yichael_smartbow/Assets/BowArrow/Scripts/Bluetooth/ShootCheck.cs

using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;
using ArduinoBluetoothAPI;
using DG.Tweening;
using UnityEngine.SceneManagement;
using System.Linq;
using BestHTTP.WebSocket;

public class ShootCheck : MonoBehaviour
{
    [SerializeField] Text text;
    public CMD cmd = new CMD();
    bool locked = false;
    float maxAcc = 0;
    Queue<Vector3> keyAccList = new Queue<Vector3>();
    Queue<string> keyTimeList = new Queue<string>();
    public float shootSpeed;
    public static ShootCheck ins; 
    [SerializeField] InputField ipInputField = default;
    public WebSocket webSocket;
    void Awake()
    {
        ins = this;
    } 

 //用户输入时的变化
    public void ChangedValue(string value)
    {
        ipInputField.ActivateInputField();
        Debug.Log("输入了"+value);
    }
    public void EndValue(string value)
    {
        Debug.Log("最终内容"+value);
    }
//socket
    public void StartSocket() 
    {
//socket
        string ipStr = ipInputField.text;//ipInputField.GetComponentInChildren<Text>();
        string serverIP = ipStr;
        // serverIP = "172.16.20.57";
        if (serverIP.Length == 0) serverIP = "192.168.101.14";
        string address = "ws://" + serverIP + ":8088/Ble/";
        webSocket = new WebSocket(new Uri(address));
#if !UNITY_WEBGL
        webSocket.StartPingThread = true;
#endif

        // Subscribe to the WS events
        webSocket.OnOpen += OnOpen;
        webSocket.OnMessage += OnMessageRecv;
        webSocket.OnBinary += OnBinaryRecv;
        webSocket.OnClosed += OnClosed;
        webSocket.OnError += OnError;
        // Debug.Log("OnOpen: ");
        // Start connecting to the server
        webSocket.Open();
    }

    public void Destroy() 
    {
        if (webSocket != null) 
        {
            webSocket.Close();
            webSocket = null;
        }
    }

    void OnOpen(WebSocket ws) 
    {
        Debug.Log("OnOpen: ");
        webSocket.Send("unity");
    }

    void OnMessageRecv(WebSocket ws, string message)
    {
        Debug.LogFormat("OnMessageRecv: msg={0}", message);
    }

    void OnBinaryRecv(WebSocket ws, byte[] data) 
    {
        Debug.LogFormat("OnBinaryRecv: len={0}", data.Length);
    }

    void OnClosed(WebSocket ws, UInt16 code, string message) 
    {
        Debug.LogFormat("OnClosed: code={0}, msg={1}", code, message);
        webSocket = null;
    }

    void OnError(WebSocket ws, Exception ex)  
    {
        string errorMsg = string.Empty;
#if !UNITY_WEBGL || UNITY_EDITOR
            if (ws.InternalRequest.Response != null)
            {
                errorMsg = string.Format("Status Code from Server: {0} and Message: {1}", ws.InternalRequest.Response.StatusCode, ws.InternalRequest.Response.Message);
            }
#endif
        Debug.LogFormat("OnError: error occured: {0}\n", (ex != null ? ex.Message : "Unknown Error " + errorMsg));
        webSocket = null;
    }
//socket


    [SerializeField] InputField ArmBowInputField = default;

    public void SetShootBackTime() 
    {
        ArmBow.ins.shootBackTime=int.Parse(ArmBowInputField.text);
    }
    public void OnBluetoothReady(BluetoothShoot bluetoothShoot) 
    {
        if (LoginMgr.myUserInfo.arrowAccValue == 16)
        {
            cmd.a = "y";
        }
        else
        {
            cmd.a = "x";
        }

        bluetoothShoot.WriteData(JsonUtility.ToJson(cmd).Replace("\"", ""));

        Sequence sequence = DOTween.Sequence();
        sequence.PrependInterval(1).AppendCallback(delegate() {
            canAdjustNormalOrHightMode = true;
            AdjustNormalOrHightMode();
        });
        sequence.SetUpdate(true);
    }

