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added persistent bot location/navigation point
bot navigates to correct spot as #1 priority added new positioning state to handle nav widened low comp text boxes in GUI
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,132 @@ | ||
| using System; | ||
|
|
||
| namespace ACManager.StateMachine.States | ||
| { | ||
| /// <summary> | ||
| /// State that is used to place the bot in the desired (X, Y) coordinate location in the world. | ||
| /// </summary> | ||
| class Positioning : StateBase<Positioning>, IState | ||
| { | ||
| double tempHeading; | ||
| bool autoRunEnabled = false; | ||
|
|
||
| public void Enter(Machine machine) | ||
| { | ||
|
|
||
| } | ||
|
|
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| public void Exit(Machine machine) | ||
| { | ||
|
|
||
| } | ||
|
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| public void Process(Machine machine) | ||
| { | ||
| if (machine.Enabled) | ||
| { | ||
| if (!(Math.Abs(machine.Core.Actions.LocationX - machine.DesiredBotLocationX) < 1 && Math.Abs(machine.Core.Actions.LocationY - machine.DesiredBotLocationY) < 1 && machine.Core.Actions.Landcell == machine.DesiredLandBlock)) | ||
| { | ||
| tempHeading = GetHeading(machine.Core.Actions.Landcell, machine.DesiredLandBlock, machine.Core.Actions.LocationX, machine.Core.Actions.LocationY, machine.DesiredBotLocationX, machine.DesiredBotLocationY); | ||
|
|
||
| if (machine.Core.Actions.Heading <= tempHeading + 2 && machine.Core.Actions.Heading >= tempHeading - 2) | ||
| { | ||
| if (!autoRunEnabled) | ||
| { | ||
| machine.Core.Actions.SetAutorun(true); | ||
| autoRunEnabled = !autoRunEnabled; | ||
| } | ||
| } | ||
| else | ||
| { | ||
| if (autoRunEnabled) | ||
| { | ||
| machine.Core.Actions.SetAutorun(false); | ||
| autoRunEnabled = !autoRunEnabled; | ||
| } | ||
| machine.Core.Actions.Heading = tempHeading; | ||
|
|
||
| } | ||
| } | ||
| else // Have made it to the desired location | ||
| { | ||
| if (autoRunEnabled) | ||
| { | ||
| machine.Core.Actions.SetAutorun(false); | ||
| autoRunEnabled = !autoRunEnabled; | ||
| } | ||
| machine.NextState = Idle.GetInstance; | ||
| } | ||
| } | ||
| else | ||
| { | ||
| machine.NextState = Idle.GetInstance; | ||
| } | ||
| } | ||
|
|
||
| public override string ToString() | ||
| { | ||
| return nameof(Positioning); | ||
| } | ||
|
|
||
| private double GetHeading(int currentLB, int targetLB, double currentX, double currentY, double targetX, double targetY) | ||
| { | ||
| int currentLBint, targetLBint, currentLB_EW, currentLB_NS, targetLB_EW, targetLB_NS, headingModifier; | ||
|
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| currentLBint = LandblockToInt(currentLB); | ||
| targetLBint = LandblockToInt(targetLB); | ||
|
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| currentLB_EW = EWLandblockToInt(currentLB); | ||
| currentLB_NS = NSLandblockToInt(currentLB); | ||
|
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| targetLB_EW = EWLandblockToInt(targetLB); | ||
| targetLB_NS = NSLandblockToInt(targetLB); | ||
|
|
||
| if (currentLBint.Equals(targetLBint)) | ||
| { | ||
| if (currentX < targetX) | ||
| { | ||
| headingModifier = 90; | ||
| } | ||
| else | ||
| { | ||
| headingModifier = 270; | ||
| } | ||
| } | ||
| else if (currentLB_EW < targetLB_EW) | ||
| { | ||
| headingModifier = 90; | ||
| } | ||
| else | ||
| { | ||
| headingModifier = 270; | ||
| } | ||
| return headingModifier - RadToDegrees(Math.Atan(CalculateCoordDiff(currentLB_NS, targetLB_NS, currentY, targetY) / CalculateCoordDiff(currentLB_EW, targetLB_EW, currentX, targetX))); | ||
| } | ||
|
|
||
| private double RadToDegrees(double radians) | ||
| { | ||
| return radians * (180 / Math.PI); | ||
| } | ||
|
|
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| private int LandblockToInt(int landblock) | ||
| { | ||
| return Convert.ToInt32(landblock.ToString("X").Substring(0, 3), 16); | ||
| } | ||
|
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| private int EWLandblockToInt(int landblock) | ||
| { | ||
| return Convert.ToInt32(landblock.ToString("X").Substring(0, 2), 16); | ||
| } | ||
|
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| private int NSLandblockToInt(int landblock) | ||
| { | ||
| return Convert.ToInt32(landblock.ToString("X").Substring(2, 2), 16); | ||
| } | ||
|
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| private double CalculateCoordDiff(int currentLBEW_NS, int targetLBEW_NS, double currentXY, double targetXY) | ||
| { | ||
| return currentXY + ((currentLBEW_NS - targetLBEW_NS) * 192) - targetXY; | ||
| } | ||
|
|
||
| } | ||
| } |
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