}
|
||
}
|
||
});
|
||
}
|
||
break;
|
||
case UAVCommand.draw_fly_Sphere:
|
||
{
|
||
//飞球体
|
||
List<float[]> firstPoint = _jobject["points"].ToObject<List<float[]>>();
|
||
List<Vector3> p = new List<Vector3>();
|
||
firstPoint.ForEach(a =>
|
||
{
|
||
p.Add(new Vector3(a[0], a[1], a[2]));
|
||
});
|
||
|
||
float radius = _jobject["radius"].ToObject<float>();
|
||
string color = _jobject["color"].ToString();
|
||
float alpha = _jobject["alpha"].ToObject<float>();
|
||
float thick = _jobject["thickness"].ToObject<float>();
|
||
float tmptime = _jobject["time"].ToObject<float>();
|
||
float[] center = _jobject["center"].ToObject<float[]>();
|
||
|
||
UnityEngine.ColorUtility.TryParseHtmlString(color, out Color _color);
|
||
uav_simulator.Find(x => x.uav_id.Equals(_number))?.ToPathByTime(p, tmptime, _color, thick, (_success) =>
|
||
{
|
||
if (_success)
|
||
{
|
||
//透明度
|
||
_color.a = alpha;
|
||
//生成cube
|
||
GameObject obj = Resources.Load<GameObject>("sceneObject/Sphere");
|
||
if (obj != null)
|
||
{
|
||
GameObject sceneObj = GameObject.Instantiate<GameObject>(obj, UAVParent, true);
|
||
sceneObject.Add(sceneObj);
|
||
sceneObj.transform.localPosition = new Vector3(center[0], center[1], center[2]);
|
||
sceneObj.transform.localScale = new Vector3(radius*2, radius*2, radius*2);
|
||
sceneObj.GetComponent<Renderer>().material.color = _color;
|
||
MyServer.instance.SendMsgToSDK(_event_id, ResultStatus.SUCCESS, "");
|
||
}
|
||
}
|
||
});
|
||
}
|
||
break;
|
||
case UAVCommand.draw_fly_Cylinder:
|
||
{
|
||
//飞圆柱体
|
||
List<float[]> firstPoint = _jobject["points"].ToObject<List<float[]>>();
|
||
List<Vector3> p = new List<Vector3>();
|
||
firstPoint.ForEach(a =>
|
||
{
|
||
p.Add(new Vector3(a[0], a[1], a[2]));
|
||
});
|
||
|
||
float radius = _jobject["radius"].ToObject<float>();
|
||
float high = _jobject["high"].ToObject<float>();
|
||
string color = _jobject["color"].ToString();
|
||
float alpha = _jobject["alpha"].ToObject<float>();
|
||
float thick = _jobject["thickness"].ToObject<float>();
|
||
float tmptime = _jobject["time"].ToObject<float>();
|
||
float[] center = _jobject["center"].ToObject<float[]>();
|
||
|
||
UnityEngine.ColorUtility.TryParseHtmlString(color, out Color _color);
|
||
uav_simulator.Find(x => x.uav_id.Equals(_number))?.ToPathByTime(p, tmptime, _color, thick, (_success) =>
|
||
{
|
||
if (_success)
|
||
{
|
||
//透明度
|
||
_color.a = alpha;
|
||
//生成cube
|
||
GameObject obj = Resources.Load<GameObject>("sceneObject/Cylinder");
|
||
if (obj != null)
|
||
{
|
||
GameObject sceneObj = GameObject.Instantiate<GameObject>(obj, UAVParent, true);
|
||
sceneObject.Add(sceneObj);
|
||
sceneObj.transform.localPosition = new Vector3(center[0], center[1], center[2]);
|
||
sceneObj.transform.localScale = new Vector3(radius * 2, high/2, radius * 2);
|
||
sceneObj.GetComponent<Renderer>().material.color = _color;
|
||
MyServer.instance.SendMsgToSDK(_event_id, ResultStatus.SUCCESS, "");
|
||
}
|
||
}
|
||
});
|
||
}
|
||
break;
|
||
case UAVCommand.draw_fly_Cone:
|
||
{
|
||
//飞圆柱体
|
||
List<float[]> firstPoint = _jobject["points"].ToObject<List<float[]>>();
|
||
List<Vector3> p = new List<Vector3>();
|
||
firstPoint.ForEach(a =>
|
||
{
|
||
p.Add(new Vector3(a[0], a[1], a[2]));
|
||
});
|
||
|
||
float radius = _jobject["radius"].ToObject<float>();
|
||
float high = _jobject["high"].ToObject<float>();
|
||
string color = _jobject["color"].ToString();
|
||
float alpha = _jobject["alpha"].ToObject<float>();
|
||
float thick = _jobject["thickness"].ToObject<float>();
|
||
float tmptime = _jobject["time"].ToObject<float>();
|
||
float[] center = _jobject["center"].ToObject<float[]>();
|
||
|
||
UnityEngine.ColorUtility.TryParseHtmlString(color, out Color _color);
|
||
uav_simulator.Find(x => x.uav_id.Equals(_number))?.ToPathByTime(p, tmptime, _color, thick, (_success) =>
|
||
{
|
||
if (_success)
|
||
{
|
||
//透明度
|
||
_color.a = alpha;
|
||
//生成cube
|
||
GameObject obj = Resources.Load<GameObject>("sceneObject/Cone");
|
||
if (obj != null)
|
||
{
|
||
GameObject sceneObj = GameObject.Instantiate<GameObject>(obj, UAVParent, true);
|
||
sceneObject.Add(sceneObj);
|
||
sceneObj.transform.localPosition = new Vector3(center[0], center[1], center[2]);
|
||
sceneObj.transform.localScale = new Vector3(radius , high , radius);
|
||
sceneObj.GetComponent<Renderer>().material.color = _color;
|
||
MyServer.instance.SendMsgToSDK(_event_id, ResultStatus.SUCCESS, "");
|
||
}
|
||
}
|
||
});
|
||
}
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 执行并返回结果
|
||
/// </summary>
|
||
/// <param name="_success"></param>
|
||
/// <param name="_eventid"></param>
|
||
/// <param name="_result"></param>
|
||
private void DoReturn(bool _success, int _eventid, object _result = null)
|
||
{
|
||
if (_success)
|
||
MyServer.instance.SendMsgToSDK(_eventid, ResultStatus.SUCCESS, _result.ToString());
|
||
else
|
||
MyServer.instance.SendMsgToSDK(_eventid, ResultStatus.FAILED_ERROR, _result.ToString());
|
||
}
|
||
|
||
private void Console(string _message, string _type = "log")
|
||
{
|
||
ConsolePanel.ConsoleOutput(_message, _type);//输出无人机信息
|
||
}
|
||
}
|
||
|
||
#region 无人机编组数据
|
||
/// <summary>
|
||
/// 无人机阵列数据
|
||
/// </summary>
|
||
public class UavIndexData
|
||
{
|
||
/// <summary>
|
||
/// 无人机编号
|
||
/// </summary>
|
||
public int uav_index;
|
||
public UavTimeData[] uav_time_data;
|
||
}
|
||
|
||
public class UavTimeData
|
||
{
|
||
/// <summary>
|
||
/// 时间
|
||
/// </summary>
|
||
public float time;
|
||
/// <summary>
|
||
/// 坐标
|
||
/// </summary>
|
||
public string position;
|
||
/// <summary>
|
||
/// 灯光颜色
|
||
/// </summary>
|
||
public string color;
|
||
/// <summary>
|
||
/// 灯光强度
|
||
/// </summary>
|
||
public float intensity;
|
||
}
|
||
#endregion |