    //===普通模式和高速模式的切换===
    public bool canAdjustNormalOrHightMode = false;
    public int transportMode = 0;
    public void AdjustNormalOrHightMode()
    {
        if (!canAdjustNormalOrHightMode) return;
        try {
            // string sceneName = SceneManager.GetActiveScene().name;
            // if (sceneName == "Game")
            // {
            //     transportMode = 1;
            //     BluetoothShoot.ins.WriteData("HA");
            // } 
            // else 
            // {
            //     transportMode = 0;
            //     BluetoothShoot.ins.WriteData("NA");
            // }
            transportMode = 0;
            BluetoothShoot.ins.WriteData("NA");
        } catch (Exception) {}
    }

    public void OnDataReceived(byte[] bytes) 
    {    
        string str1 = "byte=";
        if (webSocket != null)
        { 
            for (int i = 0; i < bytes.Length-1; i++)
            {
                str1+= bytes[i];
            }
             
            // webSocket.Send(str2);    
        } 

        string str2 = "";

        if (transportMode == 0)
        {
            for (int i = 0; i < bytes.Length / 6; i++)
            {
                float acc = ToAcceleratedSpeed(bytes[i * 6 + 4], bytes[i * 6 + 5]);

                string t = "（采样时间："+(int)bytes[i * 6 + 0] + "分"+ (int)bytes[i * 6 + 1]+"秒"+ TwoByteToInt(bytes[i * 6 + 2], bytes[i * 6 + 3])+"毫秒)" ;
                str2 += "加速度："+ acc + t + "\n";

                if (ins.check(0, acc, 0, t) && ArmBow.ins) 
                {
                    ArmBow.ins.ADS_fire();  
                }
            }  
        }
        else if (transportMode == 1)
        {
            for (int i = 0; i < bytes.Length / 11; i++)
            {
                float ax = ToAcceleratedSpeed(bytes[i * 11 + 5], bytes[i * 11 + 6]);
                float ay = ToAcceleratedSpeed(bytes[i * 11 + 7], bytes[i * 11 + 8]);
                float az = ToAcceleratedSpeed(bytes[i * 11 + 9], bytes[i * 11 + 10]);

                string t = "（采样时间："+(int)bytes[i * 11 + 3] + "分"+ (int)bytes[i * 11 + 4]+"秒"+ TwoByteToInt(bytes[i * 11 + 1], bytes[i * 11 + 2])+"毫秒)" ;
                str2 += "加速度："+ay+t+"\n";
                
                if (ins.check(ax, ay, az, t) && ArmBow.ins) 
                {
                    ArmBow.ins.ADS_fire();  
                }
            }   
        }

        if (webSocket != null)
        { 
            string str3 = str1+"\n"+str2;
            webSocket.Send(str3);    
        } 
    }

    float ToAcceleratedSpeed(byte b1, byte b2)
    {
        int value = TwoByteToInt(b1, b2);
        return (float)value / 32768 * LoginMgr.myUserInfo.arrowAccValue;
    }
    
    int TwoByteToInt(byte b1, byte b2)
    {
        ushort twoByte = (ushort)(b1 * 256 + b2);
        short shortNum = (short)twoByte;
        return (int)shortNum;
    }

    public float arrowWeight = 60; //实体模具箭重，单位克

    bool check(float ax, float ay, float az, string t)
    {
        float acc = ay;
        DebugLine.show(acc); //这个不需要注释，静态函数内置判断
        if (locked) 
        {
            return false;
        }
        if (acc > cmd.getAcc()) 
        {
            if (acc > maxAcc)
            {
                maxAcc = acc;
            }
            if (acc > 15.9f && LoginMgr.myUserInfo.arrowAccValue == 16) {
                double p1 = -1.56729339506415;
                double p2 = 0.0397744840580165;
                double p3 = 4.73453844008481;

                float x = (keyAccList.Count + 1) * 2; //单位毫秒
                double y = 1.0 / (p1+p2*Mathf.Pow(x, 0.5f)*Mathf.Log(x)+p3/Mathf.Pow(x, 0.5f));
                acc = (float) y;
            }
            Vector3 keyAcc = new Vector3(ax, acc, az);
            keyAccList.Enqueue(keyAcc);
            keyTimeList.Enqueue(t);
            return false;
        } 
        else if (acc < cmd.getAcc() && maxAcc != 0) {
            //积分求初速度
            shootSpeed = 0;
            float lasKeytAcc = 0;
            int keyAccIndex = 0;
            float timeInterval = 0.002f;
            float totalAx = 0;
            float totalAy = 0;
            float totalAz = 0;
            foreach (var keyAcc in keyAccList)
            {
                totalAx += Mathf.Abs(keyAcc.x);
                totalAy += Mathf.Abs(keyAcc.y);
                totalAz += Mathf.Abs(keyAcc.z);
                if (keyAccIndex > 0)
                {
                    shootSpeed += keyAcc.y * timeInterval;
                    shootSpeed -= (keyAcc.y - lasKeytAcc) * timeInterval / 2;
                }
                else if (keyAccIndex == 0 && keyAccList.Count == 1) 
                {
                    shootSpeed = keyAcc.y * timeInterval;
                }
                lasKeytAcc = keyAcc.y;
                keyAccIndex++;
            }

            //是不是合法射出
            bool isLegalShoot = totalAy > totalAx && totalAy > totalAz;

            if (isLegalShoot) 
            {
                //加速度acc的单位是g,最后需要乘上
                shootSpeed *= 9.80665f;

                string strShootSpeed = "弓轨速度: " + shootSpeed + " 帧数: " + keyAccList.Count + "\n";

                shootSpeed = Mathf.Sqrt(shootSpeed * shootSpeed * arrowWeight / LoginMgr.myUserInfo.actualArrowWeight);  

                strShootSpeed += "箭的速度: " + shootSpeed + "\n";
                
                string str1 = strShootSpeed + "/////////检测到射出的数据////////////：\n";
                for (int i=0;i<keyAccList.Count;i++)
                {
                    float keyAcc = keyAccList.ElementAt(i).y;
                    string time = keyTimeList.ElementAt(i);
                
                    str1 += "加速度："+keyAcc+time+"\n"; 
                }
                Debug.LogWarning(str1);
                if (webSocket != null)
                { 
                    webSocket.Send(str1+"/////////检测到射出的数据////////////：\n");    
                }    
            }
            
            //本轮计算结束
            keyAccList.Clear();
            keyTimeList.Clear();
            
            maxAcc = 0;
            Dolock();
            Invoke("Unlock", 1.8f);
            return isLegalShoot;
        }

        return false;
    }

    public string ShootByInfrared(byte[] bytes) {
        float time1 = ((bytes[5] << 8) + bytes[6]) * 0.1f;
        float time2 = ((bytes[7] << 8) + bytes[8]) * 0.1f; 
        float speed = 0.05f / (time1 / 1000 + time2 / 1000);
        shootSpeed = Mathf.Sqrt(speed * speed * arrowWeight / LoginMgr.myUserInfo.actualArrowWeight);  
        string logTxt = $"时长1：{time1}毫秒，时长2：{time2}毫秒，弓轨速度：{speed}m/s，箭的速度：{shootSpeed}m/s";
        Debug.Log(logTxt);
        try {
            ShootCheck.ins.webSocket.Send(logTxt);
        } catch (Exception) {}
        if (ArmBow.ins) ArmBow.ins.ADS_fire();
        return logTxt;
    }

    void Dolock() 
    {
        locked = true;
    }

    void Unlock()
    {
        locked = false;
    }
    
    void Log(string text)
    {
        if (this.text)
        {
            this.text.text = text;
        } else {
            Debug.Log(text);
        }
    }
}

[Serializable]
public class CMD {
    // public string ax = "y";
    // public int a = 6000;
    // public int r = 2;
    public string a = "y";
    public int a1 = 3;
    public int a2 = -3;
    public int r = 2;

    public float getAcc() {
        return a1;
    }
}